Linkage jacking mechanism and material loading jacking and reversing linkage four-way shuttle vehicle

Abstract

The invention discloses a linkage jacking mechanism and a loading jacking and reversing linkage four-way shuttle vehicle. According to the four-direction shuttle vehicle, the material frame used for bearing materials and the second-direction wheels are connected through the linkage jacking mechanism, so that the material frame and the second-direction wheels can ascend and descend relative to the first-direction wheels, and under driving of the linkage jacking mechanism, when the material frame ascends and descends, the relative height of the second-direction wheels and the first-direction wheels is kept unchanged; when the second-direction wheels ascend and descend, the relative height of the material frame and the first-direction wheels is kept unchanged, the lifting action of the material frame and the lifting action of the second-direction wheels can be continuously performed in sequence, and therefore material storing, taking and moving reversing are efficiently achieved.

Description

Technical Field

[0001] The invention relates to a four-way shuttle vehicle. Background Art

[0002] Compared with the expensive, complex, and difficult to control universal vehicles, the four-way shuttle can simply move in two mutually perpendicular directions, which is suitable for grid warehouse applications, and has a simple structure, is easy to control, and is easy to maintain. Therefore, in the intelligent large-scale warehousing and logistics industry, the first choice for loading and moving goods in grid-based three-dimensional warehouses is the four-way shuttle. On the one hand, the four-way shuttle usually switches the direction wheels by lifting, thereby achieving reversal. On the other hand, in order to pick up inventory, the four-way shuttle usually needs to be equipped with a lifting device for picking up inventory. As a result, two lifting systems are stacked on the frame, resulting in the entire four-way shuttle being relatively high and large in size. The high height and large volume of the four-way shuttle means that the space at the bottom of the shelf for the four-way shuttle to walk is larger, which objectively reduces the space utilization rate of the warehouse. Summary of the invention

[0003] Problem to be solved by the present invention: The four-way shuttle needs to be installed with two lifting systems, which makes the four-way shuttle high and large in size, and requires a large space at the bottom of the warehouse shelf for the four-way shuttle to move, thereby reducing the space utilization rate of the warehouse.

[0004] To solve the above problems, the solution adopted by the present invention is as follows: A linkage lifting mechanism according to the present invention comprises a main frame, a first lifting frame, a second lifting frame, a first swing cam, a second swing cam and a lifting drive mechanism; the first lifting frame and the second lifting frame are arranged on the main frame through a lifting guide mechanism, so that the first lifting frame and the second lifting frame can be lifted and lowered relative to the main frame; the first swing cam, the second swing cam and the lifting drive mechanism are arranged on the main frame; the first swing cam and the second swing cam are arranged on the same swing axis and are connected to the lifting drive mechanism, so that the first swing cam and the second swing cam can rotate synchronously under the drive of the lifting drive mechanism; the first lifting frame comprises a first lifting drive plate; the second lifting frame comprises a second lifting drive plate; the first lifting drive plate is provided with a first slide groove; the second lifting drive plate is provided with a second slide groove; the first swing cam is stuck in the first slide groove and can move relative to the first lifting drive plate in the first slide groove; the second swing cam is stuck in the second slide groove and can move relative to the first lifting drive plate in the second slide groove The second lifting driving plate moves; the first slide slot includes a first lifting part and a first arc part connected to each other; the second slide slot includes a second lifting part and a second arc part connected to each other; when the first swing cam moves along the first lifting part, the first lifting frame body is driven to lift and lower by the action of the first swing cam and the edge of the first lifting part; when the second swing cam moves along the second lifting part, the second lifting frame body is driven to lift and lower by the action of the second swing cam and the edge of the second lifting part; the centers of the first arc part and the second arc part are both on the axis centers of the first swing cam and the second swing cam, so that when the first swing cam moves along the first arc part, the relative position between the first lifting frame body and the main frame body remains unchanged, and when the second swing cam moves along the second arc part, the relative position between the second lifting frame body and the main frame body remains unchanged; and when the first swing cam moves along the first lifting part, the second swing cam moves along the second arc part, and when the first swing cam moves along the first arc part, the second swing cam moves along the second lifting part.

[0005] Further, according to the linkage lifting mechanism of the present invention, the lifting drive mechanism includes a first motor and two gear sets; the gear sets include two first gears and two second gears; the two second gears are meshed with each other; the two first gears are respectively meshed with a second gear; the axes of the two first gears and the two second gears are all located on the same horizontal plane; a second gear of the two gear sets is respectively connected to the two ends of the first synchronization shaft; the first synchronization shaft is connected to the first motor through a sprocket chain; the first swing cam is arranged on the first gear; the second swing cam is arranged on the rocker arm bracket; the rocker arm bracket is coaxially fixed with the first gear.

[0006] Further, according to the linkage lifting mechanism of the present invention, the first arc portion and the second arc portion are both π / 2 radians.

[0007] Further, according to the linkage lifting mechanism of the present invention, the angle between the first swing cam and the second swing cam relative to the axis of their common swing axis is π / 2 radians.

[0008] Further, according to the linkage lifting mechanism of the present invention, the first lifting part and the second lifting part are based on a straight edge or a spiral.

[0009] The four-way shuttle vehicle with load lifting and reversing linkage according to the present invention comprises a main frame, a first lifting frame, a second lifting frame, a first swing cam, a second swing cam, a lifting drive mechanism, a first direction wheel, a second direction wheel and a wheel drive mechanism; the first lifting frame and the second lifting frame are arranged on the main frame through a lifting guide mechanism, so that the first lifting frame and the second lifting frame can be lifted and lowered relative to the main frame; the first swing cam, the second swing cam and the lifting drive mechanism are arranged on the main frame; the first swing cam and the second swing cam are arranged on the same swing shaft and are connected to the lifting drive mechanism, so that the The first swing cam and the second swing cam can rotate synchronously under the drive of the jacking drive mechanism; the first lifting frame body includes a first lifting drive plate; the second lifting frame body includes a second lifting drive plate; the first lifting drive plate is provided with a first slide groove; the second lifting drive plate is provided with a second slide groove; the first swing cam is stuck in the first slide groove and can move relative to the first lifting drive plate in the first slide groove; the second swing cam is stuck in the second slide groove and can move relative to the second lifting drive plate in the second slide groove; the first slide groove includes a first lifting portion and a first arc portion connected; the The second slide groove includes a second lifting part and a second arc part connected to each other; when the first swing cam moves along the first lifting part, the first lifting frame body is driven to lift and lower by the action of the first swing cam and the edge of the first lifting part; when the second swing cam moves along the second lifting part, the second lifting frame body is driven to lift and lower by the action of the second swing cam and the edge of the second lifting part; the centers of the first arc part and the second arc part are both on the axis of the first swing cam and the second swing cam, so that when the first swing cam moves along the first arc part, the relative position between the first lifting frame body and the main frame body remains unchanged, and when the second swing cam moves along the second arc part, the relative position between the second lifting frame body and the main frame body remains unchanged; and when the first swing cam moves along the first lifting part, the second swing cam moves along the second arc part, and when the first swing cam moves along the first arc part, the second swing cam moves along the second lifting part; the first direction wheel is arranged on the main frame; the second direction wheel is arranged on the second lifting frame body, so that the second direction wheel can move up and down relative to the main frame body with the second lifting frame body; the driving directions of the first direction wheel and the second direction wheel are perpendicular, and are connected to the wheel driving mechanism.

[0010] Further, according to the four-way shuttle vehicle of the present invention, the lifting drive mechanism includes a first motor and two gear sets; the gear sets include two first gears and two second gears; the two second gears are meshed with each other; the two first gears are respectively meshed with a second gear; the axes of the two first gears and the two second gears are all located on the same horizontal plane; a second gear of the two gear sets is respectively connected to the two ends of the first synchronization shaft; the first synchronization shaft is connected to the first motor through a sprocket chain; the first swing cam is arranged on the first gear; the second swing cam is arranged on the rocker bracket; the rocker bracket is coaxially fixed with the first gear.

[0011] Further, according to the four-way shuttle vehicle of the present invention, the first arc portion and the second arc portion are both π / 2 radians.

[0012] Further, according to the four-way shuttle of the present invention, the angle between the first swing cam and the second swing cam relative to the axis of their common swing axis is π / 2 radians.

[0013] Further, according to the four-way shuttle vehicle of the present invention, the wheel driving mechanism includes a second motor, a reducer, a second synchronous shaft and a third synchronous shaft; the first direction wheel includes a first direction driving wheel arranged on both sides of the four-way shuttle vehicle; the second direction wheel includes a second direction driving wheel arranged on both sides of the four-way shuttle vehicle; the first direction driving wheels arranged on both sides of the four-way shuttle vehicle are respectively connected to the two ends of the second synchronous shaft; the second direction driving wheels arranged on both sides of the four-way shuttle vehicle are respectively connected to the two ends of the third synchronous shaft; the second motor is connected to the reducer; the reducer is provided with output sprockets in two directions; the output sprockets in two directions are respectively connected to the sprockets on the second synchronous shaft and the third synchronous shaft through chains.

[0014] The technical effects of the present invention are as follows: The present invention connects the material rack and the second-direction wheel through a linkage lifting mechanism, so that the lifting and lowering of the material rack and the lifting and lowering of the second-direction wheel are integrated, thereby reducing the height required for two lifting systems of the traditional four-way shuttle vehicle, reducing the volume of the four-way shuttle vehicle, thereby reducing the space required for the four-way shuttle vehicle to travel at the bottom of the warehouse shelf, and thus improving the space utilization rate of the entire warehouse.

[0015] Through the continuous action of the linked lifting mechanism, the continuous action of switching from inventory to vehicle and from picking up goods to vehicle can be realized, thereby improving the efficiency of cargo transfer in the warehouse and greatly reducing the control complexity of the shuttle vehicle, thereby reducing the management complexity of the entire intelligent warehousing.

[0016] The invention has a simple structure, low cost, a stable and reliable lifting mechanical structure, and is easy to install and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0018] Figure 2 It is a structural schematic diagram of the jacking drive mechanism of an embodiment of the present invention.

[0019] Figure 3 It is a normal surface view of the first swing cam and the second swing cam of the embodiment of the present invention.

[0020] Figure 4 It is a schematic structural diagram of a first lifting frame body according to an embodiment of the present invention.

[0021] Figure 5 It is a schematic structural diagram of a second lifting frame body according to an embodiment of the present invention.

[0022] Figure 6 , Figure 7 and Figure 8 It is a principle diagram of the action of the swing cam and the slide groove according to the embodiment of the present invention.

[0023] Fig. 9 It is a schematic structural diagram of a wheel drive mechanism according to an embodiment of the present invention.

[0024] Fig.10 It is a structural schematic diagram of another implementation manner of the slide chute in an embodiment of the present invention.

[0025] Fig.11 It is a working principle diagram of an embodiment of the present invention applied in a specific warehouse environment.

[0026] In the above figures, 1 is a first lifting frame, 11 is a first lifting drive plate, 111 is a first slide slot, 1111 is a first lifting portion, 1112 is a first arc portion, 112 is a waist-shaped hole, 12 is a lifting plate, and 19 is a first guide column and guide sleeve mechanism; 2 is a second lifting frame, 21 is a second lifting drive plate, 211 is a second slide slot, 2111 is a second lifting portion, 2112 is a second arc portion, and 29 is a second guide column and guide sleeve mechanism; 3 is a lifting drive mechanism, 31 is a first swing cam, 32 is a second swing cam, 33 is a gear set, 331 is a first gear, 332 is a second gear, 34 is a swing shaft, 35 is a swing rod bracket, 38 is a first synchronous shaft, and 39 is a first motor; 4 is a first direction wheel, 41 is a first direction driving wheel, and 42 is a first direction driven wheel; 5 is a second direction wheel, 51 is a second direction driving wheel, and 52 is a second direction driven wheel; 6 is a wheel driving mechanism, 61 is a second motor, 62 is a second synchronous shaft, 621 is a second transmission sprocket, 63 is a third synchronous shaft, 631 is a third transmission sprocket, 64 is a speed reducer, 641 is a first output sprocket, 642 is a second output sprocket, and 69 is a chain; 9 is a main frame, 91 is a first side support plate, 92 is a second side support plate, 93 is a bottom plate, and 94 is a gear bearing plate. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below with reference to the accompanying drawings.

[0028] Figure 1 A four-way shuttle is exemplified. The four-way shuttle can realize material lifting and reversing linkage through a linkage lifting mechanism. Figure 1 and Figure 2 The four-way shuttle vehicle comprises a main frame 9, a first lifting frame 1, a second lifting frame 2, a first swing cam 31, a second swing cam 32, a lifting drive mechanism 3, a first direction wheel 4, a second direction wheel 5 and a wheel drive mechanism 6. The main frame 9, the first lifting frame 1, the second lifting frame 2, the first swing cam 31, the second swing cam 32 and the lifting drive mechanism 3 constitute a linkage lifting mechanism.

[0029] The main frame 9 includes two first side support plates 91, two second side support plates 92 and a bottom plate 93. Among them, the two first side support plates 91 are vertically opposite to each other and parallel to each other; the two second side support plates 92 are vertically opposite to each other and parallel to each other. The first side support plates 91 and the second side support plates 92 are perpendicular to each other and connected at the ends, so that the two first side support plates 91 and the two second side support plates 92 form a mouth-shaped structure. The bottom plate 93 is horizontally connected to the bottom of the mouth-shaped structure, so that the main frame 9 presents a box structure. The first direction wheel 4 includes a first direction driving wheel 41 and a first direction driven wheel 42, which are arranged on the outside of the first side support plate 91, and the axis of the first direction wheel 4 is perpendicular to the first side support plate 91.

[0030] The first lifting frame 1 is used to install the material rack, refer to Figure 4, including two first lifting drive plates 11 and two lifting plates 12. The two first lifting drive plates 11 are arranged vertically opposite to each other and parallel to each other. The two lifting plates 12 are arranged horizontally and in parallel. The first lifting drive plates 11 and the lifting plates 12 are perpendicular to each other and connected at their ends, so that the two first lifting drive plates 11 and the two lifting plates 12 form a mouth-shaped structure, and the lifting plates 12 are located at the top of the mouth-shaped structure. The four corners of the mouth-shaped structure are respectively connected with the first guide column guide sleeve mechanism 19. The first lifting frame body 1 is arranged on the main frame body 9 through the first guide column guide sleeve mechanism 19 at the four corners, so that the first lifting frame body 1 can be lifted and lowered relative to the main frame body 9 under the guidance of the first guide column guide sleeve mechanism 19, thereby realizing the lifting and lowering of the material rack arranged above the first lifting frame body 1 relative to the main frame body 9. Specifically in this embodiment, the two first lifting drive plates 11 are respectively located on the inner sides of the two second side support plates 92, and are parallel to the second side support plates 92. The jacking plate 12 disposed on the top of the first lifting frame body 1 is used as a mounting plate for a material rack panel disposed above the first lifting frame body 1. How to arrange the material rack above the jacking plate 12 is not within the scope of the present invention and need not be elaborated in this specification.

[0031] The second lifting frame 2 is used to set the second direction wheel 5. Figure 5 , including two second lifting drive plates 21 vertically oppositely arranged and parallel. The second direction wheel 5 is arranged on the second lifting drive plate 21, including a second direction driving wheel 51 and a second direction passive wheel 52. The second direction driving wheels 51 respectively arranged on the two second lifting drive plates 21 are connected by a third synchronization shaft 63. The four corners of the second lifting frame 2, that is, the two ends of the second lifting drive plate 21, are arranged on the main frame 9 through the second guide column guide sleeve mechanism 29, so that the second lifting frame 2 can be lifted relative to the main frame 9 under the guidance of the second guide column guide sleeve mechanism 29, thereby driving the second direction wheel 5 to lift relative to the main frame 9. Specifically in this embodiment, the two second lifting drive plates 21 are respectively arranged on the outside of the two second side support plates 92, and are parallel to the second side support plates 92. The axis of the second direction wheel 5 is perpendicular to the second lifting drive plate 21, that is, the axis of the second direction wheel 5 is perpendicular to the second side support plate 92. Therefore, the axis of the second direction wheel 5 is perpendicular to the axis of the first direction wheel 4 , which also means that the driving direction of the second direction wheel 5 is perpendicular to the driving direction of the first direction wheel 4 .

[0032] Reference Figure 3 The first swing cam 31 and the second swing cam 32 are arranged on the same swing axis and connected to the lifting drive mechanism 3, so that the first swing cam 31 and the second swing cam 32 can rotate synchronously under the drive of the lifting drive mechanism 3. Figure 2The lifting drive mechanism 3 includes a first motor 39 and two gear sets 33. The gear set 33 includes two first gears 331 and two second gears 332. The first swing cam 31 is arranged on the first gear 331; the second swing cam 32 is arranged on the swing arm bracket 34. The swing arm bracket 34 is coaxially fixed with the first gear 331. That is, the first swing cam 31 and the second swing cam 32 have a common swing axis which is the rotating axis of the first gear 331. Therefore, when the first gear 331 rotates, the first swing cam 31 and the second swing cam 32 rotate synchronously. The axis centers of the two first gears 331 and the two second gears 332 are horizontal and are arranged between the second side support plate 92 and the gear bearing plate 94 through the rotating axis and the bearing. The gear bearing plate 94 is a plate body located inside the second side support plate 92 and parallel to the second side support plate 92. The axis centers of the two first gears 331 and the two second gears 332 are located on the same horizontal plane and arranged side by side. The two second gears 332 are located on the inner side, and the two first gears 331 are located on the outer side. The two second gears 332 on the inner side mesh with each other; the first gears 331 on the outer side mesh with one second gear 332 respectively. One second gear 32 of the two gear sets 33 is connected to the two ends of the first synchronization shaft 38 respectively. The first synchronization shaft 38 is connected to the first motor 39 through a sprocket chain.

[0033] The first swing cam 31 cooperates with the first lifting drive plate 11. When the first swing cam 31 rotates under the drive of the first motor 39, the first lifting frame 1 is driven to rise and fall by cooperating with the first lifting drive plate 11, thereby realizing the lifting and falling of the material rack above the first lifting frame 1, and further realizing the storage and picking action of the four-way shuttle. The cooperation between the first swing cam 31 and the first lifting drive plate 11 is realized by the first slide groove 111 provided on the first lifting drive plate 11. The first swing cam 31 is stuck in the first slide groove 111 and can move relative to the first lifting drive plate 11 in the first slide groove 111. When the first swing cam 31 rotates or swings to slide in the first slide groove 111, the lifting and falling of the first lifting drive plate 11 is realized by the action with the edge of the first slide groove 111. In this embodiment, the first lifting drive plate 11 is a plate body arranged between the second side support plate 92 and the gear bearing plate 94, parallel to the second side support plate 92 and the gear bearing plate 94, and located in the gap between the gear set 33 and the second side support plate 92. In order to allow the rotating shafts of the gears of the gear set 33 to pass through the first lifting drive plate 11 and then be installed on the bearings provided on the second side support plate 92, in this embodiment, the first slide slot 111 is a hole structure. In addition to the first swing cam 31 being stuck in the first slide slot 111, the rotating shaft of the first gear 331 passes through the first slide slot 111, and when the first lifting drive plate 11 is lifted, the first slide slot 111 provides the rotating shaft of the first gear 331 with a relative up and down movement space in the first slide slot 111. In addition, considering that the rotating shaft of the second gear 332 also needs to pass through the first lifting drive plate 11, in this embodiment, the first lifting drive plate 11 is also provided with a waist-shaped hole 112 for the rotating shaft of the second gear 332 to pass through, and the waist-shaped hole 112 is arranged in upper and lower strips to provide a relative up and down movement space for the rotating shaft passing through.

[0034] The second swing cam 32 cooperates with the second lifting drive plate 21. When the second swing cam 32 rotates under the drive of the first motor 39, the second lifting frame 2 is driven to rise and fall relative to the main frame 9 through the cooperation with the second lifting drive plate 21, so that the four-way shuttle vehicle switches from the first direction wheel 4 to the second direction wheel 5, or switches from the second direction wheel 5 to the first direction wheel 4, so as to switch between the driving direction of the first direction wheel 4 and the driving direction of the second direction wheel 5 of the four-way shuttle vehicle. The cooperation between the second swing cam 32 and the second lifting drive plate 21 is achieved through the second slide groove 211 provided on the second lifting drive plate 21. The second swing cam 32 is stuck in the second slide groove 211 and can move relative to the second lifting drive plate 21 in the second slide groove 211. When the second swing cam 32 rotates or swings to slide in the second slide groove 211, the second lifting drive plate 21 is lifted and lowered through the action with the edge of the second slide groove 211, thereby achieving the lifting and lowering of the second lifting frame 2.

[0035] It should be pointed out that the lifting of the second lifting frame 2 here is relative to the main frame 9. In actual application, when the four-way shuttle is placed on a track or on the ground for operation, when the second lifting frame 2 is lowered and the four-way shuttle lands on the ground with the second direction wheels 5, the lifting of the second lifting frame 2 relative to the main frame 9 means that the main frame 9 is lifted and lowered relative to the ground.

[0036] In this embodiment, the lifting of the first lifting frame 1 and the second lifting frame 2 can be linked, and the linkage is achieved by the coordination of the positions and structural relationships among the first swing cam 31, the first slide groove 111, the second swing cam 32, and the second slide groove 211, which is specifically as follows: Reference Figure 6 , Figure 7 and Figure 8 The first slide slot 111 includes a first lifting portion 111 and a first arc portion 1112 connected to each other; the second slide slot 211 includes a second lifting portion 2111 and a second arc portion 2112 connected to each other. The centers of the first arc portion 1112 and the second arc portion 2112 are both on the axis of the first swing cam 31 and the second swing cam 32, that is, the first arc portion 1112 and the second arc portion 2112 are coaxial with the swing shaft 34 of the first swing cam 31 and the second swing cam 32. The swing shaft 34 is also the rotating shaft of the first gear 331. Thus, when the first swing cam 31 swings and moves in the first arc portion 1112, there is no interaction between the first swing cam 31 and the first lifting drive plate 11, and the first lifting drive plate 11 and the first lifting frame body 1 remain relatively unchanged relative to the main frame body 9. When the first swing cam 31 swings and moves in the first lifting portion 1111, the first swing cam 31 and the edge of the first lifting portion 1111 act to drive the first lifting drive plate 11 and the first lifting frame body 1 to rise and fall relative to the main frame body 9. When the second swing cam 32 swings and moves in the second arc portion 2112, there is no interaction between the second swing cam 32 and the second lifting drive plate 21, and the second lifting drive plate 21 and the second lifting frame body 2 remain relatively unchanged relative to the main frame body 9. When the second swing cam 32 swings in the second lifting portion 2111, the second swing cam 31 and the edge of the second lifting portion 2111 act to drive the second lifting drive plate 21 and the second lifting frame body 2 to rise and fall relative to the main frame body 9. And when the first swing cam 31 moves along the first lifting portion 1111, the second swing cam 32 moves along the second arc portion 2112, and when the first swing cam 31 moves along the first arc portion 1112, the second swing cam 32 moves along the second lifting portion. Therefore, when the first lifting frame 1 is lifted or lowered, the relative height of the second lifting frame 2 and the main frame 9 remains relatively unchanged; when the second lifting frame 2 is lifted or lowered, the first lifting frame 1 and the main frame remain relatively unchanged.

[0037] Under the above structure, the working principle of inventory picking and reversing linkage is as follows: According to the positions of the first swing cam 31 and the second swing cam 32 in the first slide groove 111 and the second slide groove 211, the four-way shuttle has three working states: Figure 6 Example of S1 working state, Figure 7 The S2 working state of the example and Figure 8 The S3 working state shown in the example.

[0038] In S1 working state, refer to Figure 6 , the first swing cam 31 is located at the end of the first lifting part 1111, and the second swing cam 32 is located at the end of the second arc part 2112. At this time, the first lifting frame 1 and the second lifting frame 2 are both lifted to the highest point, the first direction wheel 4 of the four-way shuttle is on the ground, and the second direction wheel 5 is suspended. At this time, the height of the first lifting frame 1 and the second lifting frame 2 relative to the main frame 9 is H1.

[0039] In S2 working state, refer to Figure 7 , the first swing cam 31 is located at the connection between the first lifting part 1111 and the first arc part 1112, and the second swing cam 32 is located at the connection between the second lifting part 2111 and the second arc part 2112. At this time, the first lifting frame 1 is at the lowest point relative to the main frame 9, the second lifting frame 2 is lifted to the highest point, the first direction wheel 4 of the four-way shuttle is on the ground, and the second direction wheel 5 is suspended. At this time, the height of the first lifting frame 1 relative to the main frame 9 is H2, and the height of the second lifting frame 2 relative to the main frame 9 is H1. Obviously, H1>H2.

[0040] In S3 working state, refer to Figure 8 , the first swing cam 31 is located at the end of the first arc portion 1112, and the second swing cam 32 is located at the end of the second lifting portion 2111. At this time, the first lifting frame 1 and the second lifting frame 2 are both lowered to the lowest point, the first direction wheel 4 of the four-way shuttle is suspended in the air, and the second direction wheel 5 is on the ground for driving. At this time, the height of the first lifting frame 1 and the second lifting frame 2 relative to the main frame 9 is H2.

[0041] The above working states can be switched as follows: the S1 or S3 working state can be directly switched to the S2 working state, and the S2 working state can be directly switched to the S1 or S3 working state; however, the S1 and S3 working states cannot be switched directly to each other, and need to be transferred through the S2 working state. The state between S1 and S2 and the state between S2 and S3 are both intermediate states.

[0042] The four-way shuttle vehicle of this embodiment can be used to carry goods and pick up goods. Fig.11 Specific applications are exemplified. Fig.11In the figure, 801 and 802 are loading and unloading stations of two shelves respectively. The goods on each cargo position of the shelf can be transferred to the loading and unloading station through the conveyor belt on the shelf, and the goods on the loading and unloading station can also be transferred to each cargo position on the shelf through the conveyor belt. When the goods need to be transferred from one shelf to another, the goods are moved to the loading and unloading station through the conveyor belt and then carried to the loading and unloading station of another shelf by the four-way shuttle, and then transferred to the corresponding cargo position by the conveyor belt on the shelf. When the goods on the shelf are transferred to the second loading and unloading station 802 of another shelf via the first loading and unloading station 801 through several four-way shuttles 803 of this embodiment to realize assembly line operation, these four-way shuttles move back and forth between the first loading and unloading station 801 and the second loading and unloading station 802. In order to avoid collisions with each other, it is usually necessary to drive along a square path 804. The square path 804 can be divided into four straight line segments: the first straight line segment 8041, the second straight line segment 8042, the third straight line segment 8043 and the fourth straight line segment 8044. Among them, the first straight line segment 8041 is a straight line path between the first loading and unloading station 801 and the second loading and unloading station 802. The second straight line segment 8042 and the fourth straight line segment 8044 are perpendicular to the first straight line segment 8041, and the third straight line segment 8043 is parallel to the first straight line segment 8041. When the four-way shuttle travels from the first loading and unloading station 801 to the second loading and unloading station 802 via the first straight line segment 8041, it is in a loaded state; and when traveling on the second straight line segment 8042, the third straight line segment 8043 and the fourth straight line segment 8044, it is in an empty state. The four-way shuttle of this embodiment realizes the cyclic transfer of goods through the following operations: When the four-way shuttle vehicle is traveling along the first straight segment 8041 or the third straight segment 8043, the first direction wheel 4 needs to be on the ground; when the four-way shuttle vehicle is traveling along the second straight segment 8042 or the fourth straight segment 8044, the second direction wheel 5 needs to be on the ground. That is, before the four-way shuttle vehicle enters the first loading and unloading station 801 from the fourth straight segment 8044, the four-way shuttle vehicle is in the S3 working state. After entering the first loading and unloading station 801, it is only necessary to continuously switch the S3 working state to the S1 working state to pick up and load goods: when the S3 working state is switched to the S2 working state, the first direction wheel 4 is on the ground, and the second direction wheel 5 is suspended in the air. When the S2 working state is switched to the S1 working state, the first lifting frame 1 lifts the material rack to realize the operation of the material on the first loading and unloading station 801 being carried by the four-way shuttle vehicle, that is, the picking action is realized, that is, the direction change and picking up are completed in one go. After the change of direction to pick up the goods, the four-way shuttle moves along the first straight section 8041 to the second loading and unloading station 802: if the first loading and unloading station 801 and the second loading and unloading station 802 are close, the four-way shuttle can maintain the working state S1 when driving along the first straight section 8041; if the first loading and unloading station 801 and the second loading and unloading station 802 are far away, the four-way shuttle can switch to the working state S2 after leaving the station, and keep driving without stopping when switching from S1 to S2 working state. Before the four-way shuttle enters the second loading and unloading station 802 from the first straight section 8041, if the four-way shuttle is in the S2 working state, it can switch from the S2 working state to the S1 working state, and then enter the second loading and unloading station 802, that is, the four-way shuttle is in the S1 working state when entering the second loading and unloading station 802. After entering the second loading and unloading station 802, when unloading and storing goods, it is only necessary to continuously switch the S1 working state to the S3 working state: after the S1 working state is switched to the S2 working state, the first lifting frame 1 is lowered, and the goods on it are carried by the second loading and unloading station 802 to realize the storage action; when the S2 working state is switched to the S3 working state, the second direction wheel 5 touches the ground, and the first direction wheel 4 is suspended in the air to complete the reversing action. After the inventory is reversed, the four-way shuttle vehicle leaves the second loading and unloading station 802 along the second straight segment 8042 when driving. After that, it switches from the S3 working state to the S2 working state and then reverses, and returns to the first loading and unloading station 801 along the third straight segment 8043. When it returns to the position flush with the first loading and unloading station 801, it switches from the S2 working state to the S3 working state and reverses again, and finally enters the first loading and unloading station 801 through the fourth straight segment 8044 to complete the cycle operation.

[0043] That is, under the technical solution of this embodiment, the four-way shuttle vehicle of this embodiment can realize the operation of reversing picking and inventory reversing in one go through the linkage lifting mechanism of this embodiment, thereby improving the efficiency of warehouse cargo transportation. Reversing picking can be completed by switching from the S3 working state to the S1 working state, and inventory reversing can be completed by switching from the S1 working state to the S3 working state. On the other hand, although the switching from the S3 working state to the S1 working state and the switching from the S1 working state to the S3 working state need to pass through the S2 working state, it is reflected in the angle of the first swing cam 31 and the second swing cam 32. In the S2 working state, the first swing cam 31 and the second swing cam 32 are respectively in the middle of the first chute 11 and the second chute 21, and in the S1 or S3 working state, the first swing cam 31 and the second swing cam 32 are respectively at the ends of the first chute 11 and the second chute 21. In other words, the switching from the S3 working state to the S1 working state or the switching from the S1 working state to the S3 working state only requires the first swing cam 31 and the second swing cam 32 to continuously rotate through a certain angle. Specifically in this embodiment, the first arc portion 1112 and the second arc portion 2112 are both π / 2 radians relative to the center of the circle, that is, the first swing cam 31 and the second swing cam 32 only need to continuously move 180 degrees to switch from the S3 working state to the S1 working state or from the S1 working state to the S3 working state. The rotation of the first swing cam 31 and the second swing cam 32 is synchronized with the first gear 331, that is, the first motor 39 drives the first gear 331 to rotate 180 degrees in one direction to achieve a smooth operation of reversing and picking up goods, and rotating 80 degrees in the opposite direction to achieve a smooth operation of reversing and stocking goods, thereby greatly reducing the control complexity of the four-way shuttle.

[0044] In addition, in this embodiment, referring to Figure 3 The angle A between the first swing cam 31 and the second swing cam 32 relative to their common swing axis is 90 degrees, that is, π / 2 radians.

[0045] In addition, it should be pointed out that in this embodiment, the lifting and lowering of the first lifting frame body 1 is not completely controlled by the interaction between the first lifting drive plate 11 and the first swing cam 31. The interaction between the first lifting drive plate 11 and the first swing cam 31 only plays a lifting role on the first lifting frame body 1. When the first lifting frame body 1 descends, it relies on the gravity of the first lifting frame body 1 to achieve natural descent. This situation occurs because in the manner of this embodiment, in addition to blocking the first swing cam 31, the first slide groove 111 also needs to provide space for the rotating shaft, that is, the swing shaft 34, to move up and down relative to each other, which results in the lack of the edge of the first lifting portion 1111 that interacts with the first swing cam 31 required for the first lifting frame body 1 to descend. But on the whole, the interaction between the first lifting drive plate 11 and the first swing cam 31 realizes the driving of the lifting and lowering of the first lifting frame body 1.

[0046] In addition, in this embodiment, the first lifting portion 1111 of the first slide 111 and the second lifting portion 2111 of the second slide 211 are both designed with straight edges. In another optional embodiment, those skilled in the art understand that the first lifting portion 1111 and the second lifting portion 2111 can also be designed with a spiral, that is, referring to Fig.10 The edges of the first lifting portion 1111 and the second lifting portion 2111 may also be spirals, in particular Archimedean spirals.

Claims

1. A linkage lifting mechanism, characterized in that: The lifting mechanism comprises a main frame, a first lifting frame, a second lifting frame, a first swing cam, a second swing cam and a lifting drive mechanism; the first lifting frame and the second lifting frame are arranged on the main frame through a lifting guide mechanism, so that the first lifting frame and the second lifting frame can be lifted and lowered relative to the main frame; the first swing cam, the second swing cam and the lifting drive mechanism are arranged on the main frame; the first swing cam and the second swing cam are arranged on the same swing shaft and are connected to the lifting drive mechanism, so that the first swing cam and the second swing cam can rotate synchronously under the drive of the lifting drive mechanism; the first lifting frame comprises a first lifting drive plate; the second lifting frame comprises a second lifting drive plate; the first lifting drive plate is provided with a first slide groove; the second lifting drive plate is provided with a second slide groove; the first swing cam is stuck in the first slide groove and can move relative to the first lifting drive plate in the first slide groove; the second swing cam is stuck in the second slide groove and can move relative to the second lifting drive plate in the second slide groove The movable plate moves; the first slide slot includes a connected first lifting part and a first arc part; the second slide slot includes a connected second lifting part and a second arc part; when the first swing cam moves along the first lifting part, the first lifting frame body is driven to lift and lower through the action of the first swing cam and the edge of the first lifting part; when the second swing cam moves along the second lifting part, the second lifting frame body is driven to lift and lower through the action of the second swing cam and the edge of the second lifting part; the centers of the first arc part and the second arc part are both on the axis centers of the first swing cam and the second swing cam, so that when the first swing cam moves along the first arc part, the relative position between the first lifting frame body and the main frame body remains unchanged, and when the second swing cam moves along the second arc part, the relative position between the second lifting frame body and the main frame body remains unchanged; and when the first swing cam moves along the first lifting part, the second swing cam moves along the second arc part, and when the first swing cam moves along the first arc part, the second swing cam moves along the second lifting part.

2. The linkage lifting mechanism according to claim 1, characterized in that: The lifting drive mechanism includes a first motor and two gear sets; the gear sets include two first gears and two second gears; the two second gears are meshed with each other; the two first gears are respectively meshed with a second gear; the axes of the two first gears and the two second gears are all located on the same horizontal plane; a second gear of the two gear sets is respectively connected to the two ends of the first synchronous shaft; the first synchronous shaft is connected to the first motor through a sprocket chain; the first swing cam is arranged on the first gear; the second swing cam is arranged on the rocker arm bracket; the rocker arm bracket is coaxially fixed with the first gear.

3. The linkage lifting mechanism according to claim 1, characterized in that: The first arc portion and the second arc portion are both π / 2 radians.

4. The linkage lifting mechanism according to claim 1, characterized in that: The angle between the first swing cam and the second swing cam relative to the axis of their common swing axis is π / 2 radians.

5. The linkage lifting mechanism according to claim 1, characterized in that: The first lift and the second lift are based on a straight edge or a spiral.

6. The four-way shuttle vehicle with material lifting and reversing linkage is characterized by: The invention comprises a main frame, a first lifting frame, a second lifting frame, a first swing cam, a second swing cam, a lifting drive mechanism, a first direction wheel, a second direction wheel and a wheel drive mechanism; the first lifting frame and the second lifting frame are arranged on the main frame through a lifting guide mechanism, so that the first lifting frame and the second lifting frame can be lifted and lowered relative to the main frame; the first swing cam, the second swing cam and the lifting drive mechanism are arranged on the main frame; the first swing cam and the second swing cam are arranged on the same swing shaft and connected to the lifting drive mechanism, so that the first swing cam and the second swing cam can rotate synchronously under the drive of the lifting drive mechanism; the first lifting frame comprises a first lifting drive plate; the second lifting frame comprises a second lifting drive plate; the first lifting drive plate is provided with a first slide groove; the second lifting drive plate is provided with a second slide groove; the first swing cam is stuck in the first slide groove and can move relative to the first lifting drive plate in the first slide groove; the second swing cam is stuck in the second slide groove and can move relative to the second lifting drive plate in the second slide groove; the first slide groove comprises a connected first lifting portion and a first arc portion; the second slide groove comprises a connected second a lifting part and a second arc part; when the first swing cam moves along the first lifting part, the first lifting frame is driven to lift by the action of the first swing cam and the edge of the first lifting part; when the second swing cam moves along the second lifting part, the second lifting frame is driven to lift by the action of the second swing cam and the edge of the second lifting part; the centers of the first arc part and the second arc part are both on the axis of the first swing cam and the second swing cam, so that when the first swing cam moves along the first arc part, the relative position between the first lifting frame and the main frame remains unchanged, and when the second swing cam moves along the second arc part, the relative position between the second lifting frame and the main frame remains unchanged; and when the first swing cam moves along the first lifting part, the second swing cam moves along the second arc part, and when the first swing cam moves along the first arc part, the second swing cam moves along the second lifting part; the first direction wheel is arranged on the main frame; the second direction wheel is arranged on the second lifting frame, so that the second direction wheel can move up and down relative to the main frame with the second lifting frame; the driving directions of the first direction wheel and the second direction wheel are perpendicular, and are connected to the wheel driving mechanism.

7. The four-way shuttle vehicle according to claim 6, characterized in that: The lifting drive mechanism includes a first motor and two gear sets; the gear sets include two first gears and two second gears; the two second gears are meshed with each other; the two first gears are respectively meshed with a second gear; the axes of the two first gears and the two second gears are all located on the same horizontal plane; a second gear of the two gear sets is respectively connected to the two ends of the first synchronous shaft; the first synchronous shaft is connected to the first motor through a sprocket chain; the first swing cam is arranged on the first gear; the second swing cam is arranged on the rocker arm bracket; the rocker arm bracket is coaxially fixed with the first gear.

8. The four-way shuttle vehicle according to claim 6, characterized in that: The first arc portion and the second arc portion are both π / 2 radians.

9. The four-way shuttle vehicle according to claim 6, characterized in that: The angle between the first swing cam and the second swing cam relative to the axis of their common swing axis is π / 2 radians.

10. The four-way shuttle vehicle according to claim 6, characterized in that: The wheel driving mechanism includes a second motor, a reducer, a second synchronous shaft and a third synchronous shaft; the first direction wheel includes a first direction driving wheel arranged on both sides of the four-way shuttle vehicle; the second direction wheel includes a second direction driving wheel arranged on both sides of the four-way shuttle vehicle; the first direction driving wheels arranged on both sides of the four-way shuttle vehicle are respectively connected to the two ends of the second synchronous shaft; the second direction driving wheels arranged on both sides of the four-way shuttle vehicle are respectively connected to the two ends of the third synchronous shaft; the second motor is connected to the reducer; the reducer is provided with output sprockets in two directions; the output sprockets in two directions are respectively connected to the sprockets on the second synchronous shaft and the third synchronous shaft through chains.

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