Ultrathin storage four-way shuttle vehicle

Abstract

The invention provides an ultrathin storage four-way shuttle vehicle, and belongs to the technical field of logistics storage. Comprising a vehicle body, a double-lane walking servo motor planetary reducer is arranged in the vehicle body, X-lane walking wheels are installed on the two opposite side faces of the vehicle body, Y-lane walking wheels are installed on the other two opposite side faces of the vehicle body, and a jacking reversing servo motor planetary reducer is arranged in the vehicle body. The rail is efficiently and accurately detected through the detection assembly, a powerful guarantee is provided for safe operation of the shuttle vehicle, the problem that problems are difficult to locate in traditional rail detection is solved through the positioning assembly, the rail maintenance efficiency is greatly improved, the labor cost is reduced, and the working efficiency is improved. The self-checking assembly converts motion of the detection module into self-driving power, real-time self-checking of the detection wheel is achieved, detection errors and wrong positioning caused by self-abrasion of the detection wheel are effectively avoided, and the reliability of the whole detection system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics warehousing, and in particular relates to an ultrathin warehouse four-way shuttle vehicle. BACKGROUND

[0002] The core handling equipment of a stereoscopic warehouse, with the advantages of flexible movement along longitudinal and transverse tracks and high space utilization, is widely used in the storage and transfer of goods in e-commerce, manufacturing, cold chain and other fields. With the increasing demand for warehouse density, ultrathin four-way shuttle vehicles have gradually become the mainstream development direction. They can adapt to narrower aisles and lower layer heights, further tap the storage potential of warehouse vertical and horizontal space, and meet the actual needs of high-density storage.

[0003] However, the current ultrathin warehouse four-way shuttle vehicle still faces key technical pain points related to track detection and maintenance during actual operation. The running track of the four-way shuttle vehicle is mostly made of metal, which is prone to surface wear, local indentation, slight deformation or foreign matter attachment after long-term bearing of vehicle load, impact of goods and environmental corrosion. When the detection mechanism detects track abnormalities, the existing technology lacks precise and convenient positioning means. The traditional method requires workers to check each section along the entire track line, combined with manual observation or handheld detection equipment to confirm the damage point, which consumes a lot of manpower and time. The core components in the detection mechanism will have surface wear and other self-damage problems due to friction with the track during long-term use, resulting in a decrease in detection accuracy.

[0004] Therefore, the present application provides an ultrathin warehouse four-way shuttle vehicle to meet the needs. SUMMARY

[0005] The technical problem to be solved by the present application is to provide an ultrathin warehouse four-way shuttle vehicle to solve the problems of insufficient detection accuracy and timeliness of track abnormalities, low positioning efficiency of track damage location, and lack of self-detection ability of detection components, which can easily cause secondary misjudgment.

[0006] To solve the above technical problems, the present application provides the following technical solutions: An ultra-thin warehouse four-way shuttle vehicle, comprising a vehicle body, a double-lane walking servo motor planetary reducer is arranged inside the vehicle body, X-lane walking wheels are installed on two opposite sides of the vehicle body, Y-lane walking wheels are installed on the other two opposite sides of the vehicle body, a jacking and reversing servo motor planetary reducer is arranged inside the vehicle body, a jacking and reversing drive shaft is installed inside the vehicle body, a storage box is installed in front of the wheels of the vehicle body, a driving device and a detection box are arranged in the storage box, a detection assembly and a positioning assembly are arranged in the detection box, detection wheels are installed at the end of the detection assembly, and a self-detection assembly is arranged on the detection assembly; the detection wheels at the end of the detection assembly are arranged in three groups, and the detection assembly is used for checking the running track of the four-way shuttle vehicle; the positioning assembly is arranged behind the detection assembly, and the positioning assembly is used for marking the damaged part of the running track; the self-detection assembly is arranged on one of the groups of the detection assembly, and the self-detection assembly is used for checking the detection assembly.

[0007] Optionally, the driving device comprises an electric telescopic rod I, the telescopic end of the electric telescopic rod I is fixedly connected with a telescopic box, an electric telescopic rod II is installed at the top of the telescopic box, and the telescopic end of the electric telescopic rod II is fixedly connected with the detection box.

[0008] Optionally, the detection assembly comprises two groups of mounting plates and mounting blocks, the bottom of the mounting plate is provided with a mounting groove, the inside of the mounting groove is fixedly connected with a fixed rod I, a limiting block is installed on the fixed rod I, the mounting blocks are installed between the limiting blocks of the fixed rod I, a moving space is reserved between the mounting blocks and the fixed rod I and the limiting blocks, and an optical sensor is arranged between the mounting blocks and the mounting groove.

[0009] Optionally, the bottoms of the two groups of mounting blocks are fixedly connected with a connecting rod I and a connecting rod II respectively, the connecting rod I and the connecting rod II are connected together through a first telescopic rod, a connecting rod III is fixedly connected to the side surface of the connecting rod I, detection connecting pieces are installed at the ends of the connecting rod I, the connecting rod II and the connecting rod III, a fixed shaft is arranged in the detection connecting piece, and a detection wheel is rotatably connected to the fixed shaft.

[0010] Optionally, a plurality of through holes are formed in the surface of the detection wheel, a bearing is fixedly connected to the detection wheel, a detection module and a moving module are arranged in the detection wheel, the detection module and the moving module are connected through a connecting plate, a plurality of fixed rods II are fixedly installed in the detection wheel, the connecting plate can rotate around the fixed rods II, a moving rod III is fixedly connected to the top of the detection module, and the other end of the moving rod III enters a sealed water tank.

[0011] Optionally, the detection module comprises a magnet, the bottom of the magnet is provided with a rough contact connector, the top of the magnet is fixedly connected with a moving rod one, the top of the moving rod one is fixedly connected with a connecting block one, the moving module is arranged on both sides of the detection module in two groups, the moving module comprises a connecting block two, the connecting block two is fixedly connected with a moving rod two, the bottom of the moving rod two is fixedly connected with an auxiliary contact block, the contact connector and the auxiliary contact block can move through the through hole, the inside of the sealed water tank is provided with a piston one, the piston one is fixedly connected with a moving rod three, the outside of the sealed water tank is provided with a hose interface one.

[0012] Optionally, the self-checking assembly is composed of a driving box and a self-checking box, the outside of the driving box is provided with a hose interface two, the hose interface one and the hose interface two are connected through a hose, the inside of the driving box is provided with a piston two, the side of the piston two away from the hose interface two is fixedly connected with a fixed rod three, the other end of the fixed rod three enters the self-checking box.

[0013] Optionally, the bottom of the self-checking box is provided with an arc-shaped sliding groove, the inside of the self-checking box is provided with a moving block, the moving block is fixedly connected with the fixed rod three, the moving block is provided with a through slot, the self-checking rod is slidably connected in the through slot, the top end of the self-checking rod is fixedly connected with a sliding block one, the sliding block one can slide on the upper surface of the moving block, the bottom of the self-checking rod is fixedly connected with a sliding block two, the sliding block two can slide in the arc-shaped sliding groove.

[0014] Optionally, the bottom of the sliding block two is provided with a high-definition camera, the bottom of the arc-shaped sliding groove is provided with transparent glass.

[0015] Optionally, the positioning assembly comprises a positioning block, the bottom of the positioning block is fixedly connected with a positioning rod, the bottom of the positioning rod is provided with a positioning box, the inside of the positioning box is provided with an electric push rod and a magnetic attraction stone provided with a positioner.

[0016] Compared with the prior art, the present application has at least the following advantages: In the above scheme, by arranging the detection assembly, the detection module in the detection wheel and the moving module form a lever structure through the connecting plate and the fixed rod two, and can make reciprocating motion in the wheel with the detection wheel, the contact connector and the auxiliary contact block alternately pass through the through hole and contact the surface of the track, so that accurate detection can be realized through dynamic adaptation of the module even if the track has slight ups and downs or irregular wear, and false judgment caused by loose fitting of the detection component and the track is avoided; when the mounting block shakes, the photoelectric sensor between the mounting block and the mounting plate in the detection assembly can sense the shaking of the detection wheel caused by the abnormal track in real time, the photoelectric sensor can quickly capture the signal interruption when the track has a problem, and the subsequent processing process is triggered in time, so that the abnormal discovery time is greatly shortened, the buffer for emergency adjustment or shutdown of the shuttle vehicle is provided, and the safety risks such as collision and derailment are reduced.

[0017] By setting the positioning assembly, the positioning assembly is arranged behind the detection assembly, when the photoelectric sensor detects the track anomaly, the electric push rod in the positioning box can quickly push out the magnetic attraction stone equipped with the positioner, and the magnetic attraction stone is adsorbed on the side of the track by magnetic force, which can not hinder the normal movement of the shuttle car, and can accurately mark the damaged position, avoid the interference on the operation of the shuttle car caused by the traditional positioning method, and the staff need not check along the track, but only through the positioner can quickly lock the fault point, reduce the labor input and time consumption.

[0018] By setting the self-checking assembly, the detection module moves to drive the moving rod three and the piston one to move in the sealed water tank, the water flow between the sealed water tank and the drive box is promoted by the change of air pressure, and then the piston two, the fixed rod three and the moving block are pushed to move, forming a detection and self-checking power self-circulation without additional power source, during the moving process of the moving block, the self-checking rod slides along the arc-shaped sliding groove under the cooperation of the sliding block one and the sliding block two, and the high-definition camera at the bottom can take pictures back and forth through the transparent glass, and the detection personnel can observe the surface wear, hole blockage and other conditions of the detection wheel in real time through the background, so that the detection wheel can be replaced in time before the wear affects the precision, avoiding the misjudgment of the photoelectric sensor caused by the fault of the detection wheel itself, and then causing the positioning assembly to be marked incorrectly. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the application and, together with the description, further serve to explain the principles of the application and to enable a person skilled in the relevant art to implement and use the application.

[0020] Figure 1 is a schematic diagram of the super-thin warehouse four-way shuttle car three-dimensional structure; Figure 2 is a top view of the super-thin warehouse four-way shuttle car; Figure 3 is a schematic diagram of the driving device; Figure 4 is a schematic diagram of the detection assembly; Figure 5 is a schematic diagram of the mounting plate; Figure 6 is a schematic diagram of the mounting plate and the mounting block; Figure 7 is a schematic diagram of the positioning assembly; Figure 8 is a schematic diagram of the detection wheel and the self-checking assembly; Figure 9 is a schematic diagram of the detection wheel; Figure 10 is a sectional view of the detection wheel; Figure 11 A schematic view of a three-dimensional structure of the detection module and the moving module; Figure 12 A schematic view of a three-dimensional structure of the self-checking assembly; Figure 13 A schematic view of a bottom structure of the self-checking box.

[0021] Reference signs: 1, vehicle body; 101, double-lane walking servo motor planetary reducer; 102, X-lane walking wheel; 103, Y-lane walking wheel; 104, jacking reversing servo motor planetary reducer; 105, jacking reversing drive shaft; 2, storage box; 3, driving device; 301, electric telescopic rod one; 302, telescopic box; 303, electric telescopic rod two; 304, detection box; 4, detection assembly; 401, mounting plate; 4011, mounting groove; 4012, fixed rod one; 4013, limiting block; 402, mounting block; 403, photoelectric sensor; 404, connecting rod one; 405, connecting rod two; 406, first telescopic rod; 407, connecting rod three; 408, detection connecting piece; 4081, fixed shaft; 5, detection wheel; 501, through hole; 502, bearing; 503, detection module; 5031, magnet; 5032, contact connecting piece; 5033, moving rod one; 5034, connecting block one; 504, moving module; 5041, connecting block two; 5042, moving rod two; 5043, auxiliary contact block; 505, connecting plate; 506, fixed rod two; 507, moving rod three; 508, sealed water tank; 5081, piston one; 5082, hose interface one; 6, self-checking assembly; 601, driving box; 6011, hose interface two; 602, self-checking box; 6021, arc-shaped sliding groove; 603, piston two; 604, fixed rod three; 605, moving block; 6051, through groove; 606, sliding block one; 607, self-checking rod; 608, sliding block two; 609, high-definition camera; 610, transparent glass; 7, positioning assembly; 701, positioning block; 702, positioning rod; 703, positioning box; 704, electric push rod; 705, magnetic attraction stone.

[0022] As shown in the drawings, in order to clearly realize the structure of the embodiments of the present application, specific structures and devices are marked in the drawings, but this is only for the need of illustration, and is not intended to limit the present application in the specific structures, devices and environments, and those skilled in the art can adjust or modify these devices and environments according to specific needs. DETAILED DESCRIPTION

[0023] The present application provides an ultra-thin warehouse four-way shuttle vehicle. It should be noted that the following embodiments are the best, preferred embodiments, and other alternative embodiments can also be implemented by those skilled in the art for some known technologies; and the drawings are only used to more specifically describe the embodiments, and are not intended to specifically limit the present application.

[0024] It should be noted that in the specification, "one embodiment", "embodiment", "exemplary embodiment", "some embodiments" and the like indicate that the described embodiment can include a specific feature, structure or characteristic, but not necessarily every embodiment includes the specific feature, structure or characteristic. In addition, when a specific feature, structure or characteristic is described in combination with an embodiment, it should be within the knowledge of those skilled in the related art to realize such feature, structure or characteristic in combination with other embodiments (whether or not explicitly described).

[0025] Generally, the terms can be understood at least in part from the context in which they are used. For example, depending on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular or can be used to describe combinations of features, structures, or characteristics, in the plural, without necessarily dictating whether any such feature, structure, or characteristic is required, mandatory, or essential to the techniques. Additionally, the term "based on" can be understood as not necessarily of a set of exclusive factors, but, alternatively, as allowing for existence of additional factors not necessarily explicitly described.

[0026] It can be understood that the meanings of "on", "above", and "over" in the present disclosure should be interpreted in the broadest way, such that "on" not only means "directly on" something, but also includes the meaning of "on" something with intervening features or layers therebetween, and "above" or "over" not only means the meaning of "above" or "over" something, but also can include the meaning of "above" or "over" something without intervening features or layers therebetween.

[0027] In addition, spatially relative terms such as "under", "below", "lower", "over", "upper" and the like can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein can be interpreted accordingly.

[0028] As Figures 1 to 13As shown, the embodiment of the present application provides a super-thin warehouse four-way shuttle vehicle, which comprises a vehicle body 1, a double-lane walking servo motor planetary reducer 101 is arranged inside the vehicle body 1, X-lane walking wheels 102 are installed on two opposite sides of the vehicle body 1, Y-lane walking wheels 103 are installed on the other two opposite sides of the vehicle body 1, a jacking and reversing servo motor planetary reducer 104 is arranged inside the vehicle body 1, a jacking and reversing drive shaft 105 is installed inside the vehicle body 1, a storage box 2 is installed in front of the wheels of the vehicle body 1, a detection device 3 and a detection box 304 are arranged inside the storage box 2, a detection assembly 4 and a positioning assembly 7 are arranged inside the detection box 304, detection wheels 5 are installed at the end of the detection assembly 4, a self-detection assembly 6 is arranged on the detection assembly 4; the detection wheels 5 at the end of the detection assembly 4 are arranged in three groups, the detection assembly 4 is used for checking the running track of the four-way shuttle vehicle, the positioning assembly 7 is arranged behind the detection assembly 4, the positioning assembly 7 is used for marking the damaged part of the running track, the self-detection assembly 6 is arranged on one of the groups of the detection assembly 4, and the self-detection assembly 6 is used for checking the detection assembly 4, the driving device 3 comprises an electric telescopic rod one 301, the telescopic end of the electric telescopic rod one 301 is fixedly connected with a telescopic box 302, an electric telescopic rod two 303 is installed at the top inside the telescopic box 302, the telescopic end of the electric telescopic rod two 303 is fixedly connected with the detection box 304, efficient and accurate detection of the track is realized through the detection assembly 4, which provides a strong guarantee for the safe operation of the shuttle vehicle, the positioning assembly 7 solves the problem of difficult positioning in traditional track detection, greatly improves the track maintenance efficiency, reduces the labor cost, and the self-detection assembly 6 utilizes the movement of the detection module 503 to convert into its own driving power, realizes real-time self-detection of the detection wheels 5, effectively avoids detection errors and wrong positioning caused by wear of the detection wheels 5, and improves the reliability of the entire detection system.

[0029] As Figures 1 to 6As shown, the detection assembly 4 comprises two groups of mounting plates 401 and mounting blocks 402, the bottom of the mounting plate 401 is provided with a mounting groove 4011, the inside of the mounting groove 4011 is fixedly connected with a fixed rod one 4012, a limiting block 4013 is installed on the fixed rod one 4012, the mounting block 402 is installed between the limiting blocks 4013 of the fixed rod one 4012, a moving space is reserved between the mounting block 402 and the fixed rod one 4012 and the limiting block 4013, a photoelectric sensor 403 is arranged between the mounting block 402 and the mounting groove 4011, the bottom of the two groups of mounting blocks 402 is fixedly connected with a connecting rod one 404 and a connecting rod two 405 respectively, the connecting rod one 404 and the connecting rod two 405 are connected together through a first telescopic rod 406, the connecting rod one 404 is fixedly connected with a connecting rod three 407 on the side, the connecting rod one 404, the connecting rod two 405 and the connecting rod three 407 are all installed with detection connecting pieces 408 at the ends, the inside of the detection connecting piece 408 is provided with a fixed shaft 4081, the detection wheel 5 is rotatably connected on the fixed shaft 4081, the photoelectric sensor 403 between the mounting block 402 and the mounting plate 401 in the detection assembly 4 further improves the timeliness of detection, when the track appears abnormal to cause the detection wheel 5 to shake and further cause the mounting block 402 to shake, the photoelectric sensor 403 can rapidly perceive the signal interruption, timely trigger the subsequent positioning action, form the quick response closed loop of detection and feedback, effectively shorten the discovery time of track abnormality, and strive for more buffer space for subsequent maintenance processing.

[0030] As Figures 8 to 13As shown, the detection wheel 5 is provided with a plurality of groups of through holes 501, the detection wheel 5 is fixedly connected with a bearing 502, the detection wheel 5 is internally provided with a detection module 503 and a moving module 504, the detection module 503 and the moving module 504 are connected through a connecting plate 505, a plurality of fixed rods two 506 are fixedly installed inside the detection wheel 5, the connecting plate 505 can rotate around the fixed rod two 506, the detection module 503 is fixedly connected with a moving rod three 507 at the top, the other end of the moving rod three 507 enters a sealed water tank 508, the detection module 503 comprises a magnet 5031, the bottom of the magnet 5031 is provided with a concave-convex contact connecting piece 5032, the magnet 5031 is fixedly connected with a moving rod one 5033 at the top, the moving rod one 5033 is fixedly connected with a connecting block one 5034 at the top, the moving module 504 is divided into two groups and arranged on the two sides of the detection module 503, the moving module 504 comprises a connecting block two 5041, the connecting block two 5041 is fixedly connected with a moving rod two 5042, the moving rod two 5042 is fixedly connected with an auxiliary contact block 5043 at the bottom, the contact connecting piece 5032 and the auxiliary contact block 5043 can move through the through hole 501, the sealed water tank 508 is internally provided with a piston one 5081, the piston one 5081 is fixedly connected with the moving rod three 507, the sealed water tank 508 is externally provided with a hose interface one 5082, the self-checking assembly 6 is composed of a driving box 601 and a self-checking box 602, the driving box 601 is externally provided with a hose interface two 6011, the hose interface one 5082 and the hose interface two 6011 are connected through a hose, the driving box 601 is internally provided with a piston two 603, the side of the piston two 603 away from the hose interface two 6011 is fixedly connected with a fixed rod three 604, the other end of the fixed rod three 604 enters the self-checking box 602, the bottom of the self-checking box 602 is provided with an arc-shaped sliding groove 6021, the self-checking box 602 is internally provided with a moving block 605, the moving block 605 is fixedly connected on the fixed rod three 604, the moving block 605 is provided with a through groove 6051, the through groove 6051 is slidably connected with a self-checking rod 607, the self-checking rod 607 is fixedly connected with a sliding block one 606 at the top end, the sliding block one 606 can slide on the upper surface of the moving block 605, the self-checking rod 607 is fixedly connected with a sliding block two 608 at the bottom, the sliding block two 608 can slide in the arc-shaped sliding groove 6021, the sliding block two 608 is installed with a high-definition camera 609 at the bottom, and the arc-shaped sliding groove 6021 is installed with a transparent glass 610 at the bottom.The detection module 503 drives the moving rod three 507 and the piston one 5081 to move in the sealed water tank 508 during reciprocating movement, water between the sealed water tank 508 and the drive tank 601 flows back and forth through the change of air pressure, and then the piston two 603, the fixed rod three 604 and the moving block 605 in the drive tank 601 are pushed to move, when the moving block 605 moves, the self-checking rod 607 slides along the arc-shaped sliding groove 6021 under the cooperation of the sliding block one 606 and the sliding block two 608, and the high-definition camera 609 at the bottom can take all-around and back-and-forth photographs of the detection wheel 5 through the transparent glass 610, and the detection personnel can observe the wear degree of the detection wheel 5 in real time through the background, so that the detection wheel 5 can be replaced before affecting the detection precision, the photoelectric sensor 403 is prevented from misjudging due to the wear of the detection wheel 5, and then the positioning assembly 7 is prevented from being positioned incorrectly.

[0031] As shown in Figure 7 The positioning assembly 7 comprises a positioning block 701, the positioning block 701 is fixedly connected with a positioning rod 702 at the bottom, the positioning rod 702 is installed with a positioning tank 703 at the bottom, the positioning tank 703 is installed with an electric push rod 704 and a magnetic attraction stone 705 provided with a locator inside. When the photoelectric sensor 403 detects that the track is abnormal, the electric push rod 704 in the positioning tank 703 can quickly push out the magnetic attraction stone 705 provided with a locator, and the magnetic attraction stone 705 is adsorbed on the side of the track by the magnetic force, so that the normal movement of the shuttle vehicle is not affected, and the damaged position of the track can be accurately marked, and the staff can directly and quickly find the fault position through the locator, without the need of manually checking along the track, so that the labor input and time consumption are greatly reduced.

[0032] The working principle of the technical scheme provided by the application is as follows: Before the four-way shuttle vehicle moves on the track, the control driving device 3 is operated, first, the electric telescopic rod one 301 is stretched, the telescopic tank 302 is stretched out from the storage tank 2, then the electric telescopic rod two 303 is stretched, the detection tank 304 and the detection assembly 4 at the bottom thereof are moved downward, until the three detection wheels 5 at the tail end of the detection assembly 4 are in contact with the three surfaces of the track, and the preparation work is completed.

[0033] When the surface of the track is worn, curved or has sundries, the contact connecting piece 5032 at the bottom of the detection module 503 shakes when the detection wheel 5 travels thereon, the force generated by the shaking is transmitted to the mounting block 402 above, so that the mounting block 402 shakes, and the photoelectric sensor 403 between the mounting block 402 and the mounting plate 401 cannot receive a signal, the electric push rod 704 in the positioning tank 703 at the bottom of the positioning assembly 7 is controlled to push out the magnetic attraction stone 705 provided with a locator inside, the magnetic attraction stone 705 is adsorbed on the side of the track, so that the vehicle body 1 can continue to move, and the staff can quickly find the locator through the positioning device, compared with the traditional manual checking of wear and sundries along the track, the time is greatly saved.

[0034] The four-way shuttle vehicle starts to move on the track, and the three detection wheels 5 first contact the track surface in front. During the travel of the detection wheels 5, the moving module 504 behind the detection module 503 first contacts the track surface. Since the connecting plate 505 and the fixed rod 506 cooperate to form a lever, when the moving module 504 behind the detection module 503 first contacts the track surface, the detection module 503 is located inside the detection wheel 5. With the continuous advancement, the moving module 504 behind the detection module 503 passes through the through hole 501 to enter the inside of the detection wheel 5, and the detection module 503 passes through the through hole 501 to contact the track surface. At this time, the contact connector 5032 at the bottom of the detection module 503 detects the track surface. When continuing to advance, the detection module 503 again enters the inside of the detection wheel 5, and the moving module 504 in front of the detection module 503 passes through the through hole 501 to contact the track surface. With the advancement of the detection wheel 5, the detection module 503 and the moving module 504 make reciprocating motion inside the detection wheel 5.

[0035] The reciprocating motion of the detection module 503 drives the piston 5081 on the moving rod 507 to reciprocate in the sealed water tank 508. Under the change of air pressure, the water in the sealed water tank 508 moves back and forth between the sealed water tank 508 and the driving box 601 through the hose. When the water in the sealed water tank 508 enters the driving box 601, the piston 603 in the driving box 601 moves towards the self-checking box 602. The moving block 605 is driven to move by the fixed rod 604. When the moving block 605 moves, the self-checking rod 607 moves in the same direction with the moving block 605. The slider 606 on the top of the self-checking rod 607 moves on the upper surface of the moving block 605 along the direction of the through slot 6051. The slider 608 with the high-definition camera 609 installed at the bottom of the self-checking rod 607 slides along the arc-shaped sliding groove 6021. The high-definition camera 609 takes pictures of the detection wheel 5 at the bottom back and forth during the movement. The detection personnel can observe the detection wheel 5 in real time through the background picture to check whether the detection wheel 5 can continue to work on track detection or not, so as to replace it in time and avoid that the photoelectric sensor 403 cannot receive signals due to the wear of the detection wheel 5, which leads to the wrong positioning work of the positioning assembly 7.

[0036] When working normally, the double-lane walking servo motor planetary reducer 101 drives the X-lane walking wheel 102 or the Y-lane walking wheel 103 to operate, thereby driving the vehicle body 1 to transport goods. The jacking and reversing servo motor planetary reducer 104 inside the vehicle body 1 drives the jacking and reversing drive shaft 105 to operate, thereby performing the reversing operation of the vehicle body 1 on the X-lane and the Y-lane (the reversing drive shaft is an existing component, which will not be described in detail here).

[0037] The present application encompasses any alternatives, modifications, equivalent methods and solutions made to the essence and scope of the present application. In order to make the public have a thorough understanding of the present application, specific details are described in the following preferred embodiments of the present application, and the present application can also be fully understood without the description of these details by those skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the present application, well-known methods, processes, procedures, elements and circuits, etc. are not described in detail.

[0038] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can also be made, which should be considered as the protection scope of the present application.

Claims

1. An ultra-thin four-way warehouse shuttle, characterized in that, The vehicle includes a vehicle body (1), which is equipped with a dual-lane walking servo motor planetary reducer (101) inside the vehicle body (1). X-lane walking wheels (102) are installed on two opposite sides of the vehicle body (1), and Y-lane walking wheels (103) are installed on the other two opposite sides of the vehicle body (1). A lifting and reversing servo motor planetary reducer (104) is installed inside the vehicle body (1). A lifting and reversing drive shaft (105) is installed inside the vehicle body (1). A storage box (2) is installed in front of the wheels of the vehicle body (1). A drive device (3) and a detection box (304) are installed inside the storage box (2). A detection component (4) and a positioning component (7) are installed inside the detection box (304). A detection wheel (5) is installed at the end of the detection component (4). A self-testing component (6) is installed on the detection component (4). The detection wheel (5) at the end of the detection component (4) is set into three groups, and the detection component (4) is used to inspect the travel track of the four-way shuttle. The positioning component (7) is located behind the detection component (4), and the positioning component (7) is used to mark the damaged parts of the travel track; The self-testing component (6) is disposed on one of the sets of the detection components (4), and the self-testing component (6) is used to check the detection components (4).

2. The ultra-thin four-way shuttle vehicle for warehousing according to claim 1, characterized in that, The drive device (3) includes an electric telescopic rod one (301), the telescopic end of the electric telescopic rod one (301) is fixedly connected to a telescopic box (302), an electric telescopic rod two (303) is installed at the top inside the telescopic box (302), and the telescopic end of the electric telescopic rod two (303) is fixedly connected to a detection box (304).

3. The ultra-thin four-way shuttle vehicle for warehousing according to claim 2, characterized in that, The detection component (4) includes two sets of mounting plates (401) and mounting blocks (402). The bottom of the mounting plate (401) is provided with a mounting groove (4011). A fixing rod (4012) is fixedly connected inside the mounting groove (4011). A limiting block (4013) is installed on the fixing rod (4012). The mounting block (402) is installed between the limiting block (4013) of the fixing rod (4012). There is a reserved space for movement between the mounting block (402) and the fixing rod (4012) and the limiting block (4013). A photoelectric sensor (403) is provided between the mounting block (402) and the mounting groove (4011).

4. The ultra-thin four-way shuttle vehicle for warehousing according to claim 3, characterized in that, The bottom of the two sets of mounting blocks (402) are respectively fixedly connected to connecting rod one (404) and connecting rod two (405). Connecting rod one (404) and connecting rod two (405) are connected together by a first telescopic rod (406). Connecting rod three (407) is fixedly connected to the side of connecting rod one (404). Detection connectors (408) are installed at the ends of connecting rod one (404), connecting rod two (405) and connecting rod three (407). A fixed shaft (4081) is provided inside the detection connector (408). A detection wheel (5) is rotatably connected to the fixed shaft (4081).

5. The ultra-thin four-way shuttle vehicle for warehousing according to claim 4, characterized in that, The detection wheel (5) has several sets of through holes (501) on its surface. A bearing (502) is fixedly connected to the detection wheel (5). A detection module (503) and a moving module (504) are provided inside the detection wheel (5). The detection module (503) and the moving module (504) are connected by a connecting plate (505). Several fixing rods (506) are fixedly installed inside the detection wheel (5). The connecting plate (505) can rotate around the fixing rods (506). A moving rod (507) is fixedly connected to the top of the detection module (503). The other end of the moving rod (507) enters the sealed water tank (508).

6. The ultra-thin four-way shuttle vehicle for warehousing according to claim 5, characterized in that, The detection module (503) includes a magnet (5031), the bottom of which is provided with an uneven contact connector (5032). A moving rod (5033) is fixedly connected to the top of the magnet (5031), and a connecting block (5034) is fixedly connected to the top of the moving rod (5033). The moving module (504) is divided into two groups and arranged on both sides of the detection module (503). The moving module (504) includes a connecting block (5041). The second (5041) is fixedly connected to the second (5042) moving rod, and the bottom of the second (5042) moving rod is fixedly connected to the auxiliary contact block (5043). The contact connector (5032) and the auxiliary contact block (5043) can move through the through hole (501). The sealed water tank (508) is provided with the first piston (5081) inside, and the first piston (5081) is fixedly connected to the third (507) moving rod. The sealed water tank (508) is provided with the first hose interface (5082) outside.

7. The ultra-thin four-way shuttle vehicle for warehousing according to claim 6, characterized in that, The self-testing component (6) consists of a drive box (601) and a self-testing box (602). The drive box (601) is provided with a second hose interface (6011) on the outside and a second piston (603) inside. The first hose interface (5082) and the second hose interface (6011) are connected by a hose. The side of the second piston (603) away from the second hose interface (6011) is fixedly connected with a third fixing rod (604). The other end of the third fixing rod (604) enters the self-testing box (602).

8. The ultra-thin four-way shuttle vehicle for warehousing according to claim 7, characterized in that, The self-test box (602) has an arc-shaped sliding groove (6021) at the bottom. The self-test box (602) has a movable block (605) inside. The movable block (605) is fixedly connected to the fixed rod three (604). The movable block (605) has a through groove (6051). The self-test rod (607) is slidably connected in the through groove (6051). The top of the self-test rod (607) is fixedly connected to a slider one (606). The slider one (606) can slide on the upper surface of the movable block (605). The bottom of the self-test rod (607) is fixedly connected to a slider two (608). The slider two (608) can slide in the arc-shaped sliding groove (6021).

9. The ultra-thin four-way shuttle vehicle for warehousing according to claim 8, characterized in that, A high-definition camera (609) is installed at the bottom of the second slider (608), and a transparent glass (610) is installed at the bottom of the arc-shaped groove (6021).

10. The ultra-thin four-way shuttle vehicle for warehousing according to claim 9, characterized in that, The positioning component (7) includes a positioning block (701), a positioning rod (702) is fixedly connected to the bottom of the positioning block (701), a positioning box (703) is installed at the bottom of the positioning rod (702), and an electric push rod (704) and a magnetic stone (705) with a locator are installed inside the positioning box (703).

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