Intelligent four-way shuttle vehicle and garage entering and exiting method thereof

Abstract

The intelligent four-direction shuttle vehicle comprises a vehicle body (1) composed of a longitudinal walking frame (11) and a transverse walking frame (12), an X-direction walking mechanism (2), a Y-direction walking mechanism (3) and a Z-direction moving mechanism (4) are arranged in the vehicle body (1), and the X-direction walking mechanism (2) comprises an X-direction driving device (21), an X-direction driving wheel, an X-direction chain and an X-direction driven wheel which are matched with one another; the Y-direction travelling mechanism (3) comprises a Y-direction driving device (31), a Y-direction driving wheel, a Y-direction chain and a Y-direction driven wheel which are matched with one another; the Z-direction moving mechanism (4) comprises a guide rail (41), a guide block (42) and a Z-direction driving device (43), wherein the guide rail (41) and the guide block (42) are matched with each other, and a driving gear (44) at the end of the Z-direction driving device (43) is correspondingly meshed with the rack (451). The system has the advantages that stable reversing operation is achieved, the accurate position and motion control of a vehicle in a warehouse can be ensured, and the cargo storage efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of storage and handling equipment, and in particular to an intelligent four-way shuttle vehicle and its warehousing and outbound method. Background Art

[0002] During the storage process in a warehouse, stacker cranes are mainly applicable to the storage and handling of large and heavy goods. Since they can only run on fixed tracks and each aisle requires a stacker crane, it is more suitable for a stereoscopic warehouse with a neat layout and stable structure. However, if each aisle needs to be equipped with a stacker crane, the cost is relatively high and the flexibility will also be limited.

[0003] To solve the above problems in actual production, intelligent shuttle vehicles have emerged. Due to their high flexibility and adaptability, they are widely used in multiple industries such as medicine, food, household appliances, automobiles, and tobacco. Whether it is a special-shaped warehouse, a floor warehouse, a multi-floor through warehouse or a flat warehouse, four-way shuttle vehicles can meet the requirements. Their modular and standardized design makes the system easy to expand and upgrade, suitable for high-flow and high-density storage and picking operations. However, currently, various types of shuttle vehicles are available, but the flexibility and stability of the whole vehicle in terms of reversing operation or lifting are insufficient, and the positioning of the shuttle vehicle in the warehouse is not accurate enough, which will undoubtedly affect the accuracy of warehousing and outbound and the storage efficiency of goods. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of poor stability, low accuracy and low working efficiency of existing shuttle vehicles, and provide an intelligent four-way shuttle vehicle, which can not only achieve stable reversing operation, but also ensure the accurate position and motion control of the vehicle in the warehouse, and improve the storage efficiency of goods.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: An intelligent four-way shuttle vehicle includes a vehicle body composed of a longitudinal walking frame and a transverse walking frame. An X-direction walking mechanism, a Y-direction walking mechanism and a Z-direction moving mechanism are arranged in the vehicle body. The X-direction walking mechanism includes a pair of symmetric X-direction driving devices. An X-direction driving wheel I and an X-direction driving wheel II are connected to the driving shaft of each X-direction driving device. The X-direction driving wheel I is connected to an X-direction driven wheel I through an X-direction chain I. The X-direction driven wheel I is further connected to an X-direction driven wheel II through an X-direction chain II. The X-direction driving wheel II is connected to an X-direction driven wheel III through an X-direction chain III. The X-direction driven wheel III is further connected to an X-direction driven wheel IV through an X-direction chain IV. The X-direction chains I, II, III and IV are arranged parallel to each other along the X direction, and the X-direction driven wheels I, II, III and IV are arranged along the X direction on the longitudinal walking frame; The Y-direction walking mechanism includes a pair of symmetric Y-direction driving devices. On the driving shaft of each Y-direction driving device, there are connected a first Y-direction driving wheel and a second Y-direction driving wheel. The first Y-direction driving wheel is connected to a first Y-direction driven wheel through a first Y-direction chain, and the second Y-direction driving wheel is connected to a second Y-direction driven wheel through a second Y-direction chain. The first Y-direction driven wheel and the second Y-direction driven wheel are both arranged along the Y-direction on the transverse walking frame, and the two are symmetrically arranged with the driving shaft of the Y-direction driving device as the center line; The Z-direction moving mechanism includes a set of mutually cooperating guide rails and guide blocks, and a Z-direction driving device. Each guide rail is connected to the inner side of the longitudinal walking frame along the Z-direction, and the guide block is connected to the outer side of the transverse walking frame. The guide rail and the guide block are correspondingly connected and form a sliding guiding fit. The driving shaft of the Z-direction driving device is connected with a driving gear, and the driving gear meshes with a rack correspondingly. The rack is arranged on the transverse walking frame to longitudinally move the transverse walking frame along the guide rail when the driving gear and the rack are meshed.

[0006] Furthermore, the longitudinal walking frame includes a rectangular frame body and a pair of vertical beams connected inside the rectangular frame body. A set of first clamping grooves are provided at the lower part of the vertical beams. The transverse walking frame is of an I-shaped structure, and a pair of cross beams are provided in the middle thereof. A set of second clamping grooves are provided at the upper part of the cross beams. The vertical beams and the cross beams are perpendicular to each other. The transverse walking frame is arranged inside the rectangular frame body and the two adopt an inlaid structure, and when the two are inlaid, the first clamping grooves and the second clamping grooves are correspondingly fitted.

[0007] Furthermore, six guide rails and six guide blocks are respectively provided. Every three guide rails are fixedly arranged at equal intervals on the inner side surface of the rectangular frame body of the longitudinal walking frame, and the corresponding guide blocks are connected to the outer side surface of the transverse walking frame. The guide rail and the guide block are connected and form a sliding guiding fit.

[0008] Furthermore, four Z-direction driving devices are provided. Every two Z-direction driving devices are symmetrically arranged with the X-direction driving device or the Y-direction driving device as the center.

[0009] Furthermore, the vehicle body with the X-direction walking mechanism, Y-direction walking mechanism and Z-direction moving mechanism is a centrosymmetric structure.

[0010] Furthermore, one end of the Z-direction driving device is fixed on the vertical beam of the longitudinal walking frame, and the other end is connected to the driving gear. The rack is arranged on the rack column of the corresponding side of the transverse walking frame, and the axis of the rack column and the axis of the guide rail are both arranged along the Z-direction.

[0011] Furthermore, a battery pack, a telescopic fork and a control system which cooperate with each other are also provided on the upper surface of the vehicle body. An identification and address recognition system is also provided on the side surface of the vehicle body. The battery pack and the control system are respectively arranged on both sides of the telescopic fork. The telescopic fork includes a multi-stage slide connected to a telescopic driving device. The top-level slide is connected to the corresponding fork. The two forks are located on the same horizontal plane and are arranged parallel to each other.

[0012] To further achieve the object of the present invention, there is also provided a method for the entry and exit of an intelligent four-way shuttle vehicle, and the specific steps are as follows, including: (1) Read the task list to obtain the entry and exit task information; (2) After receiving the warehousing task, the shuttle vehicle arrives at the hoist entrance and selects whether to change floors; (3) Randomly select the hoist to reach the floor where the warehousing is located; (4) Advance through the X-direction walking mechanism, Y-direction walking mechanism and laser positioning, confirm whether to change direction, and perform the direction change operation through the Z-direction moving device; (5) After reaching the storage location, the telescopic fork delivers the material to the storage location, and the shuttle vehicle receives the command whether to pick up the goods and exit the warehouse; (6) The process of exiting the warehouse is the opposite of the warehousing process.

[0013] Compared with the prior art, the advantages of the technical solution of the present invention are specifically as follows: (1) The present invention integrates the functions of longitudinal walking, lateral walking and cross two-way walking, and adopts a gear-rack motor reducer drive to realize lifting and complete the rapid switching of longitudinal / lateral functions; (2) The walking wheels of the present invention are driven by a sprocket chain power transmission, combined with a multi-wheel arrangement, to realize the function of crossing the groove and improve the climbing function; (3) The present invention adopts an inlaid longitudinal / lateral moving vehicle frame with a small lifting stroke, effectively completes the longitudinal / lateral function switching, and can move horizontally and longitudinally along a predetermined track through the mutually cooperating walking, jacking, transplanting and identifying mechanisms, directly reaching any position in the warehouse, and realizing functions such as automatic storage and retrieval of goods, automatic lane change and floor change, intelligent leveling and automatic climbing; (4) The multi-directional moving ability of the present invention enables the intelligent shuttle vehicle to operate flexibly in a complex warehouse environment, supports multi-layer expansion, meets the storage requirements of different types and scales of products, and improves the adaptability and working efficiency of the shuttle vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a top view of the intelligent four-way shuttle vehicle of the present invention; Figure 2 is Figure 1 the A-A sectional view of; Figure 3 is Figure 1 the B-B sectional view of; Figure 4 is Figure 1 the C-C sectional view of; Figure 5 It is a three-dimensional view of the longitudinal walking frame structure of the present invention; Figure 6 It is a three-dimensional view of the lateral walking frame structure of the present invention; Figure 7 This is a schematic assembly diagram of the intelligent four-way shuttle and the telescopic fork in this embodiment. Specific implementation manner Embodiment

[0015] To make the present invention more clearly understood, the following further describes an intelligent four-way shuttle and its warehousing and outbound methods in conjunction with the accompanying drawings. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0016] The intelligent shuttle of the present invention can move along the predetermined transverse and longitudinal tracks, directly reach any position in the warehouse, and realize functions such as automatic storage and retrieval of goods, automatic lane change and floor change, intelligent leveling, automatic climbing, and crossing trenches. In this embodiment, an intelligent four-way shuttle is provided, including a vehicle body composed of a longitudinal walking frame and a transverse walking frame, and is characterized in that: See Figure 1 , Figure 5 and Figure 6 , the longitudinal walking frame 11 includes a rectangular frame body 111 and a pair of vertical beams 112 connected in the rectangular frame body 111. A set of first card slots 112a is provided at the lower part of the vertical beam 112. The transverse walking frame 12 is of an I-shaped structure, and a pair of cross beams 121 are provided in the middle thereof. A set of second card slots 121a is provided at the upper part of the cross beam 121. The vertical beam 112 and the cross beam 121 are perpendicular to each other. The transverse walking frame 12 is arranged in the rectangular frame body 111 and the two adopt an inlaid structure. When the two are inlaid, the first card slot 112a and the second card slot 121a are correspondingly fitted; See Figures 1 to 4 , an X-direction walking mechanism 2, a Y-direction walking mechanism 3, and a Z-direction moving mechanism 4 are provided in the vehicle body 1. The X-direction walking mechanism 2 includes a pair of symmetric X-direction driving devices 21. An X-direction driving wheel 22 and an X-direction driving wheel 23 are connected to the driving shaft of each X-direction driving device 21. The X-direction driving wheel 22 is connected to an X-direction driven wheel 25 through an X-direction chain 24. The X-direction driven wheel 25 is then connected to an X-direction driven wheel 27 through an X-direction chain 26. The X-direction driving wheel 23 is connected to an X-direction driven wheel 29 through an X-direction chain 28. The X-direction driven wheel 29 is then connected to an X-direction driven wheel 211 through an X-direction chain 210. The X-direction chains 24, 26, 28, and 210 are all arranged parallel to each other along the X direction, and the X-direction driven wheels 25, 27, 29, and 211 are all arranged along the X direction on the longitudinal walking frame; The Y-direction traveling mechanism 3 includes a pair of symmetric Y-direction driving devices 31. On the driving shaft of each Y-direction driving device 31, a first Y-direction driving wheel 32 and a second Y-direction driving wheel 33 are connected. The first Y-direction driving wheel 32 is connected to a first Y-direction driven wheel 35 through a first Y-direction chain 34, and the second Y-direction driving wheel 33 is connected to a second Y-direction driven wheel 37 through a second Y-direction chain 36. Both the first Y-direction driven wheel 35 and the second Y-direction driven wheel 37 are arranged along the Y-direction on the transverse traveling frame 12, and they are symmetrically arranged with the driving shaft of the Y-direction driving device 31 as the center line; The Z-direction moving mechanism 4 includes six pairs of mutually cooperating guide rails 41 and guide blocks 42, and four Z-direction driving devices 43. Every three guide rails 41 are connected to the inner side of the longitudinal traveling frame 11 at equal intervals along the Z-direction. The guide blocks 43 are connected to the outer side of the transverse traveling frame 12. The guide rails 41 and the guide blocks 42 are correspondingly connected and form a sliding guiding fit; Every two Z-direction driving devices 43 are symmetrically arranged with the X-direction driving device 21 or the Y-direction driving device 31 as the center. One end of the Z-direction driving device 43 is fixed on the vertical beam 111 of the longitudinal traveling frame 11, and the other end is connected to a driving gear 44. A rack 451 is arranged on the rack column 45 of the corresponding side of the transverse traveling frame 12, and the axis of the rack column 45 and the axis of the guide rail 41 are both arranged along the Z-direction. The driving gear 44 and the rack 451 are correspondingly meshed to drive the transverse traveling frame to longitudinally move along the guide rail when the driving gear and the rack are meshed.

[0017] See Figure 7 , on the upper surface of the vehicle body 1, there are also a battery pack 5, a telescopic fork 7 and a control system 6 that cooperate with each other. On the side of the vehicle body 1, there is also an identification and addressing system 8. The battery pack 5 and the control system 6 are respectively arranged on both sides of the telescopic fork 7. The telescopic fork 7 includes a multi-stage slide 71 connected to a telescopic driving device. The top-level slide is connected to the corresponding fork 72. The two forks 72 are located on the same horizontal plane and are arranged parallel to each other.

[0018] In this embodiment, the driving mechanism of the four-way shuttle is driven by a self-contained lithium battery system, and the wheel set is driven by a motor chain to move the shuttle forward, backward, left and right. The longitudinal movement adopts eight-wheel drive and has the function of crossing ditches.

[0019] The Z-direction moving mechanism 4, that is, the rail-changing mechanism, is the key part to complete the whole vehicle's reversing operation. The shuttle is lifted on the rail as a whole. The longitudinal traveling frame 11 and the transverse traveling frame 12 adopt an inlaid structure, as Figure 5 and Figure 6 shown. Through the action of the motor reducer-driven gear-rack lifting mechanism distributed at the four corners of the traveling frame, the front and rear ends are lifted and guided by linear guide rails to achieve stable longitudinal / transverse reversing operation.

[0020] In this embodiment, the shuttle vehicle ensures its precise position and motion control in the warehouse through advanced communication and positioning technologies, including wireless communication technologies and high-precision positioning systems such as lidar and inertial navigation. By interacting the laser beam with the reflectors installed on the ground, its position in space can be determined. By measuring the time and angle of the laser beam, the position of the shuttle vehicle relative to the reflector can be calculated. The intelligent shuttle vehicle of the present invention has a high degree of flexibility and intelligence. It can move horizontally and vertically along the predetermined track, directly reach any position in the warehouse, and realize functions such as automatic storage and retrieval, automatic lane change and floor change, intelligent leveling, automatic climbing, and crossing trenches. This multi-directional movement ability enables the intelligent shuttle vehicle to operate flexibly in a complex warehouse environment, support multi-layer expansion, and meet the storage requirements of different types and scales of products.

[0021] In addition to the above embodiments, the present invention may have other implementation manners. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the protection scope required by the present invention.

Claims

1. An intelligent four-way shuttle car, comprising a vehicle body (1) composed of a longitudinal walking frame (11) and a transverse walking frame (12), characterized in that: The vehicle body (1) is provided with an X-direction walking mechanism (2), a Y-direction walking mechanism (3), and a Z-direction moving mechanism (4). The X-direction walking mechanism (2) includes a pair of symmetric X-direction driving devices (21). On the driving shaft of each X-direction driving device (21), an X-direction driving wheel one (22) and an X-direction driving wheel two (23) are connected. The X-direction driving wheel one (22) is connected to an X-direction driven wheel one (25) through an X-direction chain one (24). The X-direction driven wheel one (25) is then connected to an X-direction driven wheel two (27) through an X-direction chain two (26). The X-direction driving wheel two (23) is connected to an X-direction driven wheel three (29) through an X-direction chain three (28). The X-direction driven wheel three (29) is then connected to an X-direction driven wheel four (211) through an X-direction chain four (210). The X-direction chains one, two, three, and four are all arranged parallel to each other along the X direction, and the X-direction driven wheels one, two, three, and four are all arranged along the X direction on the longitudinal walking frame (11); The Y-direction walking mechanism (3) includes a pair of symmetric Y-direction driving devices (31). On the driving shaft of each Y-direction driving device (31), a Y-direction driving wheel one (32) and a Y-direction driving wheel two (33) are connected. The Y-direction driving wheel one (32) is connected to a Y-direction driven wheel one (35) through a Y-direction chain one (34). The Y-direction driving wheel two (33) is connected to a Y-direction driven wheel two (37) through a Y-direction chain two (36). The Y-direction driven wheel one (35) and the Y-direction driven wheel two (37) are both arranged along the Y direction on the transverse walking frame (12), and the two are symmetrically arranged with the driving shaft of the Y-direction driving device (31) as the midline; The Z-direction moving mechanism (4) includes a set of mutually cooperating guide rails (41) and guide blocks (42), and a Z-direction driving device (43). Each guide rail (41) is connected to the inner side of the longitudinal walking frame (11) along the Z direction. The guide block (42) is connected to the outer side of the transverse walking frame (12). The guide rail (41) and the guide block (42) are correspondingly connected and form a sliding guiding fit. The driving shaft of the Z-direction driving device (43) is connected to a driving gear (44), and the driving gear (44) is correspondingly meshed with a rack (451). The rack (451) is arranged on the transverse walking frame (12).

2. The intelligent four-way shuttle car according to claim 1, characterized in that: The longitudinal walking frame (11) includes a rectangular frame body (111) and a pair of vertical beams (112) connected inside the rectangular frame body (111). A set of first grooves (112a) is provided at the lower part of the vertical beam (112). The transverse walking frame (12) is of an I-shaped structure, and a pair of cross beams (121) are provided in the middle thereof. A set of second grooves (121a) is provided at the upper part of the cross beam (121). The vertical beam (112) and the cross beam (121) are perpendicular to each other. The transverse walking frame (12) is arranged inside the rectangular frame body (111) and the two adopt an inlaid structure, and when the two are inlaid, the first grooves (112a) and the second grooves (121a) are correspondingly fitted.

3. The intelligent four-way shuttle car according to claim 2, wherein: Six guide rails (41) and guide blocks (42) are respectively provided. Every three guide rails (41) are fixedly arranged at equal intervals on the inner side surface of the rectangular frame body (111) of the longitudinal walking frame (11). The corresponding guide blocks (42) are connected to the outer side surface of the transverse walking frame (12). The guide rails (41) are connected to the guide blocks (42), and the two form a sliding guiding fit.

4. The intelligent four-way shuttle car according to any one of claims 1 to 3, wherein: Four Z-direction driving devices (43) are provided. Every two Z-direction driving devices (43) are symmetrically arranged with the X-direction driving device (21) or the Y-direction driving device (31) as the center.

5. The intelligent four-way shuttle car according to claim 4, wherein: The vehicle body (1) with the X-direction walking mechanism (2), the Y-direction walking mechanism (3) and the Z-direction moving mechanism (4) is a centrosymmetric structure.

6. The intelligent four-way shuttle car according to claim 3, wherein: One end of the Z-direction driving device (43) is fixed on the vertical beam (112) of the longitudinal walking frame (11), and the other end is connected to the driving gear (44). The rack (451) is arranged on the rack column (45) of the corresponding side of the transverse walking frame (12), and the axis of the rack column (45) and the axis of the guide rail (41) are both arranged along the Z direction.

7. The intelligent four-way shuttle car according to any one of claims 1 to 3, wherein: The upper surface of the vehicle body (1) is further provided with a battery pack (5), a telescopic fork (7) and a control system (6) which cooperate with each other. The side surface of the vehicle body (1) is further provided with an identification and addressing system (8). The battery pack (5) and the control system (6) are respectively arranged on both sides of the telescopic fork (7). The telescopic fork (7) includes a multi-stage slide table (71) connected to a telescopic driving device. The topmost slide table is connected to the corresponding fork (72). The two forks (72) are located on the same horizontal plane and are arranged parallel to each other.

8. An inbound and outbound method for the intelligent four-way shuttle car according to claim 7, wherein: Step 1: Read the task list to obtain inbound and outbound task information; Step 2: After receiving the inbound task, the shuttle car arrives at the entrance of the elevator and selects whether to change floors; Step 3: Randomly select the elevator to reach the floor where the goods are to be stored; Step 4: Advance through the X-direction walking mechanism (2), the Y-direction walking mechanism (3) and laser positioning, confirm whether to change direction, and perform a direction-changing operation through the Z-direction moving device (4); Step 5: After reaching the storage location, the telescopic fork (7) delivers the material to the storage location, and the shuttle car receives the command to pick up the goods and leave the warehouse; Step 6: The outbound process is the opposite of the inbound process.

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