Self-adaptive lifting guide four-way shuttle vehicle

Abstract

The invention relates to the technical field of four-way shuttle vehicles, in particular to a self-adaptive lifting guide four-way shuttle vehicle which comprises a shuttle vehicle shell. The I-shaped lifting plate is mounted above the shuttle vehicle shell, and two hydraulic cylinders used for driving the I-shaped lifting plate are symmetrically and fixedly mounted at the inner top of the shuttle vehicle shell; the lifting assembly is arranged in the shuttle vehicle shell and used for lifting the height of the bottom of the shuttle vehicle shell; and the independent driving assembly is mounted on the lifting assembly and used for guiding the shuttle vehicle shell to move. Under the cooperation of the controller, the 360-degree camera and the collision detection sensor, the moving direction and the height of each moving wheel can be automatically adjusted, so that it is ensured that a vehicle accurately runs in a complex environment, the vehicle can efficiently run on different goods shelf systems and uneven grounds, and the working efficiency of the vehicle is improved. And in addition, the function of clamping and fixing the materials is achieved, and the flexibility and efficiency of material transportation are improved.

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 self-adaptive lifting and guiding. Background Art

[0002] The four-way shuttle is an advanced automated material handling equipment that not only enables the goods to be stored and retrieved automatically in the warehouse as needed, but also can be organically connected with the production links outside the warehouse. It is convenient to form an advanced logistics system, which can effectively reduce labor intensity, improve space utilization, reduce storage and transportation costs, and improve the management level of enterprises. It is used more and more widely.

[0003] Traditional four-way shuttles usually rely on a single guide system and cannot effectively adapt to the height changes in complex storage environments, resulting in low efficiency when dealing with uneven floors or multiple shelf systems. At the same time, when transporting materials, they are generally placed directly on top of them and lack the function of fixing them. As a result, the materials are prone to tipping over during transportation, resulting in poor use effect. Therefore, it is necessary to design a four-way shuttle with adaptive lifting and guiding to solve the above technical problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the background technology and to propose a four-way shuttle with adaptive lifting and guiding.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An adaptive lifting and guiding four-way shuttle vehicle, comprising: Shuttle shell; An I-shaped lifting plate is installed above the shuttle housing, and two hydraulic cylinders for driving the I-shaped lifting plate are symmetrically fixedly installed on the inner top of the shuttle housing; A lifting assembly is installed in the shuttle housing and is used to raise the height of the bottom of the shuttle housing; An independent driving assembly, mounted on the lifting assembly, for guiding the movement of the shuttle housing; A clamping assembly, used to fix the material on the I-shaped lifting plate; A controller is fixedly mounted on the inner top of the shuttle housing and is used to control the lifting assembly, the independent driving assembly and the clamping assembly.

[0006] Preferably, the lifting assembly includes two adjustment plates that are slidably fitted on the inner walls of the front and rear sides of the shuttle car shell, two support rods are symmetrically and rotatably installed on the opposite sides of the two adjustment plates, and a moving plate is rotatably installed on the other ends of each of the two support rods located on the same left and right sides, and the top of the moving plate is slidably fitted on the inner top of the shuttle car shell, and the outer sides of the two moving plates are threadedly connected to two screw rods, and the thread directions of the two screw rod surfaces are set in opposite directions, and a first dual-axis motor for driving the two screw rods is fixedly installed on the inner top of the shuttle car shell.

[0007] Preferably, the number of the independent drive components is four, and they are symmetrically placed on opposite sides of the two adjustment plates; The independent driving component includes a suspension frame fixedly installed on the outside of the adjustment plate, a rotating frame is rotatably installed at the bottom of the suspension frame, and a first driving motor for driving the rotating frame is fixedly installed on the top of the suspension frame, a moving wheel is rotatably installed in the rotating frame, and a second driving motor for driving the moving wheel is fixedly installed on the outside of the rotating frame.

[0008] Preferably, the clamping assembly includes a plurality of recesses respectively opened at the ends of the I-shaped lifting plate, a positioning plate is rotatably installed in each of the recesses, a rotating shaft is commonly fixedly installed between each of the two positioning plates located on the same side, a worm gear is fixedly installed in the middle of each rotating shaft, a worm is meshed at the bottom of each worm gear, and a second drive motor for driving the two worm gears is fixedly installed at the bottom of the I-shaped lifting plate.

[0009] Preferably, cameras are fixedly installed at the four corners of the shuttle vehicle housing.

[0010] Preferably, warning lights and two collision detection sensors are fixedly installed on four sides of the shuttle vehicle housing, and the warning light is placed between the two collision detection sensors.

[0011] Preferably, four limit blocks are symmetrically fixedly installed on the bottom of the I-shaped lifting plate, and the limit blocks are in contact with the top of the shuttle vehicle shell.

[0012] Preferably, an emergency stop switch is fixedly installed on the inner top of the shuttle housing, and the emergency stop switch is electrically connected to each of the first drive motor and the second drive motor.

[0013] Compared with the existing technology, the advantages of the adaptive lifting and guiding four-way shuttle provided by the present invention are: 1. The first drive motor can control the rotation of the rotating frame to adjust the direction of the moving wheel, while the second drive motor can directly control the rotation of the moving wheel to realize the movement of the moving wheel in the direction, so that each moving wheel can be individually controlled to rotate and move to realize forward, backward, left and right movement and oblique movement; 2. The second drive motor makes the two worms rotate synchronously, and then drives the two worm wheels to rotate in the opposite direction, so that the two rotating shafts drive the corresponding positioning plates to rotate in the direction of the material until they are pressed against the surface of the material, so as to achieve the support and fixation of the material, thereby ensuring the stability of the material during the transportation process and achieving the protection effect of the material; 3. The two screw rods are controlled to rotate synchronously by the first dual-axis motor, so that the two moving plates move toward each other, thereby pushing the corresponding two support rods, so that the two adjustment plates can slide downward along the inner surface of the shuttle shell, and the shuttle shell can be lifted to realize automatic adjustment of the height of the shuttle shell; 4. Through the cooperation between the controller, 360° camera and collision detection sensor, the objects around the shuttle shell can be fully monitored when it is moving, so as to monitor the movement state of the body in real time and automatically adjust the movement direction and height of each moving wheel according to the actual situation, so as to ensure the accurate driving of the vehicle in complex environments; In summary, the present invention can automatically adjust the movement direction and height of each moving wheel through the cooperation between the controller, the 360° camera and the collision detection sensor, thereby ensuring the precise driving of the vehicle in complex environments, so that it can operate efficiently on different shelf systems and uneven ground, thereby improving the flexibility and efficiency of material transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure from a first perspective of a four-way shuttle with adaptive lifting and guiding proposed by the present invention; Figure 2 A schematic diagram of the structure of a four-way shuttle with adaptive lifting and guiding proposed by the present invention from a second perspective; Figure 3 A schematic diagram of the structure of a four-way shuttle with adaptive lifting and guiding proposed by the present invention from a third perspective; Figure 4 This is a schematic diagram of the structure of the connection between the lifting component and the independent driving component in a four-way shuttle vehicle with adaptive lifting guidance proposed by the present invention; Figure 5 This is a schematic structural diagram of a clamping assembly in a four-way shuttle with adaptive lifting and guiding proposed by the present invention; Figure 6 for Figure 4 A is an enlarged view of the structure.

[0015] In the figure: 1 shuttle shell, 2 I-shaped lifting plate, 3 hydraulic cylinder, 4 adjustment plate, 5 support rod, 6 moving plate, 7 screw, 8 first double-axis motor, 9 suspension frame, 10 first drive motor, 11 rotating frame, 12 moving wheel, 13 second drive motor, 14 notch, 15 positioning plate, 16 rotating shaft, 17 worm gear, 18 worm, 19 second double-axis motor, 20 warning light, 21 collision detection sensor, 22 360° camera, 23 limit block, 24 controller, 25 emergency stop switch. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] Reference Figures 1 to 6 , an adaptive lifting and guiding four-way shuttle vehicle, comprising: The shuttle car shell 1; the I-shaped lifting plate 2 is installed on the top of the shuttle car shell 1, and two hydraulic cylinders 3 for driving the I-shaped lifting plate 2 are symmetrically fixedly installed on the inner top of the shuttle car shell 1; four limit blocks 23 are symmetrically fixedly installed on the bottom of the I-shaped lifting plate 2, and the limit blocks 23 are in contact with the top of the shuttle car shell 1. When it is necessary to lift the material on the I-shaped lifting plate 2, the two hydraulic cylinders 3 can be started to extend their driving ends to lift the heavy objects. After lifting, the two hydraulic cylinders 3 are controlled to move the I-shaped lifting plate 2 down to the initial position. In this process, due to the restriction of the limit blocks 23 on the bottom of the I-shaped lifting plate 2, it can be ensured that the second dual-axis motor 19 described below will not contact the top of the shuttle car shell 1 during its descent, thereby preventing it from being damaged by pressure.

[0018] The lifting assembly is installed in the shuttle car shell 1 and is used to lift the height of the bottom of the shuttle car shell 1; the lifting assembly includes two adjusting plates 4 that are slidably fitted on the inner walls of the front and rear sides of the shuttle car shell 1, and two supporting rods 5 are symmetrically rotatably installed on the opposite sides of the two adjusting plates 4. The other ends of the two supporting rods 5 located on the same side of the left and right sides are jointly rotatably installed with a moving plate 6, and the top of the moving plate 6 is slidably fitted on the inner top of the shuttle car shell 1, and the outer sides of the two moving plates 6 are threadedly connected with two screw rods 7, and the thread directions of the surfaces of the two screw rods 7 are set in opposite directions. A first double-axis motor 8 for driving the two screw rods 7 is fixedly installed on the inner top of the shuttle car shell 1. When it is necessary to adjust the height of the shuttle car shell 1, the first double-axis motor 8 is started to control the two screw rods 7 to rotate synchronously, so that the two moving plates 6 move toward each other, thereby pushing the corresponding two supporting rods 5, so that the two adjusting plates 4 can slide downward along the inner surface of the shuttle car shell 1, and the shuttle car shell 1 can be lifted to realize automatic adjustment of the height of the shuttle car shell 1.

[0019] An independent driving assembly is installed on the lifting assembly to guide the movement of the shuttle shell 1; there are four independent driving assemblies, which are symmetrically placed on opposite sides of the two adjustment plates 4; the independent driving assembly includes a suspension frame 9 fixedly installed on the outer side of the adjustment plate 4, a rotating frame 11 is rotatably installed at the bottom of the suspension frame 9, and a first driving motor 10 for driving the rotating frame 11 is fixedly installed on the top of the suspension frame 9, a moving wheel 12 is rotatably installed in the rotating frame 11, and a second driving motor 13 for driving the moving wheel 12 is fixedly installed on the outer side of the rotating frame 11. When moving, each moving wheel 12 is independently driven, and when driving, the first driving motor 10 can control the rotation of the rotating frame 11 to adjust the direction of the moving wheel 12, and the second driving motor 13 can directly control the rotation of the moving wheel 12 to realize the movement of the moving wheel 12 in this direction, so that each moving wheel 12 can be individually controlled to rotate and move to realize forward, backward, left and right movement and oblique movement.

[0020] The clamping assembly is used to fix the material on the I-shaped lifting plate 2; the clamping assembly includes a plurality of recesses 14 respectively opened at the ends of the I-shaped lifting plate 2, a positioning plate 15 is rotatably installed in each recess 14, a rotating shaft 16 is fixedly installed between each two positioning plates 15 on the same side, a worm gear 17 is fixedly installed in the middle of each rotating shaft 16, a worm 18 is meshed below each worm gear 17, and a second dual-axis motor 19 for driving the two worm gears 18 is fixedly installed at the bottom of the I-shaped lifting plate 2. When placing materials on the I-shaped lifting plate 2, the second dual-axis motor 19 can be controlled to make the two worm gears 18 rotate synchronously, and then drive the two worm gears 17 to rotate in the opposite direction, so that the two rotating shafts 16 drive the corresponding positioning plates 15 to rotate in the direction of the material until they are tightly against the surface of the material, so as to achieve the support and fixation of the material, thereby ensuring the stability of the material during the transportation process and achieving the protection effect of the material.

[0021] The controller 24 is fixedly mounted on the inner top of the shuttle car body 1 and is used to control the lifting assembly, the independent drive assembly and the clamping assembly. The controller 24 is a PLC programmable logic controller, which receives feedback signals from the lifting assembly, the independent drive assembly and the 360° camera and collision detection sensor 21 described below, performs data processing and decision-making to adjust the height and movement direction of the car body.

[0022] Furthermore, 360° cameras 22 are fixedly installed at the four corners of the shuttle body 1, which can perform all-round monitoring of the surrounding objects when the shuttle body 1 moves, so as to monitor the movement state of the vehicle body in real time and automatically adjust the movement direction of each moving wheel 12 according to the actual situation, thereby ensuring the precise driving of the vehicle in complex environments.

[0023] Warning lights 20 and two collision detection sensors 21 are fixedly installed on the four sides of the shuttle car shell 1, which can monitor obstacles around the car body in real time to prevent the shuttle car shell 1 from colliding with the obstacles. The warning light 20 is placed between the two collision detection sensors 21 to prompt the operating status and position of the shuttle car shell 1. An emergency stop switch 25 is fixedly installed on the inner top of the shuttle car shell 1, and the emergency stop switch 25 is electrically connected to each of the first drive motor 10 and the second drive motor 13. The emergency stop switch 25 can quickly stop the operation of the shuttle car shell 1 in an emergency. For example, when the controller 24 receives a feedback signal and the components do not move according to the instructions of the controller 24, any movement of the shuttle car shell 1 will be forced to stop.

[0024] It is further explained that the above-mentioned fixed connection should be understood in a broad sense unless otherwise clearly specified and limited. For example, it can be welding, gluing, or one-piece molding, etc., which are conventional means well known to those skilled in the art.

[0025] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A four-way shuttle vehicle with adaptive lifting guidance, characterized in that: include: Shuttle shell (1); An I-shaped lifting plate (2) is installed above the shuttle vehicle shell (1), and two hydraulic cylinders (3) for driving the I-shaped lifting plate (2) are symmetrically fixedly installed on the inner top of the shuttle vehicle shell (1); A lifting assembly, installed in the shuttle housing (1) and used to raise the height of the bottom of the shuttle housing (1); An independent driving assembly, mounted on the lifting assembly, and used to guide the movement of the shuttle housing (1); A clamping assembly, used to fix the material on the I-shaped lifting plate (2); A controller (24) is fixedly mounted on the inner top of the shuttle housing (1) and is used to control the lifting assembly, the independent drive assembly and the clamping assembly.

2. The self-adaptive lifting and guiding four-way shuttle vehicle according to claim 1, characterized in that: The lifting assembly comprises two adjustment plates (4) respectively slidably fitted on the inner walls of the front and rear sides of the shuttle housing (1); two support rods (5) are symmetrically rotatably mounted on opposite sides of the two adjustment plates (4); a moving plate (6) is rotatably mounted on the other ends of the two support rods (5) located on the same left and right sides; the top of the moving plate (6) is slidably fitted on the inner top of the shuttle housing (1); the outer sides of the two moving plates (6) are threadedly connected to two screw rods (7); and the thread directions of the surfaces of the two screw rods (7) are arranged in opposite directions; and a first double-axis motor (8) for driving the two screw rods (7) is fixedly mounted on the inner top of the shuttle housing (1).

3. The self-adaptive lifting and guiding four-way shuttle vehicle according to claim 2, characterized in that: The number of the independent drive components is four, and they are symmetrically arranged on opposite sides of the two adjustment plates (4); The independent drive assembly comprises a suspension frame (9) fixedly mounted on the outside of the adjustment plate (4); a rotating frame (11) is rotatably mounted on the bottom of the suspension frame (9); a first drive motor (10) for driving the rotating frame (11) is fixedly mounted on the top of the suspension frame (9); a moving wheel (12) is rotatably mounted inside the rotating frame (11); and a second drive motor (13) for driving the moving wheel (12) is fixedly mounted on the outside of the rotating frame (11).

4. The four-way shuttle vehicle with adaptive lifting guidance according to claim 1, characterized in that: The clamping assembly comprises a plurality of recesses (14) respectively opened at the ends of the I-shaped lifting plate (2), a positioning plate (15) being rotatably mounted in each of the recesses (14), a rotating shaft (16) being fixedly mounted between two positioning plates (15) located on the same side, a worm gear (17) being fixedly mounted in the middle of each rotating shaft (16), a worm (18) being meshed at the bottom of each worm gear (17), and a second dual-axis motor (19) for driving the two worm gears (18) being fixedly mounted at the bottom of the I-shaped lifting plate (2).

5. The self-adaptive lifting and guiding four-way shuttle vehicle according to claim 1, characterized in that: A (360)° camera (22) is fixedly mounted at each of the four corners of the shuttle vehicle housing (1).

6. The self-adaptive lifting and guiding four-way shuttle vehicle according to claim 1, characterized in that: Warning lights (20) and two collision detection sensors (21) are fixedly mounted on four sides of the shuttle vehicle shell (1), and the warning light (20) is placed between the two collision detection sensors (21).

7. The self-adaptive lifting and guiding four-way shuttle vehicle according to claim 1, characterized in that: Four limit blocks (23) are symmetrically fixedly installed on the bottom of the I-shaped lifting plate (2), and the limit blocks (23) are in contact with the top of the shuttle vehicle shell (1).

8. The four-way shuttle vehicle with adaptive lifting guidance according to any one of claims 1 to 7, characterized in that: An emergency stop switch (25) is fixedly mounted on the inner top of the shuttle housing (1), and the emergency stop switch (25) is electrically connected to each of the first drive motor (10) and the second drive motor (13).

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