Heavy-load four-way shuttle vehicle for automatic storage

Abstract

The invention discloses a heavy-load four-way shuttle vehicle for automatic storage, and relates to the technical field of automatic storage equipment. Comprising a vehicle body, lifting reversing assemblies, a cam mechanism and a walking driving assembly, the vehicle body comprises a bottom plate, a plurality of transverse walking wheels are arranged on the two opposite side edges of the bottom plate, the lifting reversing assemblies are arranged on the other two opposite side edges of the bottom plate, and each lifting reversing assembly comprises a lifting frame, longitudinal walking wheels and a wheel axle; the longitudinal walking wheels are installed on the lifting frame through wheel axles, a roller path is formed in the lifting frame, a swing shaft in the cam mechanism penetrates through the roller path and rolls along the roller path, the walking driving assembly comprises a walking driving device and a transmission mechanism, and the walking driving device is installed on the vehicle body. The walking driving device is in transmission connection with the transverse walking wheels and the longitudinal walking wheels through a transmission mechanism. According to the four-way shuttle vehicle, the large jacking stroke is achieved, and the overall height size can be reduced easily.

Description

Technical Field

[0001] The invention relates to the technical field of automated warehousing equipment, and in particular to a heavy-load four-way shuttle vehicle used for automated warehousing. Background Art

[0002] With the development of modern warehousing and logistics technology, four-way shuttles that can travel across aisles are gradually replacing shuttle plates and becoming one of the main automation equipment in dense warehousing systems. Among them, the cam mechanism is the most commonly used lifting or reversing mechanism in shuttle plates and four-way shuttles, with the advantages of simple structure, low cost, and high reliability. The traditional cam mechanism has a small lifting stroke. In order to achieve a better lifting effect, the cam mechanism needs to be larger. However, a larger cam mechanism is not conducive to reducing the height of the four-way shuttle, making its structure complex and the manufacturing cost high. Summary of the invention

[0003] The object of the present invention is to provide a heavy-load four-way shuttle for automated warehousing to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a heavy-load four-way shuttle vehicle for automated warehousing, comprising a vehicle body, a lifting and reversing assembly, a cam mechanism and a travel drive assembly, wherein the vehicle body comprises a bottom plate, the bottom plate has a first side, a second side, a third side and a fourth side, the first side and the second side are arranged along the second direction and are relatively arranged, the third side and the fourth side are arranged along the first direction and are relatively arranged, and the first direction is perpendicular to the second direction; a plurality of transverse travel wheels for driving the vehicle body to travel along the first direction are arranged on the first side and the second side, the lifting and reversing assembly is arranged on the third and fourth sides of the bottom plate, the lifting and reversing assembly comprises a lifting frame, longitudinal travel wheels and wheel axles, the longitudinal travel vehicle The wheel is installed on the lifting frame through the wheel axle and is used to drive the vehicle body to move in the second direction. The lifting frame is provided with a roller track. The cam mechanism includes a swing shaft, which passes through the roller track and can roll in the roller track. When the swing shaft rolls to the first state, the lifting and reversing assembly is lifted up, and its longitudinal walking wheel is off the ground, and the vehicle body can move in the first direction through the transverse walking wheel. When the swing shaft rolls to the second state, the lifting and reversing assembly is pressed down, and its longitudinal walking wheel contacts the ground, and the vehicle body can move in the second direction through the longitudinal walking wheel. The walking drive assembly includes a walking drive device and a transmission mechanism. The walking drive device is installed on the vehicle body, and the walking drive device is connected to the transverse walking wheel and the longitudinal walking wheel through the transmission mechanism.

[0005] Based on the above technical features, the four-way shuttle in the present invention can realize the lifting and reversing functions of the lifting and reversing assembly by the rolling of the swing shaft in the raceway. By converting the rotational motion of the swing shaft into the linear motion of the lifting and reversing assembly, the lifting stroke is large, which is beneficial to reducing the height of the four-way shuttle. At the same time, the structural design is sophisticated, ensuring the stability of the lifting of the lifting and reversing assembly.

[0006] Preferably in the present technical solution, the lifting frame comprises an inner lifting plate, an outer lifting plate and a connecting plate, wherein the connecting plate is arranged between the inner lifting plate and the outer lifting plate, and is connected and fixed with the inner lifting plate and the outer lifting plate to form a lifting frame, the inner lifting plate and the outer lifting plate are arranged in a first direction and both extend in a second direction, the inner lifting plate and the outer lifting plate are arranged relatively to each other, a plurality of first raceways are provided on the inner lifting plate, and a second raceway corresponding to the first raceway is provided on the outer lifting plate, the first raceway and the second raceway are both elliptical, and the major axis of the ellipse is along the second direction, the swing shaft can pass through the first raceway and the second raceway in the first direction, the swing shaft can move along the elliptical raceway surface of the first raceway and / or the second raceway, and push the lifting reversing assembly to move in a third direction, and the third direction is perpendicular to the first direction and the second direction; the longitudinal walking wheel is installed between the inner lifting plate and the outer lifting plate through the wheel axle.

[0007] Based on the above technical features, the present invention controls the swing shaft to move along the raceway surface of the first raceway and / or the second raceway, thereby pushing the lifting reversing assembly to move upward to lift the goods and perform the lifting function, or pushes the lifting reversing assembly to move downward so that the longitudinal walking wheels contact the ground and the transverse walking wheels leave the ground, thereby completing the change of the walking direction.

[0008] Preferably in the present technical solution, the cam mechanism also includes a follower bearing, wherein the follower bearing is sleeved on the swing shaft and is located between the first raceway and the journal of the swing shaft and / or is installed between the second raceway and the journal of the swing shaft, and the swing shaft can move along the raceway surface of the first raceway and / or the raceway surface of the second raceway through the follower bearing.

[0009] Based on the above technical features, a follower bearing is arranged between the swing shaft and the raceway and is used for the movement of the swing shaft along the raceway surface. This can effectively avoid the problem of stress concentration at the connection between the swing shaft and the cam and reduce the load-bearing capacity, optimize the load distribution on the swing shaft, reduce the stress at the connection between the swing shaft and the cam, and thus improve the load-bearing capacity of the entire cam mechanism.

[0010] In the present technical solution, preferably, the third side and the fourth side are both provided with an outer transverse mounting plate and an inner transverse mounting plate arranged along the first direction and extending along the second direction, and cam mounting holes are formed on the outer transverse mounting plate and the inner transverse mounting plate; the cam mechanism also includes a cam, which is disc-shaped and has two cams arranged opposite to each other along the first direction, one of which is rotatably mounted in the cam mounting hole of the outer transverse mounting plate, and the other cam is rotatably mounted in the cam mounting hole of the inner transverse mounting plate, and the two ends of the swing shaft passing through the first raceway and the second raceway are eccentrically mounted on the end surface of the cam, and the axial centerline direction of the swing shaft is parallel to the axial centerline of the cam.

[0011] Based on the above technical features, the present invention effectively saves the lateral space of the four-way shuttle by installing the cam in the cam mounting holes of the inner and outer lateral mounting plates, thereby increasing the space utilization and storage capacity during warehouse storage.

[0012] In the technical solution, preferably, the first rollers and cam mechanisms are provided in plurality and correspond to each other one by one, and the plurality of first rollers provided on the inner lifting plate are arranged along the second direction. More preferably, the four-way shuttle vehicle further comprises a lifting drive assembly, the lifting drive assembly comprises a lifting drive device, a transmission shaft and a cam transmission mechanism, wherein the lifting drive device is mounted on the vehicle body, the lifting drive device is connected to the transmission shaft in a transmission connection with the cam in one group of cam mechanisms through the transmission shaft, and the transmission shaft also transmits power to other groups of cam mechanisms through the cam transmission mechanism.

[0013] Based on the above technical features, the cam in the present invention can, driven by the lifting drive assembly, cause the swing shaft to deflect around the axis of the cam, thereby driving the follower bearing to move relative to the raceway, while pushing the lifting reversing assembly to move upward to lift the goods and perform the lifting function, or pushing the lifting reversing assembly to move downward so that the longitudinal walking wheels contact the ground and the transverse walking wheels leave the ground, thereby completing the change of walking direction.

[0014] Preferably in the present technical solution, the cam mechanism also includes a cam bearing and a cam bearing end cover, wherein the cam is rotatably mounted on the outer transverse mounting plate and the inner transverse mounting plate through the cam bearing, and the cam bearing is located between the circumferential side surface of the cam and the hole wall of the cam mounting hole, and the cam bearing end cover is located at both ends of the cam and is mounted on the inner transverse mounting plate and the outer transverse mounting plate, and is used to limit the axial movement of the cam bearing along the first direction.

[0015] Based on the above technical features, the present invention sets a cam bearing between the cam and the transverse mounting plate, which is not only conducive to the cam to withstand high-load rotation and improve the durability of the entire cam mechanism, but also helps to reduce the wear of the cam, extend the maintenance cycle and reduce maintenance costs.

[0016] In the present technical solution, preferably, the vehicle body further comprises a longitudinal mounting plate, the longitudinal mounting plate is mounted on the first side and the second side, and the transverse running wheels are mounted on the longitudinal mounting plate.

[0017] Preferably in the present technical solution, the connecting plate comprises two plates, which are respectively arranged on both sides of the inner lifting plate and the outer lifting plate, and the four-way shuttle vehicle also comprises a guide mechanism, which comprises a lateral limiting mechanism and a longitudinal limiting mechanism, wherein the lateral limiting mechanism and the longitudinal limiting mechanism are both located between the longitudinal mounting plate and the connecting plate, and are used to jointly guide the movement stroke of the lifting and reversing assembly along the third direction.

[0018] Preferably in the present technical solution, the lateral limit mechanism includes a limit rod, one end of the limit rod is fixedly connected to the connecting plate, and the other end extends into a guide groove provided in the longitudinal mounting plate, and the limit rod can move along the third direction relative to the guide groove; the longitudinal limit mechanism includes a longitudinal limit roller, a limit shaft and a limit support, the limit support is fixedly connected to the longitudinal mounting plate, and a side of the limit support different from the longitudinal mounting plate is provided with a plurality of limit shafts arranged along the third direction and extending along the first direction, the longitudinal limit roller is sleeved on the limit shaft and can rotate around the limit shaft, and the roller surface of the longitudinal limit roller abuts against the connecting plate.

[0019] Preferably in the present technical solution, the travel drive device includes a travel motor and a travel reducer that are mutually transmission-connected; the transmission mechanism includes a transverse transmission long shaft, a transverse transmission short shaft, a gear assembly, a commutator, a longitudinal transmission shaft and a first coupling; the travel reducer is transmission-connected to the transverse transmission long shaft and the transverse transmission short shaft through a bevel gear structure; the other end of the transverse transmission short shaft is transmission-connected to the transverse travel wheel arranged on the first side; the other end of the transverse transmission long shaft is transmission-connected to the transverse travel wheel arranged on the second side; the transverse transmission long shaft is also transmission-connected to the commutator through the gear assembly; the commutator is transmission-connected to the longitudinal travel wheels arranged on the third and fourth sides of the base plate through the longitudinal transmission shaft and the first coupling.

[0020] Based on the above technical features, the present invention adopts a bevel gear right-angle travel reducer and a bevel gear right-angle commutator to realize power transmission in the first direction and the second direction. At the same time, the components on the travel drive assembly for transmitting motion and power are all transmitted by gears, which also correspondingly improves the transmission accuracy and the overall flexibility and compactness of the shuttle, ensuring the stable operation of the four-way shuttle under the motor load. Compared with the transmission method of the toothed chain, the processing and manufacturing cost and the maintenance cost are lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the structure of the vehicle body in the embodiment of the present invention (with the lateral running wheels cut away);

[0022] Figure 2 A top view of a heavy-load four-way shuttle vehicle according to an embodiment of the present invention;

[0023] Figure 3 It is a top view of a heavy-load four-way shuttle vehicle with the lifting and reversing assembly removed in an embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a heavy-load four-way shuttle vehicle in which a lifting and reversing assembly is removed in an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of the structure of the lifting and reversing assembly in an embodiment of the present invention (with the wheel and wheel axle positions cut away);

[0026] Figure 6 A top view and a schematic structural diagram of a longitudinal limiting mechanism in an embodiment of the present invention;

[0027] Figure 7 Schematic diagram of the installation of the guide mechanism on the four-way shuttle in an embodiment of the present invention.

[0028] In the figure: 1. vehicle body; 101. transverse traveling wheel; 102. transverse wheel transmission mechanism; 103. transverse wheel axle; 104. transverse wheel axle bearing; 2. traveling drive assembly; 201. traveling motor; 202. traveling reducer; 203. transverse transmission long shaft; 204. transverse transmission long shaft; 205. first gear; 206. second gear; 207. commutator; 208. longitudinal transmission shaft; 209. first coupling; 3. lifting drive assembly; 301. lifting motor; 302. lifting reducer; 303. lifting active long shaft; 304. lifting active short shaft; 305. lifting driven shaft; 306. second coupling; 307. toothed sprocket; 308. toothed chain; 309, cam; 310, swing shaft; 311, first follower bearing; 312, second follower bearing; 4, lifting and reversing assembly; 401, outer lifting plate; 402, inner lifting plate; 403, connecting plate; 404, longitudinal running wheel; 405, driving wheel shaft; 406, driven wheel shaft; 407, outer support bearing; 408, inner support bearing; 409, longitudinal wheel transmission mechanism; 410, raceway assembly; Ⅰ, second raceway; Ⅱ, first raceway; 5, guiding mechanism; 501, longitudinal limit roller; 502, limit shaft; 503, limit ring; 504, limit support; 505, adjustment gasket; 506, transverse limit roller; 507, limit sleeve; 508, limit rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that, in the description of the present invention, the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0031] In addition, it should be understood that for the convenience of description, the sizes of various components shown in the drawings are not drawn according to the actual proportional relationship.

[0032] It should be noted that like reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined or described in one drawing, it will not require further detailed discussion and description in the description of the subsequent drawings.

[0033] Before understanding the present invention, it should be clear that, compared with light and medium-sized four-way shuttles, heavy-duty four-way shuttles usually use drive devices and transmission devices with stronger output power. Heavy-duty four-way shuttles in the prior art mostly use a transmission method of a helical gearbox or a bevel gearbox plus a chain, among which the helical gearbox is difficult to manufacture and has a high processing cost, while the transmission method of a bevel gearbox plus a chain has poor transmission accuracy, which often affects the control accuracy of the entire vehicle; at the same time, the two relative running wheels of the four-way shuttle in the prior art are mostly connected by wheel axle transmission, and its wheel axle is mostly a cantilever beam structure. While supporting the bearing, it is also subjected to a large torque. Under heavy load conditions, it has a greater impact on the bearing life.

[0034] like Figures 1 to 7 As shown, the present invention provides a technical solution: a heavy-duty four-way shuttle for automated warehousing, the heavy-duty four-way shuttle in the present invention comprises the following components:

[0035] ① Car body:

[0036] like Figure 1 As shown, the vehicle body 1 in the present invention includes a bottom plate, a longitudinal mounting plate, an outer transverse mounting plate, an inner transverse mounting plate and transverse running wheels 101.

[0037] The bottom plate has a first side, a second side, a third side and a fourth side, and the first side and the second side are along the second direction (i.e. Figure 2 The third side and the fourth side are arranged along the first direction (i.e. Figure 2 The longitudinal mounting plate, the inner transverse mounting plate, the outer transverse mounting plate and the transverse walking wheels are all arranged on the bottom plate.

[0038] Specific as Figure 1 As shown, the bottom plate is rectangular, and has a first side, a second side, and a third side and a fourth side that are oppositely arranged. The longitudinal mounting plate, the inner transverse mounting plate, and the outer transverse mounting plate each include two plates, the two longitudinal mounting plates are respectively mounted on the first side and the second side of the bottom plate, the two outer transverse mounting plates are respectively mounted on the third side and the fourth side of the bottom plate, the two inner transverse mounting plates are mounted on the bottom plate and are arranged between the two outer transverse mounting plates, and after installation, the two outer transverse mounting plates and the two inner transverse mounting plates are arranged along the first direction and extend along the second direction, and a mounting gap is formed between the outer transverse mounting plates and the inner transverse mounting plates.

[0039] In a specific embodiment of the present invention, the inner transverse mounting plate is sandwiched between two longitudinal mounting plates and is fastened by bosses and screws, while the longitudinal mounting plate is sandwiched between two outer transverse mounting plates and is also fastened by bosses and screws. Both longitudinal mounting plates are provided with axial holes corresponding to the transverse travel wheels 101, and the transverse travel wheels 101 are mounted on the ends of the transverse wheel axles 103. The other end of the transverse wheel axle 103 is provided with transverse wheel axle bearings 104. The transverse travel wheels 101 are mounted on the longitudinal mounting plates of the vehicle body 1 through the transverse wheel axle bearings 104 arranged in the axial holes, and the transverse travel wheels 101 arranged on the same side of the bottom plate are connected to each other through the transverse wheel transmission mechanism 102. Preferably, the transverse wheel axle bearings 104 are double-row angular contact ball bearings, which are used to limit the axial displacement of the transverse wheel axle 103 and improve the accuracy and performance of the transverse travel wheels 101 when rotating.

[0040] ②Lifting reversing assembly:

[0041] like Figure 2 As shown, the lifting and reversing assembly 4 is arranged at the third side and the fourth side of the base plate, specifically, in the installation gap between the outer transverse mounting plate and the inner transverse mounting plate.

[0042] like Figure 5 As shown, the lifting and reversing assembly 4 includes a lifting frame, longitudinal running wheels 404 , wheel axles and a longitudinal wheel transmission mechanism 409 .

[0043] Specifically, the lifting frame includes an inner lifting plate 402, an outer lifting plate 401 and a connecting plate 403. The connecting plate 403 is arranged between the inner lifting plate 402 and the outer lifting plate 401, and is connected and fixed to the inner lifting plate 402 and the outer lifting plate 401 by screws to form a lifting frame. The inner lifting plate 402 and the outer lifting plate 401 are arranged in a first direction and extend in a second direction. The inner lifting plate 402 and the outer lifting plate 401 are arranged opposite to each other. A plurality of first raceways II are provided on the inner lifting plate 402, and a second raceway I corresponding to the first raceway II is provided on the outer lifting plate 401. The first raceway II and the second raceway I are both elliptical, and the major axis of the ellipse is along the second direction.

[0044] In a specific embodiment of the present invention, the wheel axle includes a driving wheel axle 405 and a driven wheel axle 406, and the longitudinal travel wheel 404 includes a driving travel wheel and three driven travel wheels. The active longitudinal travel wheel 404 is installed between the inner lifting plate 402 and the outer lifting plate 401 through the driving wheel axle 405, and the driven longitudinal travel wheel 404 is installed between the inner lifting plate 402 and the outer lifting plate 401 through the driven wheel axle 406. In addition, the two ends of the driving wheel axle 405 and the driven wheel axle 406 are respectively supported by an outer support bearing 407 and an inner support bearing 408. The outer support bearing 407 and the inner support bearing 408 are respectively installed on the outer lifting plate 401 and the inner lifting plate 402, and the longitudinal travel wheel 404 is arranged between the outer support bearing 407 and the inner support bearing 408. The driving axle 405 and the driven axle 406 are connected by a longitudinal wheel transmission mechanism 409, and the driving axle 405 can transmit power to the driven axle 406 through the longitudinal wheel transmission mechanism 409. A raceway assembly 410 is installed on the inner lifting plate 402, and the raceway assembly 410 cooperates with the inner lifting plate 402 to form a first raceway II; preferably, the longitudinal wheel transmission mechanism 409 is a toothed chain structure, and the raceway assembly 410 can be used to support the longitudinal wheel transmission mechanism 409.

[0045] ③Cam mechanism:

[0046] like Figure 1 As shown, both the outer transverse mounting plate and the inner transverse mounting plate are formed with cam mounting holes. Figure 3 and Figure 4 As shown, the cam mechanism includes a cam 309, a swing shaft 310 and a follower bearing.

[0047] The swing shaft 310 can pass through the first raceway II and the second raceway I along the first direction, and the swing shaft 310 can move along the elliptical raceway surfaces of the first raceway II and the second raceway I, and push the lifting reversing assembly 4 to move along the third direction, which is perpendicular to the first direction and the second direction.

[0048] The cam 309 is in the shape of a disk and two cams are arranged opposite to each other along the first direction, one cam 309 is rotatably mounted in the cam mounting hole of the outer transverse mounting plate, and the other cam 309 is rotatably mounted in the cam mounting hole of the inner transverse mounting plate. The two ends of the swing shaft 310 passing through the first raceway II and the second raceway I are eccentrically mounted on the end surface of the cam 309, and the axis direction of the swing shaft 310 is parallel to the axis of the cam 309. Preferably, the cam 309 is in the shape of a flat disk, and along the first direction, the cross-sectional thickness of the cam 309 is the same as the plate thickness of the inner transverse mounting plate and the outer transverse mounting plate, so that the cam 309 is effectively "hidden" in the cam mounting hole of the transverse mounting plate, reducing the transverse space of the four-way shuttle, and increasing the space utilization and storage capacity during warehouse storage. When the cam 309 rotates, it drives the swing shaft 310 to rotate eccentrically around the cam 309, thereby pushing the lifting reversing component 4 to move upward and be lifted up or move downward and be pressed down. When the lifting reversing component 4 moves upward, it lifts the goods and performs the lifting function, and its longitudinal running wheels 404 are off the ground. When the lifting reversing component 4 moves downward, the longitudinal running wheels 404 contact the ground and the transverse running wheels 101 are off the ground, completing the change of the running direction.

[0049] The follower bearing includes a first follower bearing 311 and a second follower bearing 312. The first follower bearing 311 and the second follower bearing 312 are both sleeved on the swing shaft 310. The first follower bearing 311 is installed between the first raceway II and the journal of the swing shaft 310, and the second follower bearing 312 is installed between the second raceway I and the journal of the swing shaft 310. The swing shaft 310 can move along the raceway surface of the first raceway II through the first follower bearing 311 and along the raceway surface of the second raceway I through the second follower bearing 312. The setting of the follower bearing can effectively solve the problem of stress concentration at the connection between the swing shaft 310 and the cam 309, thereby reducing the bearing capacity, optimize the distribution of the load on the swing shaft 310, reduce the stress at the connection between the swing shaft 310 and the cam 309, and thus improve the bearing capacity of the entire cam mechanism. Preferably, in a specific embodiment of the present invention, the follower bearing is a needle bearing that can withstand high loads and move smoothly.

[0050] Preferably, the cam mechanism further comprises a cam bearing and a cam bearing end cap, wherein the cam 309 is rotatably mounted on the outer transverse mounting plate and the inner transverse mounting plate through the cam bearing, and the cam bearing is located between the circumferential side surface of the cam 309 and the hole wall of the cam mounting hole, and the cam bearing end cap is located at both ends of the cam 309 and is mounted on the inner transverse mounting plate and the outer transverse mounting plate, and is used to limit the axial movement of the cam bearing along the first direction. By arranging the cam bearing between the cam 309 and the transverse mounting plate, it is not only beneficial for the cam 309 to withstand high-load rotation and improve the durability of the entire cam mechanism, but also beneficial for reducing the wear of the cam 309, extending the maintenance cycle, and reducing the maintenance cost.

[0051] ④Travel drive components:

[0052] like Figures 2 to 4 As shown, the travel drive assembly 2 includes a travel drive device and a transmission mechanism. The travel drive device is installed on the vehicle body 1. The travel drive device is connected to the transverse travel wheel 101 and the longitudinal travel wheel 404 through the transmission mechanism.

[0053] In a specific embodiment of the present invention, the travel drive device includes a travel motor 201 and a travel reducer 202 which are connected to each other in a transmission manner. The travel motor 201 and the travel reducer 202 are both installed on the bottom plate of the vehicle body 1. The travel reducer 202 uses a bevel gear right-angle reducer. The transmission mechanism includes a transverse transmission long shaft 203, a transverse transmission short shaft 204, a first gear 205, a second gear 206, a commutator 207, a longitudinal transmission shaft 208 and a first coupling 209.

[0054] Furthermore, the travel reducer 202 is connected to the transverse transmission long shaft 203 and the transverse transmission short shaft 204 through a bevel gear structure, the transverse transmission long shaft 203 is connected to the transverse wheel transmission mechanism 102 arranged on the first side, and the travel motor 201 can transmit the output power to the transverse travel wheel 101 on the first side through the travel reducer 202, the transverse transmission long shaft 203 and the transverse wheel transmission mechanism 102, and the transverse transmission short shaft 204 is connected to the transverse wheel transmission mechanism 102 on the second side, and the travel motor 201 can transmit the output power to the transverse travel wheel 101 on the second side through the travel reducer 202, the transverse transmission short shaft 204 and the transverse wheel transmission mechanism 102, thereby driving the four-way shuttle to travel in the first direction. The commutator 207 uses a bevel gear right-angle commutator. The first gear 205 is connected to the lateral transmission shaft 203. The input end of the commutator 207 is connected to the second gear 206. The first gear 205 and the second gear 206 are connected to each other in a mutually meshing manner. Therefore, the lateral transmission shaft 203 can also transmit the power output by the travel motor 201 to the commutator 207 through the first gear 205 and the second gear 206. In the first direction, the commutator 207 has two left and right output ends, which are respectively connected to the longitudinal transmission shaft 208. The longitudinal transmission shaft 208 and the driving wheel shaft 405 are connected to each other through the first coupling 209. Therefore, the commutator 207 can transmit the power output by the travel motor 201 to the longitudinal travel wheels 404 on the third and fourth sides through the longitudinal transmission shaft 208 and the first coupling 209, thereby driving the four-way shuttle vehicle to travel in the second direction.

[0055] The present invention is driven by a travel motor 201, and the lateral travel transmission and the longitudinal travel transmission are respectively realized by a travel reducer 202 and a commutator 207, which are independent of each other in structure and have a more flexible layout, which is conducive to improving the compactness of the internal structure of the four-way shuttle, reducing the size of the four-way shuttle, and thereby increasing the space utilization and storage capacity during warehouse storage.

[0056] ⑤Lifting drive components:

[0057] like Figures 2 to 4 As shown, the lifting drive assembly 3 includes a lifting drive device, a transmission shaft and a cam transmission mechanism, wherein the lifting drive device is installed on the vehicle body 1, the lifting drive device is connected to the transmission shaft, and is connected to the cam 309 in one group of cam mechanisms through the transmission shaft, and the transmission shaft also transmits power to the cam mechanisms of other groups through the cam transmission mechanism.

[0058] In a specific embodiment of the present invention, two groups of cam mechanisms are provided, and the lifting drive device includes a lifting motor 301 and a lifting reducer 302 that are mutually transmission-connected, and the lifting motor 301 and the lifting reducer 302 are both installed on the bottom plate of the vehicle body 1. The transmission shaft includes a lifting active long shaft 303 and a lifting active short shaft 304, and the lifting active long shaft 303 and the lifting active short shaft 304 are transmission-connected through a second coupling 306. The cam transmission mechanism includes a lifting driven shaft 305, a toothed sprocket 307 and a gear chain 308.

[0059] Furthermore, after the output torque of the lifting motor 301 is decelerated by the lifting reducer 302, the power is transmitted to the lifting active long shaft 303. One end of the lifting active long shaft 303 directly drives the cam 309 connected thereto to rotate. At the same time, the lifting active long shaft 303 transmits the power to the lifting driven shaft 305 through the toothed sprocket 307 and the toothed chain 308, drives the lifting driven shaft 305 to rotate, and the lifting driven shaft 305 drives the cam 309 connected thereto to rotate; at the same time, the lifting active long shaft 303 is connected to the lifting active short shaft 304 through the second coupling 306, and the lifting active short shaft 304 directly drives the cam 309 connected thereto to rotate. The lifting active short shaft 304 also transmits the power to the lifting driven shaft 305 through the toothed sprocket 307 and the toothed chain 308 on the same side, drives the lifting driven shaft 305 to rotate, and the lifting driven shaft 305 drives the cam 309 connected thereto to rotate. The lifting drive assembly 3 of the present invention adopts a toothed chain transmission between the lifting active long shaft 303 and the lifting driven shaft 305, which has a higher cost performance than roller chain transmission and gear transmission.

[0060] Preferably, a rectangular spline hole is opened at the center position of the end face of the cam 309, and the cam 309 is respectively connected with the lifting active long shaft 303 or the lifting active short shaft 304 or the lifting driven shaft 305 through the rectangular spline hole. The unique design of the rectangular spline can effectively transmit torque and motion. The design of the rectangular spline also concentrates stress in a smaller area, reducing the damage caused by stress concentration, ensuring the stability during torque and motion transmission, and making the cam 309 have a strong load-bearing capacity; at the same time, an eccentric hole for installing the swing shaft 310 is opened at the eccentric position of the end face of the cam 309, and the eccentric distance of the eccentric hole is determined according to the movement stroke required for lifting and reversing of the lifting and reversing assembly 4.

[0061] ⑥Guide mechanism:

[0062] like Figure 5 As shown, the connecting plate 403 includes two pieces, and the two connecting plates 403 are respectively arranged on both sides of the inner lifting plate 402 and the outer lifting plate 401, and are clamped between the inner lifting plate 402 and the outer lifting plate 401. The two connecting plates 403 are fastened to the inner lifting plate 402 and the outer lifting plate 401 by boss limiting and screws.

[0063] like Figures 2 to 7 As shown, the guide mechanism 5 includes a lateral limiting mechanism and a longitudinal limiting mechanism, wherein the lateral limiting mechanism and the longitudinal limiting mechanism are both located between the longitudinal mounting plate and the connecting plate 403, and are used to jointly guide the movement of the lifting and reversing assembly 4 along the third direction.

[0064] In a specific embodiment of the present invention, the lateral limiting mechanism includes a lateral limiting roller 506, a limiting sleeve 507 and a limiting rod 508, and the longitudinal limiting mechanism includes a longitudinal limiting roller 501, a limiting shaft 502, a limiting ring 503, a limiting support 504 and an adjustment gasket 505.

[0065] Furthermore, a guide groove extending along the third direction is provided on the longitudinal mounting plate, one end of the limit rod 508 is fixedly connected to the connecting plate 403, and a transverse limit roller 506 is provided at the other end of the limit rod 508. The transverse limit roller 506 is in the guide groove, and a limit sleeve 507 is provided between the transverse limit roller 506 and the connecting plate 403 on the same side as the transverse limit roller 506, and the limit sleeve 507 is sleeved on the limit rod 508 to limit the position of the transverse limit roller 506 on the limit rod 506. When the lifting and reversing assembly 4 is lifted, the limit rod 508 can move along the third direction along the relative guide groove through the transverse limit roller 506. Preferably, the lateral limit roller 506 is made of bearings, and the limit rod 508 is connected to the connecting plate 403 by threads. Two sets of lateral limit mechanisms are arranged on the left and right sides of the lifting and reversing assembly 4. The two sets of lateral limit mechanisms are used to jointly limit the lateral movement freedom and the rotation freedom in the vertical direction of the lifting and reversing assembly 4.

[0066] Furthermore, the limit support 504 is arranged between the connecting plate 403 and the longitudinal mounting plate, and is fixedly connected to the longitudinal mounting plate. Two limit plates are arranged on the side of the limit support 504 different from the longitudinal mounting plate, and a gap for installing the longitudinal limit roller 501 is formed between the two limit plates. The limit shaft 502 includes two limit plates fixedly connected to the limit support 504, and the two limit shafts 502 are arranged along the third direction and extend along the first direction. The longitudinal limit roller 501 includes two limit rollers, which are respectively sleeved on the limit shafts 502 and can rotate around the limit shafts 502. The roller surface of the longitudinal limit roller 501 abuts against the connecting plate 403. The limit ring 503 is sleeved on the limit shaft 502 and is arranged on both sides of the end face of the longitudinal limit roller 501, and is used to limit the position of the longitudinal limit roller 501 on the limit shaft 502 by its own thickness. Preferably, the longitudinal limit roller 501 is a bearing, and the limit support 504 can be fixed to the longitudinal mounting plate by adjusting the gasket 505 and screws. Two sets of longitudinal limit mechanisms are arranged on the left and right sides of the lifting and reversing assembly 4, and the two sets of longitudinal limit mechanisms are used to jointly limit the longitudinal lateral movement freedom and the rotational freedom in the lateral direction of the lifting and reversing assembly 4.

[0067] The limiting accuracy of the longitudinal limiting mechanism can be adjusted by adjusting the thickness (the thickness direction is the second direction) and the number of the adjusting gasket 505 between the limiting support 504 and the longitudinal mounting plate. The limiting accuracy of the transverse limiting mechanism can be adjusted by adjusting the extension direction of the guide groove along the third direction and the processing accuracy along the width direction (the width direction is the first direction), thereby ensuring the guiding accuracy of the lifting and reversing assembly along the third direction. The degrees of freedom restricted by the transverse limiting mechanism and the longitudinal limiting mechanism are independent of each other, and each restricts the degrees of freedom in different directions, thereby reducing the additional internal force caused by excessive constraints. At the same time, rolling bearing limiting supports are used, which also correspondingly improves the bearing capacity of the guide mechanism 5.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A heavy-load four-way shuttle vehicle for automated warehousing, characterized in that: The heavy-load four-way shuttle vehicle comprises: A vehicle body (1), the vehicle body (1) comprising a bottom plate, the bottom plate having a first side, a second side, a third side and a fourth side, the first side and the second side being arranged along a second direction and arranged opposite to each other, the third side and the fourth side being arranged along a first direction and arranged opposite to each other, the first direction being perpendicular to the second direction; the first side and the second side being both provided with a plurality of transverse running wheels (101) for driving the vehicle body (1) to travel along the first direction; A lifting and reversing assembly (4), the lifting and reversing assembly (4) being arranged on the third side and the fourth side of the base plate, the lifting and reversing assembly (4) comprising a lifting frame, longitudinal running wheels (404) and wheel axles, the longitudinal running wheels (404) being mounted on the lifting frame via the wheel axles and being used to drive the vehicle body (1) to travel in the second direction, and a roller track being provided on the lifting frame; A cam mechanism, the cam mechanism comprising a swing shaft (310), the swing shaft (310) passing through a raceway and being able to roll in the raceway, when the swing shaft (310) rolls to a first state, the lifting and reversing assembly (4) is lifted up, its longitudinal running wheels (404) are off the ground, and the vehicle body (1) can move in a first direction via the transverse running wheels (101), when the swing shaft (310) rolls to a second state, the lifting and reversing assembly (4) is pressed down, its longitudinal running wheels (404) contact the ground, and the vehicle body (1) can move in a second direction via the longitudinal running wheels (404); A travel drive assembly (2), the travel drive assembly (2) comprising a travel drive device and a transmission mechanism, the travel drive device being mounted on the vehicle body (1), the travel drive device being connected to the transverse travel wheel (101) and the longitudinal travel wheel (404) via the transmission mechanism.

2. A heavy-load four-way shuttle vehicle for automated warehousing according to claim 1, characterized in that: The lifting frame comprises an inner lifting plate (402), an outer lifting plate (401) and a connecting plate (403), wherein: The connecting plate (403) is disposed between the inner lifting plate (402) and the outer lifting plate (401), and is connected and fixed to the inner lifting plate (402) and the outer lifting plate (401) to form a lifting frame; The inner lifting plate (402) and the outer lifting plate (401) are arranged along the first direction and extend along the second direction. The inner lifting plate (402) and the outer lifting plate (401) are arranged opposite to each other. A plurality of first raceways (II) are provided on the inner lifting plate (402). A second raceway (I) corresponding to the first raceway (II) is provided on the outer lifting plate (401). The first raceway (II) and the second raceway (I) are both elliptical in shape, and the major axis of the ellipse is along the first raceway (II). The swing shaft (310) can pass through the first raceway (II) and the second raceway (I) along the first direction, and the swing shaft (310) can move along the elliptical raceway surface of the first raceway (II) and / or the second raceway (I), and push the lifting and reversing assembly (4) to move along a third direction, and the third direction is perpendicular to the first direction and the second direction; the longitudinal walking wheel (404) is installed between the inner lifting plate (402) and the outer lifting plate (401) through the wheel shaft.

3. A heavy-load four-way shuttle vehicle for automated warehousing according to claim 2, characterized in that: The cam mechanism further includes a follower bearing, wherein: The follower bearing is sleeved on the swing shaft (310) and is located between the first raceway (II) and the journal of the swing shaft (310) and / or is installed between the second raceway (I) and the journal of the swing shaft (310). The swing shaft (310) can move along the raceway surface of the first raceway (II) and / or the raceway surface of the second raceway (I) through the follower bearing.

4. A heavy-load four-way shuttle vehicle for automated warehousing as described in claim 2, characterized in that: The third side and the fourth side are both provided with an outer transverse mounting plate and an inner transverse mounting plate arranged in the first direction and extending in the second direction, and the outer transverse mounting plate and the inner transverse mounting plate are both formed with cam mounting holes; The cam mechanism also includes a cam (309), which is disc-shaped and has two cams (309) arranged opposite to each other along the first direction, one of which is rotatably mounted in a cam mounting hole of the outer transverse mounting plate, and the other cam (309) is rotatably mounted in a cam mounting hole of the inner transverse mounting plate, and both ends of a swing shaft (310) passing through the first raceway (II) and the second raceway (I) are eccentrically mounted on the end surface of the cam (309), and the axis centerline direction of the swing shaft (310) is parallel to the axis centerline of the cam (309).

5. A heavy-load four-way shuttle vehicle for automated warehousing according to claim 4, characterized in that: The first rollers (II) and the cam mechanisms are provided in plurality and correspond to each other one by one, and the plurality of first rollers (II) provided on the inner lifting plate (402) are arranged along the second direction.

6. A heavy-load four-way shuttle vehicle for automated warehousing as claimed in claim 5, characterized in that: The four-way shuttle vehicle further comprises a lifting drive assembly (3), wherein the lifting drive assembly (3) comprises a lifting drive device, a transmission shaft and a cam transmission mechanism, wherein: The lifting drive device is installed on the vehicle body (1), the lifting drive device is connected to the transmission shaft, and is connected to the cam (309) in one group of cam mechanisms through the transmission shaft, and the transmission shaft also transmits power to the other group of cam mechanisms through the cam transmission mechanism.

7. A heavy-load four-way shuttle vehicle for automated warehousing as claimed in claim 4, characterized in that: The cam mechanism further comprises a cam bearing and a cam bearing end cover, wherein: The cam (309) is rotatably mounted on the outer transverse mounting plate and the inner transverse mounting plate via a cam bearing, and the cam bearing is located between the circumferential side surface of the cam (309) and the hole wall of the cam mounting hole. The cam bearing end covers are located at the two ends of the cam (309) and are mounted on the inner transverse mounting plate and the outer transverse mounting plate, and are used to limit the axial movement of the cam bearing along the first direction.

8. A heavy-load four-way shuttle vehicle for automated warehousing as described in claim 2, characterized in that: The vehicle body (1) further comprises a longitudinal mounting plate, the longitudinal mounting plate being mounted on the first side edge and the second side edge, and the transverse running wheels (101) being mounted on the longitudinal mounting plate.

9. A heavy-load four-way shuttle vehicle for automated warehousing according to claim 8, characterized in that: The connecting plate (403) includes two connecting plates, which are respectively arranged on both sides of the inner lifting plate (402) and the outer lifting plate (401). The four-way shuttle vehicle also includes a guide mechanism (5), and the guide mechanism (5) includes a transverse limiting mechanism and a longitudinal limiting mechanism, wherein: The transverse limiting mechanism and the longitudinal limiting mechanism are both located between the longitudinal mounting plate and the connecting plate (403) and are used to jointly guide the movement of the lifting and reversing component (4) along the third direction.

10. A heavy-load four-way shuttle vehicle for automated warehousing according to claim 9, characterized in that: The transverse limiting mechanism comprises a limiting rod (508), one end of the limiting rod (508) is fixedly connected to the connecting plate (403), and the other end extends into a guide groove provided in the longitudinal mounting plate, and the limiting rod (508) can move relative to the guide groove along the third direction; The longitudinal limiting mechanism comprises a longitudinal limiting roller (501), a limiting shaft (502) and a limiting support (504); the limiting support (504) is fixedly connected to the longitudinal mounting plate; a plurality of limiting shafts (502) arranged along a third direction and extending along a first direction are installed on a side of the limiting support (504) different from the longitudinal mounting plate; the longitudinal limiting roller (501) is sleeved on the limiting shaft (502) and can rotate around the limiting shaft (502); and a roller surface of the longitudinal limiting roller (501) abuts against the connecting plate (403).

11. A heavy-load four-way shuttle vehicle for automated warehousing as claimed in claim 1, characterized in that: The travel drive device comprises a travel motor (201) and a travel reducer (202) which are transmission-connected to each other; The transmission mechanism comprises a transverse transmission long shaft (203), a transverse transmission short shaft (204), a gear assembly, a commutator (207), a longitudinal transmission shaft (208) and a first coupling (209); the travel reducer (202) is transmission-connected to the transverse transmission long shaft (203) and the transverse transmission short shaft (204) through a bevel gear structure; the other end of the transverse transmission short shaft (204) is transmission-connected to a transverse travel wheel (101) arranged on a first side; the other end of the transverse transmission long shaft (203) is transmission-connected to a transverse travel wheel (101) arranged on a second side; the transverse transmission long shaft (203) is also transmission-connected to the commutator (207) through a gear assembly; the commutator (207) is transmission-connected to the longitudinal travel wheels (404) arranged on the third and fourth sides of the base plate through the longitudinal transmission shaft (208) and the first coupling (209).

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