An autonomous lifting mechanism for carrying a shuttle vehicle and the shuttle vehicle

Abstract

The application provides a self-lifting mechanism of a transfer trolley, wherein the lifting driving mechanism comprises a winch power device, a driving support, winch devices, a winch support, an adjusting guide wheel and a flexible lifting component; the driving support and the winch support are fixed on a trolley body of the transfer trolley; the winch power device is fixed on the driving support; the winch power device is in transmission connection with a connecting shaft which is rotatably arranged around its own axis; at least two winch devices are fixed on the same connecting shaft; the adjusting guide wheel is arranged on the winch support; the upper end of the flexible lifting component is fixed on the winch device; the flexible lifting component vertically drops down after passing the winch device and the adjusting guide wheel in sequence; the lower end of the flexible lifting component is fixedly connected with a support frame which is used for being fixed with a lifting platform. The above structure can realize the parking of different layers in a three-dimensional warehouse, and does not depend on an elevator, thereby greatly improving the layer changing efficiency of the lifting platform.

Description

Technical Field

[0001] This invention relates to the field of bin storage and logistics technology, and in particular to an autonomous lifting mechanism for a transport shuttle and the shuttle itself. Background Technology

[0002] In the actual operation of automated storage and retrieval systems (AS / RS), the transfer and retrieval of bins between different rack levels are the core processes. In the traditional operation mode, bin hoists and shuttle car level-changing hoists need to be fixedly installed at both ends of the shuttle car running aisle to complete the cross-level transport of bins and the passage of shuttle cars between different levels.

[0003] The existing material box transport shuttle car is not equipped with an integrated lifting mechanism. The loading platform cannot be raised or lowered, and it cannot complete the vertical material box transport operation independently. The shuttle car must travel to the end of the aisle and use the hoist to complete the cross-level transport of the material box and the shuttle car to change levels, which limits the flexibility of the shuttle car's single-machine operation.

[0004] In the operation process of a liftable bin transport shuttle, the autonomous lifting of the loading platform is the core function for the shuttle to achieve autonomous cross-level transport of bins and expand its single-machine operation capabilities. To address the industry pain point of relying on elevators for layer changes, the applicant has conceived a design concept for a liftable bin transport shuttle. The core of this concept is to integrate the lifting and layer-changing function of the elevator into the shuttle body. The shuttle's lifting function relies on a highly efficient, reliable, and comprehensive lifting drive system. The core function of this system is to lower or retract the loading platform at a rated operating speed, enabling the loading platform to independently complete the picking and storing of goods. It can also serve as a temporary support platform fixed between shelves to ensure stable picking and placing of goods, and can transmit signals with the shuttle body.

[0005] However, since the direction of movement of the cargo platform is the same as the direction of gravity, its own weight will greatly affect the operating efficiency. Compared with conventional shuttle cars, the addition of the lifting function will make the shuttle car structure more complex. The existing lifting drive mechanism is prone to interference with the cargo platform's picking and placing of material boxes. The lifting drive mechanism has a short stroke, which makes it difficult to meet the requirements of the shuttle car parking on different levels in the three-dimensional material warehouse. Summary of the Invention

[0006] The purpose of this invention is to provide an autonomous lifting mechanism for a material handling shuttle and the shuttle itself, thereby solving the problems of existing shuttles relying on elevators for floor changing, and the complex structure of existing lifting drive mechanisms, which makes it difficult to meet the technical requirements of parking cargo platforms on different floors in an automated storage and retrieval system. The various technical effects of the preferred solutions among the many technical solutions provided by this invention are detailed below.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] The autonomous lifting mechanism of the transport shuttle provided by the present invention includes a lifting drive mechanism and a support frame. The lifting drive mechanism includes a winch power unit, a drive bracket, a winch device, a winch bracket, an adjusting guide wheel, and a flexible lifting component, wherein: The drive bracket and the winch bracket are fixed to the body of the shuttle car. The winch power device is fixed to the drive bracket. The winch power device is connected to a connecting shaft. The connecting shaft is rotatable about its own axis. At least two winch devices are fixed to the same connecting shaft. The adjusting guide wheel is mounted on the winch bracket, the upper end of the flexible lifting component is fixed to the winch device, the flexible lifting component passes through the winch device and the adjusting guide wheel in sequence and hangs vertically, and the lower end of the flexible lifting component is fixedly connected to the support frame, which is used to fix the lifting platform.

[0009] Preferably, the number of the lifting drive mechanisms is at least two sets, and they are located on opposite sides of the lifting platform, respectively; The number of support frames is at least two, and they are respectively fixed on opposite sides of the lifting platform. Each support frame is fixedly connected to two or more flexible lifting components.

[0010] Preferably, the winch device includes a winch wheel, the winch wheel is fixed on the connecting shaft, and at least two winches are arranged at intervals along the axial direction of the connecting shaft; The adjusting guide wheel has a rotation adjustment state. When in the rotation adjustment state, there is an eccentricity between the rotation axis of the adjusting guide wheel and the axis of the adjusting guide wheel. When the axis of the adjusting guide wheel is above the rotation axis of the adjusting guide wheel, the adjusting guide wheel is in the high adjustment position; when the axis of the adjusting guide wheel is below the rotation axis of the adjusting guide wheel, the adjusting guide wheel is in the low adjustment position. The adjusting guide wheel can be fixed at any position between the high adjustment position and the low adjustment position, thereby adjusting the length of the flexible lifting component between the winch and the support frame. In all the flexible lifting components fixed to the same support frame, the lengths of the flexible lifting components between the winch and the support frame are different, thereby enabling the tilted support frame to be adjusted to a horizontal position.

[0011] Preferably, of the two flexible lifting components fixed to the same support frame: When in the adjusted high position, the lengths of the two flexible lifting components between the winch and the support frame are L1 and L2, respectively, corresponding to the support frame being lifted to the highest point; When in the adjusted low position, the lengths of the two flexible lifting components between the winch and the support frame are L1' and L2', corresponding to the support frame being lowered to its lowest point; The maximum adjustment limit for the vertical height of the support frame is: (L1+L2)-(L1'+L2')=2e, where e represents the eccentricity between the axis of the adjusting guide wheel and its own axis.

[0012] Preferably, when the support frame is inclined relative to the horizontal plane and both of the adjusting guide wheels are in the high or low adjustment position, there is a height difference Δp between the two ends of the support frame. The eccentricity e between the shaft of the adjusting guide wheel and its own axis must satisfy: 2e≥Δpmax, where Δpmax represents the theoretical maximum height difference between the two ends of the support frame.

[0013] Preferably, the support frame includes a support protection plate, a support bearing plate, a support shaft, and a support beam, wherein: Both the support protection plate and the support bearing plate are fixed to the shuttle car body, and the support protection plate is located on one side of the support bearing plate; The support beam is fixed to the bottom of the lifting platform, the support shaft is fixed to the support beam, and the lower end of the flexible lifting component passes through the support protection plate, the support bearing plate and the support shaft, and is wrapped and fixed to the support shaft. The number of support shafts is at least two, and the flexible lifting component is wound sequentially around different support shafts. The support shafts are arranged along the length direction of the support frame, and the support shafts are arranged at intervals along a set direction, which is perpendicular to the axial direction of the support shaft.

[0014] Preferably, the support frame further includes a self-aligning block and a fastening plate, wherein: Two self-aligning blocks are arranged at intervals along the axial direction of the support shaft, one of the self-aligning blocks is fixed to the support beam, and the two self-aligning blocks are fixed together by the fastening plate; The self-aligning block is provided with a self-aligning hole, and the support shaft passes through the corresponding self-aligning hole; There is a height difference Δh between the two self-aligning holes of the same self-aligning block, and the height difference Δh is equal to the thickness t of the flexible lifting component.

[0015] Preferably, the support protection plate is provided with a retraction guide structure, which protrudes in a direction away from the flexible lifting component to preferentially contact the shuttle car body, thereby limiting the swing of the lifting drive mechanism.

[0016] Preferably, the connecting shaft is a hollow structure with a shaft cavity, and a cable management hole is provided on the side wall of the connecting shaft, the cable management hole communicating with the shaft cavity of the connecting shaft; The flexible lifting component has a conductor steel wire rope that extends from the end of the connecting shaft through the cable management hole and serves as an electrical connection cable.

[0017] The present invention also provides a shuttle, including a lifting platform and an autonomous lifting mechanism for the above-mentioned transport shuttle, wherein the lifting platform is fixed between the two support frames.

[0018] The autonomous lifting mechanism and shuttle car provided by this invention have the following advantages compared with the prior art: the winch power unit drives the winch device to operate, releasing or retracting the flexible lifting component at a set speed, so that the lifting platform connected to the support frame moves up and down, realizing the height adjustment of the lifting platform; using the flexible lifting component as the component to pull the lifting platform can increase the vertical stroke of the lifting platform, thereby meeting the needs of the lifting platform to park on different layers in the automated storage and retrieval system; one winch power unit can simultaneously realize the rotation of two or more winch devices and the lifting of two or more flexible lifting components through the transmission shaft. This structure can reduce the overall structural weight, and the structure is simple, compact, and easy to use; the shuttle car with the autonomous lifting mechanism of this transport shuttle car can realize the parking on different layers in the automated storage and retrieval system at the level of a single machine, and this process is not dependent on the hoist, which greatly improves the layer changing efficiency of the lifting platform. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a front view diagram of the shuttle vehicle of the present invention; Figure 2 This is a front view of the overall structure of the autonomous lifting mechanism of a transport shuttle vehicle according to the present invention; Figure 3 This is a schematic diagram of the lifting drive mechanism of the autonomous lifting mechanism of a transport shuttle vehicle according to the present invention, viewed from the following direction: Figure 2 Isometric direction from top left to bottom right; Figure 4 This is a diagram showing the adjustment limits of the guide wheel. The left side represents the high adjustment position, and the right side represents the low adjustment position. The observation direction is the same as the negative X-axis. Figure 5This is a schematic diagram of the adjustment function of the guide wheel; the observation direction is the same as the negative Y-axis. Figure 6 This is a structural diagram of a 7-axis connecting shaft. The viewing direction is... Figure 2 same; Figure 7 This is a schematic diagram of the supporting frame structure; the viewing direction is... Figure 2 same; Figure 8 This is a schematic diagram of the main structure of the supporting protective plate; Figure 9 This is a schematic diagram of a partial structure of the support frame, viewed from the following direction: Figure 2 The oblique projection direction; Figure 10 This is the front view of the self-aligning block.

[0021] In the diagram: 10, First integrated cabinet; 20, Second integrated cabinet; 30, Lifting platform; 100, Lifting drive mechanism; 110, Winch power unit; 120, Winch transmission device; 130, Drive bracket; 140, Winch wheel; 150, Winch bracket; 160, Connecting shaft; 161, Cable management hole; 170, Adjusting guide wheel; 180, Cable hub; 190, Flexible lifting component; 200, Support frame; 210, Support protection plate; 211, Recycling guide structure; 220, Support bearing plate; 230, Support shaft; 240, Self-aligning block; 241, Self-aligning hole; 250, Support beam; 260, Fastening plate. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] In the description of this invention, it should be understood that the terms "center," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] This invention provides an autonomous lifting mechanism and shuttle car for a transport vehicle, which can realize parking on different floors in an automated warehouse at the level of a single machine. This process is completed without relying on a hoist, which greatly improves the floor changing efficiency of the lifting platform.

[0025] The following is combined with Figures 1-10 The technical solution provided by this invention will be described in more detail below.

[0026] Example 1 like Figures 1-10 As shown, the autonomous lifting mechanism of the transport shuttle provided by the present invention is described in [reference needed]. Figure 1 As shown, when the autonomous lifting mechanism of the transport shuttle in this embodiment is applied to the shuttle, the shuttle may include a first integrated cabinet 10, a second integrated cabinet 20, and a lifting platform 30. The first integrated cabinet 10 and the second integrated cabinet 20 have the same structure and are equipped with a walking mechanism, etc., to enable the shuttle to travel along the length of the alley.

[0027] The autonomous lifting mechanism of the transport shuttle in this embodiment includes a lifting drive mechanism 100 and a support frame 200. The lifting drive mechanism 100 is located inside the first integrated cabinet 10 and the second integrated cabinet 20, and the support frame 200 fixes the lifting platform 30.

[0028] For the convenience of this and subsequent descriptions, the basic spatial distribution directions of the present invention are defined as follows: the Z direction is parallel to the movement direction of the shuttle lifting platform 30 and perpendicular to the ground; the X direction is the same as the axial direction of the connecting shaft 160 and the width direction of the flexible lifting component; and the Y direction is perpendicular to both the X and Z directions, parallel to the shuttle guide rail, and the same as the shuttle's travel direction.

[0029] See Figures 2-10 The lifting drive mechanism 100 of this embodiment includes a winch power unit 110, a drive bracket 130, a winch device, a winch bracket 150, an adjusting guide wheel 170, and a flexible lifting component. The drive bracket 130 and the winch bracket 150 are fixed to the body of the shuttle vehicle. The winch power unit 110 is fixed to the drive bracket 130. The winch power unit 110 is connected to a connecting shaft 160, which is rotatable about its own axis. At least two winches are fixed to the same connecting shaft 160. The adjusting guide wheel 170 is mounted on the winch bracket 150. The upper end of the flexible lifting component is fixed to the winch device. The flexible lifting component passes sequentially around the winch device and the adjusting guide wheel 170 before hanging vertically. The lower end of the flexible lifting component is fixedly connected to a support frame 200, which is used to fix the lifting platform 30.

[0030] Specifically, one end of the flexible lifting component 190 is fixed to the winch 140 and reinforced with screws, while the other end extends downwards via the adjusting guide wheel 170 and is finally fixed to the lifting platform 30. By rotating the winch 140, the flexible lifting component 190 can be lowered or raised to different heights, thereby adjusting the height of the lifting platform 30.

[0031] The above structure enables the shuttle car to autonomously perform the core function of transporting the Z-axis bins without relying on external lifting equipment, thus expanding the operational dimensions of a single shuttle car unit.

[0032] See Figure 1 In this embodiment, the lifting drive mechanism 100 in the shuttle car should include a pair, namely two identical winches, winch brackets 150, and adjusting guide wheels 170; correspondingly, in the same shuttle car, there are two lifting drive mechanisms 100 and four support frames 200, and the lifting operation is ensured to be stable by four flexible lifting components 190.

[0033] For details, see Figure 3 The winch power unit 110 and the winch transmission unit 120 are installed together. The winch transmission unit 120 is installed on the drive bracket 130. The winch unit includes a winch wheel 140, which is rotatably connected to the winch bracket 150. The winch transmission unit 120 and the winch wheel 140 are connected and transmit power through a connecting shaft 160. The drive bracket 130 and the winch bracket 150 are installed on the shuttle body. The hub 180 is installed at one end of the connecting shaft 160. The flexible lifting component 190 is wound around the winch wheel 140.

[0034] The components in the lifting drive mechanism 100 are mounted on the main structure of the shuttle car via the drive bracket 130 and the winch bracket 150, and power is transmitted through the connecting shaft 160. The winch transmission device 120 is a rigid transmission, ensuring the structural stability and positioning accuracy of the winch device under frequent start-stop conditions. The winch device can be a servo motor, etc., and the winch transmission device 120 can be a common transmission method such as a belt. In this embodiment, one winch power unit 110 simultaneously realizes the rotation of two or more winches and the lifting of two or more flexible lifting components 190 through the transmission shaft. This structure reduces the overall structural weight and is simple and compact. Only one winch power unit 110 is needed to drive all the winding wheels of the same support frame 200, making it convenient to use and operate.

[0035] In this embodiment, the hoisting power unit 110 drives the hoisting device to release or retract the flexible lifting component 190 at a set speed, so that the lifting platform 30 connected to the support frame 200 moves up and down, thereby realizing the height adjustment of the lifting platform 30. By using the flexible lifting component 190 as the component that pulls the lifting platform 30, the vertical stroke of the lifting platform 30 can be increased, thereby meeting the requirement of the lifting platform 30 being parked on different layers in the three-dimensional material warehouse.

[0036] The autonomous lifting mechanism of the transport shuttle in this embodiment is installed on the shuttle to enable the vertical movement of the shuttle lifting platform 30, thereby allowing the shuttle to transport material boxes between different levels without relying on external lifting equipment. Specifically, the lifting platform 30 is equipped with a commonly used material picking mechanism on shuttles. When the lifting platform 30 reaches the target material layer, the material picking mechanism on the lifting platform 30 can pick up and place material boxes from the shelf. As this is existing technology for shuttles, it will not be described in detail here.

[0037] As an alternative implementation, see [link to implementation details]. Figure 1 The lifting drive mechanism 100 comprises at least two sets, located on opposite sides of the lifting platform 30; in other words, the lifting drive mechanism 100 is located within the first integrated cabinet 10 and the second integrated cabinet 20. The support frame 200 comprises at least two sets, fixed on opposite sides of the lifting platform 30, with each support frame 200 fixedly connected to two or more flexible lifting components. A bearing seat is installed on the drive bracket 130 to facilitate the installation and support of the connecting shaft 160. The winch device and winch bracket 150 are installed together and connected by a coupling structure. A pair of bearing seats are also installed on the winch bracket 150, with the same design as the bearing seats on the drive bracket 130, improving processing convenience and interchangeability. The hub 180 is installed on the bearing seats of the winch bracket 150 and connected to the connecting shaft 160.

[0038] When the lifting platform 30 is carrying heavy objects or the load distribution is uneven, multiple lifting drive mechanisms 100 can work together to provide a more stable lifting force, effectively preventing the lifting platform 30 from tilting or swaying during the lifting process. In addition, each support frame 200 is fixedly connected to two or more flexible lifting components, further enhancing the stability between the support frame 200 and the lifting platform 30, and improving the load-bearing capacity and operational smoothness of the entire autonomous lifting mechanism.

[0039] In this embodiment, the adjusting guide wheel 170 serves to adjust the level of the support frame 200 and to extend the flexible lifting component 190 in a different direction. Furthermore, the existence of the adjusting mechanism eliminates the need for separate winch drive devices to adjust the level of the support frame 200; instead, a single winch drive device can be used for synchronous control, simplifying the adjusting structure and drive control method.

[0040] The function of adjusting guide wheel 170 is explained in detail below.

[0041] See Figure 3 and Figure 4 As shown, the winch device includes a winch reel 140, which is fixed to a connecting shaft 160. At least two winches 140 are arranged at intervals along the axial direction of the connecting shaft 160. The adjusting guide wheel 170 has a rotation adjustment state. When in the rotation adjustment state, see [reference needed]. Figure 4 There is an eccentricity between the rotating shaft of the adjusting guide wheel 170 and the axis of the adjusting guide wheel 170.

[0042] The above structure enables the following: when the adjusting guide wheel 170 rotates, the adjusting guide wheel 170 will make a circular motion around the rotating axis, thereby changing the effective path length of the flexible lifting component when it bypasses the adjusting guide wheel 170, thereby adjusting the length of the flexible lifting component 190 between the winch wheel 140 and the support frame 200.

[0043] In this embodiment, the presence of the eccentricity of the guide wheel 170 allows the height of any set of flexible lifting components 190 in the Z direction to be finely adjusted within 7mm (not limited). This range is sufficient to cover the accumulation of various errors caused by the operation of the lifting system, which can eliminate errors and thus ensure that the horizontal error of the lifting platform 30 in the X and Y directions is less than 1mm.

[0044] For details, see Figure 5 When the axis of the adjusting guide wheel 170 is above the rotating shaft of the adjusting guide wheel 170, the adjusting guide wheel 170 is in the high adjustment position; when the axis of the adjusting guide wheel 170 is below the rotating shaft of the adjusting guide wheel 170, the adjusting guide wheel 170 is in the low adjustment position. The adjusting guide wheel 170 can be fixed at any position between the high and low adjustment positions, thereby adjusting the length of the flexible lifting component 190 between the winch 140 and the support frame 200. For details, see [link to details]. Figure 3 and Figure 4 The adjusting guide wheel 170 can be rotatably connected to the winch bracket 150 via a shaft. After the position of the adjusting guide wheel 170 is adjusted, the shaft of the adjusting guide wheel 170 can be locked by a bolt and nut assembly or a buckle to prevent the adjusting guide wheel 170 from continuing to rotate.

[0045] See Figure 4When the guide wheel 170 rotates, it can be fixed at any position between the high adjustment position (left side) and the low adjustment position (right side). Taking the high adjustment position and the low adjustment position as examples, when the support frame 200 is at a certain height and remains unchanged: among the two flexible lifting components 190 fixed to the same support frame 200, when in the high adjustment position, the lengths of the two flexible lifting components 190 between the winch wheel 140 and the support frame 200 are L1 and L2, corresponding to the support frame 200 being lifted to the highest point; when in the low adjustment position, the lengths of the two flexible lifting components 190 between the winch wheel 140 and the support frame 200 are L1' and L2', corresponding to the support frame 200 being lowered to the lowest point; the maximum adjustment limit of the vertical height of the support frame 200 is: (L1+L2)-(L1'+L2')=2e, where e represents the eccentricity between the rotating shaft of the guide wheel 170 and its own axis.

[0046] When the guide wheel 170 is in other positions, the hoisting height of the flexible lifting component 190 can be adjusted between 0 and 2e.

[0047] See Figure 5 Among all the flexible lifting components 190 fixed to the same support frame 200, the lengths of the flexible lifting components 190 between the winch 140 and the support frame 200 are different, thereby enabling the inclined support frame 200 to be adjusted to a horizontal position.

[0048] As attached Figure 5 As shown in the attached figure, the function of the adjusting guide wheel 170 is further illustrated. When the support frame 200 is in a certain position, both adjusting guide wheels 170 are in the low adjustment position. The flexible lifting component 190 passing through the two adjusting guide wheels 170 is hoisted to different heights, resulting in a height difference Δp. At this time, the support frame 200 is tilted. Since the flexible lifting component 190 is in a vertical state, the hoisting height of the flexible lifting component 190 is the length of the flexible lifting component 190 between the winch wheel 140 and the support frame 200. To readjust the support frame 200 to a horizontal state, one of the adjusting guide wheels 170 can be kept unchanged, while the other adjusting guide wheel 170 (right side in the figure) can be slowly rotated from the low adjustment position to the high adjustment position. At this time, the hoisting height of the flexible lifting component 190 passing through the adjusting guide wheel 170 (right side in the figure) will slowly rise, causing the corresponding side of the support frame 200 to slowly rise, eventually bringing the support frame 200 back to a horizontal position.

[0049] In this embodiment, see Figure 4 and Figure 5When the support frame 200 tilts due to uneven load or initial installation deviation, the operator can adjust the adjusting guide wheels 170 connected to different positions on the support frame 200 according to the tilt condition. By rotating the adjusting guide wheels 170, the effective length of the flexible lifting component between the winch wheel 140 and the support frame 200 can be changed using the eccentricity between its axis and its own axis. Since the adjusting guide wheels 170 can be fixed at any position between the high and low adjustment positions, precise and continuous adjustment of the length of the flexible lifting component can be achieved. By making differentiated length adjustments to different flexible lifting components connected to the same support frame 200, the tilt of the support frame 200 can be accurately compensated, adjusting it from a tilted state to a horizontal state, significantly improving the stability of the transport shuttle during lifting operations, and ensuring the smooth operation and efficient operation of the lifting platform 30.

[0050] As an alternative implementation, see [link to implementation details]. Figure 4 and Figure 5 When the support frame 200 is tilted relative to the horizontal plane and both adjusting guide wheels 170 are in the high or low adjustment position, there is a height difference Δp between the two ends of the support frame 200. The eccentricity e between the rotating shaft of the adjusting guide wheel 170 and its own axis must satisfy: 2e≥Δpmax, where Δpmax represents the theoretical maximum height difference between the two ends of the support frame 200.

[0051] It should be noted that, in actual setup, various errors, including winch winding error, shaft deformation error, deformation error of the flexible lifting component 190, and assembly error, were fully considered. The selection of the center distance e was repeatedly verified to ensure that the adjustment range and the theoretical maximum height difference Δpmax satisfy: 2e ≥ Δpmax. The attached diagram is only for explaining how the adjusting guide wheel 170 functions, and does not specifically indicate that in actual application, the support frame 200 will exhibit a tilt degree exactly consistent with the scale of the attached diagram.

[0052] The above structure ensures that, regardless of the degree of tilt that the support frame 200 may exhibit during actual operation (within the theoretical maximum tilt range), the lifting mechanism has sufficient adjustment capability to adjust the support frame 200 to a horizontal state by adjusting the guide wheels 170. This avoids the problem of the lifting platform 30 not being completely horizontal due to insufficient adjustment range, and improves the stability and safety of the transport shuttle during the storage and retrieval of goods.

[0053] As an alternative implementation, see [link to implementation details]. Figure 3 and Figure 6As shown, the connecting shaft 160 is a hollow structure with a shaft cavity. A cable management hole 161 is provided on the side wall of the connecting shaft 160, and the cable management hole 161 communicates with the shaft cavity of the connecting shaft 160. The flexible lifting component 190 has a conductor steel wire rope inside. The conductor steel wire rope passes through the cable management hole 161 and extends from the end of the connecting shaft 160. The conductor steel wire rope is used as a cable for electrical connection.

[0054] To achieve the timing control and operation of the various drive units within the lifting platform 30, the flexible lifting component 190 contains at least two pairs of conductor steel wire ropes. These steel wire ropes serve three purposes: first, they enhance strength, providing the flexible lifting component 190 with additional tensile strength, serving as the main load-bearing core structure and significantly improving the reliability of the lifting platform 30 during hoisting; second, they transmit energy, establishing an electrical circuit between the first integrated cabinet 10, the second integrated cabinet 20, and the lifting platform 30 to provide energy to the various drive units or energy storage structures within the lifting platform 30, enabling the platform to operate independently; third, they transmit signals, establishing a signal transmission mechanism between the first integrated cabinet 10, the second integrated cabinet 20, and the lifting platform 30, helping the control unit to achieve timing control of the lifting platform 30's operation process and to process and feedback data from sensors.

[0055] Furthermore, since one end of the flexible lifting component 190 is fixedly connected to the winch 140, and the winch 140 will drive the end to rotate, this is not conducive to end wiring. Therefore, as shown in the attached... Figure 3 and attached Figure 6 As shown, the hub 180 is installed at the left end of the figure. When the winch 140 is running, the end of the flexible lifting component 190 on it rotates around the axis of the connecting shaft 160, so the conductor steel wire rope inside the flexible lifting component 190 always makes circular motion. At this time, the cable is passed through the cable management hole 161 and arranged according to... Figure 6 The direction shown indicates that the cable extends from the end of the connecting shaft 160. The end wire rope of the flexible lifting component 190 extends from one side of the connecting shaft 160 through the cable management hole 161, enters the hub 180, and is further connected to the energy storage device or control device from the fixed port after being converted by the hub 180. This ensures that the cable on the flexible lifting component 190 will not get tangled on the connecting shaft 160 when the winch rotates. In this process, the hub 180 has a rotatable connection port and a fixed connection port. The rotatable port is connected to the shaft of the winch wheel 140. The wire rope enters the shaft of the winch wheel 140 through the cable management hole 161 and connects to the rotatable port, thereby converting the input of the rotational motion of the end wire rope into the output of the fixed end. In this way, the cable will not get tangled on the connecting shaft 160 when the winch wheel 140 is running, thus protecting the entire lifting drive mechanism 100.

[0056] Furthermore, since the flexible lifting component 190 has a large cross-section, it is not suitable to enter the cable management hole 161. In conventional settings, the steel wire rope at the end of the flexible lifting component 190 is usually exposed and coated with an insulating layer to avoid short circuits. At the same time, in order to ensure the insulation effect and avoid frictional wear caused by long-term operation of the equipment, an insulating layer is coated on the hole wall of the cable management hole 161 to further prevent electrical signal short circuits.

[0057] The resulting technical effect is that the above structure effectively simplifies the lifting structure of the lifting platform 30, and no longer relies on conventional vertical power supply devices such as drag chains, external cables, and sliding contact lines.

[0058] In this embodiment, the lower end of the flexible lifting component 190 is fixedly connected to the support frame 200 to support the lifting platform 30. To further improve the stability of the connection structure between the flexible lifting component 190 and the support frame 200, this embodiment provides a specific implementation of the support frame 200: As an alternative implementation, see [link to implementation details]. Figures 7-10 As shown, the support frame 200 of this embodiment includes a support protection plate 210, a support bearing plate 220, a support shaft 230, and a support beam 250. The support protection plate 210 and the support bearing plate 220 are both fixed to the shuttle car body, with the support protection plate 210 located on one side of the support bearing plate 220. The support beam 250 is fixed to the bottom of the lifting platform 30, and the support shaft 230 is fixed to the support beam 250. The lower end of the flexible lifting component 190 passes between the support protection plate 210, the support bearing plate 220, and the support shaft 230, and is wound and fixed to the support shaft 230. There are at least two support shafts 230, and the flexible lifting component 190 is wound sequentially around different support shafts 230. The support shafts 230 are arranged along the length direction of the support frame 200, and the support shafts 230 are spaced apart along a set direction perpendicular to the axial direction of the support shaft 230.

[0059] See Figure 7 and Figure 9 As shown, the flexible lifting component is installed via a support protection plate 210 and wound around a pair of support shafts 230. The support protection plate 210 is also installed on two main support plates placed under the lifting platform 30, and the bending radius of the support protection plate 210 itself is greater than the minimum winding radius required by the flexible lifting component 190.

[0060] The resulting technical effect is that the flexible lifting component 190 generates very little shear stress when bearing the load, and has a large supporting plane, which fully ensures the stability and reliability of the flexible lifting component 190 when bearing the weight of the lifting platform 30.

[0061] As an alternative implementation, see [link to implementation details]. Figure 7 and Figure 8 As shown, a retraction guide structure 211 is constructed on the support protection plate 210. The retraction guide structure 211 protrudes in the direction away from the flexible lifting component 190 and is used to preferentially contact the shuttle car body, thereby limiting the swing of the lifting drive mechanism 100.

[0062] See Figure 7 and Figure 8 As shown, the recovery guide structure 211 has a certain degree of elasticity. During the recovery process of the lifting drive mechanism 100, if the system swings in the Y direction, the recovery guide structure 211 will preferentially contact the corresponding guide structure on the shuttle car body, and gradually reduce the swing of the lifting drive mechanism 100 as its own shape and structure become less effective, until the lifting drive mechanism 100 completes recovery. This effectively avoids collisions and potential dangers during the recovery process. The support protection plate 210 serves both to protect the flexible lifting component 190 from being cut and to act as a recovery guide. In this embodiment, the recovery guide structure 211 effectively assists the entire system in stably retracting into the shuttle car while protecting the flexible lifting component.

[0063] See Figure 7 and Figure 8 As shown, both the support protection plate 210 and the recycling guide structure 211 in this embodiment contain large, intact planes with low roughness. The recycling guide structure 211 includes two bent inclined surfaces, forming an elastic protruding structure.

[0064] The resulting technical effects include: the support and protection plate 210 covers and encloses the flexible lifting component 190, so that when the lifting platform 30 swings slightly, the position of the flexible lifting component 190 is limited, and sharp edges are prevented from cutting the flexible lifting component 190.

[0065] Meanwhile, the recovery guide structure 211, as part of the support and protection plate 210, not only protects the flexible lifting component but also effectively assists the entire system in stably retracting into the shuttle. With this layout, the position of the recovery guide structure 211 in the X-direction during its guiding function is the same as the position of the flexible lifting component 190 protected by the main body of the support and protection plate 210 in the X-direction. This avoids the issue of protection and guidance acting sequentially, achieving real-time protection and guidance throughout the entire lifting process.

[0066] Furthermore, when the flexible lifting component 190 is wound around a pair of support shafts 230, the resulting winding layer consists of at least three layers, forming an effective fixing method through the friction between the winding layers.

[0067] As an optional implementation, since the interlayer friction of the flexible lifting component 190 depends on the center distance of a pair of support shafts 230, the support frame 200 also includes a self-aligning block 240 to fix the support shafts 230 to the platform frame structure while ensuring that the center distance remains unchanged.

[0068] The resulting technical effect is that the above structure separates the load-bearing and fixing functions of the flexible lifting component 190, forming two independent functional blocks, thus avoiding structural complexity or decreased reliability caused by functional integration. At the same time, the winding fixing method allows the end of the flexible lifting component 190 to extend freely after winding, providing a prerequisite for the wiring of the internal steel wire rope.

[0069] Furthermore, when the flexible lifting component 190 is fully extended or fully retracted, the lowering height of the lifting platform 30 can be steplessly adjusted within the rated working height range.

[0070] See Figures 7-10 As shown, the support frame 200 also includes a self-aligning block 240 and a fastening plate 260, wherein: two self-aligning blocks 240 are arranged at intervals along the axial direction of the support shaft 230, one self-aligning block 240 is fixed on the support beam 250, and the two self-aligning blocks 240 are fixed together by the fastening plate 260; the self-aligning block 240 is provided with a self-aligning hole 241, and the support shaft 230 passes through the corresponding self-aligning hole 241.

[0071] See Figure 7 and Figure 9 As shown, two self-aligning blocks 240 are mounted on the support shaft 230, which can effectively prevent the spacing between the support shafts 230 from changing after the flexible lifting component 190 is wrapped around the support shaft 230; at the same time, the fastening plate 260 is installed between the two self-aligning blocks 240, which not only plays a role in axial positioning, but also plays a role in pressing the flexible lifting component 190 to prevent it from loosening and falling off.

[0072] See Figure 9 and Figure 10 As shown, when the flexible lifting component 190 is wound around the support shaft 230, the number of layers wound on the two support shafts 230 is different because the flexible lifting component 190 is first wound on one side of the support shaft 230. In this embodiment, there is a height difference Δh between the two self-aligning holes 241 of the same self-aligning block 240, and the height difference Δh is equal to the thickness t of the flexible lifting component 190.

[0073] This height difference can compensate for the unevenness at the bottom of the flexible lifting component caused by the difference in the number of layers, and eliminate the risk of collision for the subsequent packaging base plate.

[0074] As attached Figure 9As shown, the self-aligning block 240 serves to connect the support shaft 230 and the support beam 250, adjust and fix the center distance of the support shaft 230, and strengthen the overall support frame 200 structural strength and rigidity.

[0075] As attached Figure 9 As shown, the support shaft 230 not only strengthens the overall support frame 200, but also winds the flexible lifting component 190 and fixes it on the lower support frame 200.

[0076] As attached Figure 7 Appendix Figure 8 Appendix Figure 9 As shown, in this structure, the wiring at the end of the flexible lifting component 190 can be naturally unwound from the winding of the support shaft 230, which facilitates subsequent wiring.

[0077] In the structural analysis described above, multiple parts perform multiple functions, and the structures of these parts are mostly rotating bodies, cubes, or sheet metal parts, further demonstrating the advantages of this invention in terms of integrated part functions and simplified part structures. Furthermore, this invention allows for modification of the lengths of the connecting shaft 160, support shaft 230, and support beam 250 to obtain different shuttle car dimensions in the X and Y directions, and modification of the length of the flexible lifting component 190 to obtain different maximum working heights in the Z direction of the shuttle car, further demonstrating the advantages of this invention in terms of standardized part processing and product serialization.

[0078] Example 2 See Figure 1 As shown, this embodiment also provides a shuttle, including a lifting platform 30 and an autonomous lifting mechanism for the aforementioned transport shuttle. The lifting platform 30 is fixed between two support frames 200. The lifting platform 30 is equipped with a material handling mechanism commonly used on shuttles to realize the transport of material boxes. As an essential and mature component of shuttles, it will not be described in detail here.

[0079] With the help of the autonomous lifting mechanism of the aforementioned transport shuttle, the shuttle in this embodiment can realize the transport of goods in different layers of the automated warehouse at the level of a single machine. This process is not dependent on the hoist, which greatly improves the efficiency of changing layers of the material boxes.

[0080] In this embodiment, the one-dimensional operation mode along the aisle direction is expanded to a two-dimensional operation mode that fully covers the vertical direction of the entire aisle. This allows the construction logic of the shuttle car automated warehouse to be designed based on vertical coverage, and the structure can be changed from a single cube structure to a multi-cube structure. Furthermore, it eliminates the need for a hoist, thereby comprehensively improving space utilization. The autonomous lifting mechanism of the shuttle car in this invention employs highly integrated component settings. The core components include multiple functions such as support, guidance, positioning, and protection. Moreover, most components are easily processed structures such as rotating bodies, cubes, and sheet metal parts. This not only achieves functional integration of components but also further simplifies the component structure and reduces the weight of the support structure, laying the foundation for the efficient operation of the shuttle car lifting system.

[0081] In the description of this invention, the shuttle structure components and structural features not included in the illustrations, such as screws, nuts, wiring, weight-reducing slots, wiring holes, etc., are merely simplifications and omissions made for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to does not require these additional components or additional structural features to perform or optimize its function in this invention, and therefore should not be construed as a limitation of this invention.

[0082] In the description of this invention, shuttle components not included in the illustrations, such as terminals, drivers, converters, antennas, power supplies, etc., are only indicated to show that these components must be present to satisfy the function of the shuttle, but there are no special requirements for their specific installation positions. Provided that they do not collide or interfere with other components, they can be arranged relatively freely within the installation range as appropriate, and therefore should not be construed as a limitation of this invention.

[0083] The specific features, structures, or characteristics described in this specification may be combined in any suitable manner in one or more embodiments or examples.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An autonomous lifting mechanism for a transport shuttle, characterized in that, The system includes a lifting drive mechanism and a support frame. The lifting drive mechanism comprises a winch power unit, a drive bracket, a winch device, a winch support, an adjusting guide wheel, and a flexible lifting component, wherein: The drive bracket and the winch bracket are fixed to the body of the shuttle car. The winch power device is fixed to the drive bracket. The winch power device is connected to a connecting shaft. The connecting shaft is rotatable about its own axis. At least two winch devices are fixed to the same connecting shaft. The adjusting guide wheel is mounted on the winch bracket, the upper end of the flexible lifting component is fixed to the winch device, the flexible lifting component hangs vertically after passing around the winch device and the adjusting guide wheel in sequence, and the lower end of the flexible lifting component is fixedly connected to the support frame, which is used to fix the lifting platform. The winch device includes a winch wheel, which is fixed to the connecting shaft, and at least two winches are arranged at intervals along the axial direction of the connecting shaft. The adjusting guide wheel has a rotation adjustment state. When in the rotation adjustment state, there is an eccentricity between the rotation axis of the adjusting guide wheel and the axis of the adjusting guide wheel. When the axis of the adjusting guide wheel is above the rotation axis of the adjusting guide wheel, the adjusting guide wheel is in the high adjustment position; when the axis of the adjusting guide wheel is below the rotation axis of the adjusting guide wheel, the adjusting guide wheel is in the low adjustment position. The adjusting guide wheel can be fixed at any position between the high adjustment position and the low adjustment position, thereby adjusting the length of the flexible lifting component between the winch and the support frame. In all the flexible lifting components fixed to the same support frame, the lengths of the flexible lifting components between the winch and the support frame are different, thereby enabling the tilted support frame to be adjusted to a horizontal position.

2. The autonomous lifting mechanism of the transport shuttle according to claim 1, characterized in that, The number of lifting drive mechanisms is at least two sets, and they are located on opposite sides of the lifting platform, respectively; The number of support frames is at least two, and they are respectively fixed on opposite sides of the lifting platform. Each support frame is fixedly connected to two or more flexible lifting components.

3. The autonomous lifting mechanism of the transport shuttle according to claim 1, characterized in that, Of the two flexible lifting components fixed to the same support frame: When in the adjusted high position, the lengths of the two flexible lifting components between the winch and the support frame are L1 and L2, respectively, corresponding to the support frame being lifted to the highest point; When in the adjusted low position, the lengths of the two flexible lifting components between the winch and the support frame are L1' and L2', corresponding to the support frame being lowered to its lowest point; The maximum adjustment limit for the vertical height of the support frame is: (L1+L2)-(L1'+L2')=2e, where e represents the eccentricity between the axis of the adjusting guide wheel and its own axis.

4. The autonomous lifting mechanism of the transport shuttle according to claim 3, characterized in that, When the support frame is tilted relative to the horizontal plane, and both of the two adjustment guide wheels are in the high adjustment position or the low adjustment position, there is a height difference Δp between the two ends of the support frame. The eccentricity e between the shaft of the adjusting guide wheel and its own axis must satisfy: 2e≥Δpmax, where Δpmax represents the theoretical maximum height difference between the two ends of the support frame.

5. The autonomous lifting mechanism of the transport shuttle according to claim 1, characterized in that, The support frame includes a support protection plate, a support bearing plate, a support shaft, and a support beam, wherein: Both the support protection plate and the support bearing plate are fixed to the shuttle car body, and the support protection plate is located on one side of the support bearing plate; The support beam is fixed to the bottom of the lifting platform, the support shaft is fixed to the support beam, and the lower end of the flexible lifting component passes through the support protection plate, the support bearing plate and the support shaft, and is wrapped and fixed to the support shaft. The number of support shafts is at least two, and the flexible lifting component is wound sequentially around different support shafts. The support shafts are arranged along the length direction of the support frame, and the support shafts are arranged at intervals along a set direction, which is perpendicular to the axial direction of the support shaft.

6. The autonomous lifting mechanism of the transport shuttle according to claim 5, characterized in that, The support frame also includes a self-aligning block and a fastening plate, wherein: Two self-aligning blocks are arranged at intervals along the axial direction of the support shaft, one of the self-aligning blocks is fixed to the support beam, and the two self-aligning blocks are fixed together by the fastening plate; The self-aligning block is provided with a self-aligning hole, and the support shaft passes through the corresponding self-aligning hole; There is a height difference Δh between the two self-aligning holes of the same self-aligning block, and the height difference Δh is equal to the thickness t of the flexible lifting component.

7. The autonomous lifting mechanism of the transport shuttle according to claim 5, characterized in that, The support protection plate is provided with a retraction guide structure, which protrudes in a direction away from the flexible lifting component and is used to preferentially contact the shuttle car body, thereby limiting the swing of the lifting drive mechanism.

8. The autonomous lifting mechanism of the transport shuttle according to claim 1, characterized in that, The connecting shaft is a hollow structure with a shaft cavity, and a cable management hole is provided on the side wall of the connecting shaft, which communicates with the shaft cavity of the connecting shaft; The flexible lifting component has a conductor steel wire rope that extends from the end of the connecting shaft through the cable management hole and serves as an electrical connection cable.

9. A shuttle vehicle, characterized in that, It includes a lifting platform and an autonomous lifting mechanism for the transport shuttle as described in any one of claims 1-8, wherein the lifting platform is fixed between the two support frames.

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