Four-way vehicle based on cam mechanism

Abstract

The utility model discloses a four-way vehicle based on a cam mechanism, which belongs to the technical field of logistics equipment and comprises a main vehicle frame and an auxiliary vehicle frame which slide up and down, traveling wheels are respectively mounted on the main vehicle frame and the auxiliary vehicle frame, a synchronous reversing component comprising a cam is mounted in the main vehicle frame, a closed arc groove is formed in the cam, a cam follower is mounted in the cam, and the cam is connected with the auxiliary vehicle frame; a jacking bearing is installed on the back face of the cam, a jacking plate comprising a linear bearing is arranged in the upper space of the cam, when the cam is driven to rotate, height adjustment of the auxiliary frame is achieved through curvature changes of an arc groove, high-low switching of the traveling wheels is completed, meanwhile, jacking of the jacking plate is achieved through cooperative rotation of the jacking bearing on the back face of the cam, and therefore goods are jacked up. Through the conversion of the main frame and the auxiliary frame in the vertical direction, the running wheels in a certain direction are in contact with high and low running rails, and the purposes of reversing and running are achieved. And a jacking plate linked with the synchronous reversing assembly is arranged on the frame, so that the trays are jacked up and put down.

Description

Technical Field

[0001] The utility model relates to logistics equipment, in particular to a four-way vehicle based on a cam mechanism. Background Art

[0002] The four-way shuttle is a high-tech warehousing and logistics equipment that integrates automatic handling, unmanned guidance, and intelligent control, providing intelligent and efficient cargo transportation for Industry 4.0. The four-way shuttle can be programmed to carry out operations such as picking up, transporting, and placing goods in the three-dimensional warehouse, and can communicate with the host computer or WMS system. Combined with logistics information technology such as barcode recognition, it can realize functions such as automatic identification of goods, single storage and retrieval, continuous storage and retrieval, and automatic tallying.

[0003] In the prior art, hydraulic systems or gear sets are mostly used to achieve the switching of driving wheels and the lifting and lowering of jacking plates. The former has many oil pipes and joints, and the seals are prone to oil leakage and contamination of goods after aging, and multiple sets of hydraulic jacking cannot achieve high synchronization at a low cost; the latter has densely cross-arranged gear sets in a small space, which is difficult to assemble, lubricate and maintain, and the cost is relatively high.

[0004] CN115158946B is a four-way shuttle vehicle with linkage lifting and reversing. A servo motor is arranged in the vehicle frame. A set of reversing lifting cam and lifting cam are respectively mounted on both ends of the driving shaft. The bottom of the lifting plate is fixedly connected to the second needle bearing, and the second needle bearing is vertically against the outer surface of the lifting cam. An eccentric sleeve is coaxially connected to the lifting cam, and a first needle bearing is mounted on the eccentric shaft of the eccentric sleeve. The first needle bearing is nested in the reversing groove of the reversing lifting cam. The shaft ends of two adjacent groups of transverse wheel assemblies are fixedly connected to the transverse wheel connecting rod, and each group of reversing lifting cam is fixedly connected to the transverse wheel connecting rod. The reversing groove has continuous arc segments and straight line segments. When the driving shaft rotates, the lifting cam rotates synchronously with the eccentric sleeve. The reversing lifting cam is transmitted to the reversing through the guide sleeve. The mechanism structure based on two cams is still complicated, and an eccentric sleeve is required. There are still problems of precision matching in installation and adjustment, which need further optimization. Utility Model Content

[0005] In order to overcome the above technical problems, the utility model provides a four-way vehicle based on a cam mechanism, and its technical solution is as follows.

[0006] A four-way vehicle based on a cam mechanism comprises a main frame and an auxiliary frame which slide up and down, and travel wheels are respectively mounted on the main frame; a synchronous reversing assembly containing a cam is mounted inside the main frame, a closed arc groove is arranged on the cam, a cam follower is mounted inside the cam and connected to the auxiliary frame; a lifting bearing is mounted on the back of the cam, and a lifting plate containing a linear bearing is arranged in the upper space of the cam; when the cam is driven to rotate, the height of the auxiliary frame is adjusted by relying on the change in the curvature of the arc groove, and the height switching of the travel wheels is completed while the lifting bearing on the back of the cam rotates in coordination, so that the lifting of the lifting plate is realized, thereby lifting the goods.

[0007] Furthermore, there are four synchronous reversing components, which are arranged at the four corners of the main frame.

[0008] Furthermore, the synchronous reversing components are grouped in pairs and driven by a through-shaft.

[0009] Furthermore, a mounting seat is provided on the auxiliary frame, and a cam follower is fixed on the mounting seat.

[0010] Furthermore, the center line of the cam groove is composed of arc A and arc B, wherein arc A is concentric with the cam mounting center hole, arc B is tangent to arc A, and arc B has a radius greater than arc A and is not concentric with arc A.

[0011] Furthermore, the cam assembly is a split structure, and the cam assembly is composed of a mounting block and a cam body.

[0012] Furthermore, the cam groove is a non-through groove or a through groove.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] (1) The main and auxiliary frames are equipped with driving wheels in two directions respectively. By changing the main and auxiliary frames in the vertical direction, the driving wheels in one direction can contact the high and low driving tracks to achieve the purpose of reversing and driving. The frame is equipped with a lifting plate that is linked to the synchronous reversing component to lift and lower the pallet, and cooperate with the driving in two directions to achieve the purpose of taking and putting the pallet on it.

[0015] (2) The switching of driving and lifting is completed based on the cam mechanism, which has high space utilization. It can effectively utilize the warehouse space, drive in two directions in a narrow lane, maximize the storage density and make full use of the available space in the warehouse.

[0016] (3) A single cam with a closed groove inside is used, and one component realizes the functions of multiple cam mechanisms. There is no complex mechanical structure, high reliability, simple assembly, easy lubrication and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is an overall schematic diagram of the utility model;

[0018] Figure 2 is a schematic diagram of a synchronous commutation assembly;

[0019] Figure 3 It is the front view of the cam;

[0020] Figure 4 It is the layout relationship diagram of the synchronous reversing assembly and the jacking plate;

[0021] Figure 5 It is a schematic diagram of the synchronous reversing assembly of the four-way vehicle posture at one time;

[0022] Figure 6 is a schematic diagram of the synchronous reversing assembly of the four-way vehicle in attitude two;

[0023] Figure 7 It is a schematic diagram of the synchronous switching assembly of the four-way vehicle in the third posture. DETAILED DESCRIPTION

[0024] The utility model is further explained below in conjunction with the accompanying drawings.

[0025] like Figure 1 As shown, a four-way shuttle vehicle is composed of a main frame and an auxiliary frame that can slide up and down, and two sets of running wheels are installed on them respectively. The vertical position adjustment between the frames is realized by relying on the synchronous reversing assembly installed on the main frame, and the height switching of the wheel set is completed, so that only one direction of the wheel set contacts the lower guide rail during driving, and the other set of wheel sets is suspended. A synchronous reversing assembly with a cam structure is installed in the main frame, arranged at the four corners of the main frame, and each two are driven by a common through shaft to achieve good synchronization. A closed arc groove is provided on the cam, and a cam follower is installed inside and connected to the auxiliary frame; a lifting bearing is installed on the back of the cam, and a lifting plate with a linear bearing is provided in the upper space thereof. When the driving cam rotates, the height adjustment of the auxiliary frame is realized by relying on the curvature change of the arc groove, and the height switching of the wheel set is completed. At the same time, due to the coordinated rotation of the lifting bearing on the back of the cam, the lifting of the lifting plate is realized, thereby lifting the goods.

[0026] like Figure 2 , Figure 3 As shown, the synchronous reversing assembly 1 is composed of: a mounting base 1-1 installed on the auxiliary frame; a cam follower 1-2 installed inside the mounting base 1-1, and the other end of the follower is inserted into a cam groove 1-3 provided on a cam assembly 1-4 installed on the main frame, and the center line of the cam groove 1-3 is composed of an arc A and an arc B, wherein the arc A is concentric with the cam mounting center hole 1-42, the arc B is tangent to the arc A, and the radius of the arc B is greater than the arc A and is not concentric with the arc A.

[0027] The bearing 1-5 installed at the rear of the cam assembly 1-4 swings up and down as the cam rotates. When it moves upward, it is used to contact the lifting plate 2-1 and lift it up. When it rotates downward, it is disengaged from the lifting plate 2-1, and the lifting plate 2-1 can slide downward by gravity.

[0028] The cam assembly 1-4 can be an integral or split structure, such as using the 1-41 mounting block and the 1-42 cam body to be assembled together to form the cam 1-4.

[0029] The cam groove 1-3 can be a non-through groove, as shown in the figure, or a through groove. The lower arc 1-33 of the cam groove 1-3 supports the sub-frame by contacting the cam follower 1-2 and limits the position of the sub-frame.

[0030] like Figure 4 As shown, the synchronous reversing assembly and the tray lifting plate assembly are arranged as follows: 4 synchronous reversing assemblies are arranged at the four corners of the main frame, and every two of them share a driving shaft 2-2 that penetrates the cam assembly 1-4. A lifting plate 2-1 is arranged above the bearing 1-5 at the rear of the cam assembly 1-4, and a guide column 2-3 is arranged below the lifting plate. The guidance is achieved by a linear bearing installed on the main frame. When the bearing 1-5 swings upward as the cam assembly 1-4 rotates, the lifting plate 2-1 is pushed up, otherwise the lifting plate falls due to gravity.

[0031] There are three postures of four-way vehicles. Figure 5 As shown, posture 1: when the travel wheel on the main frame contacts the guide rail, the travel in this direction can be completed, and the synchronous reversing assembly is in a horizontal posture. The arc groove on the front of the inner cam takes the cam rotary axis as the center of the circle. The cam follower in the groove is connected to the auxiliary frame, and the cam follower is hung at the bottom of the groove, and the auxiliary frame is stationary. The bearing on the back of the cam is at a low position, and the lifting plate is also at a low position due to the gravity. At this time, the four-way vehicle can travel under the pallet.

[0032] like Figure 6 As shown, posture two: when the traveling wheel on the main frame contacts the guide rail, the travel in this direction can be completed, the synchronous reversing assembly rotates upward, and the bearing on the back of the cam swings upward to contact the jacking plate, so that the jacking plate above it is lifted and the goods are lifted. This section of the arc groove on the front of the cam takes the cam rotating shaft as the center of the circle, and the cam follower in the groove is connected to the auxiliary frame. Since the radius remains unchanged, the cam follower is hung at the bottom of the groove, and the auxiliary frame is stationary, and the lifting of the jacking plate is realized alone. At this time, the four-way vehicle can lift the pallet in the aisle.

[0033] like Figure 7As shown, posture three: the traveling wheel on the main frame contacts the guide rail, the synchronous reversing assembly rotates downward, the bearing on the back of the cam swings downward and separates from the lifting plate, and the lifting plate is also at a low position due to the action of gravity. This section of the arc groove on the front of the cam is not centered on the cam rotating axis, and the cam follower in the groove is connected to the auxiliary frame. Due to the change in radius, the bearing on the cam divider rolls downward along the cam groove and pushes the auxiliary frame to slide downward, so that the originally suspended wheel group contacts the guide rail. At this time, all the wheel groups in both directions contact the guide rail, which is the reversing preparation posture. The cam continues to rotate downward, and the auxiliary frame continues to slide downward to lift the main frame, so that the traveling wheels on the main frame are suspended, and the traveling wheels on the auxiliary frame contact the guide rail to complete the reversing between the wheels.

Claims

1. A four-way vehicle based on a cam mechanism, characterized in that: It comprises a main frame and an auxiliary frame which slide up and down, and driving wheels are respectively mounted on the main frame; a synchronous reversing assembly containing a cam is mounted inside the main frame, a closed arc groove is arranged on the cam, a cam follower is mounted inside the cam and connected to the auxiliary frame; a lifting bearing is mounted on the back of the cam, and a lifting plate containing a linear bearing is arranged in the upper space of the cam; when the driving cam is rotated, the height of the auxiliary frame is adjusted by relying on the change of the curvature of the arc groove, and the height switching of the driving wheels is completed while the lifting bearing on the back of the cam rotates in coordination, so as to lift the lifting plate and thus lift the goods.

2. The four-way vehicle based on the cam mechanism according to claim 1, characterized in that: There are four synchronous reversing components arranged at the four corners of the main frame.

3. The four-way vehicle based on the cam mechanism according to claim 1, characterized in that: The synchronous reversing components are grouped in pairs and driven by a through shaft.

4. The four-way vehicle based on the cam mechanism according to claim 1, characterized in that: The auxiliary vehicle frame is provided with a mounting seat, on which a cam follower is fixed.

5. The four-way vehicle based on the cam mechanism according to claim 1, characterized in that: The center line of the arc groove is composed of arc A and arc B, wherein arc A is concentric with the cam installation center hole, arc B is tangent to arc A, and arc B has a radius greater than arc A and is not concentric with arc A.

6. The four-way vehicle based on the cam mechanism according to claim 1, characterized in that: The synchronous reversing assembly containing the cam is a split structure, and the cam assembly is composed of a mounting block and a cam body.

7. The four-way vehicle based on the cam mechanism according to claim 1, characterized in that: The arc groove is a non-through groove or a through groove.

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