Multi-motor synchronous walking four-way shuttle vehicle

Abstract

The invention discloses a multi-motor synchronous walking four-direction shuttle vehicle, and relates to the technical field of four-direction shuttle vehicles, the multi-motor synchronous walking four-direction shuttle vehicle comprises a tray, two X-direction walking groups, two Y-direction walking groups, a driving assembly and a jacking assembly used for switching the advancing direction of the four-direction shuttle vehicle. The driving torque of the four-way shuttle vehicle is increased through a multi-motor direct drive structure, the multiple motors are controlled to rotate synchronously, and the situation that the four-way shuttle vehicle moves inaccurately due to looseness of a chain or a belt transmission structure is eradicated; the driving wheels integrating the servo motors and the speed reducers are arranged, so that the power is enhanced while the insufficient internal space of a small-size vehicle type is improved, and the situation that the four-way shuttle vehicle loads heavy materials in a small size is facilitated; the two jacking gear boxes are driven by the jacking motor, the first speed reducer and the jacking driving shaft to drive the cam swing arm to rotate so as to adjust the height position between the first supporting plate and the second supporting plate, and therefore the advancing direction of the four-way shuttle vehicle can be switched.

Description

Technical Field

[0001] The invention relates to the technical field of four-way shuttle vehicles, and in particular to a four-way shuttle vehicle with multiple motors moving synchronously. Background Art

[0002] The four-way shuttle, also known as the four-way storage vehicle or four-way transport vehicle, is an automated handling device used in warehouses and logistics centers to improve the efficiency and accuracy of material handling. In intensive storage scenarios, the shelves or floors are relatively high, and the entry and exit locations are generally on the ground or first floor. At this time, a four-way shuttle is needed to go to the high-level floor-changing elevator and each upper shelf or floor to pick up and place goods, so as to realize the outbound or inbound movement of goods on the high-level storage location. The four-way shuttle can move in four directions and is usually used for the storage and retrieval of goods. It has excellent flexibility, high degree of automation, high safety and high efficiency.

[0003] For example, the patent application with publication number CN114715573A and publication date July 8, 2022, entitled "A single-motor four-way drive system for a warehouse four-way shuttle vehicle", includes an X-direction mechanical mechanism installed on the warehouse four-way shuttle vehicle, used to make the warehouse four-way shuttle vehicle travel along the X direction; a Y-direction mechanical mechanism installed on the warehouse four-way shuttle vehicle, used to make the warehouse four-way shuttle vehicle travel along the Y direction; a hydraulic power mechanism installed on the warehouse four-way shuttle vehicle, used to drive the X-direction mechanical mechanism and the Y-direction mechanical mechanism and prevent them from interfering with each other; the application uses a mechanical structure of a single-motor four-way drive wheel (41), which has high stability and low risk, is more energy-efficient than a dual-motor, and is suitable for occasions such as rail-mounted four-way shuttle vehicles that require multiple functions and stable working conditions; the mechanical structure saves space better, has more advantages in the use of a stereoscopic warehouse, and has a simple and reliable structure, thereby improving the working efficiency of the logistics system in the stereoscopic warehouse.

[0004] Although the above-mentioned four-way shuttle is provided with mechanical mechanisms to drive the movement in the X direction and the Y direction, and a hydraulic power mechanism is provided for switching the travel direction, the mechanical mechanism is provided with a large number of parts, and the large number of parts easily leads to a large error in the travel distance of the four-way shuttle, resulting in that it is difficult to accurately control the delivery of goods by the four-way shuttle, and the single-motor drive mode makes it easy for the four-way shuttle to be underpowered when carrying heavier goods. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-motor synchronous four-way shuttle to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A multi-motor synchronous walking four-way shuttle vehicle comprises a tray, the tray is used to carry goods, two groups of X-direction walking groups and two groups of Y-direction walking groups are arranged under the tray, the X-direction walking groups and the Y-direction walking groups form a rectangle, and the X-direction walking groups and the Y-direction walking groups are arranged at intervals;

[0008] An X-direction walking group, wherein the number of the X-direction walking groups is two, and the two X-direction walking groups are symmetrically arranged below the tray, and the X-direction walking group comprises a first support plate, each of the first support plates is fixedly connected to the lower end of the tray, and each of the two ends of the first support plate is provided with a driving assembly;

[0009] A Y-direction walking group, wherein the number of the Y-direction walking groups is two, and the two Y-direction walking groups are symmetrically arranged below the tray, and the Y-direction walking group comprises a second support plate, each of the two ends of the second support plate is provided with a driving assembly, and each of the two ends of the first support plate is provided with an end of the second support plate in a sliding manner;

[0010] A driving assembly, the driving assembly is controlled by a controller, the driving assembly includes a servo motor, and the output end of the servo motor is provided with a driving wheel, the four driving wheels on the two first support plates can rotate synchronously to drive the four-way shuttle to move in the X direction, and the four driving wheels on the two second support plates can rotate synchronously to drive the four-way shuttle to move in the Y direction;

[0011] A lifting component, the lifting component includes a mounting plate, a lifting motor is mounted on the mounting plate, the output end of the lifting motor is connected to the first reducer, two lifting gear boxes are symmetrically arranged at both ends of the mounting plate, the output end of the first reducer is connected to one of the lifting gear boxes, and each of the lifting gear boxes is parallel to one of the first support plates, the two lifting gear boxes are connected by a lifting drive shaft, and two cam swing arms are arranged on the outer side of each of the lifting gear boxes, and the cam swing arms are driven by the lifting motor to rotate to switch the travel direction of the four-way shuttle.

[0012] As mentioned above, both ends of the jacking gear box are connected to the second support plate by bolt connection, the jacking gear box and the second support plate form a rectangle, and are arranged at an interval therebetween.

[0013] As mentioned above, a sliding part is respectively provided at both ends of the first support plate, and a connecting part is respectively provided at both ends of the second support plate, and the connecting part is slidably connected to the sliding part.

[0014] As mentioned above, a plurality of anti-collision wheels are disposed on the outer sides of the first support plate and the second support plate along their length directions, and a rubber layer is disposed on the outer sides of the anti-collision wheels.

[0015] As mentioned above, the driving assembly further includes a plurality of touch switches, the touch switches are arranged on the second supporting plate, and the driving assembly is also controlled by the touch switches.

[0016] As mentioned above, the driving wheel includes a second reducer, the second reducer is connected to the servo motor, a rubber-coated wheel is provided at the output end of the second reducer, a motor brake is provided at the other end of the second reducer, the motor brake is used to stop the rotation speed of the servo motor, and a cover plate is provided on the outside of the rubber-coated wheel.

[0017] As mentioned above, both the first reducer and the second reducer are planetary gear reducers.

[0018] As mentioned above, the lifting gear box includes a box body, a plurality of gears are arranged in the box body, and the two gears close to the ends of the box body are gear shafts, the axes of the gear shafts extend out of the box body, the outer sides of the gear shafts are each connected to one of the cam swing arms, a cam bearing is arranged on the outer side of the cam swing arm, and the cam bearing is arranged on the gear shaft.

[0019] As mentioned above, two slide grooves are symmetrically arranged on the first support plate, and one cam bearing is slidably arranged in each of the slide grooves.

[0020] In the above technical solution, the beneficial effects of the present invention are:

[0021] 1. The present invention provides multiple drive assemblies in the same direction of travel, each drive wheel is connected to a servo motor, and the multi-motor direct drive structure increases the driving torque of the four-way shuttle. By controlling the synchronous rotation of multiple motors, the inaccurate movement of the four-way shuttle caused by the looseness of the chain or belt drive structure is eliminated.

[0022] 2. The present invention is provided with a mechanism that integrates a servo motor and a reducer in a driving wheel, so that the driving wheel can be installed separately and the installation space of the driving wheel is small, which is beneficial to improve the internal space of a small-sized vehicle and enhance the power at the same time, and is convenient for a four-way shuttle vehicle to load heavy materials in a small size;

[0023] 3. The present invention drives the two lifting gear boxes to move through the lifting motor, the first reducer and the lifting drive shaft, so that the two lifting gear boxes respectively drive the cam swing arms installed thereon to rotate to adjust the height position between the first support plate and the second support plate, so as to switch the travel direction of the four-way shuttle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A schematic diagram of a first three-dimensional structure of a four-way shuttle provided in an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a four-way shuttle provided by another embodiment of the present invention moving in the X direction;

[0027] Figure 3 A schematic diagram of a four-way shuttle vehicle provided by another embodiment of the present invention traveling without material in the Y direction;

[0028] Figure 4 A schematic diagram of a four-way shuttle vehicle provided by another embodiment of the present invention picking up goods in the Y direction;

[0029] Figure 5 A second three-dimensional structural schematic diagram of a four-way shuttle provided by another embodiment of the present invention;

[0030] Figure 6 A schematic diagram of the three-dimensional structure of an X-axis walking group, a servo motor, a driving wheel and an anti-collision wheel provided in another embodiment of the present invention;

[0031] Figure 7 A schematic diagram of the three-dimensional structure of a Y-axis walking group, a servo motor, a driving wheel, a touch switch and an anti-collision wheel provided in another embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the three-dimensional structure of a driving assembly (excluding the touch switch) provided in another embodiment of the present invention;

[0033] Fig. 9 A schematic diagram of the three-dimensional structure between a jacking assembly (excluding a mounting plate and a jacking drive shaft) and a box body provided in another embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1. Pallet; 2. X-axis walking group; 20. First support plate; 200. Sliding part; 201. Slide; 3. Y-axis walking group; 30. Second support plate; 300. Connecting part; 4. Driving assembly; 40. Servo motor; 41. Driving wheel; 410. Second reducer; 411. Rubber-coated wheel; 42. Touch switch; 5. Lifting assembly; 50. Mounting plate; 51. Lifting motor; 52. First reducer; 53. Lifting gearbox; 530. Box body; 54. Lifting drive shaft; 55. Cam swing arm; 56. Cam bearing; 6. Anti-collision wheel. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "vertical", "horizontal", "side", "inside", "outside", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] like Figure 1-9 As shown, a multi-motor synchronous walking four-way shuttle vehicle provided in an embodiment of the present invention comprises a tray 1, the tray 1 is used to carry goods, two groups of X-direction walking groups 2 and two groups of Y-direction walking groups 3 are arranged under the tray 1, the X-direction walking groups 2 and the Y-direction walking groups 3 form a rectangle, and the X-direction walking groups 2 and the Y-direction walking groups 3 are arranged at intervals;

[0039] An X-direction walking group 2, wherein the number of the X-direction walking groups 2 is two, and the two X-direction walking groups 2 are symmetrically arranged below the tray 1, and the X-direction walking group 2 comprises a first support plate 20, each of the first support plates 20 is fixedly connected to the lower end of the tray 1, and a driving assembly 4 is respectively arranged at both ends of the first support plate 20;

[0040] A Y-direction walking group 3, wherein the number of the Y-direction walking groups 3 is two, and the two Y-direction walking groups 3 are symmetrically arranged below the tray 1, and the Y-direction walking group 3 comprises a second support plate 30, and a driving assembly 4 is respectively arranged at both ends of the second support plate 30, and an end of the second support plate 30 is respectively arranged at both ends of the first support plate 20 in a sliding manner;

[0041] A driving assembly 4, the driving assembly 4 is controlled by a controller, the driving assembly 4 comprises a servo motor 40, the output end of the servo motor 40 is provided with a driving wheel 41, the four driving wheels 41 on the two first support plates 20 can rotate synchronously to drive the four-way shuttle to move in the X direction, and the four driving wheels 41 on the two second support plates 30 can rotate synchronously to drive the four-way shuttle to move in the Y direction;

[0042] The jacking assembly 5 includes a mounting plate 50, on which a jacking motor 51 is mounted, the output end of the jacking motor 51 is connected to a first reducer 52, two jacking gear boxes 53 are symmetrically arranged at both ends of the mounting plate 50, the output end of the first reducer 52 is connected to one of the jacking gear boxes 53, and each of the jacking gear boxes 53 is parallel to one of the first support plates 20, the two jacking gear boxes 53 are connected by a jacking drive shaft 54, and two cam swing arms 55 are arranged on the outer side of each of the jacking gear boxes 53, and the cam swing arms 55 are driven by the jacking motor 51 to rotate to switch the travel direction of the four-way shuttle.

[0043] In another embodiment provided by the present invention, both ends of the lifting gear box 53 are connected to a second support plate 30 by bolt connection, and the lifting gear box 53 and the second support plate 30 form a rectangle, and are arranged at an interval therebetween;

[0044] The specific implementation is as follows: a second support plate 30 is provided at both ends of the lifting gear box 53 by bolt connection, that is, the second support plate 30 and the end of the lifting gear box 53 are fixedly connected by bolts, and the two lifting gear boxes 53 and the two second support plates 30 are arranged at intervals and form a rectangle. In this way, the two lifting gear boxes 53 and the two second support plates 30 are assembled into the basic frame of the four-way shuttle, and the second support plates 30 and lifting gear boxes 53 of different sizes can be replaced and assembled by bolts, and the first support plates 20 of corresponding sizes can be replaced at the same time so as to assemble four-way shuttles of different sizes to adapt to shelves and goods of various sizes.

[0045] In another embodiment provided by the present invention, a sliding portion 200 is disposed at each end of the first support plate 20, and a connecting portion 300 is disposed at each end of the second support plate 30, and the connecting portion 300 is slidably connected to the sliding portion 200;

[0046] The specific implementation is as follows: a connecting part 300 is provided at each end of each second support plate 30, a sliding part 200 is provided at each end of the first support plate 20, and a first support rod is provided at each end of each second support plate 30 through the connecting part 300 and the sliding part 200, the two first support rods and the two second support rods are arranged at intervals, and the first support rods and the second support rods form a rectangle, so that when the controller controls the movement of the jacking motor 51, the jacking motor 51 drives the two jacking gear boxes 53 to rotate synchronously through the first reducer 52 and the jacking drive shaft 54, so that the cam swing arm 55 provided on the jacking gear box 53 adjusts the position height between the first support rod and the second support rod, so that the first support rod and the second support rod at different position heights switch the travel direction of the four-way shuttle.

[0047] In another embodiment provided by the present invention, a plurality of anti-collision wheels 6 are disposed on the outer sides of the first support plate 20 and the second support plate 30 along their length directions, and a rubber layer is disposed on the outer sides of the anti-collision wheels 6;

[0048] The specific implementation is as follows: the maximum distance from the edge of the anti-collision wheel 6 to the first support plate 20 or the second support plate 30 is greater than the maximum distance from the outer side of the driving wheel 41 to the first support plate 20 or the second support plate 30, that is, the anti-collision wheel 6 protrudes from the driving wheel 41, so that the four-way shuttle vehicle can be protected by multiple anti-collision wheels 6 during the movement, so as to avoid the four-way shuttle vehicle from being damaged by collision when moving. At the same time, the rubber layer provided on the outer side of the anti-collision wheel 6 can buffer and reduce the shock of the four-way shuttle vehicle during collision, so as to avoid the anti-collision wheel 6 directly colliding with the first support plate 20 or the second support plate 30, which will be deformed and difficult to slide relative to each other.

[0049] In another embodiment provided by the present invention, the driving assembly 4 further includes a plurality of touch switches 42, and the touch switches 42 are arranged on the second supporting plate 30, and the driving assembly 4 is also controlled by the touch switches 42;

[0050] The specific implementation is as follows: the touch switch 42 is a two-way switch, and the touch switch 42 can send a signal to the controller to change the state of the controller controlling the X-direction walking group 2 and the Y-direction walking group 3. In this way, when the four-way shuttle moves along the X direction, the touch switch 42 abuts against the lower end of the tray 1, and the button of the touch switch 42 is pressed. At this time, the drive component 4 of the X-direction walking group 2 is in the on state, and the drive component 4 of the Y-direction walking group 3 is in the off state. The controller can control the drive component 4 of the X-direction walking group 2 to move, and the drive component 4 of the Y-direction walking group 3 does not work, so that the controller controls the servo motor 40 of the X-direction walking group 2 to drive the driving wheel 41 to rotate to drive the four-way shuttle to move in the X direction; when the four-way shuttle switches from moving in the X direction to moving in the Y direction, the controller controls the jacking motor 51 to move, and drives the first reducer to rotate through the jacking motor 51, so that the first reducer drives the jacking gear box 53 connected thereto. The gear rotates, and at the same time, the gear in the jacking gear box 53 can synchronously drive the jacking gear shaft to rotate, so that the jacking gear shaft drives the gear in the jacking gear box 53 away from the first reducer to rotate synchronously, so that the two jacking gear boxes 53 synchronously drive the two cam swing arms 55 arranged thereon to rotate, so that the cam swing arm 55 drives the jacking assembly 5 and the second support rod to descend along the first support rod, so that the driving wheel 41 of the Y-direction walking group 3 contacts the track, and at the same time, the touch switch 42 descends with the second support plate 30 and moves away from the tray 1, and the button of the touch switch 42 rebounds. At this time, the Y-direction walking group 3 is in the on state, and the driving assembly 4 of the X-direction walking group 2 is in the off state. The controller can control the driving assembly 4 of the Y-direction walking group 3 to move, and the driving assembly 4 of the X-direction walking group 2 does not work, so that the controller controls the servo motor 40 of the Y-direction walking group 3 to drive the driving wheel 41 to rotate to drive the four-way shuttle to move in the Y direction.

[0051] In another embodiment provided by the present invention, the driving wheel 41 includes a second reducer 410, the second reducer 410 is connected to the servo motor 40, a rubber-coated wheel 411 is provided at the output end of the second reducer 410, a motor brake is provided at the other end of the second reducer 410, the motor brake is used to stop the rotation speed of the servo motor 40, and a cover plate is provided on the outer side of the rubber-coated wheel 411;

[0052] The specific implementation is as follows: the servo motor 40 drives the second reducer to rotate, so that the second reducer drives the rubber-coated wheel 411 arranged thereon to rotate, so that the rubber-coated wheel 411 drives the four-way shuttle to move on the track, and while the rubber-coated wheel 411 drives the four-way shuttle to move, the controller can control the rotation start and stop and the rotation angle of the jacking motor 51, so that the jacking motor 51 drives the cam swing arm 55 to rotate through the first reduction, the jacking gear shaft and the jacking gear box 53 to switch the travel direction of the four-way shuttle, and at the same time, after the four-way shuttle reaches the specified position, it needs to be stopped at the specified position, for this purpose, a motor brake is set, and the motor brake is used to stop the rotation speed of the servo motor 40, which is a prior art and will not be repeated, and the motor brake can ensure that the rotation speed of the servo motor 40 at the specified position is stopped; the rubber-coated wheel 411 has good shock absorption performance, can effectively absorb impact, can effectively prevent sliding, and protect the four-way shuttle; the cover plate can enhance the protection of the product and increase the beauty of the product.

[0053] In another embodiment provided by the present invention, both the first reducer 52 and the second reducer 410 are planetary gear reducers;

[0054] The specific implementation is as follows: the planetary gear reducer loses less energy while reducing speed, making the system run more efficiently, and the dispersed structure of the planetary gear reducer enables it to withstand higher torque. At the same time, the structure of the planetary gear reducer is relatively compact, and a high transmission ratio can be provided in a limited space.

[0055] In another embodiment provided by the present invention, the lifting gear box 53 includes a box body 530, a plurality of gears are arranged in the box body 530, and two gears near the ends of the box body 530 are gear shafts, the shafts of the gear shafts extend out of the box body 530, and the outer sides of the gear shafts are respectively connected to one of the cam swing arms 55, and the outer sides of the cam swing arms 55 are provided with cam bearings 56, and the cam bearings 56 are arranged on the gear shafts;

[0056] The specific implementation is as follows: when switching the travel direction of the four-way shuttle, the controller controls the rotation of the lifting motor 51, so that the lifting motor 51 drives the multiple gears in the two lifting gear boxes 53 to rotate synchronously through the first reducer and the lifting drive shaft 54, so that the multiple gears drive the gear shaft meshing therewith to rotate, so that the gear shaft can drive the cam swing arm 55 installed thereon to rotate, and at the same time the cam bearing 56 can rotate with the cam swing arm 55, so that the cam swing arm 55 and the cam bearing 56 drive the entire lifting assembly 5 and the second support plate 30 to slide along the first support plate 20, thereby switching the travel direction of the four-way shuttle, and by controlling the rotation angle of the lifting motor 51 by the controller, the cam swing arm 55 and the cam bearing 56 can be controlled to cyclically switch the travel direction of the four-way shuttle in the X direction and the Y direction so as to adapt to the four-way shuttle being at different positions on the shelf.

[0057] In another embodiment provided by the present invention, two slide grooves 201 are symmetrically arranged on the first support plate 20, and a cam bearing 56 is slidably arranged in each of the slide grooves 201;

[0058] The specific implementation is as follows: the slide 201 is in a runway shape, that is, a rectangular shape in the middle and semicircular shapes at both ends. The lifting motor 51 drives the gears in the two lifting gear boxes 53 to rotate synchronously through the first reducer 52 and the lifting drive shaft 54, so that the cam swing arm 55 arranged on the outer side of the lifting gear box 53 rotates, so that the cam swing arm 55 drives the cam bearing 56 to rotate synchronously, so that the cam swing arm 55 and the cam bearing 56 can adjust the position height between the first support plate 20 and the second support plate 30, so that the cam swing arm 55 and the cam bearing 56 can adjust the travel direction of the four-way shuttle. Specifically, the cam swing arm 55, There are three states between the cam bearing 56 and the slide slot 201: the first state: the cam swing arm 55 drives the cam bearing 56 to be at the lowest point, and the two cam bearings 56 on the same first support plate 20 are at the farthest distance in the slide slot 201. At this time, the four-way shuttle moves along the X direction of the track, and the four-way shuttle is in the X-direction no-material and picking-up walking state; the second state: on the basis of the first state, the controller controls the movement of the jacking motor 51, so that the jacking motor 51 drives the multiple gears in the two jacking gear boxes 53 to rotate synchronously through the first reducer and the jacking drive shaft 54, so that the multiple gears drive the gear shafts meshing therewith to rotate. The gear shaft can drive the cam swing arm 55 installed thereon to rotate, so that the cam swing arm 55 drives the cam bearing 56 to be in the length direction of the cam swing arm 55, and the two cam bearings 56 on the same first support plate 20 are closest to each other in the slide groove 201. At this time, the four-way shuttle moves along the Y direction of the track, and the four-way shuttle is in the Y-direction material-free walking state; the third state: on the basis of the second state, the controller controls the jacking motor 51 to continue to move, so that the jacking motor 51 drives the multiple gears in the two jacking gear boxes 53 to rotate synchronously through the first reducer and the jacking drive shaft 54, so that the multiple gear belts The gear shaft meshing with it is driven to rotate, so that the gear shaft can drive the cam swing arm 55 installed thereon to rotate, so that the cam swing arm 55 drives the cam bearing 56 to be at the highest point, and the two cam bearings 56 on the same first support plate 20 are the farthest apart in the slide groove 201. At this time, the four-way shuttle is still moving along the Y direction of the track, and the four-way shuttle is in the Y-direction picking up and walking state, and in this state, the controller controls the jacking motor 51 to continue moving, and the four-way shuttle can be converted from the third state to the first state; the cam bearing 56 is convenient for reducing the friction between it and the slide groove 201, so that the cam bearing 56 can slide in the slide groove 201.

[0059] Working principle: according to the size of the shelf and the goods, the second support plates 30 and the lifting gear boxes 53 of different sizes are replaced and assembled by bolts, and a second support plate 30 is respectively installed at both ends of the lifting gear box 53 by bolts, and the two lifting gear boxes 53 and the two second support plates 30 are arranged at intervals to form a rectangle, and the first support plates 20 of corresponding sizes are replaced to assemble four-way shuttles of different sizes; in addition, the two first support rods and the two second support rods are arranged at intervals by the connecting part 300 and the sliding part 200, and the first support rods and the second support rods form a rectangle. In this way, when the controller controls the lifting motor 51 to move, the lifting motor 51 drives the two lifting gear boxes 53 to rotate synchronously through the first reducer 52 and the lifting drive shaft 54, so that the cam swing arm 55 set on the lifting gear box 53 adjusts the position height between the first support rod and the second support rod, so that the first support rod and the second support rod at different position heights switch the travel direction of the four-way shuttle;

[0060] When the four-way shuttle moves, the servo motor 40 drives the second reducer to rotate, so that the second reducer drives the rubber-coated wheel 411 arranged thereon to rotate, so that the rubber-coated wheel 411 drives the four-way shuttle to move on the track, and while the rubber-coated wheel 411 drives the four-way shuttle to move, the controller can control the rotation start and stop and the rotation angle of the jacking motor 51, so that the jacking motor 51 drives the cam swing arm 55 to rotate through the first reduction gear, the jacking gear shaft and the jacking gear box 53 to switch the travel direction of the four-way shuttle, and at the same time, after the four-way shuttle reaches the specified position, it needs to be stopped at the specified position, and for this purpose, a motor brake is set The motor brake is used to stop the speed of the servo motor 40. This is a prior art and will not be described in detail. The motor brake can ensure that the speed of the servo motor 40 is stopped at a specified position; the rubber-coated wheel 411 has good shock-absorbing performance, can effectively absorb impact, can effectively prevent sliding, and protect the four-way shuttle vehicle; the anti-collision wheel 6 can protect the edge of the four-way shuttle vehicle to prevent the four-way shuttle vehicle from being damaged by collision when moving, and the rubber layer provided on the outside of the anti-collision wheel 6 can buffer and reduce the shock of the four-way shuttle vehicle during collision, so as to prevent the anti-collision wheel 6 from directly colliding with the first support plate 20 or the second support plate 30, which is difficult to slide relative to each other after deformation;

[0061] The movement of the four-way shuttle is divided into two directions, namely the X direction and the Y direction: when the four-way shuttle moves along the X direction, the touch switch 42 abuts against the lower end of the tray 1, and the button of the touch switch 42 is pressed. At this time, the drive component 4 of the X-direction walking group 2 is in the on state, and the drive component 4 of the Y-direction walking group 3 is in the off state. The controller can control the drive component 4 of the X-direction walking group 2 to move, and the drive component 4 of the Y-direction walking group 3 does not work, so that the controller controls the servo motor 40 of the X-direction walking group 2 to drive the driving wheel 41 to rotate to drive the four-way shuttle to move in the X direction; when the four-way shuttle switches from moving in the X direction to moving in the Y direction, the controller controls the jacking motor 51 to rotate, so that the jacking motor 51 passes through the first The reducer and the lifting drive shaft 54 ​​drive multiple gears in the two lifting gear boxes 53 to rotate synchronously, so that the multiple gears drive the gear shafts meshing therewith to rotate, so that the gear shafts can drive the cam swing arm 55 installed thereon to rotate, so that the cam swing arm 55 and the cam bearing 56 drive the entire lifting assembly 5 and the second support plate 30 to slide down along the first support plate 20, so that the driving wheel 41 of the Y-axis walking group 3 contacts the track, and at the same time, the touch switch 42 descends with the second support plate 30 and moves away from the tray 1, and the button of the touch switch 42 rebounds. At this time, the Y-axis walking group 3 is in the on state, and the driving assembly 4 of the X-axis walking group 2 is in the off state. The controller can control the driving assembly 4 of the Y-axis walking group 3 to move, and the X-axis walking group 2 is in the off state. The driving assembly 4 of the Y-direction walking group 2 does not work, so that the controller controls the servo motor 40 of the Y-direction walking group 3 to drive the driving wheel 41 to rotate to drive the four-way shuttle to move in the Y direction, and the controller controls the rotation angle of the lifting motor 51 to control the cam swing arm 55 and the cam bearing 56 to cyclically switch the travel direction of the four-way shuttle in the X direction and the Y direction so as to adapt to the four-way shuttle at different positions on the shelf. Specifically, there are three states between the cam swing arm 55, the cam bearing 56 and the slide groove 201: the first state: the cam swing arm 55 drives the cam bearing 56 to be at the lowest point, and the two cam bearings 56 on the same first support plate 20 are the farthest apart in the slide groove 201. At this time, the four-way shuttle moves along the track The four-way shuttle moves in the X direction, and is in the X-direction material-free and cargo-picking walking state; the second state: on the basis of the first state, the controller controls the lifting motor 51 to move, so that the lifting motor 51 drives the multiple gears in the two lifting gear boxes 53 to rotate synchronously through the first reducer and the lifting drive shaft 54, so that the multiple gears drive the gear shafts meshing therewith to rotate, so that the gear shafts can drive the cam swing arm 55 installed thereon to rotate, so that the cam swing arm 55 drives the cam bearing 56 to be in the length direction of the cam swing arm 55, and the two cam bearings 56 on the same first support plate 20 are closest to each other in the slide groove 201, at this time, the four-way shuttle moves along the Y direction of the track, and the four-way shuttle is in the Y-direction material-free walking state;The third state: On the basis of the second state, the controller controls the lifting motor 51 to continue to move, so that the lifting motor 51 drives the multiple gears in the two lifting gear boxes 53 to rotate synchronously through the first reducer and the lifting drive shaft 54, so that the multiple gears drive the gear shafts meshing therewith to rotate, so that the gear shafts can drive the cam swing arm 55 installed thereon to rotate, so that the cam swing arm 55 drives the cam bearing 56 to be at the highest point, and the two cam bearings 56 on the same first support plate 20 are at the farthest distance in the slide groove 201. At this time, the four-way shuttle still moves along the Y direction of the track, and the four-way shuttle is in the Y-direction picking up and walking state. In this state, the controller controls the lifting motor 51 to continue to move, and the four-way shuttle can be converted from the third state to the first state; the cam bearing 56 conveniently reduces the friction between it and the slide groove 201, so that the cam bearing 56 can slide in the slide groove 201. ;

[0062] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-motor synchronous four-way shuttle vehicle, comprising a pallet (1), the pallet (1) being used to carry goods, two groups of X-direction walking groups (2) and two groups of Y-direction walking groups (3) being arranged below the pallet (1), the X-direction walking groups (2) and the Y-direction walking groups (3) forming a rectangle, and the X-direction walking groups (2) and the Y-direction walking groups (3) being arranged at intervals, characterized in that: An X-direction walking group (2), wherein the number of the X-direction walking groups (2) is two, and the two X-direction walking groups (2) are symmetrically arranged below the tray (1), the X-direction walking group (2) comprises a first support plate (20), each of the first support plates (20) is fixedly connected to the lower end of the tray (1), and a driving assembly (4) is respectively arranged at both ends of the first support plate (20); A Y-direction walking group (3), the number of the Y-direction walking groups (3) is two, and the two Y-direction walking groups (3) are symmetrically arranged below the tray (1), the Y-direction walking group (3) comprises a second support plate (30), each of the two ends of the second support plate (30) is provided with a driving assembly (4), and each of the two ends of the first support plate (20) is provided with an end of the second support plate (30) in a sliding manner; A drive assembly (4), the drive assembly (4) being controlled by a controller, the drive assembly (4) comprising a servo motor (40), the output end of the servo motor (40) being provided with a drive wheel (41), the four drive wheels (41) on the two first support plates (20) being able to rotate synchronously to drive the four-way shuttle vehicle to move in the X direction, and the four drive wheels (41) on the two second support plates (30) being able to rotate synchronously to drive the four-way shuttle vehicle to move in the Y direction; A lifting assembly (5), wherein the lifting assembly (5) comprises a mounting plate (50), a lifting motor (51) is mounted on the mounting plate (50), the output end of the lifting motor (51) is connected to a first reducer (52), two lifting gear boxes (53) are symmetrically arranged at both ends of the mounting plate (50), the output end of the first reducer (52) is connected to one of the lifting gear boxes (53), and each of the lifting gear boxes (53) is parallel to one of the first support plates (20), the two lifting gear boxes (53) are connected via a lifting drive shaft (54), and two cam swing arms (55) are arranged on the outer side of each of the lifting gear boxes (53), and the cam swing arms (55) are driven by the lifting motor (51) to rotate so as to switch the travel direction of the four-way shuttle.

2. A multi-motor synchronous four-way shuttle vehicle according to claim 1, characterized in that: Both ends of the lifting gear box (53) are connected to the second support plate (30) by means of bolt connection. The lifting gear box (53) and the second support plate (30) form a rectangle and are arranged at an interval therebetween.

3. The multi-motor synchronous four-way shuttle vehicle according to claim 1, characterized in that: A sliding portion (200) is provided at each end of the first support plate (20), and a connecting portion (300) is provided at each end of the second support plate (30), wherein the connecting portion (300) is slidably connected to the sliding portion (200).

4. The multi-motor synchronous four-way shuttle vehicle according to claim 1, characterized in that: A plurality of anti-collision wheels (6) are arranged on the outer sides of the first support plate (20) and the second support plate (30) along their length directions, and a rubber layer is arranged on the outer sides of the anti-collision wheels (6).

5. The multi-motor synchronous four-way shuttle vehicle according to claim 1, characterized in that: The driving assembly (4) further comprises a plurality of touch switches (42), wherein the touch switches (42) are arranged on the second supporting plate (30), and the driving assembly (4) is also controlled by the touch switches (42).

6. The multi-motor synchronous four-way shuttle vehicle according to claim 1, characterized in that: The driving wheel (41) comprises a second reducer (410), the second reducer (410) is connected to the servo motor (40), a rubber-coated wheel (411) is arranged at the output end of the second reducer (410), a motor brake is arranged at the other end of the second reducer (410), the motor brake is used to stop the rotation speed of the servo motor (40), and a cover plate is arranged on the outer side of the rubber-coated wheel (411).

7. The multi-motor synchronous four-way shuttle vehicle according to claim 6, characterized in that: The first reducer (52) and the second reducer (410) are both planetary gear reducers.

8. The multi-motor synchronous four-way shuttle vehicle according to claim 1, characterized in that: The lifting gear box (53) comprises a box body (530), a plurality of gears are arranged in the box body (530), and two gears close to the ends of the box body (530) are gear shafts, the axes of the gear shafts extend out of the box body (530), the outer sides of the gear shafts are connected to one of the cam swing arms (55), and the outer sides of the cam swing arms (55) are provided with cam bearings (56), and the cam bearings (56) are arranged on the gear shafts.

9. The multi-motor synchronous four-way shuttle vehicle according to claim 8, characterized in that: Two sliding grooves (201) are symmetrically arranged on the first support plate (20), and a cam bearing (56) is slidably arranged in each of the sliding grooves (201).

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