An efficient four-way shuttle vehicle for transportation

Abstract

The present application relates to an efficient four-way shuttle vehicle for transportation, belonging to the technical field of three-dimensional warehousing transportation. The efficient four-way shuttle vehicle for transportation includes a vehicle frame, a supporting mechanism, a weighing sensor, and a controller. The vehicle frame can move along a track; the supporting mechanism is arranged on the vehicle frame and includes a first plate, a second plate, and an adjusting component. The first plate includes a supporting surface for supporting goods. The second plate is fixedly connected to the vehicle frame. The adjusting component is arranged between the first plate and the second plate, and the adjusting component can adjust the inclination angle and inclination direction of the first plate; a plurality of weighing sensors are at least distributed in the vertical projection area of the first plate and are used for measuring the weight of goods; the controller determines the center-of-gravity position of the weighed goods based on the position information of the plurality of weighing sensors and the weight values sensed by the plurality of weighing sensors; wherein, the adjusting component determines the adjusting direction and adjusting angle of the adjusting component based on the determined center-of-gravity position of the goods. The efficient four-way shuttle vehicle for transportation provided by the embodiments of the present application can improve the throughput efficiency of the warehouse for inbound and outbound operations.

Description

Technical Field

[0001] This application relates to the technical field of three-dimensional warehousing and transportation. Specifically, it relates to a high-efficiency four-way shuttle vehicle for carrying goods. Background Art

[0002] A four-way shuttle vehicle is an intelligent logistics handling device applied to an automated three-dimensional warehouse system. It can be guided by a track and automatically change its track and direction to complete the task of storing and retrieving goods in the storage locations of multi-layer shelves.

[0003] When the existing four-way shuttle vehicle carries goods, there may be a problem of eccentric center of gravity of the carried goods (for example, goods such as refrigerators and safes have a relatively light storage area in the middle, while heavier motors and locks are arranged on the sides). In order to reduce the risk of the goods with eccentric center of gravity falling during movement, it is necessary to keep the speed of the four-way shuttle vehicle within a relatively slow safe speed range. The slow speed of the four-way shuttle vehicle results in a low throughput efficiency of the warehouse for inbound and outbound operations. Summary of the Invention

[0004] The purpose of this application is to provide a high-efficiency four-way shuttle vehicle for carrying goods to improve the throughput efficiency of the warehouse for inbound and outbound operations and solve the above problems.

[0005] This application is implemented by the following technical solutions:

[0006] In some embodiments, this application provides a high-efficiency four-way shuttle vehicle for carrying goods. The high-efficiency four-way shuttle vehicle can move along the tracks between the shelves to carry goods. The high-efficiency four-way shuttle vehicle includes a vehicle frame, a supporting mechanism, a weighing sensor, and a controller. The vehicle frame can move along the track. The supporting mechanism is arranged on the vehicle frame and includes a first plate, a second plate, and an adjusting component. The first plate includes a supporting surface for supporting goods. The second plate is fixedly connected to the vehicle frame. The adjusting component is arranged between the first plate and the second plate, and the adjusting component can adjust the tilt angle and tilt direction of the first plate relative to the second plate. A plurality of weighing sensors are at least distributed in the vertical projection area of the first plate and are used to measure the weight of the goods. The controller determines the center of gravity position of the weighed goods based on the position information of the plurality of weighing sensors and the weight values sensed by the plurality of weighing sensors. Among them, the adjusting component determines the adjusting direction and adjusting angle of the adjusting component based on the determined center of gravity position of the goods.

[0007] In the technical solution of the embodiment of the present application, the supporting mechanism is arranged on the frame, and the frame can lift the goods through the supporting mechanism and then move along the track to the predetermined storage position of the goods, and then place the goods in the storage position for safekeeping, or the frame can move to the storage position of the goods to be taken out, lift the goods and take them out from the storage position, and then transport the goods to the shipping position; the supporting mechanism includes a first plate, a second plate and an adjustment component, the first plate includes a supporting surface for supporting the goods, the first plate can contact with the goods (or the pallet for placing the goods), and the first plate can provide a larger contact for the goods (or the pallet). The contact surface allows the weight of the goods to be evenly distributed to various places on the contact surface between the goods (or pallet) and the first plate, reducing the risk of damage to heavy or irregular-shaped goods due to stress concentration caused by too small a force application area of ​​the supporting force. The second plate is fixedly connected to the frame, and an adjustment component is arranged between the first plate and the second plate. An adjustment component is arranged between the first plate and the second plate, and the adjustment component can adjust the inclination angle and inclination direction of the first plate relative to the second plate; the supporting surface inclines with the first plate, and the inclination of the supporting surface can drive the goods placed on the supporting surface to incline together. On the premise that the goods will be placed at the center of the supporting surface, facing the center of gravity When the cargo deviates from its own center, the weighing sensors of each adjusting component will detect the weight value of the cargo, and then the controller will calculate the center of gravity position of the cargo according to the multiple weight information obtained by the multiple weighing sensors. According to the center of gravity position of the cargo, the adjusting component will determine the inclination angle and inclination direction of the first plate, so that the end of the first plate corresponding to the center of gravity of the cargo is tilted, so that the cargo is tilted and the center of gravity position is raised, causing the potential energy of the cargo to increase, and the center of gravity of the cargo will move from the place with high potential energy to the place with low potential energy, that is, the center of gravity of the cargo will move from the position deviating from its own center to its own center and the height will decrease, so as to increase the center of gravity of the cargo. By adjusting the load to its own center and also to the center of the supporting surface, the goods can remain stable and not easily fall when the efficient transport four-way shuttle provided by the present application is moving at a relatively high speed. In addition, when the goods have a tendency to tip over due to the movement of the center of gravity of the efficient transport four-way shuttle being too fast, the adjustment component can be used to lift up one side of the first plate corresponding to the position where the center of gravity of the goods moves, so that the center of gravity of the goods moves back to its own center, thereby preventing the tendency of the goods to tip over and fall, and allowing the efficient transport four-way shuttle to move at a relatively high speed while ensuring the safety of the goods and not letting them fall, thereby improving the warehouse's inbound and outbound throughput efficiency.

[0008] In some embodiments, the angle between the supporting surface and the second plate is a, satisfying 1°≤a≤5°.

[0009] In the technical solution of the embodiment of the present application, the angle between the supporting surface and the second plate is a. When 1°≤a≤5° is satisfied, the supporting surface can guide the movement of the center of gravity of the goods without causing the goods to slide or overturn, and the effect is significant and relatively safe.

[0010] In some embodiments, the adjusting assembly includes an adjusting driving member and a cam. The cam is rotatably disposed on the second plate. The outer peripheral surface of the cam contacts and supports the first plate. The cam jacks up or lowers the first plate under the drive of the adjusting driving member.

[0011] In the technical solution of the embodiment of the present application, the number of adjusting assemblies is multiple. An adjusting assembly is disposed at at least each of the four corners of the first plate. The outer peripheral surface of the cam contacts and supports the first plate. The cam jacks up or lowers the first plate under the drive of the adjusting driving member. The supporting effect between the cam and the first plate is stable, and the size of the lift of the cam can be determined by controlling the distance between the rotation axis of the cam and a fixed point, so as to reduce the risk of the goods tipping over caused by the cam excessively jacking up the first plate when the adjusting signal of the adjusting driving member is disordered, etc., and improve the safety when the adjusting assembly adjusts the tilt angle of the goods.

[0012] In some embodiments, the controller determines the real-time centroid position of the weighed goods based on the position information of multiple weighing sensors and the weight values sensed by the multiple weighing sensors in real time, and controls the adjusting assembly to adjust the tilt angle and tilt direction of the first plate.

[0013] In the technical solution of the embodiment of the present application, the weighing sensor can be used to detect the weight information of the goods in real time during the process of the high-efficiency carrying four-way shuttle vehicle provided in the present application transporting the goods. The controller determines the real-time centroid position of the weighed goods based on the position information of multiple weighing sensors and the weight values sensed by the multiple weighing sensors in real time. When the controller detects through the multiple weighing sensors that the centroid of the goods deviates from its center, the controller controls the adjusting assembly to adjust the tilt angle and tilt direction of the first plate based on the centroid position of the goods at this time, and makes real-time adjustment to the centroid position of the goods, so that the centroid of the goods can be centered and not easily fall under the premise of various emergencies encountered during the process of transporting the goods, and the safety when the high-efficiency carrying four-way shuttle vehicle provided in the present application transports the goods is improved.

[0014] In some embodiments, in the height direction of the vehicle frame, the vehicle frame has a first surface facing the goods, and the first surface does not exceed the supporting surface.

[0015] In the technical solution of the embodiment of the present application, the vehicle frame has a first surface facing the goods, and the first surface does not exceed the supporting surface, so that the goods can be supported by the supporting surface, so that the goods can be effectively driven to tilt when the supporting surface tilts.

[0016] In some embodiments, in the height direction of the vehicle frame, the vehicle frame has a first surface facing the goods, and the surface of the second plate facing the goods is lower than the first surface.

[0017] In the technical solution of the embodiment of the present application, the frame has a first surface facing the cargo, and the surface of the second plate facing the cargo is lower than the first surface, so that the second plate can be covered and limited by the frame regardless of whether it is pushed by the lifting assembly to move or when the frame moves. On the one hand, the risk of the supporting mechanism deviating from the height direction of the frame during the lifting process is reduced, and on the other hand, the stability of the supporting mechanism when supporting the cargo is improved.

[0018] In some embodiments, the second plate is provided with a plurality of support columns, which are located between the first plate and the second plate. In the height direction of the frame, the size of the support columns is less than or equal to the size of the adjustment assembly. A support column is provided at each of at least four corners of the second plate, and the support columns are used to support the inclined first plate.

[0019] In the technical solution of the embodiment of the present application, the second plate is provided with a plurality of support columns, the size of the support columns is less than or equal to the size of the adjustment component, a support column is provided at at least four corners of the second plate, the support columns are used to support the inclined first plate, the bottom end of the inclined first plate can be supported by the support columns, the strength of the support columns is greater than the strength of the support component, when the first plate is tilted, the support columns supporting the bottom end of the first plate can bear most of the weight of the first plate, thereby avoiding damage to the single adjustment component due to bearing most of the weight of the first plate.

[0020] In some embodiments, the first plate is provided with a plurality of limit members, the limit members are located between the first plate and the second plate, at least one limit member is provided at each of the four corners of the first plate, and the first plate is tilted so that some of the plurality of limit members overlap with some of the support columns.

[0021] In the technical solution of the embodiment of the present application, the first plate is provided with a plurality of limit members, and the limit members are located between the first plate and the second plate. A limit member is provided at at least four corners of the first plate, and the four limit members located at the four corners of the first plate correspond one by one to the four limit members located at the four corners of the second plate. When the first plate is tilted to the maximum angle between itself and the second plate (that is, the angle is equal to 5°), some of the plurality of limit members overlap with some of the support columns, and the overlap of the limit members and the support columns is coordinated to limit the rotation angle of the raised end of the first plate compared to the bottom end of the first plate from continuing to increase, thereby reducing the risk of tipping over of the goods on the supporting surface and improving the safety of the supporting surface in supporting the goods.

[0022] In some embodiments, any of the multiple support columns located at the four corners of the second plate has an outer surface facing away from the center of the second plate, and any of the limit members located at the four corners of the first plate has an inner surface adapted to the outer surface of the support column. The support column is closer to the center of the second plate than the limit member, and the first plate is tilted so that the inner surface of the limit member overlaps the outer surface of the support column.

[0023] In the technical solution of the embodiment of the present application, any one of the plurality of support columns located at the four corners of the second plate has an outer surface facing away from the center of the second plate, and any one of the limiting members located at the four corners of the first plate has an inner surface adapted to the outer surface of the support column. When the first plate is tilted, the inner surface of the limiting member is overlapped with the outer surface of the support column, so that when the limiting member and the support column are overlapped, the two can be mutually limited by the cooperation of the inner surface and the outer surface, reducing the risk that the first plate is displaced relative to the second plate under the drive of the goods when the first plate is tilted to adjust the center of gravity position of the goods.

[0024] In some embodiments, the vehicle frame is further provided with a lifting assembly, and the second plate is further provided with a plurality of support blocks. The support blocks are arranged on the side of the second plate away from the first plate, and at least one support block is arranged at each of the four corners of the second plate. The second plate is connected to the lifting assembly through the support blocks, and the lifting assembly supports and lifts the supporting mechanism to lift or lower the goods.

[0025] In the technical solution of the embodiment of the present application, the second plate is connected to the lifting assembly through the support blocks, so that the supporting force from the lifting assembly received by the second plate can be evenly distributed on the contact surface between the second plate and the support blocks, reducing the risk that the second plate is damaged due to stress concentration caused by too small a force-bearing area when receiving the supporting force.

[0026] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the embodiment of the present application, the drawings required to be used in the embodiment will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0028] Figure 1 Structural schematic diagram of an efficient transport four-way shuttle for some embodiments of the present application;

[0029] Figure 2 Internal structural schematic diagram of an efficient transport four-way shuttle for some embodiments of the present application;

[0030] Figure 3 Structural schematic diagram of a vehicle frame for some embodiments of the present application;

[0031] Figure 4 Side view of an efficient transport four-way shuttle with an inclined supporting surface for some embodiments of the present application;

[0032] Figure 5Top view of an efficient transport four-way shuttle vehicle provided by some embodiments of the present application;

[0033] Figure 6 For Figure 5 Cross-sectional view taken along line A-A of;

[0034] Figure 7 Structural schematic diagram of a supporting mechanism provided by some embodiments of the present application;

[0035] Figure 8 Structural schematic diagram of a second plate and an adjusting assembly provided by some embodiments of the present application.

[0036] Icons: 1 - Rail; 2 - Frame; 20 - First surface; 21 - Lifting assembly; 3 - Supporting mechanism; 30 - Adjusting assembly; 300 - Cam; 301 - Weighing sensor; 31 - First plate; 310 - Supporting surface; 311 - Limiting member; 32 - Second plate; 320 - Support column; 321 - Support block. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0038] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs; the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of the present application or the above drawings are used to distinguish different objects and not to describe a specific order or primary-secondary relationship.

[0039] Referring to "embodiments" in the present application means that specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0040] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "joined", and "attached" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0041] In the present application, the term "and / or" is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the preceding and following associated objects.

[0042] In the present application, "a plurality of" means two or more (including two). Similarly, "a plurality of groups" means two or more groups (including two groups), and "a plurality of sheets" means two or more sheets (including two sheets).

[0043] Automated storage and retrieval systems, also known as automated warehouses, are a type of logistics storage system that utilizes high-rise shelves and automated equipment to achieve the rationalization of high-rise warehouses and automated storage and retrieval. It stores goods through high-rise shelves, develops the storage area upwards, and realizes the advantages of small floor area, large storage capacity, and fast turnover. An automated storage and retrieval system usually consists of shelves, stacker cranes, conveyor systems, communication systems, information identification systems, and computer control and management systems. These components work together to build an efficient and precise storage system. High-efficiency four-way shuttle vehicles are part of the conveyor system that constitutes an automated storage and retrieval system.

[0044] According to some embodiments of the present application, optionally, such as Figures 1 to 7As shown, the present application provides a high-efficiency transport four-way shuttle vehicle, which can move along the track 1 between the shelves to transport goods. The high-efficiency transport four-way shuttle vehicle includes a frame 2, a supporting mechanism 3, a weighing sensor 301 and a controller. The frame 2 can move along the track 1; the supporting mechanism 3 is arranged on the frame 2, including a first plate 31, a second plate 32 and an adjustment component 30, the first plate 31 includes a supporting surface 310 for supporting goods, the second plate 32 is fixedly connected to the frame 2, and the adjustment component 30 is arranged on the first plate 3 1 and the second plate 32, the adjustment component 30 can adjust the inclination angle and inclination direction of the first plate 31 relative to the second plate 32; a plurality of weighing sensors 301 are distributed at least in the vertical projection area of ​​the first plate 31, and are used to measure the weight of the goods; the controller determines the center of gravity position of the weighed goods based on the position information of the plurality of weighing sensors 301 and the weight values ​​sensed by the plurality of weighing sensors 301; wherein the adjustment component 30 determines the adjustment direction and adjustment angle of the adjustment component 30 based on the determined center of gravity position of the goods.

[0045] The frame 2 is usually formed by combining high-quality steel materials using modular design technology to ensure the reliability of the entire vehicle and the lightweight structure.

[0046] The travel of the carriage 2 is generally driven by a servo motor, with a planetary speed reducer and a commutator to achieve rapid reversing. The wheels are made of wear-resistant materials to adapt to long-term friction and reduce noise. When the shelf layer is running horizontally, the four-way carriage uses 4-wheel drive in the horizontal direction and 8-wheel drive in the vertical direction to ensure the stability of the travel.

[0047] Taking the supporting mechanism 3 as an example, the portion close to the supporting surface 310 is the top of the supporting mechanism 3 , and the portion close to the second plate 32 is the bottom of the supporting mechanism 3 .

[0048] The tilted end mentioned in the present application is the end that rotates around the fulcrum when the first plate 31 is in a tilted state, and the bottom end mentioned in the present application is the end that is fixed when the first plate 31 is in a tilted state.

[0049] When the first plate 31 is in a horizontal state, the surface of the first plate 31 facing away from the supporting surface 310 can contact the adjustment component 30 and be supported by other components; or, the surface of the first plate 31 facing away from the supporting surface 310 can be supported by the adjustment component 30.

[0050] When the number of the adjusting components 30 is multiple, when the first plate 31 is in an inclined state, the upturned end of the first plate 31 is supported by some of the adjusting components 30, the bottom end of the first plate 31 can be supported by other components, and some of the adjusting components 30 between the adjusting components 30 that jack up the upturned end of the first plate 31 and the other components that support the first plate 31 can be separated from the first plate 31, or some of the other adjusting components 30 can also jack up the first plate 31. In the height direction of the vehicle frame 2, from the upturned end to the bottom end of the first plate 31, the height at which the multiple adjusting components 30 jack up the first plate 31 gradually decreases so as to keep the first plate 31 inclined.

[0051] The supporting mechanism 3 is arranged on the vehicle frame 2. The vehicle frame 2 can lift the goods through the supporting mechanism 3 and then move along the track 1 to the predetermined storage position of the goods, and then place the goods in the storage position for safekeeping, or the vehicle frame 2 can move to the storage position of the goods to be taken out, lift the goods and take them out from the storage position, and then transport the goods to the shipping position; the supporting mechanism 3 includes a first plate 31, a second plate 32 and an adjustment component 30, the first plate 31 includes a supporting surface 310 for supporting the goods, the first plate 31 can contact with the goods (or a pallet for placing the goods), and the first plate 31 can provide a larger contact surface for the goods (or the pallet) to make the weight of the goods The amount can be evenly dispersed to various places on the contact surface between the cargo (or pallet) and the first plate 31, reducing the risk of damage to heavy or irregular-shaped cargo due to stress concentration caused by too small a force-bearing area of ​​the supporting force. The second plate 32 is fixedly connected to the frame 2, and the adjustment component 30 is arranged between the first plate 31 and the second plate 32. The adjustment component 30 is arranged between the first plate 31 and the second plate 32. The adjustment component 30 can adjust the inclination angle and inclination direction of the first plate 31 relative to the second plate 32; the supporting surface 310 inclines with the first plate 31, and the inclination of the supporting surface 310 can drive the cargo placed on the supporting surface 310 to incline together, and the cargo will be placed on the supporting surface 310. On the premise that the center of gravity of the cargo deviates from its own center, when facing the cargo with the center of gravity deviating from its own center, the weighing sensors 301 of each adjusting component 30 will detect the weight value of the cargo, and then the controller will calculate the center of gravity position of the cargo according to the multiple weight information obtained by the multiple weighing sensors 301. According to the center of gravity position of the cargo, the adjusting component 30 will determine the inclination angle and inclination direction of the first plate 31, so that the end of the first plate 31 corresponding to the center of gravity of the cargo is tilted, so that the cargo is tilted and the center of gravity position is raised, resulting in an increase in the potential energy of the cargo, and the center of gravity of the cargo will move from a place with high potential energy to a place with low potential energy, that is, the center of gravity of the cargo will move from a position deviating from its own center to its own center and the high The degree is reduced, and the center of gravity of the goods is adjusted to its own center and to the center of the supporting surface 310, so that the goods can remain stable and not easily fall when the high-efficiency transport four-way shuttle provided by the present application is moving at a relatively high speed; in addition, when the goods have a tendency to overturn due to the movement of the center of gravity of the high-efficiency transport four-way shuttle being moved too fast, the adjustment component 30 can lift up one side of the first plate 31 corresponding to the position where the center of gravity of the goods moves, so that the center of gravity of the goods moves back to its own center, and the tendency of the goods to overturn and fall is prevented, so that the high-efficiency transport four-way shuttle can move at a relatively high speed while ensuring the safety of the goods and not easy to fall, thereby improving the warehouse's in and out throughput efficiency.

[0052] According to some embodiments of the present application, optionally, Figure 7 As shown, the angle between the supporting surface 310 and the second plate 32 is a, which satisfies 1°≤a≤5°.

[0053] When a < 1°, the effect of the supporting surface 310 in guiding the inclination of the goods is poor, and it is difficult to guide the movement of the center of gravity of the goods;

[0054] When a > 5°, the inclination angle of the goods is relatively large. The supporting surface 310 may cause the goods to tip over, or the goods with a relatively smooth surface in contact with the supporting surface 310 (or the tray) may slide and fall along the supporting surface 310.

[0055] When the included angle a between the supporting surface 310 and the second plate 32 satisfies 1° ≤ a ≤ 5°, the supporting surface 310 can guide the movement of the center of gravity of the goods without causing the goods to slide or tip over, with significant effect and relatively high safety.

[0056] According to some embodiments of the present application, optionally, as Figure 4 、 Figures 6 to 8 shown, the number of the adjusting components 30 is multiple. At least four corners of the first plate 31 are each provided with an adjusting component 30. The adjusting component 30 includes an adjusting driving member and a cam 300. The cam 300 is rotatably arranged on the second plate 32. The outer peripheral surface of the cam 300 contacts and supports the first plate 31. The cam 300 jacks up or lowers the first plate 31 under the drive of the adjusting driving member.

[0057] A protective layer may be provided on the surface of the cam 300 in contact with the first plate 31. On the one hand, the surface of the protective layer in contact with the first plate 31 is relatively smooth, which can reduce the friction between the protective layer and the first plate 31 when the cam 300 rotates to change the inclination angle of the first plate 31, and reduce the risk of damage to the first plate 31 under the friction of the cam 300.

[0058] The outer peripheral surface of the cam 300 contacts and supports the first plate 31. The cam 300 jacks up or lowers the first plate 31 under the drive of the adjusting driving member. The supporting effect between the cam 300 and the first plate 31 is stable, and the size of the lift of the cam 300 can be determined by controlling the distance between the rotation axis of the cam 300 and a fixed point, so as to reduce the risk of the goods tipping over caused by the cam 300 over-jacking up the first plate 31 when the adjusting driving member has problems such as incorrect adjustment signals, and improve the safety when the adjusting component 30 adjusts the inclination angle of the goods.

[0059] According to some embodiments of the present application, optionally, as Figure 4 、 Figures 6 to 8 shown, the controller determines the real-time center of gravity position of the weighed goods based on the position information of the multiple weighing sensors 301 and the weight values real-time sensed by the multiple weighing sensors 301, and controls the adjusting component 30 to adjust the inclination angle and inclination direction of the first plate 31.

[0060] The controller can also control the moving speed of the vehicle frame 2. When the goods on the supporting surface 310 have a phenomenon of center of gravity deviation during the movement of the goods, when the direction of the center of gravity deviation of the goods is the same as the moving direction of the vehicle frame 2, the controller can control the vehicle frame 2 to accelerate appropriately; when the direction of the center of gravity deviation of the goods is opposite to the moving direction of the vehicle frame 2, the controller can control the vehicle frame 2 to decelerate appropriately to reduce the risk of the goods tipping over.

[0061] The weighing sensors 301 can be used to detect the weight information of the goods in real time during the movement of the goods transported by the high-efficiency transport four-way shuttle provided in the present application. The controller determines the real-time center of gravity position of the weighed goods based on the position information of the multiple weighing sensors 301 and the weight values sensed by the multiple weighing sensors 301 in real time. When the controller detects through the multiple weighing sensors 301 that the center of gravity of the goods deviates from its center, the controller controls the adjusting assembly 30 to adjust the inclination angle and inclination direction of the first plate 31 based on the center of gravity position of the goods at this time, and makes a real-time adjustment to the center of gravity position of the goods, which can make the center of gravity of the goods centered and not easy to fall under the premise of various emergencies encountered during the transportation of the goods, and improve the safety when the high-efficiency transport four-way shuttle provided in the present application transports the goods.

[0062] According to some embodiments of the present application, optionally, as Figures 4 to 6 shown, in the height direction of the vehicle frame 2, the vehicle frame 2 has a first surface 20 facing the goods, and the first surface 20 does not exceed the supporting surface 310.

[0063] The first surface 20 can be flush with the supporting surface 310 when the first plate 31 is in a horizontal state. The first surface 20 surrounds the supporting surface 310, so that when the goods are at the center of the supporting surface 310, the goods can be at the center of the high-efficiency transport four-way shuttle provided in the present application, reducing the risk of the vehicle frame 2 tipping over or undergoing local deformation due to excessive pressure on one side.

[0064] When the first surface 20 is flush with the supporting surface 310 when the first plate 31 is in a horizontal state, the part of the supporting surface 310 at the bottom end of the first plate 31 when the first plate 31 is inclined is not lower than the first surface 20.

[0065] The vehicle frame 2 has a first surface 20 facing the goods, and the first surface 20 does not exceed the supporting surface 310, so that the goods can be supported by the supporting surface 310, and thus the supporting surface 310 can effectively drive the goods to tilt when it tilts.

[0066] According to some embodiments of the present application, optionally, as Figures 4 to 6 shown, in the height direction of the vehicle frame 2, the vehicle frame 2 has a first surface 20 facing the goods, and the surface of the second plate 32 facing the goods is lower than the first surface 20.

[0067] When the high-efficiency transport four-way shuttle provided by the present application lifts the goods off the shelves of the warehouse or lifts the goods to place them on the shelves, the supporting mechanism 3 will rise to the highest height under the drive of the lifting assembly 21. The first plate 31 of the supporting mechanism 3 at the highest height can completely exceed the first surface 20. In the height direction of the vehicle frame 2, the first surface 20 is located between the first plate 31 and the second plate 32; or, the surface of the first plate 31 of the supporting mechanism 3 at the highest height facing the second plate 32 can be lower than the first surface 20, and the first surface 20 is located between the two surfaces of the first plate 31 opposite to each other in the height direction of the vehicle frame 2.

[0068] When the high-efficiency transport four-way shuttle provided by the present application supports the goods for movement, the supporting mechanism 3 will descend to the lowest height under the drive of the lifting assembly 21. The first plate 31 of the supporting mechanism 3 at the low height can completely exceed the first surface 20. In the height direction of the vehicle frame 2, the first surface 20 is located between the first plate 31 and the second plate 32; or, the surface of the first plate 31 of the supporting mechanism 3 at the lowest height facing the second plate 32 can be lower than the first surface 20, and the first surface 20 is located between the two surfaces of the first plate 31 opposite to each other in the height direction of the vehicle frame 2. Or, the supporting surface 310 of the supporting mechanism 3 at the lowest height is flush with the first surface 20.

[0069] The vehicle frame 2 has a first surface 20 facing the goods. The surface of the second plate 32 facing the goods is lower than the first surface 20, so that the second plate 32 can be covered and limited by the vehicle frame 2 whether it is being pushed by the lifting assembly 21 to move or during the movement of the vehicle frame 2. On the one hand, the risk of the supporting mechanism 3 deviating from the height direction of the vehicle frame 2 during the lifting process is reduced. On the other hand, the stability of the supporting mechanism 3 when supporting the goods is improved.

[0070] According to some embodiments of the present application, optionally, as Figure 4 、 Figures 6 to 8 shown, the second plate 32 is provided with a plurality of support columns 320. The support columns 320 are located between the first plate 31 and the second plate 32. In the height direction of the vehicle frame 2, the size of the support columns 320 is smaller than the size of the adjusting assembly 30. At least four corners of the second plate 32 are each provided with a support column 320, and the support columns 320 are used to support the inclined first plate 31.

[0071] The support column 320 can be a square column, which can realize the mutual limitation between the second plate 32 and other components through the two outer surfaces facing the outside; or, the support column 320 can be a cylindrical column, and the outer peripheral surface of the support column 320 is relatively smooth, reducing the risk of damage caused by rubbing between the support column 320 and other components.

[0072] The second plate 32 is provided with a plurality of support columns 320, the size of the support columns 320 is less than or equal to the size of the adjustment component 30, and a support column 320 is provided at at least four corners of the second plate 32, and the support columns 320 are used to support the inclined first plate 31, and the bottom end of the inclined first plate 31 can be supported by the support columns 320, and the strength of the support columns 320 is greater than the strength of the support component. When the first plate 31 is tilted, the support columns 320 supporting the bottom end of the first plate 31 can bear most of the weight of the first plate 31, thereby preventing the single adjustment component 30 from being damaged due to bearing most of the weight of the first plate 31.

[0073] According to some embodiments of the present application, optionally, Figure 4 , Figures 6 to 8 As shown, the first plate 31 is provided with a plurality of limit members 311, and the limit members 311 are located between the first plate 31 and the second plate 32. A limit member 311 is provided at at least four corners of the first plate 31, and the first plate 31 is tilted so that some of the limit members 311 among the plurality of limit members 311 overlap with some of the support columns 320.

[0074] In the height direction of the vehicle frame 2 , the size of the stopper 311 is smaller than the spacing distance between the first plate 31 and the second plate 32 .

[0075] In the height direction of the vehicle frame 2 , the stopper 311 and the support column 320 at least partially overlap.

[0076] The first plate 31 is provided with a plurality of limit members 311, and the limit members 311 are located between the first plate 31 and the second plate 32. At least one limit member 311 is provided at each of the four corners of the first plate 31, and the four limit members 311 located at the four corners of the first plate 31 correspond one to one with the four limit members 311 located at the four corners of the second plate 32. When the first plate 31 is tilted to the maximum angle between itself and the second plate 32 (that is, the angle is equal to 5°), some of the plurality of limit members 311 overlap with some of the support columns 320, and the overlap of the limit members 311 and the support columns 320 is coordinated to limit the rotation angle of the tilted end of the first plate 31 compared to the bottom end of the first plate 31 to continue to increase, thereby reducing the risk of the goods on the supporting surface 310 tipping over and improving the safety of the supporting surface 310 supporting the goods.

[0077] According to some embodiments of the present application, optionally, any support column 320 among the multiple support columns 320 located at the four corners of the second plate 32 has an outer surface facing away from the center of the second plate 32, and any limit member 311 among the limit members 311 located at the four corners of the first plate 31 has an inner surface adapted to the outer surface of the support column 320, the support column 320 is closer to the center of the second plate 32 than the limit member 311, and the first plate 31 is tilted so that the inner surface of the limit member 311 overlaps the outer surface of the support column 320.

[0078] When the support column 320 is a square column, the inner surface of the limiting member 311 is composed of two flat surfaces; when the support column 320 is a cylindrical column, the inner surface of the limiting member 311 is an arc surface.

[0079] Any one of the support columns 320 located at the four corners of the second plate 32 among the multiple support columns 320 has an outer surface facing away from the center of the second plate 32. Any one of the limiting members 311 located at the four corners of the first plate 31 has an inner surface adapted to the outer surface of the support column 320. The first plate 31 is inclined so that the inner surface of the limiting member 311 abuts against the outer surface of the support column 320. When the limiting member 311 abuts against the support column 320, the two can be mutually limited by the cooperation of the inner surface and the outer surface, reducing the risk of displacement relative to the second plate 32 under the drive of the goods when the first plate 31 is inclined to adjust the center of gravity position of the goods.

[0080] According to some embodiments of the present application, optionally, as Figure 3 、 Figures 7 to 8 As shown, the vehicle frame 2 is further provided with a lifting assembly 21. The second plate 32 is further provided with a plurality of support blocks 321. The support blocks 321 are arranged on the side of the second plate 32 away from the first plate 31. At least one support block 321 is arranged at each of the four corners of the second plate 32. The second plate 32 is connected to the lifting assembly 21 through the support blocks 321. The lifting assembly 21 supports and lifts the supporting mechanism 3 to lift or lower the goods.

[0081] The second plate 32 is connected to the lifting assembly 21 through the support blocks 321, so that the supporting force from the lifting assembly 21 received by the second plate 32 can be evenly distributed on the contact surface between the second plate 32 and the support blocks 321, reducing the risk of damage to the second plate 32 due to stress concentration caused by too small a force-bearing area when receiving the supporting force.

[0082] Although the present application has been described with reference to the preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An efficient four-way shuttle vehicle capable of moving along tracks between shelves to transport goods, characterized in that: include: a vehicle frame capable of moving along the track; A supporting mechanism is arranged on the frame, comprising a first plate, a second plate and an adjusting assembly, wherein the first plate comprises a supporting surface for supporting the goods, the second plate is fixedly connected to the frame, the adjusting assembly is arranged between the first plate and the second plate, and the adjusting assembly is arranged between the first plate and the second plate, and the adjusting assembly can adjust the inclination angle and inclination direction of the first plate relative to the second plate; At least one adjusting assembly is disposed at each of the four corners of the first plate, and the adjusting assembly includes an adjusting driving member and a cam, the cam is rotatably disposed on the second plate, the outer peripheral surface of the cam contacts and supports the first plate, and the cam is driven by the adjusting driving member to lift or lower the first plate; A plurality of weighing sensors, distributed at least in a vertical projection area of ​​the first plate, for measuring the weight of the cargo; A controller, which determines the center of gravity of the weighed cargo based on the position information of the plurality of weighing sensors and the weight values ​​sensed by the plurality of weighing sensors; A support column, wherein at least one support column is disposed at each of at least four corners of the second plate; A limiting member, wherein at least one limiting member is disposed at each of at least four corners of the first plate; The support column is closer to the center of the second plate than the limiting member; The support columns located at the four corners of the second plate have outer surfaces facing away from the center of the second plate, and the limiting members located at the four corners of the first plate have inner surfaces adapted to the outer surfaces of the support columns. The first plate is tilted so that the inner surfaces of the limiting members overlap with the outer surfaces of the support columns, and the limiting members and the support columns can cooperate with each other through the inner and outer surfaces to limit each other, thereby reducing the risk of displacement of the first plate relative to the second plate driven by the cargo when the first plate is tilted to adjust the center of gravity of the cargo; Wherein, the adjusting component determines the adjusting direction and adjusting angle of the adjusting component based on the determined center of gravity position of the cargo.

2. The efficient transport four-way shuttle vehicle according to claim 1, characterized in that: The angle between the supporting surface and the second plate is a, which satisfies 1°≤a≤5°.

3. The efficient transport four-way shuttle vehicle according to claim 1, characterized in that: The controller determines the real-time center of gravity position of the weighed goods based on the position information of the multiple weighing sensors and the weight values ​​sensed in real time by the multiple weighing sensors, and controls the adjustment component to adjust the tilt angle and tilt direction of the first plate.

4. The efficient transport four-way shuttle vehicle according to claim 1, characterized in that: In the height direction of the frame, the frame has a first surface facing the cargo, and the first surface does not exceed the supporting surface.

5. The efficient four-way shuttle vehicle according to claim 1, characterized in that: In the height direction of the frame, the frame has a first surface facing the cargo, and a surface of the second plate facing the cargo is lower than the first surface.

6. The efficient transport four-way shuttle vehicle according to claim 1, characterized in that: The support column is located between the first plate and the second plate. In the height direction of the frame, the size of the support column is smaller than or equal to the size of the adjustment assembly. The support column is used to support the inclined first plate.

7. The efficient transport four-way shuttle vehicle according to claim 6, characterized in that: The limiting member is located between the first plate and the second plate, and the first plate is inclined so that some of the limiting members among the plurality of limiting members overlap with some of the supporting columns.

8. The efficient transport four-way shuttle vehicle according to claim 1, characterized in that: The frame is also provided with a lifting assembly, and the second plate is also provided with a plurality of support blocks, wherein the support blocks are provided on a side of the second plate facing away from the first plate, and at least one support block is provided at each of the four corners of the second plate, and the second plate is connected to the lifting assembly via the support blocks, and the lifting assembly supports the lifting of the supporting mechanism to lift or lower the cargo.

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