Active walking mechanism of shuttle vehicle and shuttle vehicle

Abstract

The invention relates to an active walking mechanism of a shuttle vehicle and the shuttle vehicle, the active walking mechanism comprises a driving mounting seat, a driving wheel and a driving motor, and further comprises a rotary supporting seat fixed on the driving mounting seat, and a flange of the driving motor is fixed on the end face of the rotary supporting seat; the flange connecting shaft comprises a shaft body and a flange plate, the driving wheel is fixed to the flange plate through a fastener, and the shaft body is arranged in a center hole of the rotary supporting seat in a penetrating mode and fixedly connected with an output shaft of the driving motor; the bearings are arranged side by side, and the flange connecting shaft is rotatably mounted on the rotary supporting seat through the bearings. The driving wheel is independently fastened, disassembled and assembled, repeated centering debugging is not needed, and disassembling, assembling and replacing of the driving wheel are facilitated; a plurality of groups of bearings are used side by side to form a stable supporting system, so that bending moment and impact load can be effectively resisted, shaft inclination is prevented, and eccentric wear of the driving wheel and eccentric load of the bearings caused by structural deformation are reduced.

Description

Technical Field

[0001] This invention relates to the field of logistics conveying equipment technology, and in particular to an active walking mechanism for a shuttle and the shuttle itself. Background Technology

[0002] As a core conveying device in automated warehousing and logistics systems, the driving performance of the shuttle's walking mechanism directly determines the overall operating efficiency, stability, and service life of the vehicle. Traditional shuttle active walking mechanisms typically use a drive motor to directly drive a shaft with drive wheels mounted on it via a coupling. This shaft is supported on the vehicle frame by a pair of bearing seats.

[0003] For example, Chinese utility model patent CN215945865U discloses a tray-driven circular shuttle that uses a dual-motor drive on the front and rear axles in conjunction with a rotary mechanism to achieve high-speed operation and differential steering. A guide wheel assembly clamps the track to ensure driving stability. The active driving wheel of this type of shuttle typically consists of a drive motor, the driving wheel body, and matching bearing housings. The motor output shaft transmits torque to the driving wheel via a coupling or direct connection, and the bearing housings are fixed to the frame for rotational support.

[0004] In traditional designs, the drive motor and bearing housing are installed separately, requiring on-site shaft alignment and adjustment. Due to frame welding deformation, machining errors, and accumulated assembly clearances, the coaxiality deviation between the motor shaft and wheel axle is significant, affecting transmission efficiency and exacerbating bearing temperature rise and abnormal wear. Furthermore, maintenance and replacement require repeated disassembly and adjustment, which is time-consuming, labor-intensive, and difficult to restore quickly. Under heavy loads, high-frequency start-stop, and acceleration / deceleration impact conditions, bearings are prone to uneven wear, increasing shaft deflection and leading to poor contact between the drive wheel and the track, generating abnormal vibration and noise. This severely impacts vehicle stability and component lifespan, making it difficult to meet the demands of high-load, high-dynamic-response applications.

[0005] Therefore, there is an urgent need in this field for an active walking wheel mechanism that can improve load-bearing capacity and operational accuracy while achieving highly integrated and easy-to-maintain structural optimization, so as to solve the technical bottlenecks of existing circular shuttle walking mechanisms in heavy-load, high-speed, and compact scenarios. Summary of the Invention

[0006] The purpose of this invention is to provide an active walking mechanism for a shuttle vehicle to solve the problems mentioned in the background art.

[0007] The above-mentioned objective of the present invention is achieved through the following technical solution: an active walking mechanism for a shuttle, comprising a drive mounting base, drive wheels, and a drive motor, and further comprising: A rotating support base is fixed on the drive mounting base, and the flange of the drive motor is fixed on the end face of the rotating support base; A flange connecting shaft includes a shaft body and a flange. The drive wheel is fixed to the flange by fasteners. The shaft body passes through the central hole of the rotary support and is fixedly connected to the output shaft of the drive motor. Bearings, arranged in at least two sets side by side, are provided, and the flange connecting shaft is rotatably mounted on the rotating support via the bearings.

[0008] Preferably, the flange is provided with a central positioning part, and the center of the drive wheel is provided with a mounting positioning hole that fits into the central positioning part.

[0009] Preferably, the central positioning part is a conical part, and the mounting positioning hole is a matching conical hole.

[0010] Preferably, the flange connecting shaft has a first connecting hole and a second connecting hole arranged sequentially along the axial direction at its center. A first limiting step is formed between the first connecting hole and the second connecting hole. A limiting baffle is provided in the first connecting hole, and the limiting baffle abuts against the first limiting step. The output shaft of the drive motor is inserted into the second connecting hole, and the limiting baffle is fixed to the end of the output shaft of the drive motor by fasteners.

[0011] Preferably, the shaft and the end of the center hole away from the drive motor are respectively provided with a second limiting step and a third limiting step, and the outer ring and inner ring of the bearing abut against the third limiting step and the second limiting step, respectively.

[0012] Preferably, the central hole is a conical hole, the diameter of which decreases from the drive motor to the drive wheel. A support sleeve is fitted inside the central hole, the bearing is disposed inside the support sleeve, and a conical support portion is provided on the outer wall of the support sleeve, the conical support portion fitting against the inner wall of the central hole.

[0013] Preferably, the support sleeve further includes a wedge-shaped support portion that extends toward the drive motor to the outside of the central hole, and a support block that fits against the lower part of the wedge-shaped support portion is provided on the flange of the drive motor.

[0014] Preferably, the drive mounting base includes a top plate, a mounting plate distributed on the axial side of the drive wheel, and side support plates distributed on the front and rear sides of the drive wheel. The mounting plate and the two side support plates are distributed in a U-shape below the top plate. The rotating support base is fixed on the mounting plate, and the drive wheel is located within the enclosed space formed by the top plate, the mounting plate, and the side support plates.

[0015] Preferably, the side support plate is provided with a guide plate, and two guide wheels are distributed on the guide plate along the axial direction of the drive wheel.

[0016] The purpose of this invention is to provide a shuttle vehicle, and this purpose is achieved through the following technical solutions: A shuttle includes a frame, a conveying mechanism, an active walking mechanism, and a driven walking mechanism. The active walking mechanism is mounted on the bottom of the frame via a rotary support. The upper end of the driven walking mechanism is provided with a sliding mounting seat, which is slidably mounted on the bottom of the frame. The driven walking mechanism is mounted on the sliding mounting seat via a rotary support.

[0017] The beneficial effects of this invention are: The integrated structure of the flange connection shaft ensures extremely high coaxiality between the motor shaft and the drive wheel, eliminating the centering deviation of the traditional split structure, reducing bearing wear and noise, and extending the life of the wheel system and track. Multiple sets of bearings are used in parallel to form a stable support system, which can effectively resist bending moment and impact load, prevent shaft tilting, and reduce drive wheel wear and bearing load imbalance caused by structural deformation. The drive motor, drive wheel, and bearings are integrated into the rotating support base, allowing for complete hoisting and replacement. The drive wheel is independently fastened and disassembled, eliminating the need for repeated centering adjustments and facilitating drive wheel disassembly and replacement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the shuttle vehicle in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the active walking mechanism in Embodiment 1 of the present invention; Figure 3 This is a cross-sectional view of the active walking mechanism in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the installation of the flange connecting shaft and the rotating support in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the installation of the flange connecting shaft and the rotating support in Embodiment 2 of the present invention; Figure 6 This is a cross-sectional view of the lubrication septum in Embodiment 3 of the present invention; Figure 7 This is a schematic diagram of the installation of the flange connecting shaft and the rotating support in Embodiment 3 of the present invention; Figure 8 This is a schematic diagram of the installation of the flange connecting shaft and the rotating support in Embodiment 4 of the present invention; In the diagram: 1-Frame, 2-Conveying mechanism, 3-Active walking mechanism, 301-Drive mounting base, 3011-Top plate, 3012-Mounting plate, 3013-Side support plate, 3014-Side reinforcing support, 302-Drive wheel, 3021-Mounting positioning hole, 303-Drive motor, 3031-Output shaft, 3032-Motor flange, 3033-Bearing retaining ring, 3034-Support block, 304-Rotating support, 3041-Center hole, 3042-Third limit step, 3043-Oil injection hole, 305-Flange connecting shaft, 3051-Shaft body, 3052-Flange Disc, 3053-Center positioning part, 3054-First connecting hole, 3055-Second connecting hole, 3056-First limiting step, 3057-Second limiting step, 306-Bearing, 307-Limiting baffle, 308-Support sleeve, 3081-Conical support part, 3082-Wedge support part, 309-Guide plate, 310-Guide wheel, 311-Lubricating septum, 3111-Outer ring support part, 3112-Inner ring support part, 3113-Annular oil groove, 3114-Collection groove, 3115-Oil passage hole, 4-Driven traveling mechanism, 5-Sliding mounting seat, 6-Rotary bearing. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings.

[0020] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0021] Example 1: like Figure 1 As shown, a shuttle includes a frame 1, a conveying mechanism 2, an active walking mechanism 3, and a driven walking mechanism 4. The active walking mechanism is mounted on the bottom of the frame 1 via a swivel support 6. A sliding mounting seat 5 is provided at the upper end of the driven walking mechanism 4, and the sliding mounting seat 5 is slidably mounted on the bottom of the frame 1. The driven walking mechanism 4 is mounted on the sliding mounting seat 5 via the swivel support 6, allowing the driven walking mechanism 4 to move back and forth relative to the frame 1. The driven walking mechanism 4 consists of a driven mounting seat and a driven wheel, and the driven mounting seat is mounted on the sliding mounting seat 5 via the swivel support 6. The conveying mechanism 2 uses a conventional chain conveyor or belt conveyor.

[0022] like Figure 2-4 As shown, the active walking mechanism 3 includes a drive mounting base 301, a drive wheel 302, a drive motor 303, a rotating support base 304, a flange connecting shaft 305, and a bearing 306. The rotating support base 304 is fixed on the drive mounting base 301, and the two are connected by fasteners or welding.

[0023] The flange connecting shaft 305 includes a shaft body 3051 and a flange 3052. The drive wheel 302 is fixed to the flange 3052 by fasteners. The shaft body 3051 passes through the central hole 3041 of the rotary support 304. Bearings 306 are installed in the central hole 3041, with at least two sets of bearings arranged side-by-side. The flange connecting shaft 305 is rotatably mounted in the central hole 3041 of the rotary support 304 via the bearings 306. The bearings 306 are angular contact ball bearings, and the fasteners are bolts and nuts.

[0024] The drive motor 303 is fixedly mounted on the end face of the rotating support 304 via the motor flange 3032. The output shaft 3031 of the drive motor 303 is coaxially arranged and fixedly connected with the flange connecting shaft 305, so that the output shaft 3031 of the drive motor 303 drives the flange connecting shaft 305 to rotate.

[0025] The flange 3052 is provided with a central positioning part 3053, and the center of the drive wheel 302 is provided with a mounting positioning hole 3021 that fits into the central positioning part 3053. The central positioning part 3053 is a conical part, and the mounting positioning hole 3021 is a matching conical hole. Positioning is achieved by the conical central positioning part 3053 cooperating with the mounting positioning hole 3021 of the drive wheel 302, ensuring the concentricity of the drive wheel 302 and the flange connecting shaft 305, so as to facilitate quick installation and replacement.

[0026] The flange connecting shaft 305 has a first connecting hole 3054 and a second connecting hole 3055 arranged sequentially along the axial direction at its center. The diameter of the first connecting hole 3054 is larger than the diameter of the second connecting hole 3055, so that a first limiting step 3056 is formed between the first connecting hole 3054 and the second connecting hole 3055.

[0027] The output shaft 3031 of the drive motor 303 is inserted into the second connecting hole 3055, and the two are connected by a flat key.

[0028] A limiting stop 307 is provided in the first connecting hole 3054, and the limiting stop 307 abuts against the first limiting step 3056. The limiting stop 307 is fixed to the end of the output shaft 3031 of the drive motor 303 by fasteners. In this way, the flange connecting shaft 305 is axially fixed to the output shaft 3031 of the drive motor 303 by the limiting stop 307. The fasteners here are bolts, and the output shaft 3031 has threaded holes for mounting bolts.

[0029] The shaft body 3051 and the center hole 3041, at the ends away from the drive motor 303, are respectively provided with a second limiting step 3057 and a third limiting step 3042. The outer ring and inner ring of the bearing 306 abut against the third limiting step 3042 and the second limiting step 3057, respectively. On the other side of the bearing 306, a bearing retaining ring 3033 is provided on the motor flange 3032. The bearing retaining ring 3033 abuts against the outer ring of the bearing, thus confining the bearing retaining ring 3033 within the center hole 3041.

[0030] like Figure 3 As shown, the drive mounting base 301 includes a top plate 3011, a mounting plate 3012 distributed on the axial side of the drive wheel 302, and side support plates 3013 distributed on the front and rear sides of the drive wheel 302. The mounting plate 3012 and the two side support plates 3013 are distributed in a U-shape below the top plate 3011. The rotating support base 304 is fixed on the mounting plate 3012. The drive wheel 302 is located within the enclosed space formed by the top plate 3011, the mounting plate 3012, and the side support plates 3013.

[0031] A guide plate 309 is provided on the side support plate 3013, and two guide wheels 310 are distributed on the guide plate 309 along the axial direction of the drive wheel 302. The guide plate 309 is fixedly connected to the lower end of the side support plate 3013. A side reinforcing support part 3014 is connected between the side support plate 3013 and the guide plate 309. The side reinforcing support part 3014 extends outward from the side end of the mounting plate 3012 to one side of the side support plate 3013, so that the mounting plate 3012, the side support plate 3013 and the guide plate 309 are connected into a whole, which improves the structural strength of the drive mounting base 301 and prevents deformation under heavy load.

[0032] When under load, the drive wheel 302 acts like a lever, generating a huge overturning moment on the bearing support point. Arranging the two sets of bearings 306 close together effectively increases the width of the support point, forming a short and thick rigid support unit. This unit can effectively resist this moment, prevent the flange connecting shaft 305 from tilting and deforming, and ensure that the drive wheel 302 maintains ideal contact with the ground under complex working conditions, thereby improving operational stability and service life.

[0033] Compared to the design of placing bearings on both sides of the drive wheel (span support), this invention integrates all rotating support structures on one side of the drive wheel 302. This significantly shortens the axial installation space, making the entire drive module structure very compact and facilitating the optimization of the overall equipment layout. It also simplifies the assembly process and ensures precision, as all bearings and related parts (shaft shoulders, retaining rings, spacers, etc.) are installed and adjusted within a single mounting hole. More importantly, the preload and fit of all bearings can be uniformly completed within a high-precision mounting hole, facilitating quality control and ensuring the concentricity of the two sets of bearings, thereby achieving optimal rotational accuracy.

[0034] Example 2: like Figure 5 and Figure 6 As shown, since multiple bearings 306 are installed side by side in the central hole 3041, heat dissipation and lubrication are difficult. Therefore, a lubrication septum 311 is provided between two adjacent bearings 306. The lubrication septum 311 has an arc structure, with an outer ring support 3111 and an inner ring support 3112 on its two sides. The outer ring support 3111 fits against the outer ring of the bearing 306, and the inner ring support 3112 fits against the inner ring of the bearing 306. The outer ring support 3111 and the inner ring support 3112 fit together. An annular oil groove 3113 is formed between 12. A collecting groove 3114 is provided at the upper end of the lubrication septum 311. The collecting groove 3114 is connected to the annular oil groove 3113 through an oil passage hole 3115. An oil injection hole 3043 is provided on the rotating support 304. The oil injection hole 3043 is connected to the collecting groove 3114. After the drive wheel 302 is disassembled, lubricating oil is injected into the collecting groove 3114 through the oil injection hole 3043, so that the lubricating oil enters the central hole 3041 to provide lubrication for the bearing 306.

[0035] Example 3: like Figure 7 As shown, The central hole 3041 is a conical hole, and the diameter of the central hole 3041 decreases from the drive motor 303 to the drive wheel 302. A support sleeve 308 is fitted inside the central hole 3041, and a bearing 306 is installed inside the support sleeve 308. A conical support part 3081 is provided on the outer wall of the support sleeve 308, and the conical support part 3081 fits against the inner wall of the central hole 3041.

[0036] The contact area of ​​a conical surface mating joint is much larger than that of a cylindrical surface mating joint, which involves line contact or a small area of ​​contact. The entire conical surface participates in the force-bearing process, forming a very stable support structure. This surface contact effectively resists radial forces (ground reaction forces on the drive wheels) and axial forces (inertial forces during startup and braking), as well as the resulting overturning moment. During acceleration, deceleration, turning, and load-bearing, the shuttle's running mechanism withstands enormous, directionally variable loads. This conical hole structure provides strong rigid support, reducing the deformation of the entire active running mechanism 3 caused by forces, and maintaining accuracy and stability.

[0037] Furthermore, if bearing replacement is required, the support sleeve can simply be removed from the tapered bore, making the operation relatively simple. As an independent component, the support sleeve also protects the center hole of the rotary support body; once worn, only the support sleeve needs to be replaced, reducing maintenance costs.

[0038] Example 4: like Figure 8 As shown, the support sleeve 308 also includes a wedge-shaped support portion 3082, which extends toward the drive motor 303 to the outside of the central hole 3041. A support block 3034 is provided on the flange of the drive motor 303, which fits against the lower part of the wedge-shaped support portion 3082.

[0039] Through the cooperation of the wedge-shaped support 3082 and the support block 3034, the three key components—drive motor 303, rotary support 304, and support sleeve 308—are tightly "locked" into a whole. When subjected to complex loads (such as drive wheels over bumps or side impacts), the entire assembly deforms collaboratively as a whole, making it more resistant to external forces. The reverse impact force, which might have been entirely borne by the end of the central hole of the rotary support, is now shared by the motor flange component. This results in a shorter and more direct force path, a more stable structure, and avoids jamming or damage caused by the deformation of a single component.

Claims

1. An active walking mechanism for a shuttle vehicle, comprising a drive mounting base (301), a drive wheel (302), and a drive motor (303), characterized in that, Also includes: A rotating support base (304) is fixed on the drive mounting base (301), and the flange of the drive motor (303) is fixed on the end face of the rotating support base (304); The flange connecting shaft (305) includes a shaft body (3051) and a flange (3052). The drive wheel (302) is fixed on the flange (3052) by fasteners. The shaft body (3051) passes through the center hole (3041) of the rotating support (304) and is fixedly connected to the output shaft (3031) of the drive motor (303). Bearings (306) are arranged in at least two sets side by side, and the flange connecting shaft (305) is rotatably mounted on the rotating support (304) via the bearings (306).

2. The active walking mechanism of a shuttle vehicle according to claim 1, characterized in that: The flange (3052) is provided with a central positioning part (3053), and the center of the drive wheel (302) is provided with a mounting positioning hole (3021) fitted onto the central positioning part (3053).

3. The active walking mechanism of a shuttle vehicle according to claim 2, characterized in that: The central positioning part (3053) is a conical part, and the mounting positioning hole (3021) is a matching conical hole.

4. The active walking mechanism of a shuttle car according to claim 1, characterized in that: The flange connecting shaft (305) is provided with a first connecting hole (3054) and a second connecting hole (3055) in sequence along the axial direction. A first limiting step (3056) is formed between the first connecting hole (3054) and the second connecting hole (3055). A limiting baffle (307) is provided in the first connecting hole (3054). The limiting baffle (307) abuts against the first limiting step (3056). The output shaft (3031) of the drive motor (303) is inserted in the second connecting hole (3055). The limiting baffle (307) is fixed to the end of the output shaft (3031) of the drive motor (303) by fasteners.

5. The active walking mechanism of a shuttle vehicle according to claim 1, characterized in that: The shaft (3051) and the center hole (3041) are respectively provided with a second limiting step (3057) and a third limiting step (3042) at the ends away from the drive motor (303), and the outer ring and inner ring of the bearing (306) abut against the third limiting step (3042) and the second limiting step (3057) respectively.

6. The active walking mechanism of a shuttle according to claim 5, characterized in that: The central hole (3041) is a conical hole, and the diameter of the central hole (3041) decreases from the drive motor (303) to the drive wheel (302). A support sleeve (308) is fitted inside the central hole (3041), and the bearing (306) is disposed inside the support sleeve (308). A conical support part (3081) is provided on the outer wall of the support sleeve (308), and the conical support part (3081) fits against the inner wall of the central hole (3041).

7. The active walking mechanism of a shuttle according to claim 6, characterized in that: The support sleeve (308) also includes a wedge-shaped support portion (3082), which extends toward the drive motor (303) to the outside of the central hole (3041), and a support block (3034) is provided on the flange of the drive motor (303) and fits against the lower part of the wedge-shaped support portion (3082).

8. The active walking mechanism of a shuttle car according to claim 1, characterized in that: The drive mounting base (301) includes a top plate (3011), a mounting plate (3012) distributed on the axial side of the drive wheel (302), and side support plates (3013) distributed on the front and rear sides of the drive wheel (302). The mounting plate (3012) and the two side support plates (3013) are distributed in a U-shape below the top plate (3011). The rotating support base (304) is fixed on the mounting plate (3012). The drive wheel (302) is located within the enclosed space formed by the top plate (3011), the mounting plate (3012), and the side support plates (3013).

9. The active walking mechanism of a shuttle car according to claim 8, characterized in that: The side support plate (3013) is provided with a guide plate (309), and two guide wheels (310) are distributed on the guide plate (309) along the axial direction of the drive wheel (302).

10. A shuttle vehicle, characterized in that, The vehicle includes a frame (1), a conveying mechanism (2), an active walking mechanism (3) as described in any one of claims 1-9, and a driven walking mechanism (4). The active walking mechanism is mounted on the bottom of the frame (1) via a rotary support (6). The upper end of the driven walking mechanism (4) is provided with a sliding mounting seat (5). The sliding mounting seat (5) is slidably mounted on the bottom of the frame (1). The driven walking mechanism (4) is mounted on the sliding mounting seat (5) via a rotary support (6).

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