A four-way shuttle with adaptive lifting and guiding

Abstract

The present invention relates to the technical field of four-way shuttle vehicles, and in particular to a four-way shuttle vehicle with adaptive lifting and guiding, comprising: a shuttle vehicle shell; an I-shaped lifting plate installed above the shuttle vehicle shell, two hydraulic cylinders for driving the I-shaped lifting plate symmetrically fixedly installed on the inner top of the shuttle vehicle shell; a lifting assembly installed in the shuttle vehicle shell, for raising the height of the bottom of the shuttle vehicle shell; an independent drive assembly installed on the lifting assembly, for guiding the movement of the shuttle vehicle shell. 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, and also has the function of clamping and fixing materials, thereby improving the flexibility and efficiency of material transportation.

Description

Technical Field

[0001] The present 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 device that not only enables fully automated, information-based storage and retrieval of goods within the warehouse, but also seamlessly connects with production processes outside the warehouse. This facilitates the formation of advanced logistics systems, effectively reducing labor intensity, improving space utilization, lowering storage and transportation costs, and enhancing enterprise management, and is finding increasing use.

[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, materials are prone to tipping over during transportation, resulting in poor performance. 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:

[0006] An adaptive lifting and guiding four-way shuttle vehicle, comprising:

[0007] Shuttle shell;

[0008] An I-shaped lifting plate is installed above the shuttle housing, and two hydraulic cylinders for driving the I-shaped lifting plate are symmetrically fixed on the inner top of the shuttle housing;

[0009] A lifting assembly is installed in the shuttle housing and is used to raise the height of the bottom of the shuttle housing;

[0010] An independent drive assembly, mounted on the lifting assembly, for guiding the movement of the shuttle housing;

[0011] A clamping assembly, used to fix the material on the I-shaped lifting plate;

[0012] The 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.

[0013] Preferably, the lifting assembly includes two adjustment plates that are respectively 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 the other ends of the two support rods located on the same left and right sides are jointly rotatably installed with a moving plate, and the top of the moving plate is slidably fitted on the inner top of the shuttle car shell, the outer sides of the two moving plates are threadedly connected to two screw rods, and the thread directions of the two screw rods 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.

[0014] Preferably, the number of the independent drive components is four, and they are symmetrically placed on opposite sides of the two adjustment plates;

[0015] The independent drive assembly includes a suspension bracket fixedly mounted on the outside of the adjustment plate, a rotating bracket rotatably mounted on the bottom of the suspension bracket, and a first drive motor for driving the rotating bracket fixedly mounted on the top of the suspension bracket, a moving wheel rotatably mounted inside the rotating bracket, and a second drive motor for driving the moving wheel fixedly mounted on the outside of the rotating bracket.

[0016] 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 fixedly installed between each two positioning plates located on the same side, a worm gear is fixedly installed in the middle of each rotating shaft, a worm is engaged 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.

[0017] Preferably, cameras are fixedly installed at the four corners of the shuttle vehicle housing.

[0018] Preferably, a warning light and two collision detection sensors are fixedly installed on the four sides of the shuttle vehicle housing, and the warning light is placed between the two collision detection sensors.

[0019] 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 car shell.

[0020] 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.

[0021] Compared with the existing technology, the advantages of the self-adaptive lifting and guiding four-way shuttle provided by the present invention are:

[0022] 1. The first drive motor can control the rotation of the turret to adjust the direction of the moving wheel, while the second drive motor can directly control the rotation of the moving wheel to achieve the movement of the moving wheel in that direction. In this way, each moving wheel can be independently controlled to rotate and move to achieve forward, backward, left and right movement, and diagonal movement;

[0023] 2. The second drive motor makes the two worms rotate synchronously, and then drives the two worm wheels to rotate in opposite directions, so that the two rotating shafts drive the corresponding positioning plates to rotate in the direction of the material until they are close to the surface of the material, thereby achieving 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;

[0024] 3. The first dual-axis motor controls the synchronous rotation of the two screw rods, causing the two movable plates to 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 housing, thereby lifting the shuttle housing to achieve automatic height adjustment of the shuttle housing;

[0025] 4. Through the interaction between the controller, 360° camera and collision detection sensor, it can fully monitor the surrounding objects when the shuttle body is in motion, so as to monitor the movement status of the vehicle body in real time and automatically adjust the movement direction and height of each moving wheel according to the actual situation, thereby ensuring the vehicle's accurate driving in complex environments;

[0026] In summary, the present invention can automatically adjust the movement direction and height of each moving wheel through the cooperation between the controller, 360° camera and 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, improving the flexibility and efficiency of material transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of a four-way shuttle with adaptive lifting and guiding proposed by the present invention from a first perspective;

[0028] Figure 2 This is 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;

[0029] Figure 3 This is a third-perspective structural diagram of a four-way shuttle with adaptive lifting and guiding proposed by the present invention;

[0030] Figure 4 This is a schematic structural diagram of the connection between the lifting assembly and the independent drive assembly in a four-way shuttle vehicle with adaptive lifting guidance proposed by the present invention;

[0031] Figure 5This is a schematic structural diagram of a clamping assembly in a four-way shuttle with adaptive lifting and guiding proposed by the present invention;

[0032] Figure 6 for Figure 4 A magnified view of the structure.

[0033] In the figure: 1 shuttle body, 2 I-shaped lifting plate, 3 hydraulic cylinder, 4 adjustment plate, 5 support rod, 6 moving plate, 7 screw, 8 first dual-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 dual-axis motor, 20 warning light, 21 collision detection sensor, 22 360° camera, 23 limit block, 24 controller, 25 emergency stop switch. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described 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.

[0035] Reference Figures 1 to 6 , an adaptive lifting and guiding four-way shuttle vehicle, comprising:

[0036] The shuttle car body 1; the I-shaped lifting plate 2 is installed above the shuttle car body 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 body 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 body 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 body 1 during its descent, thereby preventing it from being damaged by pressure.

[0037] 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 front and rear inner walls of the shuttle car shell 1, and two support rods 5 are symmetrically installed on the opposite sides of the two adjusting plates 4. The other ends of the two support rods 5 located on the left and right sides are jointly rotated and 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. 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 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 the height of the shuttle car shell 1 needs to be adjusted, 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 support 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.

[0038] An independent drive assembly is installed on the lifting assembly to guide the movement of the shuttle shell 1; there are four independent drive assemblies, which are symmetrically placed on opposite sides of the two adjustment plates 4; the independent drive assembly includes a suspension frame 9 fixedly mounted on the outside of the adjustment plate 4, a rotating frame 11 is rotatably mounted at the bottom of the suspension frame 9, and 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. When moving, each moving wheel 12 is independently driven, and when driving, the first drive motor 10 can control the rotation of the rotating frame 11 to adjust the direction of the moving wheel 12, and the second drive 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.

[0039] 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 end of the I-shaped lifting plate 2, and a positioning plate 15 is rotatably installed in each recess 14, and a rotating shaft 16 is fixedly installed between each two positioning plates 15 on the same side, and a worm gear 17 is fixedly installed in the middle of each rotating shaft 16, and a worm 18 is engaged below each worm gear 17. 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 pressed against the surface of the material, thereby achieving 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.

[0040] 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 that 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.

[0041] 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 actual conditions, thereby ensuring the precise driving of the vehicle in complex environments.

[0042] Warning lights 20 and two collision detection sensors 21 are fixedly installed on the four sides of the shuttle car body 1, which can monitor obstacles around the car body in real time to prevent the shuttle car body 1 from colliding with 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 body 1. An emergency stop switch 25 is fixedly installed on the inner top of the shuttle car body 1, and the emergency stop switch 25 is electrically connected to each first drive motor 10 and the second drive motor 13. The emergency stop switch 25 can quickly stop the operation of the shuttle car body 1 in an emergency. For example, when the controller 24 receives a feedback signal and the various components do not move according to the instructions of the controller 24, any movement of the shuttle car body 1 will be forced to stop.

[0043] 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 common means well known to those skilled in the art.

[0044] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A four-way shuttle vehicle with adaptive lifting and guiding, characterized in that: include: Shuttle shell (1); An I-shaped lifting plate (2) is installed above the shuttle housing (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 housing (1); A lifting assembly is installed in the shuttle housing (1) and is used to raise the height of the bottom of the shuttle housing (1); An independent driving assembly, mounted on the lifting assembly, for guiding the movement of the shuttle housing (1); A clamping assembly for fixing 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; The clamping assembly includes a plurality of notches (14) respectively opened at the ends of the I-shaped lifting plate (2), a positioning plate (15) is rotatably installed in each of the notches (14), a rotating shaft (16) is fixedly installed between each of the two positioning plates (15) located 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); 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).

2. The self-adaptive lifting and guiding four-way shuttle according to claim 1, characterized in that: The lifting assembly comprises two adjustment plates (4) respectively slidingly fitted on the inner walls of the front and rear sides of the shuttle housing (1); two support rods (5) are symmetrically rotated and installed on opposite sides of the two adjustment plates (4); the other ends of the two support rods (5) located on the same left and right sides are jointly rotated and installed with a moving plate (6), and 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 set in opposite directions; and a first dual-axis motor (8) for driving the two screw rods (7) is fixedly installed on the inner top of the shuttle housing (1).

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

4. The self-adaptive lifting and guiding four-way shuttle according to claim 1, characterized in that: 360° cameras (22) are fixedly installed at the four corners of the shuttle vehicle housing (1).

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

6. The self-adaptive lifting and guiding four-way shuttle according to claim 3, characterized in that: An emergency stop switch (25) is fixedly installed 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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