Efficient workbin storing and taking shuttle vehicle

Abstract

The invention discloses an efficient material box storing and taking shuttle vehicle. The shuttle vehicle comprises a vehicle frame, wheel bodies installed on the vehicle frame, a first driving assembly for driving the wheel bodies to advance on a track, a floating wheel control assembly for controlling the wheel bodies to keep making contact with the track, and a positioning assembly installed on the vehicle frame and the track. The multi-stage telescopic assembly is installed above the frame, and the second driving assembly drives the multi-stage telescopic assembly to stretch out towards the left side / the right side; the multi-stage telescopic assembly comprises a limiting rod used for limiting the material box and a third driving assembly used for driving the limiting rod to stretch out or draw back. In order to solve the problems of access efficiency and accurate positioning, the control module is arranged to work cooperatively with the positioning assembly and the wheel body. The control module accurately controls the first driving assembly to enable the wheel bodies to move on the track, and the positioning assembly ensures that the shuttle vehicle stays at the accurate position through an auxiliary feedback mechanism.

Description

Technical Field

[0001] The invention discloses a highly efficient material box storage and retrieval shuttle vehicle, belonging to the technical field of shuttle vehicles. Background Art

[0002] The shuttle is an automated device used in warehousing and logistics. Its main function is to travel between shelves and perform cargo storage and retrieval tasks. It is widely used in high-density warehousing systems. It improves storage and retrieval efficiency through automated operations, reduces manual intervention, and thus improves the work efficiency of the entire warehousing system.

[0003] There are multiple problems in existing shuttle applications, especially in high-density storage environments, which lead to poor performance when handling complex tasks. Since high-density storage systems mean that cargo storage space utilization is high and the space is relatively small, traditional shuttles face complex tasks of cargo storage and retrieval when working in such environments, which requires precise positioning and efficient path planning. However, traditional shuttles mostly rely on relatively simple positioning systems, which results in the shuttle being unable to quickly and accurately complete storage and retrieval tasks when faced with dense cargo layouts.

[0004] In addition, the space of shelves and aisles in high-density storage environments is very narrow, which puts higher requirements on the operation of shuttle vehicles. Efficient and stable operation in a small space, especially in a high-density environment, has poor operation stability, especially when turning, changing lanes, and picking up and placing goods. It is easy to collide or jam due to slow movement speed and inaccurate positioning accuracy, making it difficult to meet the working requirements of high-density storage environments.

[0005] Therefore, in response to these problems, the purpose of this study is to design a shuttle vehicle that can efficiently and stably perform storage and retrieval operations in a high-density storage environment. Summary of the invention

[0006] In view of the deficiencies in the prior art, an object of the present invention is to provide an efficient material box storage and retrieval shuttle to solve the problems of the prior art.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions: An efficient material box storage and retrieval shuttle vehicle comprises: a vehicle frame, a wheel body mounted on the vehicle frame, a first driving assembly driving the wheel body to move on a track, a floating wheel control assembly controlling the wheel body to keep in contact with the track, and a positioning assembly mounted on the vehicle frame and the track; A multi-stage telescopic assembly installed above the frame, and a second driving assembly driving the multi-stage telescopic assembly to extend toward the left side / right side; The multi-stage telescopic assembly includes a plurality of groups of limit rods for limiting the position of the material box, and a third driving assembly for driving the limit rods to extend / retract; An auxiliary limiting component arranged in the middle of the frame for adsorbing the bottom of the material box, and an identification unit arranged in the middle of the frame for identifying the working state of the limiting rod; A control module, wherein the control module is electrically connected to the first drive assembly, the positioning assembly, the second drive assembly, the third drive assembly, the auxiliary limit assembly, and the identification unit; The control module controls the first driving assembly to drive the wheel body to move on the track, and the control module cooperates with the positioning assembly to determine the moving position of the wheel body, so as to accurately control the stopping position of the frame; The second driving assembly is controlled by the control module to drive the multi-stage telescopic assembly to extend toward one side and surround the target material box, and the third driving assembly is controlled by the control module to drive the limit rod to extend and limit the material box, and cooperate with the second driving assembly to control the multi-stage telescopic assembly to retract and move the material box to above the auxiliary limit assembly; The identification unit identifies that the limit rod is in an extended state, and the control module drives the auxiliary limit assembly to adsorb the bottom of the material box.

[0008] As a further improvement, the floating wheel control assembly includes a rotating shaft inserted and fixed to the axis of the wheel body; a pressing assembly vertically arranged above the rotating shaft, the pressing assembly vertically and continuously applies elastic pressure to the rotating shaft below, and the first driving assembly includes a first motor that drives the rotating shaft to rotate; The elastic pressure applied by the pressing assembly cooperates with the rotating shaft to control the wheel body to always maintain an abutting posture with the track.

[0009] The pressing assembly includes a spring penetrating through the through hole and abutting against the outer side of the rotating shaft, and a pressure regulating assembly located directly above the spring. The distance between the pressure regulating assembly and the rotating shaft is inversely proportional to the pressure of the spring on the rotating shaft.

[0010] As a further improvement, the pressure regulating assembly includes a limit block located directly above the spring, an regulating rod vertically installed above the limit block, and a locking block vertically arranged above the regulating rod; An annular groove matching the spring is provided below the limit block, the side of the limit block is fixedly connected to the frame, the outer ring surface above the adjusting rod is provided with an external thread, and a nut corresponding to the adjusting rod is provided above the locking block. The spring is inserted into the annular groove, and the locking block is passed through the upper part of the adjusting rod. The nut is threadably matched with the external thread above the adjusting rod to control the rise / fall of the locking block whose one end contacts the spring.

[0011] As a further improvement, the positioning assembly includes a first sensor arranged on the inner side of the track to monitor the frame, and a second sensor arranged inside the track to monitor the wheel body, and the first sensor and the second sensor are both electrically connected to the control module.

[0012] The wheel body comprises a hub fixedly connected to the rotating shaft, and a ring sleeve sleeved on the outer annular surface of the hub, wherein the outer annular surface of the ring sleeve abuts against the track; A strip groove is provided on the track below the ring sleeve, and the strip groove corresponds to the position of the second sensor.

[0013] As a further improvement, the multi-stage telescopic assembly includes a set of primary plates laterally movably mounted on the frame, and a tooth plate is arranged below the primary plates; The second driving assembly includes a gearbox motor unit fixedly mounted on the frame, a transmission shaft inserted in the gearbox motor unit, and driving gears mounted at both ends of the transmission shaft, and the gearbox motor unit is electrically connected to the control module; Two groups of transmission wheels are rotatably mounted on the frame, and the two transmission wheels in the same group are connected by a first toothed belt, and the outer side surface of the first toothed belt is meshed with the toothed plate and the driving gear.

[0014] As a further improvement, a group of positioning plates are fixedly installed in the middle part of the frame, and multiple groups of first guide wheels are provided on the upper and lower edges of the positioning plates facing the first plate side, and a group of first guide strips are provided on the upper and lower edges of the first plate facing the positioning plate side, and two of the first guide strips are provided with first grooves facing opposite sides, and the first guide wheels abut against the first grooves.

[0015] As a further improvement, the multi-stage telescopic assembly includes a secondary plate slidably mounted on the inner side of the primary plate, a plurality of sets of second guide wheels are arranged on the upper and lower edges of the primary plate facing the secondary plate, a set of second guide strips are arranged on the upper and lower edges of the secondary plate facing the primary plate, two of the second guide strips are arranged with grooves on the adjacent sides, and the second guide wheels abut against the second grooves; The second driving assembly includes a group of driving wheels rotatably mounted on the primary plate, two of the driving wheels are connected by a second toothed belt, a second motor is fixedly mounted on the primary plate to control the rotation of the driving wheels, the output end shaft of the second motor is fixedly connected to the axis of one of the driving wheels, a rack is fixedly mounted on the secondary plate facing the primary plate, and the rack is meshed with the second toothed belt; The second motor is electrically connected to the control module, and the control module controls the second motor to drive the driving wheel to rotate forward, and the meshing cooperation between the second toothed belt and the rack controls the secondary plate to move toward the left side; The second motor is electrically connected to the control module, and the control module controls the second motor to drive the driving wheel to rotate in the opposite direction, and the meshing cooperation between the second toothed belt and the rack controls the secondary plate to move toward the right side.

[0016] As a further improvement, the limit rod is rotatably installed on the inner side of the secondary board, and the third driving assembly includes a third motor whose output end is fixedly connected to the bottom of the limit rod, and the third motor is fixedly installed on the side of the secondary board facing the primary board. The third motor is electrically connected to the control module, and the third motor is controlled by the control module to drive the limit rod to rotate forward / reverse.

[0017] As a further improvement, the frame includes a base plate welded and fixed to its upper middle part, and the identification unit includes a plurality of third sensors embedded in the edges of the base plate on both sides facing the secondary plate, and the setting spacing of the plurality of third sensors is consistent with the setting spacing of the plurality of limit rods. When the primary plate and the secondary plate are reset, the unfolded limit rods are located directly above the third sensors.

[0018] As a further improvement, the auxiliary limit assembly includes multiple groups of suction ports arranged on the base plate and an air pump fixedly installed under the base plate. The multiple suction ports are connected to the air suction port of the air pump through pipes. Each group of the suction ports is concentrated between two of the third sensors. A fourth sensor is correspondingly arranged for each group of the suction ports, and the fourth sensor is embedded in the base plate.

[0019] The beneficial effects of the present invention are: In order to solve the problems of access efficiency and precise positioning, the present invention sets a control module to work in coordination with a positioning assembly and a wheel body. The control module precisely controls the first drive assembly to make the wheel body move on the track, while the positioning assembly ensures that the shuttle stays at the correct position through an auxiliary feedback mechanism.

[0020] During the storage and retrieval process, since the storage area of ​​the material boxes is relatively dense, it is necessary to avoid storage and retrieval failures due to offset or position errors.

[0021] A floating wheel control assembly is further provided, through which the contact state between the wheel body and the track can be always maintained, and the accuracy of the positioning assembly is further improved by controlling the floating wheel control assembly to maintain the wheel body in contact with the track.

[0022] In order to ensure the stability of the material box movement, a multi-stage telescopic component, a limit rod and an auxiliary limit component are set. The multi-stage telescopic component and the limit rod limit the movement of the material box by controlling the telescopic movement, and provide correct support for the material box during the storage and retrieval process. At the same time, the auxiliary limit component will stably adsorb the material box on the bottom plate during the transfer of the material box to prevent it from shifting or falling off during the rapid movement of the frame. In addition, the multi-stage telescopic component can extend to the left / right side by cooperating with the second drive component to achieve multi-directional transportation. Through precise control, stable structure and automated coordination, it is ensured that the material box can be stored and retrieved efficiently, accurately and quickly in the storage environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the structure of an efficient material box storage and retrieval shuttle vehicle of the present invention in an expanded state.

[0025] Figure 2 It is a partially enlarged schematic diagram of the second motor installation area of ​​a highly efficient material box storage and retrieval shuttle vehicle of the present invention.

[0026] Figure 3 It is a schematic diagram of the partially enlarged structure of the outer side of a primary plate of a highly efficient material box storage and retrieval shuttle vehicle of the present invention.

[0027] Figure 4 It is a schematic diagram of the partially enlarged structure of the outer side of the secondary plate of a highly efficient material box storage and retrieval shuttle vehicle of the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of a frame after disassembly and assembly of the present invention.

[0029] Figure 6 It is a schematic diagram of a partial explosion structure of a second drive assembly of the present invention.

[0030] Figure 7 It is a schematic diagram of the transport state structure of a highly efficient material box storage and retrieval shuttle vehicle of the present invention.

[0031] Figure 8 It is a schematic diagram of the side structure of an efficient material box storage and retrieval shuttle vehicle of the present invention.

[0032] Fig. 9 The present invention is a front view of a frame of a highly efficient material box storage and retrieval shuttle.

[0033] Fig.10 It is a three-dimensional structural schematic diagram of a floating wheel control assembly of the present invention.

[0034] Fig.11 It is a structural explosion diagram of a floating wheel control assembly of the present invention.

[0035] Fig.12 It is a three-dimensional structural diagram of an adjustment rod of a floating wheel control assembly of the present invention.

[0036] Fig.13 It is a module connection diagram of an efficient material box storage and retrieval shuttle vehicle of the present invention.

[0037] 1. Track; 2. Floating wheel control assembly; 4. Frame; 41. Bottom plate; 5. Material box; 6. Multi-stage telescopic assembly; 61. Limit rod; 62. Third motor; 21. Wheel body; 22. Rotating shaft; 23. First motor; 24. Pressing assembly; 25. Positioning assembly; 26. Positioning block; 261. First through hole; 262. Second through hole; 263. Spring; 264. Pressure regulating assembly; 265. Outer plate; 221. Spindle; 222. Bearing; 2641. Limit block; 2642. Adjusting rod; 2643. Annular groove; 2644. External thread; 2645. Internal thread hole; 251. First sensor; 252. Second sensor sensor; 211, wheel hub; 212, ring sleeve; 63, primary plate; 631, tooth plate; 632, gear box motor group; 633, transmission shaft; 634, driving gear; 635, transmission wheel; 636, first toothed belt; 64, positioning plate; 641, first guide wheel; 642, first guide strip; 643, first groove; 65, secondary plate; 651, second guide wheel; 652, second guide strip; 653, second groove; 654, driving wheel; 655, second toothed belt; 66, second motor; 67, rack; 68, third sensor; 681, suction port; 682, air pump; 683, fourth sensor; 684, solenoid valve. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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 part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] Reference Figure 1-13 As shown, an efficient material box storage and retrieval shuttle vehicle includes: A vehicle frame 4, a wheel body 21 mounted on the vehicle frame 4, a first driving assembly driving the wheel body 21 to move on the track 1, a floating wheel control assembly 2 controlling the wheel body 21 to keep in contact with the track 1, and a positioning assembly 25 mounted on the vehicle frame 4 and the track 1; A multi-stage telescopic assembly 6 installed above the frame 4, and a second driving assembly driving the multi-stage telescopic assembly 6 to extend toward the left / right side; The multi-stage telescopic assembly 6 includes a plurality of groups of limiting rods 61 for limiting the position of the material box 5, and a third driving assembly for driving the limiting rods 61 to extend / retract; An auxiliary limiting component disposed in the middle of the frame 4 for adsorbing the bottom of the material box 5, and an identification unit disposed in the middle of the frame 4 for identifying the working state of the limiting rod 61; A control module 3, wherein the control module 3 is electrically connected to the first drive assembly, the positioning assembly 25, the second drive assembly, the third drive assembly, the auxiliary limit assembly, and the identification unit; The control module 3 controls the first driving assembly to drive the wheel body 21 to move on the track 1, and the control module 3 cooperates with the positioning assembly 25 to determine the moving position of the wheel body 21, so as to accurately control the stopping position of the frame 4; The second driving assembly is controlled by the control module 3 to drive the multi-stage telescopic assembly 6 to extend toward one side and surround the target material box 5. The third driving assembly is controlled by the control module 3 to drive the limiting rod 61 to extend and limit the material box 5, and cooperate with the second driving assembly to control the multi-stage telescopic assembly 6 to be retracted, so as to move the material box 5 above the auxiliary limiting assembly. The identification unit identifies that the limiting rod 61 is in the extended state, and the control module 3 drives the auxiliary limiting component to adsorb the bottom of the material box 5 .

[0041] The shuttle vehicle ensures stable operation on the track 1 through the cooperation of the precise positioning component 25 and the floating wheel control component 2, especially in the narrow space of high-density storage. The shuttle vehicle's route and stop position can be accurately controlled to avoid jamming or collision of traditional shuttle vehicles due to inaccurate positioning.

[0042] The multi-stage telescopic assembly 6 can be extended to the left or right to help the shuttle vehicle to surround and access the material box 5 in a narrow passage. The telescopic assembly includes a plurality of limit rods 61, which can effectively limit and fix the material box 5 to ensure that the material box 5 will not fall or move due to vibration or other factors during operation, thereby ensuring efficient access to the material box 5.

[0043] The auxiliary limit assembly in the middle of the frame 4 can perform an adsorption operation when the material box 5 approaches, firmly adsorbing the material box 5 to prevent it from deflecting or falling during transportation, effectively improving the stability of the shuttle when running at high speed or turning.

[0044] Through the control module 3, the shuttle can accurately control the operation of all driving components, ensure the accurate movement of the wheel body 21 on the track 1, the multi-stage telescopic component 6 can be accurately extended or retracted, and the limit rod 61 can be smoothly extended or retracted, and the whole process is smooth and without jamming. The identification unit can monitor the working status of the limit rod 61 in real time to ensure the synchronization and reliability of the operation.

[0045] Traditional shuttles mostly rely on simple positioning systems, such as lidar or photoelectric sensors, which are unable to quickly and accurately position themselves in dense and complex warehouse layouts, resulting in unstable operations and even possible collisions or jams.

[0046] By combining the floating wheel control component 2, the precise positioning component 25 and the control module 3, the shuttle can accurately control its moving path and stop position in a high-density storage environment to avoid collisions and operational errors. Through precise positioning and real-time control, the storage and retrieval tasks can be successfully completed in a narrow space.

[0047] In addition, many existing shuttles can only perform storage and retrieval operations through simple robotic arms or manual control. Especially in high-density storage environments, they are often unable to operate efficiently due to small spaces or complex cargo layouts.

[0048] This solution adopts a multi-stage telescopic assembly 6, which can adjust the telescopic length as needed to flexibly surround the target material box 5. In addition, the limit rod 61 can accurately limit the positioning of the material box 5, and cooperate with the telescopic assembly to make the access process more efficient and accurate, reducing manual intervention.

[0049] In traditional shuttle designs, many systems lack an effective mechanism for fixing the material box 5 , which causes the material box 5 to be easily displaced or dropped during high-speed movement or complex turns.

[0050] This solution adds an auxiliary limiter component, which can absorb the bottom of the material box 5 to ensure that the material box 5 will not deviate due to vibration, speed or turning during the movement of the shuttle. Even during high-speed operation or lane change, the stability of the access operation can still be guaranteed.

[0051] Through multi-stage telescopic components 6, precise positioning control, auxiliary limit adsorption design and efficient path planning, the low efficiency, instability and poor spatial adaptability of existing technologies in high-density storage environments are solved. Not only does it improve the storage and retrieval efficiency, it also enhances the stability and reliability of the shuttle in complex environments, greatly improving the overall operating efficiency of the storage system.

[0052] To ensure that the wheel body 21 always maintains close contact with the track 1, the floating wheel control assembly includes a rotating shaft 22 inserted and fixed on the axis of the wheel body 21; A pressing assembly 24 is vertically arranged above the rotating shaft 22, and the pressing assembly 24 continuously applies elastic pressure vertically to the rotating shaft 22 below. The first driving assembly includes a first motor 23 that drives the rotating shaft 22 to rotate; The elastic pressure applied by the pressing assembly 24 cooperates with the rotating shaft 22 to control the wheel body 21 to always maintain an abutting posture with the track 1 .

[0053] The elastic pressure applied by the pressing assembly 24 ensures that the wheel body 21 always maintains the contact posture with the track 1. The stability and friction of the wheel body 21 during operation are guaranteed, and the gap between the wheel body 21 and the track 1 caused by external vibration and unevenness of the track 1 is avoided. The continuous contact between the wheel body 21 and the track 1 is ensured, so that the shuttle can run stably, reducing the sliding, jamming or instability caused by derailment or insufficient friction, and improving the safety and reliability of operation.

[0054] The elastic pressure provided by the rotating shaft 22 and the pressing assembly 24 provides continuous vertical downward pressure on the wheel body 21, thereby enhancing the system's adaptability to changes or vibrations of the track 1 and maintaining stable operation in complex environments. During dynamic operation, the system can quickly respond to changes in the external environment, avoiding imbalance of the wheel body 21 due to uneven load or uneven track 1, and helping to improve the precise controllability and stability of the shuttle.

[0055] This simple and efficient elastic pressure mechanism avoids excessive mechanical parts and complex control systems. With elastic pressure as the core, mechanical friction and structural complexity are reduced. The wear of mechanical parts is reduced, maintenance costs and failure rates are reduced, and the reliability and service life of the system are improved. Compared with traditional complex control systems, this elastic pressure control method is more economical and effective.

[0056] In order to accurately control the pressure of the spring 263, the pressing component 24 includes a spring 263 that passes through the through hole and abuts against the outer side of the rotating shaft 22, and a pressure adjusting component 264 located directly above the spring 263. The distance between the pressure adjusting component 264 and the rotating shaft 22 is inversely proportional to the pressure of the spring 263 on the rotating shaft 22.

[0057] The pressure adjustment assembly 264 includes a limit block 2641 located directly above the spring 263, an adjustment rod 2642 vertically installed above the limit block 2641, and a lock block vertically arranged above the adjustment rod 2642; An annular groove 2643 matching the spring 263 is provided below the limit block 2641, and the side of the limit block 2641 is fixedly connected to the frame 4. An external thread 2644 is provided on the outer ring surface above the adjusting rod 2642, and a nut corresponding to the adjusting rod 2642 is provided above the locking block. The spring 263 is inserted into the annular groove 2643, and the locking block is passed through the upper part of the adjusting rod 2642. The nut is threadedly matched with the external thread 2644 above the adjusting rod 2642 to control the rise / fall of the locking block whose one end contacts the spring 263.

[0058] The positioning assembly 25 includes a first sensor 251 disposed inside the track 1 to monitor the vehicle frame 4 , and a second sensor 252 disposed inside the track 1 to monitor the wheel body 21 . Both the first sensor 251 and the second sensor 252 are electrically connected to the control module 3 .

[0059] The pressure regulating assembly 264 adjusts the pressure of the spring 263 through the structures such as the regulating rod 2642, the locking block and the limiting block 2641. The cooperation between the spring 263 and the annular groove 2643 can provide precise compression control of the spring 263, thereby adjusting the pressure of the frame 4 or the wheel body 21.

[0060] By cooperating the external thread 2644 on the adjusting rod 2642 with the nut, the lifting and lowering of the locking block can be precisely adjusted, thereby realizing precise adjustment of the pressure of the spring 263. This ensures that the system always maintains appropriate pressure of the spring 263 during operation, avoiding system instability or wear caused by insufficient or excessive pressure.

[0061] Through the cooperation between the locking block and the adjusting rod 2642, the system can adjust the pressure of the spring 263 according to actual needs, allowing the system to flexibly adjust the pressure to adapt to different working conditions under different operating environments and load conditions.

[0062] The flexible adjustment of the spring 263 pressure can improve the system's adaptability to different track 1 conditions, load changes and vibrations, ensuring that the system can maintain stable operation regardless of whether it is under heavy or light load conditions, thereby enhancing the system's versatility and adaptability.

[0063] The positioning assembly 25 monitors the positions of the frame 4 and the wheel body 21 through the first sensor 251 and the second sensor 252. The function of these sensors is to provide real-time feedback on the position changes of the frame 4 and the wheel body 21, and to adjust the operation of the system by being electrically connected to the control module 3 to ensure that the relative positions of the frame 4 and the wheel body 21 meet the predetermined requirements.

[0064] By real-time monitoring of the positions of the frame 4 and the wheel 21, it is possible to ensure that the two are always in an ideal contact state, avoiding system imbalance or instability caused by position offset or deviation. At the same time, the data feedback from the sensor can help the control module 3 adjust the interaction between the frame 4 and the wheel 21 to improve the accuracy and stability of the system.

[0065] To further ensure the stable contact between the wheel body 21 and the track 1, the wheel body 21 includes a hub 211 fixedly connected to the rotating shaft 22, and a ring sleeve 212 sleeved on the outer annular surface of the hub 211, and the outer annular surface of the ring sleeve 212 abuts against the track 1; A strip groove is formed on the track 1 below the ring sleeve 212 , and the strip groove corresponds to the position of the second sensor 252 .

[0066] The outer annular surface of the annular sleeve 212 is in direct contact with the track 1, providing a stable connection between the wheel body 21 and the track 1. It is ensured that the wheel body 21 can be in uniform contact with the surface of the track 1, thereby ensuring a smooth movement.

[0067] By making the bar groove on the track 1 correspond to the position of the second sensor 252, and by monitoring the changes of the bar groove in real time through the sensor, the precise position and movement state of the wheel body 21 on the track 1 can be detected. By monitoring the changes of the bar groove, the second sensor 252 can provide real-time feedback on the contact state, position deviation or sliding of the wheel body 21 and the track 1, ensuring that the system can adjust or correct the position of the wheel body 21 in time, thereby avoiding system failure or error accumulation and enhancing the system's adaptive ability.

[0068] In order to improve the precise control and adjustability and realize the stable extension / retraction of the primary plate 63, the multi-stage telescopic assembly 6 includes a set of primary plates 63 which are laterally movably mounted on the frame 4, and a tooth plate 631 is arranged under the primary plate 63; The second driving assembly includes a gearbox motor group 632 fixedly mounted on the frame 4, a transmission shaft 633 inserted in the gearbox motor group 632, and driving gears 634 installed at both ends of the transmission shaft 633, and the gearbox motor group 632 is electrically connected to the control module 3; Two groups of transmission wheels 635 are rotatably mounted on the frame 4 , and the two transmission wheels 635 in the same group are connected by a first toothed belt 636 , and the outer side surface of the first toothed belt 636 is meshed with the tooth plate 631 and the driving gear 634 .

[0069] The control module 3 controls the gear motor group to drive the transmission shaft 633 to rotate in the forward direction, and cooperates with the two driving gears 634 to drive the two sets of first toothed belts 636 to transmit, and the first toothed belts 636 are engaged with the toothed plate 631 to control the primary plate 63 to move toward the left side; The control module 3 controls the gear motor group to drive the transmission shaft 633 to rotate in the opposite direction, and cooperates with the two driving gears 634 to drive two sets of first toothed belts 636 for transmission. The first toothed belts 636 are engaged with the toothed plate 631 to control the primary plate 63 to move toward the right side.

[0070] The control module 3 can accurately control the gear motor group in forward and reverse directions, so as to realize accurate movement of the primary plate 63 in the left and right directions. The control module 3 enables the system to flexibly adjust the telescopic position according to the needs, ensuring high precision and adjustability of the operation.

[0071] The gearbox motor group 632 realizes forward and reverse drive through the transmission shaft 633 and the driving gear 634. The forward and reverse rotations are adjusted by the control module 3, so that the primary plate 63 can move smoothly to the left or right, which improves the flexibility and versatility of the system. Through the meshing of the two sets of transmission wheels 635, the first toothed belt 636 and the toothed plate 631, the system can stably transmit power, ensure stability during the telescopic process, avoid any excessive vibration or unstable factors, thereby extending the service life of the equipment and reducing maintenance requirements.

[0072] Among them, the gear box motor group 632 includes a gear box welded on the frame 4, and a motor fixedly installed at one end of the gear box. Two sets of meshing gears are usually arranged in the gear box, one of which is fixed on the output shaft of the motor, and the other gear is welded on the transmission shaft 633, which is coaxially arranged with the transmission shaft 633. Since the gear box motor group 632 is a conventional setting, it will not be repeated.

[0073] To ensure the stability of the primary plate 63 during movement, a group of positioning plates 64 are fixedly installed in the middle of the frame 4, and multiple groups of first guide wheels 641 are provided on the upper and lower edges of the positioning plate 64 facing the primary plate 63. A group of first guide strips 642 are provided on the upper and lower edges of the primary plate 63 facing the positioning plate 64, and two of the first guide strips 642 are provided with first grooves facing opposite sides, and the first guide wheel 641 abuts against the first groove 643.

[0074] The first guide wheel 641 provided on the positioning plate 64 and the first guide bar 642 on the primary plate 63 work together to effectively guide the primary plate 63 to move along a predetermined track, thereby preventing it from deflecting or tilting. This ensures that the primary plate 63 maintains a stable centering state during movement, thereby avoiding wear or unstable movement caused by misalignment.

[0075] The guide strips and guide wheels can effectively connect the upper and lower edges of the primary plate 63 with the positioning plate 64 in the frame 4, reducing the friction of direct contact between the primary plate 63 and the frame 4. In particular, the cooperation between the guide wheel and the first groove 643 can reduce direct metal friction, reduce friction, improve the stability of movement, and reduce noise and wear during movement.

[0076] The first groove 643 on the first guide bar 642 is designed so that the guide wheel can be precisely embedded therein, so that the primary board 63 can run more accurately on the fixed track 1. In this way, the system can automatically adjust during the movement to ensure that the primary board 63 maintains the correct movement path. This self-adjusting mechanism enhances the reliability and fault tolerance of the system, especially during long-term use.

[0077] At the same time, the combination of the first guide bar 642 and the guide wheel can disperse and evenly distribute the motion load of the primary plate 63, avoiding local damage caused by concentrated friction. The groove design helps to withstand greater pressure, allowing the system to carry heavier loads, thereby improving overall durability and load-bearing capacity.

[0078] In order to achieve smooth guidance and positioning of the secondary plate 65, the multi-stage telescopic assembly 6 includes a secondary plate 65 slidably mounted on the inner side of the primary plate 63, and the primary plate 63 is provided with multiple sets of second guide wheels 651 at the upper and lower edges of the side facing the secondary plate 65, and the secondary plate 65 is provided with a set of second guide strips 652 at the upper and lower edges of the side facing the primary plate 63, and two of the second guide strips 652 are provided with grooves facing the adjacent sides, and the second guide wheels 651 abut against the second grooves 653; The second driving assembly includes a group of driving wheels 654 rotatably mounted on the primary plate 63, the two driving wheels 654 are connected by a second toothed belt 655, and a second motor 66 is fixedly mounted on the primary plate 63 to control the rotation of the driving wheels 654, the output end shaft 22 of the second motor 66 is fixedly connected to the axis of one of the driving wheels, and a rack 67 is fixedly mounted on the secondary plate 65 facing the primary plate 63, and the rack 67 is meshed with the second toothed belt 655.

[0079] The second guide wheel 651 and the second guide bar 652 are arranged between the primary plate 63 and the secondary plate 65, and the second groove 653 is also designed to ensure that the secondary plate 65 maintains accurate guidance and positioning during the extension and retraction process. The contact between the groove and the second guide wheel 651 can effectively prevent the secondary plate 65 from deflecting or getting stuck, and maintain a stable motion trajectory.

[0080] By arranging the second guide bar 652 and the guide wheel at the upper and lower edges of the secondary plate 65, the contact surface is increased, the stability of the system is improved, and the tilt or unevenness of the secondary plate 65 during the extension and retraction process is avoided.

[0081] At the same time, the first guide strip 642 of the primary plate 63 and the secondary plate 65 cooperate with the first guide wheel 641 and the second guide strip 652 cooperates with the second guide wheel 651, and the force directions thereof are opposite, which helps to further improve the stability of the extension thereof.

[0082] The gear rack 67 on the secondary plate 65 meshes with the second toothed belt 655, which can ensure that the secondary plate 65 maintains high-precision synchronous motion during the extension and retraction process. The meshing of the gear rack 67 and the toothed belt avoids the accuracy problems caused by traditional sliding friction, reduces the error caused by friction, and ensures that the extension and retraction process of the secondary plate 65 is both smooth and accurate.

[0083] In order to realize accurate bidirectional control, the second motor 66 is electrically connected to the control module 3, and the control module 3 controls the second motor 66 to drive the driving wheel 654 to rotate in the forward direction, and the second toothed belt 655 is meshed with the rack 67 to control the secondary plate 65 to move toward the left side; The second motor 66 is electrically connected to the control module 3 , and the control module 3 controls the second motor 66 to drive the driving wheel 654 to rotate in the opposite direction, and the meshing cooperation between the second toothed belt 655 and the rack 67 controls the secondary plate 65 to move toward the right side.

[0084] By controlling the second motor 66 to rotate forward or reversely through the control module 3, the two-way movement (towards the left or right) of the secondary plate 65 can be achieved. This configuration enables the system to flexibly adjust the position of the secondary plate 65 as needed, and provides precise control when it needs to move left or right.

[0085] When the second motor 66 drives the wheel 654 to rotate forward or reverse, the engagement of the second toothed belt 655 with the rack 67 ensures the smooth movement of the secondary plate 65. Whether forward or reverse, the engagement of the toothed belt with the rack 67 ensures that the secondary plate 65 moves stably and accurately in the target direction.

[0086] In order to achieve precise limit control, the limit rod 61 is rotatably installed on the inner side of the secondary plate 65. The third driving assembly includes a third motor 62 whose output end is fixedly connected to the bottom of the limit rod 61. The third motor 62 is fixedly installed on the side of the secondary plate 65 facing the primary plate 63. The third motor 62 is electrically connected to the control module 3. The third motor 62 is controlled by the control module 3 to drive the limit rod 61 to rotate forward / reverse.

[0087] The first motor 23, the second motor 66 and the third motor 62 are all forward and reverse motors. Since the forward and reverse motors are conventional motors available on the market, they are not described in detail.

[0088] The limiting rod 61 is used to limit the movement range of the material box 5, and cooperates with the primary plate 63 and the secondary plate 65 to transfer the material box 5 to the bottom plate 41, and transports the material box 5 to a preset position through the frame 4, and then transfers the material box 5 out.

[0089] The frame 4 includes a bottom plate 41 welded and fixed at the upper middle part thereof, and the identification unit includes a plurality of third sensors 68 embedded in the edges of both sides of the bottom plate 41 facing the secondary plate 65, and the spacing between the plurality of third sensors 68 is consistent with the spacing between the plurality of limit rods 61. When the primary plate 63 and the secondary plate 65 are reset, the unfolded limit rods 61 are located directly above the third sensors 68.

[0090] The auxiliary limit assembly includes a plurality of groups of suction ports 681 arranged on the base plate 41 and an air pump 682 fixedly installed under the base plate 41. The plurality of suction ports 681 are connected to the air suction port of the air pump 682 through pipes. Each group of suction ports 681 is concentrated between two of the third sensors 68. A fourth sensor 683 is correspondingly arranged for each group of suction ports 681. The fourth sensor 683 is embedded in the base plate 41.

[0091] Among them, different groups of adsorption ports 681 control the gas flow state by installing a solenoid valve 684 controller on the pipeline.

[0092] The third sensor 68, the fourth sensor 683, the solenoid valve 684, and the air pump 682 are electrically connected to the control module 3. The third sensor 68 detects that the limit rod 61 is in a working state, and transmits a signal to the control module 3 for feedback. The fourth sensor 683 detects whether there is a material box 5 directly above, and if there is a material box 5, transmits a signal to the control module 3 for feedback; The air pump 682 is controlled to be turned on through the control module 3 , and the solenoid valve 684 corresponding to the fourth sensor 683 where the material box 5 exists is controlled to be turned on, so that the suction port 681 of the group suctions the material box 5 .

[0093] In this embodiment, the first sensor 251, the second sensor 252, the third sensor 68, and the fourth sensor 683 are all infrared sensors. Other sensors may also be used in other embodiments.

[0094] Since the third sensor 68 is set at the same distance as the limit rod 61, the system can accurately detect the position of the limit rod 61. When the limit rod 61 is in the working state, the third sensor 68 can monitor its action in real time and feed back the signal to the control module 3 to ensure that the limit rod 61 is always in the predetermined working range, thereby improving the accuracy and reliability of the system.

[0095] The fourth sensor 683 is responsible for detecting whether there is a material box 5 directly above the limit rod 61. Through the feedback of the fourth sensor 683, the control module 3 can determine whether an adsorption operation is required, avoiding unnecessary misoperation or erroneous adsorption, and improving the intelligence and adaptability of the system.

[0096] Each group of adsorption ports 681 is connected to an air pump 682 through a pipeline, and the air flow state is controlled by a solenoid valve 684. When the presence of the material box 5 is detected, the air pump 682 and the corresponding solenoid valve 684 are automatically turned on to start the adsorption function. This automated operation reduces manual intervention, simplifies the operation process, and improves work efficiency.

[0097] The positions of the suction ports 681 are precisely set according to the corresponding relationship with the third sensor 68, so that each group of suction ports 681 can be used for suction of a specific material box 5. After the material box 5 is detected and the position is confirmed, the system can quickly and accurately start the suction function, and both the suction start and the airflow adjustment can be precisely controlled to ensure the efficiency and safety of the suction process.

[0098] Through the signal feedback of the third sensor 68 and the fourth sensor 683, combined with the instructions of the control module 3, a closed-loop control system is formed. When the third sensor 68 confirms that the limit rod 61 is in the working state, the control module 3 further determines whether to perform the adsorption operation according to the position of the material box 5 detected by the fourth sensor 683. The intelligent response of the system can significantly improve the operating efficiency and avoid the waste of resources caused by operating errors or failures.

[0099] By electrically connecting the sensor, solenoid valve 684, air pump 682 and other components to the control module 3, the signal can be quickly transmitted and processed, and the control module 3 dynamically adjusts the working state of the suction port 681 according to the real-time data, thereby ensuring the balance between the system's rapid response and efficient execution, and avoiding delays or errors.

[0100] Through the reasonable layout of the pipeline and the solenoid valve 684, the adsorption ports 681 can be concentrated between each group of third sensors 68, thereby ensuring the accurate adsorption of each material box 5 by the adsorption system. Each group of adsorption ports 681 and its corresponding sensor and solenoid valve 684 work together to ensure the high efficiency of the adsorption operation.

[0101] It should be noted that the device structure and the drawings of the present invention mainly describe the principle of the present invention. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. On the premise that the technical personnel in this field understand the principle of the above invention, the details of the power mechanism, power supply system and control system can be clearly known. The control method of the application document is automatic control through a controller, and the control circuit of the controller can be realized by simple programming by the technical personnel in this field. The standard parts used therein can all be purchased from the market and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the structures and principles of the components known to technical personnel in this field can be known by these technical personnel through technical manuals or through conventional experimental methods.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An efficient material box storage and retrieval shuttle vehicle, characterized in that: include; A vehicle frame (4), a wheel body (21) mounted on the vehicle frame (4), a first driving assembly for driving the wheel body (21) to move on a track (1), a floating wheel control assembly (2) for controlling the wheel body (21) to maintain contact with the track (1), and a positioning assembly (25) mounted on the vehicle frame (4) and the track (1); A multi-stage telescopic assembly (6) installed above the vehicle frame (4), and a second driving assembly driving the multi-stage telescopic assembly (6) to extend toward the left side / right side; The multi-stage telescopic assembly (6) comprises a plurality of groups of limiting rods (61) for limiting the position of the material box (5), and a third driving assembly for driving the limiting rods (61) to extend / retract; an auxiliary limiting component arranged in the middle of the frame (4) for adsorbing the bottom of the material box (5), and an identification unit arranged in the middle of the frame (4) for identifying the working state of the limiting rod (61); A control module (3), the control module (3) being electrically connected to the first drive assembly, the positioning assembly (25), the second drive assembly, the third drive assembly, the auxiliary limit assembly, and the identification unit; The control module (3) controls the first driving component to drive the wheel body (21) to move on the track (1); the control module (3) cooperates with the positioning component (25) to determine the moving position of the wheel body (21), thereby accurately controlling the stopping position of the vehicle frame (4); The second driving assembly is controlled by the control module (3) to drive the multi-stage telescopic assembly (6) to extend toward one side and surround the target material box (5); the third driving assembly is controlled by the control module (3) to drive the limiting rod (61) to extend to limit the material box (5), and cooperate with the second driving assembly to control the multi-stage telescopic assembly (6) to retract toward the opposite direction, so as to move the material box (5) above the auxiliary limiting assembly; The identification unit identifies that the limit rod (61) is in an extended state, and the control module (3) drives the auxiliary limit assembly to adsorb the bottom of the material box (5).

2. According to claim 1, an efficient material box storage and retrieval shuttle vehicle is characterized in that: The floating wheel control assembly (2) comprises a rotating shaft (22) inserted and fixed on the axis of the wheel body (21); a pressing assembly (24) vertically arranged above the rotating shaft (22), the pressing assembly (24) vertically and continuously applying elastic pressure to the rotating shaft (22) below, the first driving assembly comprising a first motor (23) driving the rotating shaft (22) to rotate; The elastic pressure applied by the pressing component (24) cooperates with the rotating shaft (22) to control the wheel body (21) to always maintain an abutting posture with the track (1); a positioning block (26) fixedly mounted on the vehicle frame (4), a first through hole (261) being arranged on a side surface of the positioning block (26), the rotating shaft (22) passing through the first through hole (261), and an output end of the first motor (23) being connected to the wheel body (21) via the rotating shaft (22); The pressing component (24) comprises a spring (263) penetrating the through hole and abutting against the outer side of the rotating shaft (22), and a pressure regulating component (264) located directly above the spring (263), wherein the distance between the pressure regulating component (264) and the rotating shaft (22) is inversely proportional to the pressure of the spring (263) on the rotating shaft (22).

3. According to claim 2, an efficient material box storage and retrieval shuttle vehicle is characterized in that: The pressure adjustment assembly (264) comprises a limit block (2641) located directly above the spring (263), an adjustment rod (2642) vertically mounted above the limit block (2641), and a locking block vertically arranged above the adjustment rod (2642); An annular groove (2643) matching the spring (263) is arranged below the limit block (2641); the side of the limit block (2641) is fixedly connected to the frame (4); an external thread (2644) is arranged on the outer annular surface above the adjusting rod (2642); a nut corresponding to the adjusting rod (2642) is arranged above the locking block; the spring (263) is inserted into the annular groove (2643), the adjusting rod (2642) passes through the locking block above, and the nut is threadedly matched with the external thread (2644) above the adjusting rod (2642) to control the rise / fall of the locking block, one end of which contacts the spring (263).

4. An efficient material box storage and retrieval shuttle according to claim 3, characterized in that: The positioning assembly (25) comprises a first sensor (251) arranged on the inner side of the track (1) for monitoring the vehicle frame (4), and a second sensor (252) arranged inside the track (1) for monitoring the wheel body (21), wherein the first sensor (251) and the second sensor (252) are both electrically connected to the control module (3); The wheel body (21) comprises a wheel hub (211) fixedly connected to a rotating shaft (22), and a ring sleeve (212) sleeved on an outer ring surface of the wheel hub (211), wherein the outer ring surface of the ring sleeve (212) abuts against the track (1); A strip groove is provided on the track (1) below the ring sleeve (212), and the strip groove corresponds to the position of the second sensor (252).

5. The efficient material box storage and retrieval shuttle according to claim 1, characterized in that: The multi-stage telescopic assembly (6) comprises a set of primary plates (63) which are laterally movably mounted on the vehicle frame (4), and a tooth plate (631) is arranged below the primary plates (63); The second driving assembly comprises a gearbox motor group (632) fixedly mounted on the vehicle frame (4), a transmission shaft (633) inserted into the gearbox motor group (632), and driving gears (634) mounted at both ends of the transmission shaft (633); the gearbox motor group (632) is electrically connected to the control module (3); Two groups of transmission wheels (635) are rotatably mounted on the vehicle frame (4); the two transmission wheels (635) in the same group are connected via a first toothed belt (636); the outer side surface of the first toothed belt (636) is meshed with the toothed plate (631) and the driving gear (634).

6. An efficient material box storage and retrieval shuttle according to claim 5, characterized in that: A group of positioning plates (64) are fixedly installed in the middle of the frame (4); a plurality of groups of first guide wheels (641) are arranged at the upper and lower edges of the positioning plates (64) on one side facing the primary plate (63); a group of first guide strips (642) are arranged at the upper and lower edges of the primary plate (63) on one side facing the positioning plate (64); two first guide strips (642) are arranged with first grooves (643) on opposite sides; and the first guide wheels (641) abut against the first grooves (643).

7. An efficient material box storage and retrieval shuttle according to claim 6, characterized in that: The multi-stage telescopic assembly (6) comprises a secondary plate (65) slidably mounted on the inner side of the primary plate (63); a plurality of groups of second guide wheels (651) are arranged on the upper and lower edges of the primary plate (63) facing the secondary plate (65); a group of second guide strips (652) are arranged on the upper and lower edges of the secondary plate (65) facing the primary plate (63); two second guide strips (652) are arranged on adjacent sides with second grooves (653); and the second guide wheels (651) abut against the second grooves (653); The second driving assembly comprises a group of driving wheels (654) rotatably mounted on the primary plate (63), the two driving wheels (654) being connected via a second toothed belt (655), a second motor (66) being fixedly mounted on the primary plate (63) for controlling the rotation of the driving wheels (654), the output end shaft (22) of the second motor (66) being fixedly connected to the axis of one of the driving wheels (654), a rack (67) being fixedly mounted on the secondary plate (65) on the side facing the primary plate (63), the rack (67) being meshed with the second toothed belt (655); The second motor (66) is electrically connected to the control module (3), and the control module (3) controls the second motor (66) to drive the driving wheel (654) to rotate in the forward direction, and the meshing cooperation between the second toothed belt (655) and the rack (67) controls the secondary plate (65) to move toward the left side; The second motor (66) is electrically connected to the control module (3), and the control module (3) controls the second motor (66) to drive the driving wheel (654) to rotate in the opposite direction, and the meshing cooperation between the second toothed belt (655) and the rack (67) controls the secondary plate (65) to move toward the right side.

8. An efficient material box storage and retrieval shuttle according to claim 7, characterized in that: The limit rod (61) is rotatably mounted on the inner side of the secondary plate (65); the third driving assembly comprises a third motor (62) whose output end is fixedly connected to the bottom of the limit rod (61); the third motor (62) is fixedly mounted on the side of the secondary plate (65) facing the primary plate (63); the third motor (62) is electrically connected to the control module (3); the third motor (62) is controlled by the control module (3) to drive the limit rod (61) to rotate in a forward / reverse direction.

9. An efficient material box storage and retrieval shuttle according to claim 8, characterized in that: The vehicle frame (4) comprises a bottom plate (41) welded and fixed at the middle part of the upper part thereof, the identification unit comprises a plurality of third sensors (68) embedded in the edges of both sides of the bottom plate (41) facing the secondary plate (65), the spacing between the plurality of third sensors (68) is consistent with the spacing between the plurality of limit rods (61), and when the primary plate (63) and the secondary plate (65) are reset, the unfolded limit rods (61) are located directly above the third sensors (68).

10. The efficient material box storage and retrieval shuttle according to claim 9, characterized in that: The auxiliary limit assembly comprises a plurality of groups of suction ports (681) arranged on the bottom plate (41) and an air pump (682) fixedly mounted below the bottom plate (41); the plurality of suction ports (681) are connected to an air suction port of the air pump (682) via a pipeline; each group of suction ports (681) is centrally located between two third sensors (68); a fourth sensor (683) is correspondingly arranged for each group of suction ports (681); and the fourth sensor (683) is embedded in the bottom plate (41).

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