Mechanical four-way shuttle vehicle

Abstract

The invention discloses a mechanical four-way shuttle vehicle, which belongs to the technical field of four-way shuttle vehicles and comprises a vehicle body, a walking gear motor and a jacking gear motor are mounted in the vehicle body, a transmission chain is mounted at the output end of the walking gear motor, and the walking gear motor is connected with a sub-channel walking transmission shaft and a main channel walking transmission shaft through the transmission chain. The sub-channel walking transmission shaft is connected with a left walking wheel box and a right walking wheel box, sub-channel walking wheels are installed on the left walking wheel box and the right walking wheel box, a telescopic coupler is installed on the main channel walking transmission shaft, and the main channel walking transmission shaft is connected with main channel walking wheels through the telescopic coupler. A left lifting gear box driven by a jacking gear motor is mounted in the vehicle body; according to the four-way shuttle vehicle, a mechanical structure is used for lifting, mechanical lifting replaces hydraulic lifting, lifting precision is high, stability is high, maintenance is easy, hydraulic oil is not needed, the problem of oil leakage is avoided, and the problems that oil cylinders are poor in synchronism and prone to oil leakage are solved.

Description

Technical Field

[0001] The invention relates to the technical field of four-way shuttle vehicles, in particular to a mechanical four-way shuttle vehicle. Background Art

[0002] With the development of the logistics industry, the majority of users have a common understanding of the role of logistics and warehousing systems in promoting the development of various industries. What follows is the automated logistics system and automated warehouse. In automated warehouses, intelligent shuttle transporters play an important role. Intelligent shuttle transporters can be used in warehouses with various high-density storage methods. The trolley channel can be designed to be arbitrarily long, which can increase the storage capacity of the entire warehouse, and there is no need for forklifts to enter the lanes during operation, which makes it safer. By taking advantage of the fact that forklifts do not need to enter the lanes, and cooperating with the rapid operation of the trolleys in the lanes, the operation efficiency of the warehouse can be effectively improved. The four-way shuttle, as an innovative work in the field of modern warehousing and logistics, leads the new trend of automated warehousing with its flexible and efficient characteristics. It can shuttle freely in the four directions of the stereoscopic warehouse, whether it is horizontal lateral movement or vertical lifting, it is easy to do, which greatly improves the space utilization rate and cargo access efficiency. Equipped with advanced navigation and identification systems, the four-way shuttle can accurately locate and respond quickly to realize the automated handling and sorting of goods, reduce manual intervention, and reduce the error rate. In addition, its modular design facilitates expansion and upgrading, adapting to the changing needs of warehouses of different sizes, and bringing unprecedented flexibility and intelligence to the logistics industry.

[0003] The four-way shuttle is an intelligent handling equipment that integrates four-way travel, on-site track change, automatic handling, intelligent monitoring and dynamic traffic management. It can travel along the longitudinal or transverse track direction on the cross track to reach any designated cargo position in the warehouse. It is not restricted by the site and can adapt to a variety of working environments. The terminal can be freely dispatched to achieve full automatic unattended operation. When the four-way shuttle changes direction, it generally achieves a 90-degree change through the up and down interaction of its own body. Conventional four-way shuttles use hydraulics as the power source for jacking. This structure has the disadvantages of high cost, poor stability, difficulty in maintenance, easy oil leakage, four cylinders are required for jacking goods, four cylinders are required for body switching, and the cylinder synchronization is poor. Therefore, how to provide a mechanical four-way shuttle with high stability and low cost is a technical problem that needs to be solved urgently.

[0004] Therefore, it is necessary to provide a mechanical four-way shuttle to solve the above-mentioned technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a mechanical four-way shuttle to solve the problem that the four-way shuttle in the prior art uses hydraulics as the power source for lifting, and the structure has the problems of high cost, poor stability, difficulty in maintenance, easy oil leakage, four cylinders are required for lifting goods, four cylinders are required for changing the direction of the vehicle body, and poor cylinder synchronization.

[0006] To achieve the above-mentioned purpose, the present invention solves the above-mentioned technical problems as follows: a mechanical four-way shuttle, including a car body, a travel reduction motor and a lifting reduction motor are installed in the car body, a transmission chain is installed on the output end of the travel reduction motor, the travel reduction motor is connected to the sub-channel travel transmission shaft and the main channel travel transmission shaft through the transmission chain, the sub-channel travel transmission shaft is connected to the left travel wheel box and the right travel wheel box, and the sub-channel travel wheels are installed on the left travel wheel box and the right travel wheel box.

[0007] As a further solution of the present invention, a telescopic coupling is installed on the main channel travel transmission shaft, and the main channel travel transmission shaft is connected to the main channel travel wheel through the telescopic coupling.

[0008] As a further solution of the present invention, a left lifting gear box driven by a lifting reduction motor is installed in the vehicle body, and two lifting gears are installed at the output end of the left lifting gear box.

[0009] As a further solution of the present invention, a lifting rack meshing with a lifting gear is installed in the vehicle body, the lifting gear drives the lifting rack to rise and fall, and a lifting plate is fixed on the lifting rack.

[0010] As a further solution of the present invention, main channel running wheels are installed on the lifting plate, and the main channel running wheels can be lifted up and down. A lifting transmission shaft is installed in the vehicle body, and the left lifting gear box is connected to the right lifting gear box through the lifting transmission shaft to ensure the synchronous lifting of the four-point gears.

[0011] As a further solution of the present invention, a left traveling wheel box and a right traveling wheel box are fixed on the vehicle body, and the displacement between the main channel traveling wheels and the main channel traveling transmission shaft is compensated by a telescopic coupling.

[0012] Compared with the prior art, the beneficial effects of the present invention are: the vehicle utilizes mechanical structure for lifting, and mechanical lifting replaces hydraulic lifting, with high lifting accuracy, high stability, easy maintenance, no need for hydraulic oil and no need to worry about oil leakage, thus solving the problem of poor synchronization and easy oil leakage of the oil cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0014] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the overall top view structure of the present invention;

[0016] Figure 3 It is a schematic diagram of the overall side view structure of the present invention;

[0017] Figure 4 It is a schematic diagram of the structure of the vehicle body in the middle position state of the present invention;

[0018] Figure 5 It is a structural schematic diagram of the vehicle body of the present invention in a cargo-carrying reversing state;

[0019] Figure 6 It is a schematic diagram of the cargo lifting state structure of the present invention.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 11. Left traveling wheel box; 13. Right traveling wheel box; 7. Vehicle body; 14. Sub-channel traveling drive shaft; 8. Main channel traveling drive shaft; 15. Transmission chain; 16. Lifting drive shaft; 1. Left lifting gear box; 12. Right lifting gear box; 2. Lifting gear; 3. Lifting rack; 4. Lifting plate; 5. Main channel traveling wheel; 17. Sub-channel traveling wheel; 6. Lifting reduction motor; 9. Travel reduction motor; 10. Telescopic coupling. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the embodiments.

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0024] The following examples are used to illustrate the present invention, but they cannot be used to limit the scope of protection of the present invention. The conditions in the examples can be further adjusted according to specific conditions. Simple improvements to the method of the present invention under the premise of the concept of the present invention belong to the scope of protection claimed in the present invention.

[0025] See also Figure 1-6The present invention provides a vehicle body 7, wherein a travel reduction motor 9 and a lifting reduction motor 6 are installed in the vehicle body 7, a transmission chain 15 is installed on the output end of the travel reduction motor 9, the travel reduction motor 9 is connected to a sub-channel travel transmission shaft 14 and a main channel travel transmission shaft 8 through the transmission chain 15, the sub-channel travel transmission shaft 14 is connected to a left travel wheel box 11 and a right travel wheel box 13, sub-channel travel wheels 17 are installed on the left travel wheel box 11 and the right travel wheel box 13, a telescopic coupling 10 is installed on the main channel travel transmission shaft 8, the main channel travel transmission shaft 8 is connected to the main channel travel wheel 5 through the telescopic coupling 10, the travel reduction motor 9 drives the main channel travel wheel 5 and the sub-channel travel wheel 17 to move simultaneously, and when the trolley is in the sub-channel, the sub-channel travel wheel 17 presses on the guide rail to drive the trolley to run along the sub-channel At this time, the main channel running wheel 5 is in a suspended state and idles. When the trolley needs to switch to the main channel, after the trolley runs to the intersection of the main channel and the sub-channel, a left lifting gearbox 1 driven by a lifting reduction motor 6 is installed in the car body 7. The lifting reduction motor 6 drives the left lifting gearbox 1 to operate. Two lifting gears 2 are installed at the output end of the left lifting gearbox 1. A lifting rack 3 meshing with the lifting gear 2 is installed in the car body 7. The lifting gear 2 drives the lifting rack 3 to rise and fall. A lifting plate 4 is fixed on the lifting rack 3, thereby driving the lifting plate 4 to rise and fall. The main channel running wheel 5 is installed on the lifting plate 4, so the main channel running wheel 5 can be lifted up and down. A lifting transmission shaft 16 is installed in the car body 7. The left lifting gearbox 1 is connected to the right lifting gearbox 12 through the lifting transmission shaft 16 to ensure that the four-point gears rise and fall synchronously.

[0026] It is worth noting that the lifting platform 4 has three operating positions, namely, the middle position of the vehicle body 7, the lifting cargo position, and the reversing position of the vehicle body 7. When the vehicle body 7 is not picking up cargo on the sub-channel, it is in the middle position. Figure 4 As shown, when the car runs to the bottom of the cargo, the trolley runs to the approximate position through the closed-loop control of its own encoder, and then the barcode scanner on the trolley scans the pre-installed QR code for accurate positioning, and the positioning accuracy can reach ±2mm. After the accurate positioning stops, the trolley lifting plate 4 rises 28mm to lift the cargo. At this time, the trolley runs with the cargo on its back. When the trolley runs to the intersection of the main track and the sub-track and needs to change direction, similarly, the trolley runs to the approximate position through the closed-loop control of its own encoder, and then the barcode scanner on the trolley scans the pre-installed QR code for accurate positioning. After the accurate positioning stops, the trolley lifting plate 4 drops 28mm, the trolley lands in the middle position, and the cargo also lands on the car body 7. The lifting plate 4 continues to drop 32mm to lift the car body 7. The reversing is completed. At this time, the sub-channel running wheels 17 are in a suspended state and idling. The sub-channel running wheels 17 are installed on the left running wheel box 11 and the right running wheel box 13.

[0027] It is further worth explaining that a left traveling wheel box 11 and a right traveling wheel box 13 are fixed on the vehicle body 7, and the main channel traveling wheel 5 and the main channel traveling transmission shaft 8 are displaced relative to each other. This displacement is compensated by the telescopic coupling 10, so that the traveling reduction motor 9 drives the trolley to run along the main channel.

[0028] Parameter Description:

[0029] 1. Four-way shuttle robot (tray 1000x1200mm), basic dimensions length*width*height are 1120*954*150;

[0030] 2. Rated load 1.5T; maximum speed 2.0m / s; lifting time 2.5s; reversing time 2.5s;

[0031] 3. Equipment weight: 350kg;

[0032] 4. Pallet width 1200-1600mm; pallet depth 800-1200mm; when 800-width goods are placed, the distance between goods is greater than 100mm

[0033] 5.Battery capacity 50AH; battery life / charging time: 6-8H / 1-2H;

[0034] 6. Lifting height 28mm; reversing height 32mm;

[0035] 7. Sub-track outer spacing: 970mm; main track wheelbase: 1010mm;

[0036] 8. Main rail wheel diameter is 112mm, sub-rail wheel diameter is 100mm.

[0037] In summary, the lifting platform 4 has three operating positions, namely, the middle position of the vehicle body 7, the lifting cargo position, and the reversing position of the vehicle body 7. When the vehicle body 7 is not picking up cargo on the sub-channel, it is in the middle position. Figure 4As shown in the figure, when the car runs to the bottom of the cargo, the car runs to the approximate position through the closed-loop control of the built-in encoder, and then the barcode scanner on the car scans the pre-installed QR code for accurate positioning, and the positioning accuracy can reach ±2mm. After accurate positioning stops, the car lifting plate 4 rises 28mm to lift the cargo. At this time, the car runs with the cargo on its back. When the car runs to the intersection of the main track and the sub-track and needs to change direction, the car runs to the approximate position through the closed-loop control of the built-in encoder, and then the barcode scanner on the car scans the pre-installed QR code. The QR code is accurately positioned. After the accurate positioning stops, the trolley lifting plate 4 drops 28mm and the trolley drops to the middle position. The cargo also drops on the car body 7. The lifting plate 4 continues to drop 32mm to lift the car body 7. The reversing is completed. At this time, the sub-channel walking wheel 17 is in a suspended state and idling. The sub-channel walking wheel 17 is installed on the left walking wheel box 11 and the right walking wheel box 13. The main channel walking wheel 5 and the main channel walking transmission shaft 8 are displaced from each other. This displacement is compensated by the telescopic coupling 10, so that the walking reduction motor 9 drives the trolley to run along the main channel.

[0038] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "including" or "comprising" and the like used in the present invention mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects. The words "connect" or "connected" and the like are not limited to physical or mechanical connections, but may also include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0039] 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 mechanical four-way shuttle vehicle, comprising a vehicle body (7), characterized in that: A travel reduction motor (9) and a lifting reduction motor (6) are installed in the vehicle body (7); a transmission chain (15) is installed on the output end of the travel reduction motor (9); the travel reduction motor (9) is connected to a sub-channel travel transmission shaft (14) and a main channel travel transmission shaft (8) via the transmission chain (15); the sub-channel travel transmission shaft (14) is connected to a left travel wheel box (11) and a right travel wheel box (13); and sub-channel travel wheels (17) are installed on the left travel wheel box (11) and the right travel wheel box (13).

2. The mechanical four-way shuttle according to claim 1, characterized in that: A telescopic coupling (10) is installed on the main channel travel transmission shaft (8), and the main channel travel transmission shaft (8) is connected to the main channel travel wheel (5) via the telescopic coupling (10).

3. The mechanical four-way shuttle according to claim 2, characterized in that: A left lifting gear box (1) driven by a lifting reduction motor (6) is installed in the vehicle body (7), and two lifting gears (2) are installed at the output end of the left lifting gear box (1).

4. The mechanical four-way shuttle according to claim 3, characterized in that: A lifting rack (3) meshingly connected with a lifting gear (2) is installed in the vehicle body (7); the lifting gear (2) drives the lifting rack (3) to rise and fall; and a lifting plate (4) is fixed on the lifting rack (3).

5. The mechanical four-way shuttle according to claim 4, characterized in that: The lifting plate (4) is provided with a main channel running wheel (5), and the main channel running wheel (5) can be lifted up and down. A lifting transmission shaft (16) is installed in the vehicle body (7). The left lifting gear box (1) is connected to the right lifting gear box (12) via the lifting transmission shaft (16), so as to ensure that the four-point gears are lifted synchronously.

6. The mechanical four-way shuttle according to claim 2, characterized in that: A left travel wheel box (11) and a right travel wheel box (13) are fixed on the vehicle body (7), and the displacement between the main channel travel wheel (5) and the main channel travel transmission shaft (8) is compensated by a telescopic coupling (10).

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