An efficient bin storage shuttle

Abstract

The present invention discloses an efficient bin access shuttle car, comprising: a vehicle frame, a wheel body mounted on the vehicle frame, a first driving component for driving the wheel body to travel on a track, a floating wheel control component for controlling the wheel body to keep in contact with the track, and a positioning component mounted on the vehicle frame and the track; a multi-stage telescopic component mounted above the vehicle frame, and a second driving component for driving the multi-stage telescopic component to extend towards the left / right; the multi-stage telescopic component includes a limiting rod for bin limiting, and a third driving component for driving the limiting rod to extend / retract; The present invention aims to solve the problems of access efficiency and precise positioning. By setting up the cooperative work of a control module with the positioning component and the wheel body. The control module precisely controls the first driving component to make the wheel body move on the track, while the positioning component ensures that the shuttle car stays at the accurate position through an auxiliary feedback mechanism.

Description

Technical Field

[0001] The present invention is an efficient bin access shuttle car, belonging to the technical field of shuttle cars. Background Art

[0002] A shuttle car is an automated device used in warehousing logistics. Its main function is to travel between shelves and perform cargo access tasks. It is widely used in high-density warehousing systems, improving access efficiency through automated operations, reducing manual intervention, and thus enhancing the working efficiency of the entire warehousing system.

[0003] In existing shuttle car applications, especially in high-density warehousing environments, there are multiple problems, resulting in poor performance when dealing with complex tasks. Since a high-density warehousing system means high utilization rate of cargo storage space and relatively narrow space, when traditional shuttle cars work in such an environment and face complex tasks of cargo access, they require precise positioning and efficient path planning. However, traditional shuttle cars mostly rely on relatively simple positioning systems, which leads to the inability of shuttle cars to quickly and accurately complete access tasks when facing a dense cargo layout.

[0004] Moreover, due to the very narrow shelves and aisle spaces in high-density warehousing environments, higher requirements are imposed on the operation of shuttle cars. Performing efficient and stable operations in a narrow space, especially the poor operation stability in a high-density environment, especially when turning, changing lanes, and picking up and placing goods, it is easy to collide or get stuck due to slow moving speed and inaccurate positioning accuracy, and it is difficult to meet the working requirements of high-density warehousing environments.

[0005] Therefore, aiming at these problems, the purpose of this research is to design a shuttle car that can efficiently and stably achieve access operations in high-density warehousing environments. Summary of the Invention

[0006] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide an efficient bin access shuttle car to solve the problems of the existing technology.

[0007] To achieve the above purpose, the present invention is implemented through the following technical solutions:

[0008] An efficient bin access shuttle car includes: a frame, a wheel body installed on the frame, a first drive assembly for driving the wheel body to travel on a track, a floating wheel control assembly for controlling the wheel body to keep in contact with the track, and a positioning assembly installed on the frame and the track;

[0009] A multi-stage telescopic assembly installed above the frame, and a second drive assembly for driving the multi-stage telescopic assembly to extend left / right;

[0010] The multi-stage telescopic assembly includes several groups of limiting rods for limiting the material box and a third driving assembly for driving the limiting rods to extend / retract;

[0011] An auxiliary limiting assembly arranged in the middle of the vehicle frame for adsorbing the bottom of the material box and an identification unit arranged in the middle of the vehicle frame for identifying the working state of the limiting rods;

[0012] A control module, which is electrically connected to the first driving assembly, the positioning assembly, the second driving assembly, the third driving assembly, the auxiliary limiting assembly, and the identification unit;

[0013] The control module controls the first driving assembly to drive the wheel body to move on the track. Through the cooperation of the control module and the positioning assembly to determine the moving position of the wheel body, the stopping position of the vehicle frame is accurately controlled;

[0014] The control module controls the second driving assembly to drive the multi-stage telescopic assembly to extend towards one side and surround the target material box. The control module controls the third driving assembly to drive the limiting rods to extend to limit the material box, and cooperates with the second driving assembly to control the multi-stage telescopic assembly to retract, and move the material box above the auxiliary limiting assembly;

[0015] When the identification unit identifies that the limiting rods are in the extended state, the control module drives the auxiliary limiting assembly to adsorb the bottom of the material box.

[0016] As a further improvement, the floating wheel control assembly includes a rotating shaft inserted and fixed at the axis of the wheel body; a pressing assembly vertically arranged above the rotating shaft, and the pressing assembly continuously applies elastic pressure to the rotating shaft vertically downward. The first driving assembly includes a first motor for driving the rotating shaft to rotate;

[0017] Through the elastic pressure applied by the pressing assembly and the cooperation of the rotating shaft, the wheel body is controlled to always maintain a butting posture with the track.

[0018] The pressing assembly includes a spring passing through the through hole and abutting against the outer side surface of the rotating shaft, and a pressure adjusting assembly located directly above the spring. The distance between the pressure adjusting assembly and the rotating shaft is inversely proportional to the pressure of the spring on the rotating shaft.

[0019] As a further improvement, the pressure adjusting assembly includes a limiting block located directly above the spring, an adjusting rod vertically installed above the limiting block, and a locking block vertically arranged above the adjusting rod;

[0020] An annular groove matching the spring is arranged below the limiting block. The side of the limiting block is fixedly connected to the vehicle frame. An external thread is arranged on the outer circumferential surface above the adjusting rod. A nut corresponding to the adjusting rod is arranged above the locking block. The spring is inserted into the annular groove, the upper part of the adjusting rod penetrates through the locking block, and the nut is in threaded cooperation with the external thread above the adjusting rod to control the locking block that abuts against one end of the spring to rise / fall.

[0021] As a further improvement, the positioning assembly includes a first sensor arranged inside the track to monitor the vehicle frame and a second sensor arranged inside the track to monitor the wheel body. Both the first sensor and the second sensor are electrically connected to the control module.

[0022] The wheel body includes a hub fixedly connected to a rotating shaft and a sleeve sleeved on the outer circumferential surface of the hub. The outer circumferential surface of the sleeve abuts against the track.

[0023] A strip-shaped groove is formed in the track below the sleeve, and the strip-shaped groove corresponds to the position of the second sensor.

[0024] As a further improvement, the multi-stage telescopic assembly includes a first-stage plate horizontally and movably installed on the vehicle frame, and a toothed plate is arranged below the first-stage plate.

[0025] The second driving assembly includes a gearbox motor set fixedly installed on the vehicle frame, a transmission shaft inserted into the gearbox motor set, and driving gears installed at both ends of the transmission shaft. The gearbox motor set is electrically connected to the control module.

[0026] Two groups of transmission wheels rotatably installed on the vehicle frame. 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 meshes with the toothed plate and the driving gears.

[0027] As a further improvement, a group of positioning plates are fixedly installed in the middle of the vehicle frame. Multiple groups of first guide wheels are arranged at the upper and lower edges of the side of the positioning plate facing the first-stage plate. A group of first guide strips are arranged at the upper and lower edges of the side of the first-stage plate facing the positioning plate. First grooves are arranged on the opposite sides of the two first guide strips, and the first guide wheels abut in the first grooves.

[0028] As a further improvement, the multi-stage telescopic assembly includes a second-stage plate slidably installed inside the first-stage plate. Multiple groups of second guide wheels are arranged at the upper and lower edges of the side of the first-stage plate facing the second-stage plate. A group of second guide strips are arranged at the upper and lower edges of the side of the second-stage plate facing the first-stage plate. Grooves are arranged on the adjacent sides of the two second guide strips, and the second guide wheels abut in the second grooves.

[0029] The second driving component includes a set of driving wheels rotatably mounted on the first-level plate. Two of the driving wheels are connected by a second toothed belt. A second motor fixedly mounted on the first-level plate controls the rotation of the driving wheels. The output shaft of the second motor is fixedly connected to the axis of one of the driving wheels. A rack is fixedly mounted on one side of the second-level plate facing the first-level plate. The rack meshes with the second toothed belt;

[0030] The second motor is electrically connected to the control module. By controlling the second motor through the control module to drive the driving wheels to rotate forward, and through the meshing cooperation between the second toothed belt and the rack, the second-level plate is controlled to move towards the left;

[0031] The second motor is electrically connected to the control module. By controlling the second motor through the control module to drive the driving wheels to rotate reversely, and through the meshing cooperation between the second toothed belt and the rack, the second-level plate is controlled to move towards the right.

[0032] As a further improvement, the limiting rod is rotatably mounted inside the second-level plate. The third driving component includes a third motor whose output end is fixedly connected to the bottom of the limiting rod. The third motor is fixedly mounted on one side of the second-level plate facing the first-level plate. The third motor is electrically connected to the control module. By controlling the third motor through the control module, the limiting rod is driven to rotate forward / backward.

[0033] As a further improvement, the vehicle frame includes a bottom plate welded and fixed in the middle above it. The identification unit includes a plurality of third sensors embedded in the two side edges of the bottom plate facing the second-level plate. The setting intervals of the plurality of third sensors are the same as the setting intervals of the plurality of limiting rods. When the first-level plate and the second-level plate are reset, the deployed limiting rods are located directly above the third sensors.

[0034] As a further improvement, the auxiliary limiting component includes a plurality of adsorption ports arranged on the bottom plate, an air pump fixedly mounted below the bottom plate. The plurality of adsorption ports are connected to the air suction port of the air pump through pipelines. Each group of adsorption ports is concentrated between two of the third sensors. A fourth sensor is correspondingly arranged for each group of adsorption ports. The fourth sensor is embedded in the bottom plate.

[0035] The beneficial effects of the present invention are as follows:

[0036] To solve the problems of access efficiency and precise positioning, the present invention works through the coordinated operation of the control module with the positioning component and the wheel body. The control module precisely controls the first driving component to make the wheel body move on the track, while the positioning component ensures that the shuttle vehicle stays in the accurate position through an auxiliary feedback mechanism.

[0037] During the access process, since the storage areas of the bins are relatively dense, in order to avoid access failures caused by offset or position errors.

[0038] A floating wheel control component is further provided. Through the floating wheel control component, the contact state between the wheel body and the track can be always maintained, and the positioning component can be further improved in accuracy by controlling the floating wheel control component for the wheel body to keep in contact with the track.

[0039] To ensure the stability of the bin movement, a multi-stage telescopic component, a limiting rod and an auxiliary limiting component are provided. The multi-stage telescopic component and the limiting rod limit the movement of the bin by controlling the telescoping, and provide correct support for the bin during the access process. At the same time, the auxiliary limiting component will stably adsorb the bin on the bottom plate during the bin transfer process to prevent it from shifting or falling off during the rapid movement of the vehicle frame. And the multi-stage telescopic component can extend towards the left / right side in cooperation with the second driving component to achieve multi-directional conveying. Through precise control, a stable structure and automated coordination, it is ensured that the bin can be accessed efficiently, accurately and quickly in the storage environment. Brief Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 is a schematic structural diagram of the unfolded state of an efficient bin access shuttle vehicle of the present invention.

[0042] Figure 2 is a partially enlarged schematic diagram of the second motor installation area of an efficient bin access shuttle vehicle of the present invention.

[0043] Figure 3 is a partially enlarged schematic structural diagram of the outer side of the first-level plate of an efficient bin access shuttle vehicle of the present invention.

[0044] Figure 4 is a partially enlarged schematic diagram of the outer side of the second-level plate of an efficient bin access shuttle vehicle of the present invention.

[0045] Figure 5 is a schematic structural diagram of the vehicle frame after disassembly and assembly of the present invention.

[0046] Figure 6 is a partially exploded structural diagram of a second driving component of the present invention.

[0047] Figure 7It is a schematic structural diagram of the transportation state of an efficient bin access shuttle vehicle of the present invention.

[0048] Figure 8 It is a schematic side view structural diagram of an efficient bin access shuttle vehicle of the present invention.

[0049] Figure 9 It is a front view of the frame of an efficient bin access shuttle vehicle of the present invention.

[0050] Figure 10 It is a schematic three-dimensional structural diagram of a floating wheel control assembly of the present invention.

[0051] Figure 11 It is an exploded view of the structure of a floating wheel control assembly of the present invention.

[0052] Figure 12 It is a three-dimensional structural diagram of the adjusting rod of a floating wheel control assembly of the present invention.

[0053] Figure 13 It is a module connection diagram of an efficient bin access shuttle vehicle of the present invention.

[0054] 1. Rail; 2. Floating wheel control assembly; 4. Frame; 41. Bottom plate; 5. Bin; 6. Multi-stage telescopic assembly; 61. Limit rod; 62. Third motor; 21. Wheel body; 22. Rotating shaft; 23. First motor; 24. Pressing-down assembly; 25. Positioning assembly; 26. Positioning block; 261. First through hole; 262. Second through hole; 263. Spring; 264. Pressure regulating assembly; 265. Outer side plate; 221. Main shaft; 222. Bearing; 2641. Limit block; 2642. Adjusting rod; 2643. Annular groove; 2644. External thread; 2645. Internal thread hole; 251. First sensor; 252. Second sensor; 211. Hub; 212. Ring sleeve; 63. First-stage plate; 631. Tooth plate; 632. Gearbox motor group; 633. Transmission shaft; 634. Driving gear; 635. Transmission wheel; 636. First toothed belt; 64. Positioning plate; 641. First guiding wheel; 642. First guiding strip; 643. First groove; 65. Second-stage plate; 651. Second guiding wheel; 652. Second guiding strip; 653. Second groove; 654. Driving wheel; 655. Second toothed belt; 66. Second motor; 67. Rack; 68. Third sensor; 681. Adsorption port; 682. Air pump; 683. Fourth sensor; 684. Solenoid valve. Detailed implementation manners

[0055] To make the objectives, 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 accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall 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 claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0056] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0057] Referring to Figures 1-13 as shown, a high-efficiency bin access shuttle car includes:

[0058] a frame 4, a wheel body 21 mounted on the frame 4, a first drive assembly for driving the wheel body 21 to travel on a track 1, a floating wheel control assembly 2 for controlling the wheel body 21 to keep in contact with the track 1, and a positioning assembly 25 mounted on the frame 4 and the track 1;

[0059] a multi-stage telescopic assembly 6 mounted above the frame 4, and a second drive assembly for driving the multi-stage telescopic assembly 6 to extend towards the left / right;

[0060] the multi-stage telescopic assembly 6 includes a plurality of groups of limiting rods 61 for limiting a bin 5, and a third drive assembly for driving the limiting rods 61 to extend / retract;

[0061] an auxiliary limiting assembly provided in the middle of the frame 4 for adsorbing the bottom of the bin 5, and an identification unit provided in the middle of the frame 4 for identifying the working state of the limiting rods 61;

[0062] 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 limiting assembly, and the identification unit;

[0063] The control module 3 controls the first driving component to drive the wheel body 21 to move on the track 1. By the cooperation of the control module 3 and the positioning component 25 to determine the moving position of the wheel body 21, the staying position of the vehicle frame 4 is accurately controlled.

[0064] The control module 3 controls the second driving component to drive the multi-stage telescopic component 6 to extend towards one side and surround the target bin 5. The control module 3 controls the third driving component to drive the limiting rod 61 to extend to limit the bin 5, and cooperates with the second driving component to control the multi-stage telescopic component 6 to retract, and move the bin 5 above the auxiliary limiting component.

[0065] When the recognition unit recognizes that the limiting rod 61 is in the extended state, the control module 3 drives the auxiliary limiting component to adsorb the bottom of the bin 5.

[0066] Through the cooperation of the precise positioning component 25 and the floating wheel control component 2 of the shuttle car, it is ensured that the vehicle body runs stably on the track 1. Especially in the narrow space of high-density warehousing, the traveling route and staying position of the shuttle car can be accurately controlled, avoiding the jamming or collision of traditional shuttle cars due to inaccurate positioning.

[0067] Among them, the multi-stage telescopic component 6 can extend towards the left or right, helping the shuttle car to surround and store and retrieve the bin 5 in a narrow passage. The telescopic component contains several limiting rods 61, which can effectively limit and fix the bin 5, ensuring that the bin 5 will not fall or move due to vibration or other factors during the operation, thus ensuring the efficient storage and retrieval of the bin 5.

[0068] The auxiliary limiting component in the middle of the vehicle frame 4 can perform an adsorption operation when the bin 5 approaches, firmly adsorb the bin 5, and prevent it from shifting or falling during transportation. It effectively improves the stability of the shuttle car during high-speed operation or turning.

[0069] Through the control module 3, the shuttle car can accurately control the operation of all driving components, ensure the precise movement of the wheel body 21 on the track 1, the multi-stage telescopic component 6 can accurately extend or retract, and the limiting rod 61 can extend or retract smoothly. The whole process is smooth and without jamming. The recognition unit can monitor the working state of the limiting rod 61 in real time, ensuring the synchronization and reliability of the operation.

[0070] Most traditional shuttle cars rely on simple positioning systems, such as lidar or photoelectric sensors, and cannot quickly and accurately position in a dense and complex warehousing layout, resulting in unstable operation and even possible collision or jamming.

[0071] Through the combination of the floating wheel control component 2, the precise positioning component 25, and the control module 3, the shuttle vehicle can accurately control its moving path and stopping position in a high-density warehousing environment, avoiding collisions and operation errors. Through precise positioning and real-time control, it can successfully complete the storage and retrieval tasks in a narrow space.

[0072] Moreover, many existing shuttle vehicles can only perform storage and retrieval operations through simple robotic arms or manual control. Especially in a high-density warehousing environment, due to the narrow space or complex cargo layout, they often cannot operate efficiently.

[0073] This solution adopts a multi-stage telescopic component 6, which can adjust the telescopic length as needed and flexibly surround the target bin 5. In addition, the limit rod 61 can accurately limit the positioning of the bin 5 and cooperate with the telescopic component, making the storage and retrieval process more efficient and precise, reducing manual intervention.

[0074] In the traditional design of shuttle vehicles, many systems lack an effective mechanism for fixing the bin 5, resulting in the bin 5 being prone to displacement or falling during high-speed movement or complex turning.

[0075] This solution adds an auxiliary limit component, which can adsorb the bottom of the bin 5 to ensure that the bin 5 will not shift due to vibration, speed, or turning during the movement of the shuttle vehicle. Even during high-speed operation or lane change, the stability of the storage and retrieval operation can still be guaranteed.

[0076] Through the multi-stage telescopic component 6, precise positioning control, auxiliary limit adsorption design, and efficient path planning, the problems of low efficiency, instability, and poor space adaptability commonly found in the prior art in a high-density warehousing environment are solved. It not only improves the storage and retrieval efficiency but also enhances the stability and reliability of the shuttle vehicle in a complex environment, greatly improving the overall operation efficiency of the warehousing system.

[0077] To ensure that the wheel body 21 always maintains close contact with the track 1, the floating wheel control component includes a rotating shaft 22 inserted and fixed at the axis of the wheel body 21;

[0078] A downward pressing component 24 vertically arranged above the rotating shaft 22, the downward pressing component 24 continuously applies elastic pressure to the rotating shaft 22 vertically downward, and the first driving component includes a first motor 23 for driving the rotation of the rotating shaft 22;

[0079] Through the elastic pressure applied by the downward pressing component 24 and the cooperation with the rotating shaft 22, the wheel body 21 is controlled to always maintain the abutting posture with the track 1.

[0080] The elastic pressure applied by the pressing-down component 24 ensures that the wheel body 21 always maintains the abutting posture against the track 1. This guarantees the stability and friction of the wheel body 21 during operation, and avoids the gap between the wheel body 21 and the track 1 caused by external vibrations, unevenness of the track 1 and other factors. It ensures the continuous contact between the wheel body 21 and the track 1, enabling the shuttle car to operate stably, reducing problems such as sliding, jamming or unevenness caused by derailment or insufficient friction, and enhancing the safety and reliability of operation.

[0081] Through the cooperation of the rotating shaft 22 and the pressing-down component 24, elastic pressure is used to provide continuous vertically downward pressure on the wheel body 21, enhancing the adaptability of the system to changes or vibrations of the track 1, and enabling stable operation in a complex environment. During the dynamic operation process, the system can quickly respond to changes in the external environment, avoiding the imbalance of the wheel body 21 caused by uneven load or uneven track 1, and contributing to improving the precise controllability and stability of the shuttle car.

[0082] Through this simple and efficient elastic pressure mechanism, excessive mechanical components and complex control systems are avoided. With elastic pressure as the core, mechanical friction and structural complexity are reduced. The wear of mechanical components is reduced, the maintenance cost and failure rate are lowered, and at the same time, the reliability and service life of the system are improved. Compared with the traditional complex control system, this elastic pressure control method is more economical and effective.

[0083] To precisely control the pressure of the spring 263, the pressing-down component 24 includes a spring 263 that passes through the through-hole and abuts against the outer side surface of the rotating shaft 22, and a pressure regulating component 264 located directly above the spring 263. 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.

[0084] The pressure regulating component 264 includes a limiting block 2641 located directly above the spring 263, an adjusting rod 2642 vertically installed above the limiting block 2641, and a locking block vertically arranged above the adjusting rod 2642;

[0085] An annular groove 2643 matching the spring 263 is provided below the limiting block 2641. The side of the limiting block 2641 is fixedly connected to the vehicle frame 4. An external thread 2644 is provided on the outer ring surface above the adjusting rod 2642. A nut corresponding to the adjusting rod 2642 is provided above the locking block. By inserting the spring 263 into the annular groove 2643, the upper part of the adjusting rod 2642 passes through the locking block, and through the threaded cooperation between the nut and the external thread 2644 on the upper part of the adjusting rod 2642, the locking block that abuts against one end of the spring 263 is controlled to rise / fall.

[0086] The positioning component 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.

[0087] The pressure regulating component 264 adjusts the pressure of the spring 263 through structures such as the adjusting 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 vehicle frame 4 or the wheel body 21.

[0088] By the cooperation of the external thread 2644 above the adjusting rod 2642 and the nut, the lifting of the locking block can be precisely adjusted, thereby achieving precise adjustment of the pressure of the spring 263. This can ensure that the system always maintains an appropriate spring 263 pressure during operation, avoiding system instability or wear caused by insufficient or excessive pressure.

[0089] Through the cooperation of the locking block and the adjusting rod 2642, the system can adjust the pressure of the spring 263 according to actual needs. It allows the system to flexibly adjust the pressure to adapt to different working conditions under different operating environments and load conditions.

[0090] The ability to flexibly adjust the pressure of the spring 263 can improve the adaptability of the system to different track 1 conditions, load changes, and vibrations, ensuring that the system can maintain stable operation whether in heavy load or light load states, enhancing the versatility and adaptability of the system.

[0091] The positioning component 25 monitors the positions of the vehicle 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 vehicle frame 4 and the wheel body 21. By being electrically connected to the control module 3, the operation of the system is adjusted to ensure that the relative positions of the vehicle frame 4 and the wheel body 21 meet the predetermined requirements.

[0092] By real-time monitoring of the positions of the vehicle frame 4 and the wheel body 21, it can be ensured 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 sensors can help the control module 3 adjust the interaction between the vehicle frame 4 and the wheel body 21, improving the accuracy and stability of the system.

[0093] 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 ring surface of the hub 211. The outer ring surface of the ring sleeve 212 abuts against the track 1;

[0094] A strip-shaped groove is formed on the track 1 below the ring sleeve 212, and the strip-shaped groove corresponds to the position of the second sensor 252.

[0095] The outer ring surface of the loop 212 is in direct contact with the track 1, providing a stable connection between the wheel body 21 and the track 1. It ensures that the wheel body 21 can evenly contact the surface of the track 1, thus guaranteeing smooth movement.

[0096] By making the strip-shaped groove on the track 1 correspond to the position of the second sensor 252, and by monitoring the changes of the strip-shaped 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. The second sensor 252 can, by monitoring the changes of the strip-shaped groove, provide real-time feedback on the contact state, position deviation or sliding condition between the wheel body 21 and the track 1, ensuring that the system can timely adjust or correct the position of the wheel body 21, thereby avoiding system failures or error accumulation and enhancing the adaptive ability of the system.

[0097] To improve precise control and adjustability and to achieve the stable extension / retraction of the first-stage plate 63, the multi-stage telescopic assembly 6 includes a group of first-stage plates 63 that are horizontally movably installed on the vehicle frame 4, and a toothed plate 631 is arranged below the first-stage plates 63;

[0098] The second drive assembly includes a gearbox motor set 632 fixedly installed on the vehicle frame 4, a transmission shaft 633 inserted into the gearbox motor set 632, and driving gears 634 installed at both ends of the transmission shaft 633. The gearbox motor set 632 is electrically connected to the control module 3;

[0099] Two groups of transmission wheels 635 rotatably installed on the vehicle frame 4, and the two transmission wheels 635 in the same group are connected by a first toothed belt 636. The outer side surface of the first toothed belt 636 meshes with the toothed plate 631 and the driving gears 634.

[0100] By controlling the gear motor set by the control module 3 to drive the transmission shaft 633 to rotate forward, cooperating with the two driving gears 634 to drive the two groups of first toothed belts 636 to transmit power, and by the meshing of the first toothed belt 636 with the toothed plate 631, the first-stage plate 63 is controlled to move towards the left;

[0101] By controlling the gear motor set by the control module 3 to drive the transmission shaft 633 to rotate backward, cooperating with the two driving gears 634 to drive the two groups of first toothed belts 636 to transmit power, and by the meshing of the first toothed belt 636 with the toothed plate 631, the first-stage plate 63 is controlled to move towards the right.

[0102] By precisely controlling the gear motor set in the forward and reverse directions by the control module 3, the precise movement of the first-stage plate 63 in the left-right direction can be achieved. The control module 3 enables the system to flexibly adjust the telescopic position according to requirements, ensuring high precision and adjustability of the operation.

[0103] The gearbox motor unit 632 realizes forward and reverse driving through the transmission shaft 633 and the driving gear 634. The forward and reverse rotations are adjusted by the control module 3, enabling the first-stage plate 63 to move smoothly to the left or right, enhancing the flexibility and versatility of the system. Through the engagement of two sets of transmission wheels 635, the first toothed belt 636 and the toothed plate 631, the system can stably transmit power, ensuring smoothness during the telescopic process, avoiding any excessive vibration or unstable factors, thus extending the service life of the equipment and reducing maintenance requirements.

[0104] Among them, the gearbox motor unit 632 includes a gearbox welded to the vehicle frame 4, a motor fixedly installed at one end of the gearbox. Usually, two sets of meshing gears are arranged in the gearbox. One gear is fixed on the output shaft of the motor, and the other gear is welded to the transmission shaft 633, which is coaxially arranged with the transmission shaft 633. Since the gearbox motor unit 632 is a conventional setting, it will not be elaborated here.

[0105] To ensure the stability of the first-stage plate 63 during movement, a set of positioning plates 64 are fixedly installed in the middle of the vehicle frame 4. Multiple sets of first guide wheels 641 are arranged on the upper and lower edges of the side of the positioning plate 64 facing the first-stage plate 63. A set of first guide strips 642 are arranged on the upper and lower edges of the side of the first-stage plate 63 facing the positioning plate 64. First grooves are arranged on the two first guide strips 642 facing the opposite sides, and the first guide wheels 641 are abutted in the first grooves 643.

[0106] Through the combined action of the first guide wheels 641 arranged on the positioning plate 64 and the first guide strips 642 on the first-stage plate 63, the first-stage plate 63 can be effectively guided to move along a predetermined trajectory, preventing it from shifting or tilting. It ensures that the first-stage plate 63 maintains a stable centered state during movement, thus avoiding problems such as wear or uneven movement caused by misalignment.

[0107] Through the setting of the guide strips and guide wheels, the upper and lower edges of the first-stage plate 63 can be effectively docked with the positioning plate 64 in the vehicle frame 4, reducing the friction of direct contact between the first-stage plate 63 and the vehicle frame 4. Especially the cooperation between the guide wheels and the first grooves 643 can reduce direct metal friction, lower the frictional force, improve the smoothness of movement, and reduce noise and wear during movement.

[0108] Among them, the design of the first grooves 643 on the first guide strips 642 allows the guide wheels to be precisely embedded therein, enabling the first-stage plate 63 to operate more precisely on the fixed track 1. In this way, the system can automatically adjust during movement to ensure that the first-stage plate 63 maintains the correct movement path. This self-adjusting mechanism enhances the reliability and fault tolerance of the system, especially during long-term use.

[0109] Meanwhile, the combination of the first guide bar 642 and the guide wheel can disperse and evenly distribute the movement load of the primary plate 63, avoiding local damage caused by concentrated friction. The design of the groove helps to withstand greater pressure, enabling the system to carry heavier loads and enhancing the overall durability and load-bearing capacity.

[0110] To achieve stable guiding and positioning of the secondary plate 65, the multi-stage telescopic assembly 6 includes a secondary plate 65 slidably mounted inside the primary plate 63. Multiple sets of second guide wheels 651 are provided at the upper and lower edges of the side of the primary plate 63 facing the secondary plate 65. A set of second guide bars 652 are provided at the upper and lower edges of the side of the secondary plate 65 facing the primary plate 63. Grooves are provided on the adjacent sides of the two second guide bars 652. The second guide wheels 651 are abutted in the second grooves 653.

[0111] The second driving assembly includes a set of drive wheels 654 rotatably mounted on the primary plate 63. The two drive wheels 654 are connected by a second toothed belt 655. A second motor 66 fixedly mounted on the primary plate 63 controls the rotation of the drive wheels 654. The output shaft 22 of the second motor 66 is fixedly connected to the axis of one of the drive wheels. A rack 67 is fixedly mounted on the side of the secondary plate 65 facing the primary plate 63. The rack 67 meshes with the second toothed belt 655.

[0112] By providing the second guide wheels 651 and the second guide bars 652 between the primary plate 63 and the secondary plate 65, and also designing the second grooves 653, it ensures that the secondary plate 65 maintains precise guiding and positioning during the telescopic process. The contact between the grooves and the second guide wheels 651 can effectively prevent the secondary plate 65 from shifting or jamming, maintaining a stable movement trajectory.

[0113] By arranging the design of the second guide bars 652 and the guide wheels 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 situation of tilting or unevenness of the secondary plate 65 during the telescopic process is avoided.

[0114] Meanwhile, the cooperation of the first guide bar 642 and the first guide wheel 641 between the primary plate 63 and the secondary plate 65 and the cooperation of the second guide bar 652 and the second guide wheel 651 have opposite force directions, which helps to further improve the stability of its extension.

[0115] Among them, the 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 movement during the telescopic process. The meshing of the rack 67 and the toothed belt avoids the precision problems caused by traditional sliding friction, reduces the errors generated by friction, and ensures that the telescopic process of the secondary plate 65 is both stable and precise.

[0116] To achieve precise two-way control, the second motor 66 is electrically connected to the control module 3. The control module 3 controls the second motor 66 to drive the driving wheel 654 to rotate forward. Through the meshing of the second toothed belt 655 and the rack 67, the secondary plate 65 is controlled to move towards the left.

[0117] The second motor 66 is electrically connected to the control module 3. The control module 3 controls the second motor 66 to drive the driving wheel 654 to rotate in the reverse direction. Through the meshing of the second toothed belt 655 and the rack 67, the secondary plate 65 is controlled to move towards the right.

[0118] By controlling the second motor 66 to rotate forward or in the reverse direction through the control module 3, the two-way movement (towards the left or right) of the secondary plate 65 can be achieved. This setting enables the system to flexibly adjust the position of the secondary plate 65 as needed, providing precise control when moving left or right.

[0119] When the driving wheel 654 of the second motor 66 rotates forward or in the reverse direction, the meshing of the second toothed belt 655 and the rack 67 ensures the smooth movement of the secondary plate 65. Whether it is forward or reverse, the meshing of the toothed belt and the rack 67 can ensure that the secondary plate 65 moves stably and precisely in the target direction.

[0120] To achieve precise limit control, the limit rod 61 is rotatably installed inside 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 control module 3 controls the third motor 62 to drive the limit rod 61 to rotate forward / reverse.

[0121] 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 commercially available conventional motors, they will not be elaborated here.

[0122] Among them, the limit 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 onto the bottom plate 41, and transports the material box 5 to a preset position through the vehicle frame 4, and then transfers the material box 5 out.

[0123] The vehicle frame 4 includes a bottom plate 41 welded and fixed in the middle above it. The recognition unit includes a plurality of third sensors 68 embedded in the two side edges of the bottom plate 41 facing the secondary plate 65. The setting intervals of the plurality of third sensors 68 are the same as the setting intervals of 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.

[0124] The auxiliary limit component includes multiple groups of suction ports 681 arranged on the base plate 41 and an air pump 682 fixedly installed below the base plate 41. The multiple suction ports 681 are connected to the air suction port of the air pump 682 through pipelines. Each group of suction ports 681 is concentrated between two of the third sensors 68, and 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.

[0125] Among them, the air flow state of different groups of suction ports 681 is controlled by installing solenoid valves 684 on the pipelines.

[0126] 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 working state of the limit rod 61 is detected by the third sensor 68, and the signal is transmitted and fed back to the control module 3.

[0127] Whether there is a material box 5 directly above is detected by the fourth sensor 683. If there is a material box 5, the signal is transmitted and fed back to the control module 3.

[0128] The control module 3 controls the air pump 682 to start and controls the solenoid valve 684 corresponding to the fourth sensor 683 where the material box 5 exists to open, so that the suction ports 681 of this group adsorb the material box 5.

[0129] In this embodiment, the first sensor 251, the second sensor 252, the third sensor 68, and the fourth sensor 683 all adopt infrared sensors. In other embodiments, other sensors can also be used.

[0130] Since the distance between the third sensor 68 and the limit rod 61 is set to be the same, 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 movement in real time and feed the signal back to the control module 3 to ensure that the limit rod 61 is always within the predetermined working range. The accuracy and reliability of the system are improved.

[0131] 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 judge whether adsorption operation is needed, avoiding unnecessary misoperations or incorrect adsorptions, and improving the intelligence and adaptability of the system.

[0132] Each group of suction ports 681 is connected to the air pump 682 through pipelines, and the air flow state is controlled by the solenoid valve 684. When it is detected that the material box 5 exists, the air pump 682 and the corresponding solenoid valve 684 are automatically started to activate the adsorption function. This automated operation reduces manual intervention, simplifies the operation process, and improves work efficiency.

[0133] The position of the adsorption port 681 is precisely set according to the corresponding relationship with the third sensor 68, so that each group of adsorption ports 681 can adsorb a specific storage bin 5. When the storage bin 5 is detected and its position is confirmed, the system can quickly and accurately activate the adsorption function. Whether it is the activation of adsorption or the adjustment of air flow, it can be precisely controlled to ensure the efficiency and safety of the adsorption process.

[0134] 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 storage bin 5 detected by the fourth sensor 683. The intelligent response of the system can significantly improve the operation efficiency and avoid resource waste caused by operation errors or failures.

[0135] By electrically connecting components such as sensors, solenoid valves 684, and air pumps 682 to the control module 3, signals can be quickly transmitted and processed. The control module 3 dynamically adjusts the working state of the adsorption port 681 according to real-time data. This ensures the balance between the rapid response and efficient execution of the system, avoiding delays or mistakes.

[0136] Through the reasonable layout of pipelines and solenoid valves 684, the adsorption ports 681 can be concentrated between each group of third sensors 68, thus ensuring the precise adsorption of the adsorption system for each storage bin 5. Each group of adsorption ports 681 works in coordination with its corresponding sensors and solenoid valves 684 to ensure the efficiency of the adsorption operation.

[0137] It should be noted that the device structure and drawings of the present invention mainly describe the principle of the present invention. On the basis of the technical principle of this design, the settings of the power mechanism, power supply system, and control system of the device are not fully described. However, on the premise that those skilled in the art understand the principle of the above invention, the specific details of its power mechanism, power supply system, and control system can be clearly known. The control method of the application document is to automatically control through a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art;

[0138] The standard parts used therein can all be purchased from the market, and can also be customized according to the records of the specification and drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the components known to those skilled in the art, whose structures and principles can all be learned from technical manuals by those skilled in the art or obtained through conventional experimental methods.

[0139] The above are only the preferred embodiments of the present invention and are 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 within the protection scope of the present invention.

Claims

1. An efficient bin storage and retrieval shuttle car, characterized in that, including; a frame (4), a wheel body (21) mounted on the frame (4), a first drive assembly for driving the wheel body (21) to travel on a track (1), a floating wheel control assembly (2) for controlling the wheel body (21) to remain in contact with the track (1), and a positioning assembly (25) mounted on the frame (4) and the track (1); a multi-stage telescopic assembly (6) mounted above the frame (4), and a second drive assembly for driving the multi-stage telescopic assembly (6) to extend towards the left / right; the multi-stage telescopic assembly (6) includes several groups of limit rods (61) for limiting a material box (5), and a third drive assembly for driving the limit rods (61) to extend / retract; an auxiliary limit assembly provided in the middle of the frame (4) for adsorbing the bottom of the material box (5), and an identification unit provided in the middle of the frame (4) for identifying the working state of the limit rods (61); a control module (3), which 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 drive assembly to drive the wheel body (21) to move on the track (1), and cooperates with the positioning assembly (25) through the control module (3) to determine the moving position of the wheel body (21), so as to accurately control the stopping position of the frame (4); the control module (3) controls the second drive assembly to drive the multi-stage telescopic assembly (6) to extend towards one side and surround the target material box (5), and the control module (3) controls the third drive assembly to drive the limit rods (61) to extend to limit the material box (5), and cooperates with the second drive assembly to control the multi-stage telescopic assembly (6) to retract in the opposite direction, and move the material box (5) above the auxiliary limit assembly; the identification unit identifies that the limit rods (61) are in the extended state, and the control module (3) drives the auxiliary limit assembly to adsorb the bottom of the material box (5); the floating wheel control assembly (2) includes a rotating shaft (22) inserted and fixed at the axis of the wheel body (21); a pressing assembly (24) vertically arranged above the rotating shaft (22), the pressing assembly (24) continuously applies elastic pressure vertically downward to the rotating shaft (22), and the first drive assembly includes a first motor (23) for driving the rotating shaft (22) to rotate; cooperating with the rotating shaft (22) through the elastic pressure applied by the pressing assembly (24) to control the wheel body (21) to always maintain a butting posture with the track (1); a positioning block (26) fixedly mounted on the frame (4), a first through hole (261) is provided on the side of the positioning block (26), the rotating shaft (22) penetrates through the first through hole (261), and the output end of the first motor (23) is connected to the wheel body (21) through the rotating shaft (22); The pressing component (24) includes a spring (263) that passes through the through hole and abuts against the outer side surface 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). The positioning component (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). The wheel body (21) includes a hub (211) fixedly connected to the rotating shaft (22), and a collar (212) sleeved on the outer ring surface of the hub (211). The outer ring surface of the collar (212) abuts against the track (1). A strip-shaped groove is formed in the track (1) below the collar (212), and the strip-shaped groove corresponds to the position of the second sensor (252). By monitoring the change of the strip-shaped 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. The vehicle frame (4) includes a bottom plate (41) welded and fixed in the middle above it. The identification unit includes a plurality of third sensors (68) embedded in the two side edges of the bottom plate (41) facing the secondary plate (65). The setting intervals of the plurality of third sensors (68) are the same as the setting intervals of the plurality of limiting rods (61). When the primary plate (63) and the secondary plate (65) are reset, the deployed limiting rods (61) are located directly above the third sensors (68). The auxiliary limiting component includes a plurality of adsorption ports (681) disposed on the bottom plate (41), and an air pump (682) fixedly installed below the bottom plate (41). The plurality of adsorption ports (681) are connected to the air suction port of the air pump (682) through pipelines. Each group of adsorption ports (681) is concentrated between two of the third sensors (68). A fourth sensor (683) is correspondingly provided for each group of adsorption ports (681). The fourth sensor (683) is embedded in the bottom plate (41). The positions of the adsorption ports (681) are correspondingly set with the third sensors (68), so that each group of adsorption ports (681) can adsorb a specific bin (5).

2. An efficient bin access shuttle according to claim 1, characterized in that: The pressure adjusting component (264) includes a limiting block (2641) located directly above the spring (263), an adjusting rod (2642) vertically installed above the limiting block (2641), and a locking block vertically disposed above the adjusting rod (2642). Below the said limit block (2641), there is an annular groove (2643) matching with the said spring (263). The side of the said limit block (2641) is fixedly connected to the said vehicle frame (4). On the outer circumferential surface of the upper part of the said adjusting rod (2642), there is an external thread (2644). Above the said locking block, there is a nut corresponding to the said adjusting rod (2642). By inserting the said spring (263) into the annular groove (2643), the upper part of the said adjusting rod (2642) penetrates through the locking block. Through the threaded fit between the nut and the external thread (2644) on the upper part of the said adjusting rod (2642), the rising / falling of the locking block that abuts against one end of the said spring (263) is controlled.

3. An efficient bin access shuttle car according to claim 1, characterized in that: The said multi-stage telescopic assembly (6) includes a set of first-stage plates (63) horizontally and movably installed on the said vehicle frame (4). Below the said first-stage plates (63), there are toothed plates (631). The said second driving assembly includes a gearbox motor set (632) fixedly installed on the said vehicle frame (4), a transmission shaft (633) inserted into the said gearbox motor set (632), and driving gears (634) installed at both ends of the said transmission shaft (633). The said gearbox motor set (632) is electrically connected to the control module (3). Two sets of driving wheels (635) rotatably installed on the said vehicle frame (4). The two driving wheels (635) in the same set are connected by a first toothed belt (636). The outer side of the said first toothed belt (636) meshes with the said toothed plate (631) and the said driving gear (634).

4. An efficient bin access shuttle according to claim 3, characterized in that: In the middle of the said vehicle frame (4), a set of positioning plates (64) are fixedly installed. On the upper and lower edges of the side of the said positioning plates (64) facing the said first-stage plates (63), there are multiple sets of first guide wheels (641). On the upper and lower edges of the side of the said first-stage plates (63) facing the said positioning plates (64), there is a set of first guide strips (642). On the opposite sides of the two said first guide strips (642), there are first grooves (643). The said first guide wheels (641) are abutted in the first grooves (643).

5. An efficient bin access shuttle car according to claim 4, characterized in that: The said multi-stage telescopic assembly (6) includes a second-stage plate (65) slidably installed inside the said first-stage plates (63). On the upper and lower edges of the side of the said first-stage plates (63) facing the said second-stage plate (65), there are multiple sets of second guide wheels (651). On the upper and lower edges of the side of the said second-stage plate (65) facing the said first-stage plates (63), there is a set of second guide strips (652). On the adjacent sides of the two said second guide strips (652), there are second grooves (653). The said second guide wheels (651) are abutted in the second grooves (653). The second driving component includes a set of driving wheels (654) rotatably mounted on the first-stage plate (63). Two of the driving wheels (654) are connected by a second toothed belt (655). A second motor (66) fixedly mounted on the first-stage plate (63) controls the rotation of the driving wheels (654). The output shaft (22) of the second motor (66) is fixedly connected to the axis of one of the driving wheels (654). A rack (67) is fixedly mounted on the side of the second-stage plate (65) facing the first-stage plate (63). The rack (67) meshes with the second toothed belt (655). The second motor (66) is electrically connected to the control module (3). The control module (3) controls the second motor (66) to drive the driving wheels (654) to rotate forward. Through the meshing of the second toothed belt (655) and the rack (67), the second-stage plate (65) is controlled to move towards the left. The second motor (66) is electrically connected to the control module (3). The control module (3) controls the second motor (66) to drive the driving wheels (654) to rotate in the reverse direction. Through the meshing of the second toothed belt (655) and the rack (67), the second-stage plate (65) is controlled to move towards the right.

6. An efficient bin storage and retrieval shuttle according to claim 5, characterized in that: The limiting rod (61) is rotatably mounted inside the second-stage plate (65). The third driving component includes a third motor (62) whose output end is fixedly connected to the bottom of the limiting rod (61). The third motor (62) is fixedly mounted on the side of the second-stage plate (65) facing the first-stage plate (63). The third motor (62) is electrically connected to the control module (3). The control module (3) controls the third motor (62) to drive the limiting rod (61) to rotate forward / backward.

Images