Lift-up reversing four-way shuttle and lifting reversing method

Abstract

This invention proposes a lifting and reversing four-way shuttle and a lifting and reversing method, relating to the field of four-way shuttle technology. The lifting and reversing mechanism includes a slide table, with a lifting path groove and a reversing path groove respectively provided at the top and bottom of the slide table, and a limiting path groove provided on the side wall of the top plate; a lifting slide rod is provided on the top plate, a limiting slide rod is provided on the slide table, and a reversing slide rod is provided on the X-axis of the vehicle body. The lifting slide rod and the lifting path groove, the limiting slide rod and the limiting path groove, and the reversing slide rod and the reversing path groove are all slidably connected. The lifting path groove includes a first ramp section, the limiting path groove includes a second ramp section, and the reversing path groove includes a third ramp section. The first and second ramp sections are inclined upwards, and the third ramp section is inclined downwards. This invention achieves both lifting and reversing operations through a single slide table structure, realizing a lightweight design of the vehicle body and improving movement stability.

Description

Technical Field

[0001] This invention belongs to the field of four-way shuttle technology, and particularly relates to a lifting and reversing four-way shuttle and a lifting and reversing method. Background Technology

[0002] With the rapid development of technology and the rising cost of labor, reducing labor costs and improving the automation and intelligence of logistics systems are hot issues today, especially for the management of automated warehousing systems and the optimization of logistics equipment. The four-way shuttle automated storage and retrieval system integrates storage and retrieval functions, utilizing high-rise racking to achieve dense storage of goods. Multiple devices, including four-way shuttles and elevators, operate in parallel, representing a highly intelligent form of automated warehouse today, facilitating the rapid and automated storage of individual units of goods. The four-way shuttle, as its core transport vehicle, determines the efficiency and performance of the automated warehouse based on its level of automation.

[0003] Four-way shuttle vehicles commonly feature four-wheel, six-wheel, and multi-wheel designs. Four-wheel designs use two front wheels and two rear wheels, while six-wheel and multi-wheel designs employ a symmetrical arrangement. In existing technologies, retrieving goods using a four-way shuttle vehicle involves lifting the top plate to complete the retrieval. However, the inventors have discovered the following technical problems in existing technologies:

[0004] (1) In the prior art, there is a four-way shuttle car that uses a cam structure to lift and pick up goods. This structure has poor overall stability during the lifting process and subsequent transportation process, and the car body is large, making it difficult to achieve a lightweight design for the four-way shuttle car, which is not conducive to optimizing the utilization rate of storage space.

[0005] (2) Since the four-way shuttle needs to change direction, a reversing mechanism needs to be designed. In the existing technology, two sets of drive mechanisms and corresponding transmission devices are often used to drive the wheels in two directions respectively to realize the reversing of the four-way shuttle. The mechanical structure of this method is relatively complex, with too many parts, and multiple drive mechanisms often lead to an increase in the weight of the vehicle.

[0006] (3) The lifting and picking up of goods and the reversing of the four-way shuttle are often designed with two separate design ideas to design the relevant components. Therefore, overall, there is still room for optimization and improvement in the structure of the vehicle. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, this invention provides a lifting and reversing four-way shuttle and a lifting and reversing method. A slide structure is designed with lifting path grooves and reversing path grooves, and a limiting path groove is set on the side wall of the top plate. In conjunction with the X-axis and Y-axis vehicle bodies with internal and external structural design, and three sliding rods corresponding to the lifting path groove, reversing path groove and limiting path groove, the lifting operation and the reversing operation can be realized through a single slide structure. This achieves a lightweight design of the vehicle body and improves the stability of movement.

[0008] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0009] The first aspect of the present invention provides a lifting and reversing four-way shuttle.

[0010] A lifting and reversing four-way shuttle includes an X-axis body and a Y-axis body nested together. A top plate is provided on the top of the Y-axis body. The X-axis body and the Y-axis body, as well as the top plate and the Y-axis body, are slidably connected. A lifting and reversing mechanism is symmetrically arranged between the X-axis body and the Y-axis body. The lifting and reversing mechanism includes a slide table capable of linear reciprocating relative to the Y-axis body. A lifting path groove and a reversing path groove are respectively provided at the top and bottom of the slide table. A limiting path groove is provided on the side wall of the top plate. A lifting slide rod is provided on the top plate, a limiting slide rod is provided on the slide table, and a reversing slide rod is provided on the X-axis body. The lifting slide rod and the lifting path groove, the limiting slide rod and the limiting path groove, and the reversing slide rod and the reversing path groove are all slidably connected.

[0011] The lifting path groove includes a first ramp section, the limiting path groove includes a second ramp section, and the reversing path groove includes a third ramp section. The first and second ramp sections are both inclined upwards, and the third ramp section is inclined downwards.

[0012] Optionally, the first and second slope segments have the same inclination direction and angle.

[0013] Optionally, the lifting path groove has a first arc-shaped receiving groove at its starting end, which is connected to a first ramp section, and the tail end of the first ramp section extends to the side wall of the slide table; the limiting path groove has a second arc-shaped receiving groove at its starting end, which is connected to a second ramp section, and the tail end of the second ramp section is connected to a first horizontal section, and the tail end of the first horizontal section is connected to a third arc-shaped receiving groove; the reversing path groove has a fourth arc-shaped receiving groove at its starting end, which is connected to a second horizontal section, and the tail end of the second horizontal section is connected to a third ramp section, and the tail end of the third ramp section is connected to a fifth arc-shaped receiving groove.

[0014] Optionally, the lifting path groove is open on one side, the limiting path groove is closed, and the tail end of the reversing path groove is open.

[0015] Optionally, the X-axis vehicle body is provided with multiple lifting slide rods, and the Y-axis vehicle body is provided with multiple lifting slide sleeves. The lifting slide sleeves and lifting slide rods are provided in a one-to-one correspondence. The lifting slide sleeves are sleeved on the outside of the lifting slide rods and are slidably connected to the lifting slide rods.

[0016] Optionally, the X-direction vehicle body includes an X-direction frame, on which multiple X-direction wheels and an X-direction transmission mechanism are mounted; the Y-direction vehicle body includes a Y-direction frame, on which multiple Y-direction wheels, a Y-direction transmission mechanism, and a drive motor are mounted.

[0017] The drive motor is connected to the X-axis transmission mechanism via a universal coupling, and the X-axis transmission mechanism is connected to the drive wheel in the X-axis wheel; the drive motor is connected to the travel drive shaft via a chain drive, and the travel drive shaft is connected to the Y-axis transmission mechanism, which is connected to the drive wheel in the Y-axis wheel.

[0018] Optionally, the Y-axis vehicle body is also equipped with a lifting and reversing motor, which is connected to two lead screws via a connecting shaft. Each lead screw is rotatably connected to a nut, and the slide is connected to the nut.

[0019] Optionally, the lead screw is a forward and reverse threaded lead screw, and a slide is provided on both the forward threaded part and the reverse threaded part of the forward and reverse threaded lead screw.

[0020] The second aspect of the present invention provides a lifting and reversing method for a lifting and reversing four-way shuttle.

[0021] The lifting and reversing method for a lifting-type four-way shuttle includes a lifting method and a reversing method, wherein the lifting method includes the following steps:

[0022] The lifting slide, the limiting slide, and the reversing slide are set to their initial positions in the first arc-shaped receiving groove, the second arc-shaped receiving groove, and the fourth arc-shaped receiving groove, respectively. At this time, the top plate is in the reset state, and the four-way shuttle travels along the Y direction.

[0023] The lifting reversing motor drives the lead screw to rotate, which in turn moves the slide table. The lifting slide rod climbs to the end of the first ramp section, and the translation of the limiting slide rod drives the second ramp section to move upward. Together, they provide the lifting force for the top plate. When the limiting slide rod moves to the end of the second ramp section, the top plate is raised to the lifting position.

[0024] At this point, the reversing slide bar moves horizontally along the second horizontal section. When it reaches the end of the second horizontal section, the Y-axis vehicle body does not move vertically, and the four-way shuttle car still moves along the Y-axis.

[0025] Optionally, the commutation method includes the following steps:

[0026] After the top plate reaches the lifting position, the lifting reversing drive motor continues to drive the lead screw to rotate, causing the slide to move further. At this time, the lifting slide rod will move horizontally along the side wall of the slide, the limiting slide rod will move horizontally along the first horizontal section, and the top plate will still be in the lifting position.

[0027] The reversing slide bar continues to move along the end of the second horizontal section, descends to the third ramp section, and then drives the entire X-direction vehicle body to move down. The X-direction wheels are exposed below the Y-direction wheels, and the reversal is successful. The four-way shuttle car changes direction to move along the X direction.

[0028] The above one or more technical solutions have the following beneficial effects:

[0029] This invention provides a lifting and reversing four-way shuttle and a lifting and reversing method. Overall, it designs a three-layer structure consisting of a top plate, a middle Y-axis body, and a bottom X-axis body. Utilizing a designed sliding table structure, with the middle Y-axis body as a reference, the linear reciprocating motion of the sliding table guides the sliding rods connected to the top plate and the bottom X-axis body, realizing the lifting action of the top plate and the lowering action of the X-axis body. At the same time, the limiting path groove on the side wall of the top plate limits the amplitude of the linear reciprocating motion of the sliding table and the relative height of the Y-axis and X-axis bodies in the vertical direction, thereby limiting the amplitude of the entire lifting and reversing action. Ultimately, it achieves a lightweight and integrated design of the entire vehicle body, improving the utilization rate of storage space.

[0030] The slide table designed in this invention has a lifting path groove and a reversing path groove respectively provided at its top and bottom. The lifting path groove includes a first ramp section, the limiting path groove includes a second ramp section, and the reversing path groove includes a third ramp section. The first ramp section is inclined upwards, and the third ramp section is inclined downwards. This ensures that when the slide table moves, the lifting rod is raised by the first ramp section and the X-direction vehicle body is lowered by the reversing rod, while ensuring the stability of the movement process. Compared with the prior art, this improves the stability of the lifting and reversing processes, and the lifting and reversing operations are realized by the slide table structure alone.

[0031] The first and second ramps have the same inclination direction and angle, which facilitates the superposition of the lifting forces on the lifting slide rod in the first ramp and the limiting slide rod in the second ramp, avoiding interference with the lifting of the top plate due to different movement directions; setting the limiting path groove to be closed can effectively limit the overall movement process and the vertical position of the Y-axis and X-axis vehicle body.

[0032] In this invention, both the drive motor and the lifting reversing motor are mounted on the Y-axis vehicle body. The drive motor drives the X-axis wheels via a universal coupling, and at the same time, the drive motor is also used to drive the Y-axis wheels, thereby improving driving efficiency. The universal coupling can effectively handle the change in torque direction when the X-axis vehicle body and the Y-axis vehicle body reverse direction, and is very suitable for the aforementioned reversing method of this invention.

[0033] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0035] Figure 1 This is a side view of the hidden components of the present invention.

[0036] Figure 2 This is a schematic diagram of the limiting path groove of the present invention.

[0037] Figure 3 This is a three-dimensional schematic diagram of the overall structure of the present invention.

[0038] Figure 4 This is a three-dimensional schematic diagram of the overall structure of the present invention from another angle.

[0039] Figure 5 This is a side view of the overall structure of the present invention.

[0040] Figure 6 This is a bottom view of the overall structure of the present invention.

[0041] Figure 7 This is a three-dimensional structural diagram of the hidden components of the present invention.

[0042] Figure 8 This is a three-dimensional structural diagram of the hidden components of the present invention from another angle.

[0043] Figure 9 This is a schematic diagram of the X-axis three-dimensional structure of the vehicle body of the present invention.

[0044] Figure 10 This is a three-dimensional structural diagram of the vehicle body in the X direction from another angle.

[0045] Figure 11 This is a schematic diagram of the three-dimensional structure of the vehicle body in the Y direction of the present invention.

[0046] Figure 12 This is a three-dimensional structural diagram of the vehicle body in the Y direction of the present invention from another angle.

[0047] Figure 13 This is a three-dimensional schematic diagram of the slide structure of the present invention.

[0048] Figure 14 This is a three-dimensional schematic diagram of the slide structure of the present invention from another angle.

[0049] Figure 15 This is a top view of the vehicle body structure in the X direction of the present invention.

[0050] Figure 16 For the present invention Figure 15 Schematic diagram of cross-section along the AA direction.

[0051] Figure 17 This is a top view of the Y-axis vehicle body structure of the present invention.

[0052] Figure 18 For the present invention Figure 17 Schematic diagram of cross-section along the BB direction.

[0053] Figure 19 This is a schematic diagram of the Y-axis vehicle body structure viewed from below according to the present invention.

[0054] Figure 20 For the present invention Figure 19 Schematic diagram of cross-section along the CC direction.

[0055] Figure 21 This is a schematic diagram illustrating the application scenario of the four-way shuttle vehicle of the present invention.

[0056] Figure 22 This is a simplified diagram illustrating the lifting and reversing principle of the present invention.

[0057] The attached diagram lists the components represented by each number as follows:

[0058] 1. X-axis car body, 2. Y-axis car body, 3. Top plate, 4. Lifting and reversing mechanism, 5. Slide table, 6. Lifting path groove, 7. Reversing path groove, 8. Limiting path groove, 9. Lifting slide bar, 10. Limiting slide bar, 11. Reversing slide bar, 12. First ramp section, 13. Second ramp section, 14. Third ramp section, 15. First arc-shaped receiving groove, 16. Second arc-shaped receiving groove, 17. First horizontal section, 18. Third arc-shaped receiving groove, 19. Fourth arc-shaped receiving groove, 20. Second horizontal section, 21. Fifth arc-shaped receiving groove, 22. Lifting slide bar, 23. X-axis frame, 24. X-axis car body 25. Wheel, 26. X-axis transmission mechanism, 27. Y-axis frame, 28. Y-axis wheel, 29. Drive motor, 30. Universal coupling, 31. Drive wheel, 32. Driven wheel, 33. Chain drive, 34. Travel drive shaft, 35. Lifting and reversing motor, 36. Connecting shaft, 37. Lead screw, 38. Forward thread, 39. Reverse thread, 40. Battery, 41. Right angle reducer, 42. Four-way shuttle, 43. Cargo location, 44. Cargo location with goods, 45. Idle cargo location, 46. Aisle, 47. Planned route, 48. Shuttle elevator, 49. Target cargo location. Detailed Implementation

[0059] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0060] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0061] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0062] Example 1

[0063] This embodiment discloses a lifting and reversing four-way shuttle.

[0064] like Figure 1As shown, the lifting and reversing four-way shuttle includes an X-direction vehicle body 1 and a Y-direction vehicle body 2 nested together. A top plate 3 is provided on the top of the Y-direction vehicle body 2. The X-direction vehicle body 1 and the Y-direction vehicle body 2, as well as the top plate 3 and the Y-direction vehicle body 2, are slidably connected. A lifting and reversing mechanism 4 is symmetrically arranged between the X-direction vehicle body 1 and the Y-direction vehicle body 2. The lifting and reversing mechanism 4 includes a slide table 5 capable of linear reciprocating relative to the Y-direction vehicle body 2. The top and bottom of the slide table 5 are respectively provided with a lifting path groove 6 and a reversing path groove 7. A limiting path groove 8 is provided on the side wall of the top plate 3. A lifting slide rod 9 is provided on the top plate 3, a limiting slide rod 10 is provided on the slide table 5, and a reversing slide rod 11 is provided on the X-direction vehicle body 1. The lifting slide rod 9 is slidably connected to the lifting path groove 6, the limiting slide rod 10 is slidably connected to the limiting path groove 8, and the reversing slide rod 11 is slidably connected to the reversing path groove 7.

[0065] The lifting path groove 6 includes a first ramp section 12, the limiting path groove 8 includes a second ramp section 13, and the reversing path groove 7 includes a third ramp section 14. The first ramp section 12 and the second ramp section 13 have the same inclination direction and angle, and the third ramp section 14 has the opposite inclination direction to the first ramp section 12.

[0066] For ease of understanding, such as Figure 22 The diagram shown is a simplified illustration of the lifting and reversing principle of this embodiment. In the diagram, a, b, and c represent the moving paths of the lifting slide rod 9, d, e, and f represent the moving paths of the reversing slide rod 11, and g, h, and i represent the moving paths of the limiting slide rod 10.

[0067] Initially, the lifting slide bar 9 is in position a, the reversing slide bar 11 is in position i, and the limiting slide bar 10 is in position d. At this time, the four-way shuttle is in the following state: the top plate is in the reset state, and the four-way shuttle moves along the Y direction.

[0068] When the target storage location is reached and a lifting operation is required, the two sliding tables 5 fixed to the nut will move along the lead screw, and the two sliding tables will move away from each other. Figure 22 In the middle, the left slide 5 moves to the left, and the right slide 5 moves to the right. The limiting slide bar 10 fixed on the left slide 5 moves to the left to position h, and the lifting slide bar 9 moves along the chute to position b. The top plate 3 rises to perform the goods retrieval operation. At this time, the reversing slide bar 11 moves in a straight line along the chute to position e, and the four-way shuttle is still in the Y-direction state.

[0069] When the four-way shuttle, carrying cargo, reaches a point where a turn is required and a reversing operation is needed, the left slide 5 continues to move to the left, the right slide 5 continues to move to the right, the limiting slide 10 moves to the left to position g, and the lifting slide 9 moves along the chute to position c, while the top plate 3 remains raised. At this time, the reversing slide 11 moves along the chute from position e to position f, the X-direction vehicle body 1 lowers, and the four-way shuttle changes to travel along the X direction.

[0070] The first slope section 12 is inclined upwards, and the third slope section 14 is inclined downwards.

[0071] In this embodiment, the X-direction vehicle body 1 and the Y-direction vehicle body 2, as well as the top plate 3 and the Y-direction vehicle body 2, are all slidably connected, ensuring the smooth execution of the lifting and reversing actions. Figure 21 As shown, the square represents storage location 43, the white square represents storage location 44 with goods, the gray square represents storage location 45 with no goods, and the space between the squares is the aisle 46.

[0072] Initially positioned, the four-way shuttle 42 is adjacent to the shuttle lift 48, and then travels along the planned path 47 to the target storage location. Upon receiving a handling instruction, the lifting four-way shuttle 42 automatically and smoothly operates along the planned path 47 via its traveling and reversing mechanisms. This shuttle can operate in the aisle 46 and below the storage area. During its journey, the four-way shuttle 42 uses onboard sensors for precise positioning and accurately stops at the target storage location 49 corresponding to the designated material area. The four-way shuttle 42 uses its lifting module to lift the goods, detaching them from the rack. After leaving the rack area, the lifting mechanism lowers, and the four-way shuttle 42, carrying the goods, reaches the target location.

[0073] To achieve a lighter design and address the issues of excessive mechanical components and overly complex designs resulting from separate mechanisms for lifting and reversing in existing technologies, while simultaneously ensuring smoother lifting and reversing processes and improving the stability of the four-way shuttle 42, this embodiment provides a slide table 5 structure, such as... Figure 13 As shown in Figure 14, considering that the four-way shuttle 42 needs to perform two actions, lifting and reversing, when lifting, the top plate 3 needs to be lifted to carry the goods; at the same time, when reversing, the two vehicle bodies need to be displaced in the vertical direction so that the vehicle body in one direction takes over the vehicle body in the other direction from contacting the ground and changing the running direction. Therefore, two grooves are designed on the slide table 5 in this embodiment, namely the lifting path groove 6 and the reversing path groove 7 at the top and bottom of the slide table 5. The lifting path groove 6 is used to guide the lifting of the top plate 3 during lifting, and the reversing path groove 7 is used to guide the vehicle body during reversing.

[0074] In this embodiment, the initial state involves Y-direction movement via the Y-direction vehicle body 2. During the reversal, the vehicle body switches to the X-direction vehicle body 1 for X-direction movement. Therefore, the reversal path slot 7 guides the X-direction vehicle body 1 during the reversal. The X-direction vehicle body 1 and the Y-direction vehicle body 2 are used to realize the X-direction and Y-direction movements of the four-way shuttle 42, respectively.

[0075] Considering the specific implementation of the reversal, in this embodiment, the X-direction vehicle body 1 and the Y-direction vehicle body 2 are arranged in a nested configuration:

[0076] In the initial state, the Y-direction vehicle body 1 is nested inside the X-direction vehicle body 2, and the X-direction vehicle body 2 is fitted outside the Y-direction vehicle body 1;

[0077] Through the design of the limiting path groove 8 in this embodiment, it is possible to achieve the following in the initial state: the Y-axis wheel 27 of the Y-axis vehicle body 2 is in contact with the ground, while the X-axis wheel 24 of the X-axis vehicle body 1 is off the ground. During the reversal, the X-axis vehicle body 1 moves downward to make the X-axis wheel 24 contact the ground, while the Y-axis wheel 27 is off the ground, thereby achieving a successful reversal.

[0078] Based on the above explanation of principles, such as Figure 1 and Figure 2 As shown, in this embodiment, the lifting path groove 6, the limiting path groove 8, and the reversing path groove 7 all need to include a ramp section to achieve the functions of lifting, reversing, and limiting. Specifically:

[0079] The lifting path groove 6 includes a first ramp section 12, the limiting path groove 8 includes a second ramp section 13, and the reversing path groove 7 includes a third ramp section 14. The first ramp section 12 and the second ramp section 13 have the same inclination direction and angle. The first ramp section 12 is inclined upwards, and the third ramp section 14 is inclined downwards.

[0080] Because it is necessary to ensure the force balance between the top plate 3 and the X-axis vehicle body 1 during lifting and reversing, multiple slide platforms 5 need to be designed. In this embodiment, a total of four slide platforms 5 are provided. Considering the convenience of driving, two of the four slide platforms 5 are located on one side of the Y-axis vehicle body 2, and the other two are located on the other side of the Y-axis vehicle body 2. The two slide platforms 5 on the same side are mirror images of each other, which facilitates subsequent driving using positive and negative lead screws and improves driving efficiency.

[0081] Overall, such as Figure 3 , Figure 4 , Figure 5As shown, this embodiment designs a three-layer structure consisting of a top plate 3, a middle Y-shaped vehicle body 2, and a bottom X-shaped vehicle body 1, with the Y-shaped vehicle body 2 and the X-shaped vehicle body 1 nested together. Utilizing the designed slide table 5 structure, with the middle Y-shaped vehicle body 2 as a reference, the linear reciprocating motion of the slide table 5 guides the sliding rods connected to the top plate 3 and the bottom X-shaped vehicle body 1, realizing the lifting action of the top plate 3 and the lowering action of the X-shaped vehicle body 1. Simultaneously, the limiting path groove 8 on the side wall of the top plate 3 limits the amplitude of the linear reciprocating motion of the slide table 5 and restricts the relative height of the Y-shaped vehicle body 2 and the X-shaped vehicle body 1 in the vertical direction, thereby limiting the amplitude of the entire lifting and reversing action. Ultimately, this achieves a lightweight and integrated design of the entire vehicle body, improving the utilization rate of storage space.

[0082] Understandably, the three sliding rods in this embodiment—the lifting sliding rod 9, the limiting sliding rod 10, and the reversing sliding rod 11—are specifically connected as follows:

[0083] The lifting slide rod 9 is mounted on the top plate 3, the limiting slide rod 10 is mounted on the slide table 5, and the reversing slide rod 11 is mounted on the X-axis vehicle body 1. The lifting slide rod 9 is slidably connected to the lifting path groove 6, the limiting slide rod 10 is slidably connected to the limiting path groove 8, and the reversing slide rod 11 is slidably connected to the reversing path groove 7. This allows the lifting slide rod 9 to slide along the lifting path groove 6, the limiting slide rod 10 to slide along the limiting path groove 8, and the reversing slide rod 11 to slide along the reversing path groove 7 through the reciprocating motion of the slide table 5, ultimately achieving the lifting and reversing actions.

[0084] like Figure 1 , Figure 2 , Figure 13 and Figure 14 As shown, the specific structures of the three path slots in this embodiment, namely the lifting path slot 6, the limiting path slot 8, and the reversing path slot 7, are as follows:

[0085] The beginning of the lifting path groove 6 is provided with a first arc-shaped receiving groove 15, the first arc-shaped receiving groove 15 is connected to the first ramp section 12, and the end of the first ramp section 12 extends to the side wall of the slide table 5.

[0086] The starting end of the limiting path groove 8 is provided with a second arc-shaped receiving groove 16, the second arc-shaped receiving groove 16 is connected to the second slope section 13, the tail end of the second slope section 13 is connected to the first horizontal section 17, and the tail end of the first horizontal section 17 is connected to the third arc-shaped receiving groove 18.

[0087] The beginning of the reversing path groove 7 is provided with a fourth arc-shaped receiving groove 19, the fourth arc-shaped receiving groove 19 is connected to a second horizontal section 20, the end of the second horizontal section 20 is connected to a third ramp section 14, and the end of the third ramp section 14 is connected to a fifth arc-shaped receiving groove 21.

[0088] The lifting path groove 6 is open on one side, the limiting path groove 8 is closed, and the tail end of the reversing path groove 7 is open.

[0089] The first arc-shaped receiving groove 15 is adapted to the lifting slide rod 9, the second arc-shaped receiving groove 16 and the third arc-shaped receiving groove 18 are adapted to the limiting slide rod 10, and the fourth arc-shaped receiving groove 19 and the fifth arc-shaped receiving groove 21 are adapted to the reversing slide rod 11. The arc-shaped end design can well adapt to the outer contour of the rod body, which is convenient for limiting.

[0090] The first ramp section 12 and the second ramp section 13 realize the lifting action of the roof plate 3; the function of the first horizontal section 17 is to ensure that the position of the roof plate 3 remains unchanged when the roof plate 3 is lifted and the X-direction vehicle body 1 moves downward to change direction; the function of the second horizontal section 20 is to ensure that the X-direction vehicle body 1 does not move vertically and does not perform a changing direction operation when the roof plate 3 is lifted; the third ramp section 14 realizes the changing direction action of the X-direction vehicle body 1.

[0091] Through the specific structural design of the slide table 5, lifting path groove 6, limiting path groove 8 and reversing path groove 7, it is possible to separate the lifting and reversing actions, and also to realize the lifting and reversing through the slide table 5 structure.

[0092] The slide table 5 designed in this embodiment can ensure that when the slide table 5 is moving, the lifting slide rod 9 is lifted by the first ramp section 12 and the X-direction vehicle body 1 is lowered by the reversing slide rod 11, and the stability of the movement process can be guaranteed. Compared with the prior art, the stability of the lifting and reversing process is improved. The lifting and reversing operations are realized by the slide table 5 structure alone.

[0093] The first ramp section 12 and the second ramp section 13 have the same inclination direction and angle, which facilitates the superposition of the lifting force on the lifting slide rod 9 in the first ramp section 12 and the limiting slide rod 10 in the second ramp section 13, avoiding interference with the lifting of the top plate 3 caused by different movement directions; setting the limiting path groove 8 as closed can effectively limit the overall movement process and the vertical position of the Y-direction vehicle body 2 and the X-direction vehicle body 1.

[0094] like Figure 6 The figure shown is a bottom view of the overall structure of the present invention. The figure shows the specific driving devices and transmission devices of the X-direction vehicle body 1 and the Y-direction vehicle body 2, as well as the driving device and transmission device of the slide 5.

[0095] The specific structure and drive system of the X-axis vehicle body 1 and the Y-axis vehicle body 2 will be explained next:

[0096] like Figure 9 , Figure 10 , Figure 15 , Figure 16 As shown, the X-direction vehicle body 1 includes an X-direction frame 23, on which multiple X-direction wheels 24 and an X-direction transmission mechanism 25 are provided; the drive motor 29 is connected to the X-direction transmission mechanism 25 through a universal coupling 30, and the X-direction transmission mechanism 25 is connected to the drive wheel 31 of the X-direction wheels 24.

[0097] In this embodiment, there are four X-axis wheels 24, two of which are drive wheels 31 and the other two are driven wheels 32. The drive wheels 31 are connected to the drive motor 29 through the X-axis transmission mechanism 25. Specifically, considering that the four-way shuttle 42 involves reversing direction, the travel drive motor 29 is fixed on the Y-axis vehicle body 2, while the X-axis wheels 24 are fixed on the X-axis vehicle body 1. As the reversing motion proceeds, the Y-axis vehicle body 2 will move upward relative to the X-axis vehicle body 1, resulting in the X-axis drive wheel shaft and the drive motor 29 shaft not being on the same axis. Therefore, a universal coupling 30 is used to connect the X-axis transmission mechanism 25 and the drive motor 29.

[0098] The universal coupling 30 has a large structural angle compensation capability, a compact structure, and high transmission efficiency. It can realize the continuous rotation of two connected shafts and reliably transmit torque and motion.

[0099] In this embodiment, the X-direction transmission mechanism 25 is a sprocket and chain drive. After the drive motor 29 is connected to the reducer, the reducer is connected to the universal couplings 30 on both sides. The universal couplings 30 are connected to the sprockets. The rotation of the sprockets drives the chain to rotate, thereby making the drive wheel 31 in the X-direction wheel 24 rotate, which in turn drives the driven wheel 32 in the X-direction wheel 24 to rotate, ultimately realizing X-direction movement.

[0100] like Figure 11 , Figure 12 , Figure 17 , Figure 18 , Figure 19 , Figure 20 As shown, the Y-direction vehicle body 2 includes a Y-direction frame 26, on which a plurality of Y-direction wheels 27, a Y-direction transmission mechanism 28 and a drive motor 29 are provided;

[0101] The drive motor 29 is connected to the walking drive shaft 34 via chain drive 33. The walking drive shaft 34 is connected to the Y-direction transmission mechanism 28. The Y-direction transmission mechanism 28 is connected to the drive wheel 31 in the Y-direction wheel 27.

[0102] In this embodiment, there are eight Y-axis wheels 27, four of which are drive wheels 31 and the other four are driven wheels 32. The drive motor 29 is also connected to the travel drive shaft 34 via chain drive 33. The travel drive shaft 34 is connected to the Y-axis transmission mechanism 28, which in turn drives the drive wheels 31 of the Y-axis wheels 27 to rotate, and the driven wheels 32 of the Y-axis wheels 27 rotate accordingly.

[0103] The Y-direction transmission mechanism 28 is also a sprocket and chain drive.

[0104] In this embodiment, the drive motor 29 drives the X-axis wheel 24 through the universal coupling 30, and the drive motor 29 is also used to drive the Y-axis wheel 27, thereby improving the driving efficiency.

[0105] like Figure 9 As shown, the X-axis vehicle body 1 is equipped with multiple lifting slide rods 22, and the Y-axis vehicle body 2 is equipped with multiple lifting sleeves. The lifting sleeves and lifting slide rods 22 are arranged in a one-to-one correspondence. The lifting sleeves are sleeved on the outside of the lifting slide rods 22 and are slidably connected to the lifting slide rods 22. The design of the lifting slide rods 22 and the lifting sleeves can ensure that the entire reversing action is more stable.

[0106] Regarding the specific drive method of slide 5, such as Figure 7 , Figure 8 , Figure 11 , Figure 12 As shown:

[0107] In this embodiment, a lifting and reversing motor 35 is also provided on the Y-direction vehicle body 2. The lifting and reversing motor 35 is connected to two right-angle reducers 41 through a connecting shaft 36. The two right-angle reducers 41 are respectively connected to lead screws 37. The two lead screws 37 are symmetrically arranged on both sides of the Y-direction vehicle body 2. Each lead screw 37 is rotatably connected to a nut. The slide table 5 is connected to the nut.

[0108] The lead screw 37 is a forward and reverse threaded lead screw, which includes a forward threaded portion 38 and a reverse threaded portion 39. Nuts are rotatably connected to both the forward threaded portion 38 and the reverse threaded portion 39, and slides 5 are connected to the nuts. It can be understood that the slides 5 connected to the two forward threaded portions 38 and the two reverse threaded portions 39 are mirror images of each other. Figure 1 , Figure 7 , Figure 8 , Figure 13 , Figure 14 As shown.

[0109] The rotation of the lifting and reversing motor 35 drives the lead screw 37 to rotate, causing the two slides 5 on the lead screw 37 to move closer or further apart simultaneously. When the two slides 5 move further apart:

[0110] The lifting slide bar 9 starts to slide from the first arc-shaped receiving groove 15 of the lifting path groove 6 and is lifted along the first slope section 12 to the upper wall of the slide table 5;

[0111] At the same time, the limiting slide rod 10 connected to the slide table 5 moves horizontally from the second arc-shaped receiving groove 16 of the limiting path groove 8, forcing the side wall of the top plate 3 to be subjected to upward force. Under the combined action of the two, the top plate 3 begins to rise.

[0112] At this time, the reversing slide bar 11 starts to slide from the fourth arc-shaped receiving groove 19 of the reversing path groove 7 and moves along the second horizontal section 20. The X-direction vehicle body 1 and the Y-direction vehicle body 2 do not have vertical displacement changes.

[0113] When the limit slide bar 10 reaches the end of the second ramp, the top plate 3 reaches the lifting position, the lifting action is completed, and the cargo is supported.

[0114] Then, when a reversal is required:

[0115] The lifting reversing motor 35 continues to rotate, and the two slides 5 continue to move away from each other, driving the reversing slide rod 11 to fall down from the tail end of the second horizontal section 20 along the third slope section 14. The X-direction vehicle body 1 generates a downward displacement in the vertical direction, so that the X-direction wheel 24 is exposed to the outside of the Y-direction wheel 27.

[0116] When the reversing slide bar 11 moves to the fifth arc-shaped receiving groove 21, the reversal is completed, and the X-axis wheels 24 of the X-axis vehicle body 1 touch the ground, so that the four-way shuttle 42 moves along the X-axis.

[0117] At this time, the limiting slide bar 10 reaches the position of the third arc-shaped receiving groove 18 along the first horizontal section 17, realizing the limiting function.

[0118] The main functional modules of the shuttle system include: communication module, data processing module, drive control module, walking module, lifting and reversing module, and information acquisition module. The information acquisition module includes cargo detection radar, obstacle avoidance radar, barcode scanning device, pallet over-boundary detection device, and QR codes on the shelves.

[0119] The drive control module is the core system of the four-way shuttle 42, mainly including the battery 40, the drive motor 29 and the drive controller. Its main function is to convert the electrical energy stored in the battery 40 into kinetic energy through the motor when the four-way shuttle 42 is moving, and to convert the kinetic energy into electrical energy and store it in the battery 40 when braking.

[0120] The communication module consists of a main communication module installed in the host computer controller and a slave communication module installed on the shuttle. The slave communication module is responsible for receiving instructions sent by the main communication module and sending the vehicle information collected by the information acquisition module back to the main communication module, thus realizing communication between the host computer controller and the shuttle actuators. Real-time control of the shuttle is achieved by collecting vehicle status information in real time, both in motion and at rest, and promptly feeding it back to the host computer control system via the communication module.

[0121] The data processing module mainly refers to the PLC acting as the center of all control, collecting data, uploading the data to the host computer system for comparison and analysis, and feeding back the analysis results and instructions through the data transmission channel.

[0122] The system control architecture is mainly divided into a host computer control system and a lower-level shuttle execution system. The host computer control system is responsible for generating control commands and sending the control information to the four-way shuttle 42 execution system through the communication module; the shuttle execution system receives the commands from the host computer and completes the corresponding operations.

[0123] Example 2

[0124] This embodiment discloses a lifting and reversing method for a lifting and reversing four-way shuttle 42.

[0125] The lifting and reversing method of the lifting and reversing four-way shuttle 42 includes a lifting method and a reversing method, wherein the lifting method includes the following steps:

[0126] The lifting slide bar 9, the limiting slide bar 10, and the reversing slide bar 11 are set to their initial positions in the first arc-shaped receiving groove 15, the second arc-shaped receiving groove 16, and the fourth arc-shaped receiving groove 19, respectively. At this time, the top plate 3 is in the reset state, and the four-way shuttle 42 travels along the Y direction.

[0127] The lifting reversing motor 35 drives the lead screw 37 to rotate, which in turn moves the slide table 5. The lifting slide rod 9 climbs to the end of the first ramp section 12, and the translation of the limiting slide rod 10 drives the second ramp section 13 to move upward, which together provide the lifting force for the top plate 3. The limiting slide rod 10 moves to the end of the second ramp section 13, and the top plate 3 is raised to the lifting position.

[0128] At this time, the reversing slide bar 11 moves horizontally along the second horizontal section 20 and moves to the end of the second horizontal section 20. The Y-direction vehicle body 2 does not move vertically, and the four-way shuttle 42 still moves along the Y direction.

[0129] The commutation method includes the following steps:

[0130] After the top plate 3 reaches the lifting position, the lifting reversing drive motor 29 continues to drive the lead screw 37 to rotate, causing the slide table 5 to move further. At this time, the lifting slide rod 9 will move horizontally along the side wall of the slide table 5, and the limiting slide rod 10 will move horizontally along the first horizontal section 17. The top plate 3 is still in the lifting position.

[0131] The reversing slide bar 11 continues to move along the end of the second horizontal section 20, and descends to the third ramp section 14, thereby causing the X-direction vehicle body 1 to move down as a whole. The X-direction wheel 24 is exposed below the Y-direction wheel 27, and the reversal is successful. The four-way shuttle 42 changes direction to move along the X direction.

[0132] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A four-way forklift truck with jacking and reversing, characterized in that, The system includes an X-axis vehicle body and a Y-axis vehicle body nested together. A top plate is provided on the top of the Y-axis vehicle body. The X-axis vehicle body and the Y-axis vehicle body, as well as the top plate and the Y-axis vehicle body, are slidably connected. A lifting and reversing mechanism is symmetrically arranged between the X-axis and Y-axis vehicle bodies. This mechanism includes a slide table capable of linear reciprocating relative to the Y-axis vehicle body. The top and bottom of the slide table are respectively provided with a lifting path groove and a reversing path groove. A limiting path groove is provided on the side wall of the top plate. A lifting slide rod is provided on the top plate, a limiting slide rod is provided on the slide table, and a reversing slide rod is provided on the X-axis vehicle body. The lifting slide rod and the lifting path groove, the limiting slide rod and the limiting path groove, and the reversing slide rod and the reversing path groove are all slidably connected. The lifting path groove includes a first ramp section, the limiting path groove includes a second ramp section, and the reversing path groove includes a third ramp section. The first and second ramp sections are both inclined upwards, and the inclination direction and angle of the first and second ramp sections are the same. The third ramp section is inclined downwards. The lifting path groove has a first arc-shaped receiving groove at its starting end, which connects to a first ramp section, and the tail end of the first ramp section extends to the side wall of the slide table; the limiting path groove has a second arc-shaped receiving groove at its starting end, which connects to a second ramp section, and the tail end of the second ramp section connects to a first horizontal section, and the tail end of the first horizontal section connects to a third arc-shaped receiving groove; the reversing path groove has a fourth arc-shaped receiving groove at its starting end, which connects to a second horizontal section, and the tail end of the second horizontal section connects to a third ramp section, and the tail end of the third ramp section connects to a fifth arc-shaped receiving groove.

2. The jacking-reversing four-way shuttle vehicle according to claim 1, characterized in that, The lifting path groove is open on one side, the limiting path groove is closed, and the reversing path groove is open at its tail end.

3. The jacking-reversing four-way shuttle vehicle according to claim 1, wherein, Multiple lifting slide rods are provided on the X-axis vehicle body, and multiple lifting slide sleeves are provided on the Y-axis vehicle body. The lifting slide sleeves and lifting slide rods are provided in a one-to-one correspondence. The lifting slide sleeves are sleeved on the outside of the lifting slide rods and are slidably connected to the lifting slide rods.

4. The lifting and reversing four-way shuttle as described in claim 1, characterized in that, The X-direction vehicle body includes an X-direction frame, on which multiple X-direction wheels and an X-direction transmission mechanism are mounted; the Y-direction vehicle body includes a Y-direction frame, on which multiple Y-direction wheels, a Y-direction transmission mechanism, and a drive motor are mounted. The drive motor is connected to the X-axis transmission mechanism via a universal coupling, and the X-axis transmission mechanism is connected to the drive wheel in the X-axis wheel; the drive motor is connected to the travel drive shaft via a chain drive, and the travel drive shaft is connected to the Y-axis transmission mechanism, which is connected to the drive wheel in the Y-axis wheel.

5. The lifting and reversing four-way shuttle as described in claim 4, characterized in that, The Y-axis vehicle body is also equipped with a lifting and reversing motor. The lifting and reversing motor is connected to two lead screws via a connecting shaft. Each lead screw is rotatably connected to a nut, and the slide is connected to the nut.

6. The lifting and reversing four-way shuttle as described in claim 5, characterized in that, The lead screw is a forward and reverse threaded lead screw, and a slide is provided on both the forward threaded part and the reverse threaded part of the forward and reverse threaded lead screw.

7. A lifting and reversing method for a lifting and reversing four-way shuttle car as described in any one of claims 1-6, characterized in that, This includes jacking methods and reversing methods, wherein the jacking method includes the following steps: The lifting slide, the limiting slide, and the reversing slide are set to their initial positions in the first arc-shaped receiving groove, the second arc-shaped receiving groove, and the fourth arc-shaped receiving groove, respectively. At this time, the top plate is in the reset state, and the four-way shuttle travels along the Y direction. The lifting reversing motor drives the lead screw to rotate, which in turn moves the slide table. The lifting slide rod climbs to the end of the first ramp section, and the translation of the limiting slide rod drives the second ramp section to move upward. Together, they provide the lifting force for the top plate. When the limiting slide rod moves to the end of the second ramp section, the top plate is raised to the lifting position. At this point, the reversing slide bar moves horizontally along the second horizontal section. When it reaches the end of the second horizontal section, the Y-axis vehicle body does not move vertically, and the four-way shuttle car still moves along the Y-axis.

8. The lifting and reversing method for a lifting and reversing four-way shuttle as described in claim 7, characterized in that, The commutation method includes the following steps: After the top plate reaches the lifting position, the lifting reversing drive motor continues to drive the lead screw to rotate, causing the slide to move further. At this time, the lifting slide rod will move horizontally along the side wall of the slide, the limiting slide rod will move horizontally along the first horizontal section, and the top plate will still be in the lifting position. The reversing slide bar continues to move along the end of the second horizontal section, descends to the third ramp section, and then drives the entire X-direction vehicle body to move down. The X-direction wheels are exposed below the Y-direction wheels, and the reversal is successful. The four-way shuttle car changes direction to move along the X direction.

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