A centering structure for a shuttle vehicle

Abstract

The utility model discloses a centering structure of a shuttle vehicle, including a plurality of guide assemblies arranged on both sides of the shuttle vehicle and abutting against tracks, the guide assemblies including an elastic connecting rod, a sliding connecting rod and a guide wheel, one end of the sliding connecting rod is slidably connected to the side wall of the shuttle vehicle, and the other end of the sliding connecting rod is rotationally connected to the guide wheel; one end of the elastic connecting rod is connected to the side wall of the shuttle vehicle, and the other end of the elastic connecting rod is rotationally connected to the guide wheel; the sliding connecting rod pulls the elastic connecting rod in an elastically stressed state or a just unstressed state. The utility model has a wide range of applications, can adapt to a variety of track lines to realize automatic centering operation calibration of the shuttle vehicle, and can effectively improve the centering stability of the vehicle's running posture.

Description

Technical Field

[0001] The utility model belongs to the technical field of shuttle vehicles, and in particular relates to a centering structure of a shuttle vehicle. Background Art

[0002] In the daily operations of warehousing and logistics, more and more factories are using integrated automation systems that combine shuttles with shelves to replace traditional warehousing and logistics operations, and the four-way shuttle system is particularly outstanding for its higher construction economy.

[0003] In the four-way shuttle system, the four-way shuttle shuttle shuttles through the shelves, and changes from X-direction driving to Y-direction driving by switching the driving wheel group. When driving in the X-direction, in order to ensure the straight line consistency of the vehicle's driving, guide wheels fixed around the vehicle body are often used to achieve the guiding function. Therefore, due to the structural form of the fixed guide wheel, the vehicle cannot always fit tightly with the side wall of the shelf guide rail during operation, and the straightness of the vehicle's operation cannot be guaranteed; as a result, when some projects (such as large-scale logistics sorting projects) require vehicles to transport goods multiple times, the cargo pallets are prone to lateral deviation accumulation, and cargo pallet collapse accidents occur because the vehicle's pickup and delivery positions cannot be guaranteed to be completely centered and straight. However, due to the high-density storage design and implementation of the four-way shuttle system, fault rescue work is difficult and difficult to handle.

[0004] The traditional elastic guide design (such as the published utility model 201821142547.5) uses compression springs to achieve elastic direction expansion and contraction control, so that the vehicle can run in the center of the track. In actual application, this technical solution is limited to one type of track driving, and does not have the centering function after the vehicle alternately drives on the cross track. The guide mechanism is easily impacted from the track direction during the track switching process, which reduces its service life. Utility Model Content

[0005] The utility model aims to provide a centering structure for a shuttle vehicle, which has a wide range of applications and can be adapted to a variety of track lines to achieve automatic centering operation calibration of the shuttle vehicle, and can effectively improve the centering stability of the vehicle's running posture.

[0006] The technical solution adopted by the utility model to solve its technical problem is to propose a centering structure of a shuttle, including a plurality of guide components arranged on both sides of the shuttle and abutting against the track, the guide components including an elastic connecting rod, a sliding connecting rod and a guide wheel, one end of the sliding connecting rod is slidably connected to the side wall of the shuttle, and the other end of the sliding connecting rod is rotatably connected to the guide wheel; one end of the elastic connecting rod is connected to the side wall of the shuttle, and the other end of the elastic connecting rod is rotatably connected to the guide wheel; the sliding connecting rod pulls the elastic connecting rod to be in an elastically stressed state or a just unstressed state.

[0007] Furthermore, the fixed end of the elastic connecting rod is fixedly connected to the side wall of the shuttle, and the elastic end of the elastic connecting rod is rotatably connected to the guide wheel.

[0008] Furthermore, a strip-shaped long hole is provided on the side wall of the shuttle vehicle, and one end of the sliding connecting rod is slidably arranged in the long hole, so that one end of the sliding connecting rod slides in the long hole without falling off.

[0009] Furthermore, an elastic support structure is provided between the elastic connecting rod and the side wall of the shuttle; the elastic support structures of the guide assemblies on both sides of the shuttle have the same initial compression state and the same elastic force. The elastic support structure may be an elastic plate, a compression spring, a torsion spring, etc.

[0010] Furthermore, the elastic connecting rod and the sliding connecting rod jointly support the guide wheel, and when the guide wheel abuts against the track, the elastic connecting rod is squeezed toward the direction close to the shuttle.

[0011] Furthermore, at least four of the guide components are included, and the four guide components are respectively arranged at both ends of the two side walls of the shuttle vehicle corresponding to the track.

[0012] Furthermore, the guide assembly also includes a guide fixing block, which is fixed to the end parts of the two side walls of the shuttle vehicle corresponding to the track, and the guide fixing block has a built-in pin shaft, one end of the elastic connecting rod is rotatably set on the pin shaft, and a torsion spring is sleeved on the pin shaft, and the torsion spring is used to elastically support the elastic connecting rod.

[0013] Furthermore, the guide assembly also includes a connecting rod fixing block, which is fixed on the side wall of the shuttle vehicle inside the guide fixing block. A strip-shaped sliding hole is opened on the connecting rod fixing block, and one end of the sliding connecting rod is slidably arranged in the sliding hole.

[0014] Furthermore, a linkage shaft is arranged on the other end of the elastic connecting rod, the other end of the sliding connecting rod is rotatably arranged on the linkage shaft, and the guide wheel is assembled on the linkage shaft.

[0015] Furthermore, a buffer block protruding outward is provided at the outer end of the guide fixing block.

[0016] The beneficial effects of the utility model are:

[0017] The utility model proposes a centering structure for a shuttle vehicle, in which a plurality of guide components with elastic supporting effect are arranged on both sides of the shuttle vehicle, and the guide components on both sides elastically push the vehicle body until the elastic pressure on both sides is consistent, so that the shuttle vehicle can be automatically centered and calibrated during operation, thereby improving the centering stability of the vehicle's operating posture.

[0018] The centering structure of the present application can effectively reduce the lateral deviation caused by uneven load force during repeated storage and retrieval of pallet cargo, so that the vehicle is always in a centered operating posture, improve the fault tolerance of the vehicle for repeated transshipment of cargo, and reduce the risk of operational failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated into the specification and constitute a part of the specification, illustrate embodiments of the utility model and are used together with the description to explain the principles of the utility model. In these drawings, similar reference numerals are used to represent similar elements. The drawings described below are some embodiments of the utility model, rather than all embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is an assembly effect diagram of a centering structure of a shuttle vehicle according to an embodiment of the utility model;

[0021] Figure 2 For the utility model embodiment Figure 1 A magnified view of the structure at A in FIG.

[0022] Figure 3 A side view of a centering structure of a shuttle vehicle according to an embodiment of the utility model;

[0023] Figure 4 For the utility model embodiment Figure 3 A magnified view of the structure at B in FIG.

[0024] In the figure: 1. guide assembly; 2. guide fixing block; 3. pin shaft; 4. torsion spring; 5. first connecting rod; 6. guide wheel; 7. second connecting rod; 8. connecting rod fixing block; 9. shuttle; 51. linkage shaft; 81. sliding hole; 91. buffer block. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the embodiments of the utility model and the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work. In addition, the design orientation only represents the relative position relationship between the components, not the absolute position relationship.

[0026] The present invention provides a centering structure for a shuttle vehicle. Figure 1 , Figure 2 , Figure 3 , Figure 4 , mainly includes a plurality of guide components 1 arranged on both sides of the shuttle 9 and abutting against the track, the guide component 1 includes an elastic connecting rod, a sliding connecting rod and a guide wheel 6, one end of the sliding connecting rod is slidably connected to the side wall of the shuttle 9, and the other end of the sliding connecting rod is rotatably connected to the guide wheel 6; one end of the elastic connecting rod is connected to the side wall of the shuttle 9, and the other end of the elastic connecting rod is rotatably connected to the guide wheel 6; the sliding connecting rod pulls the elastic connecting rod in an elastically stressed state or a just unstressed state.

[0027] In the present application, the guide assembly 1 is arranged between the side wall of the shuttle 9 and the track, and is an elastic supporting structure. The guide assembly 1 is arranged on both sides of the shuttle 9. When the elastic pressure on both sides is uneven, the side with strong elastic force will push the shuttle 9 to the side with weak elastic force, thereby realizing automatic centering calibration.

[0028] In the present application, the guide assembly 1 mainly includes an elastic connecting rod, a sliding connecting rod and a guide wheel 6. The guide wheel 6 is jointly supported by the elastic connecting rod and the sliding connecting rod. When the guide wheel 6 abuts against the track, the elastic connecting rod is squeezed in the direction close to the shuttle 9, that is, the connecting rod structure composed of the elastic connecting rod and the sliding connecting rod is squeezed. Due to the sliding setting of the sliding connecting rod, it can be laterally expanded or retracted on the side wall in a direction parallel to the side wall, so that the guide wheel 6 can achieve telescopic support in the direction perpendicular to the side wall.

[0029] The elastic connecting rod itself is elastic and / or an elastic supporting structure is provided between the elastic connecting rod and the side wall of the shuttle 9, so that the connecting rod structure of the guide assembly 1 elastically supports the guide wheel 6. When the guide wheels 6 on both sides of the shuttle 9 abut against the track, the connecting rod structure is elastically compressed according to the abutment force, and the shuttle 9 can be pushed to the center position under the joint action of the rebound forces on both sides until the rebound forces on both sides are balanced.

[0030] It can be understood that at least four guide components 1 should be included, and the four guide components 1 are respectively arranged at the two ends of the two side walls corresponding to the shuttle 9 and the track, such as Figure 1 As shown in , that is, a guide assembly 1 is provided at the front end and rear end of the upper side wall, and the front end and rear end of the lower side wall, and a buffer block 91 can be additionally provided on the front side wall and the rear side wall of the shuttle 9, and the buffer block 91 can be in an outwardly convex form.

[0031] Furthermore, the number of guide assemblies 1 carried on the two side walls can be increased, but it should be noted that the sum of the rebound forces of the elastic structures in all guide assemblies 1 carried on the two sides of the shuttle 9 should be the same, and is not limited to the same number of guide assemblies 1. Of course, the number of guide assemblies 1 on a single side wall is preferably more than two. Based on the requirement of the same rebound force on both sides, when the number of guide assemblies 1 on the upper side wall is two and the number of guide assemblies 1 on the lower side wall is three, the rebound force of a single guide assembly 1 on the upper side is greater than the rebound force of a single guide assembly 1 on the lower side.

[0032] In specific implementation, the elastic support of the guide wheel 6 by the connecting rod structure can have various forms, which can be specifically realized by various forms of elastic connecting rods. For example, the elastic connecting rod itself has elasticity, and the elastic connecting rod and the side wall have elasticity. Under the constraint of the sliding connecting rod, the guide wheel 6 can be elastically supported. The following will be explained by taking the example of setting the same number of guide components 1 on both sides of the shuttle 9.

[0033] In a specific embodiment, when the elastic connecting rod itself is an elastic structure, it can directly guide the wheel 6 to achieve elastic support, and the sliding connecting rod plays a protective role; the sliding connecting rod can constrain the guide wheel 6, effectively avoiding the safety hazard caused by the elastic connecting rod breaking or the guide wheel 6 being directly thrown out when it is separated from the elastic connecting rod.

[0034] Specifically, the elastic connecting rod is an elastic structure, such as an elastic plate (straight plate, arc plate, elastic folding plate, etc.), an elastic rod, etc. The fixed end of the elastic connecting rod is fixedly connected to the side wall of the shuttle 9, and the elastic end of the elastic connecting rod is rotatably connected to the guide wheel 6. A strip-shaped long hole is provided on the side wall of the shuttle 9, and one end of the sliding connecting rod is slidably provided in the long hole, so that one end of the sliding connecting rod slides in the long hole.

[0035] Exemplarily, the sliding connecting rod and the long hole may be in an axial coupling mode, where the sliding shaft slides in the long hole, and the sliding shaft is connected to the sliding connecting rod, thereby achieving the operating requirement that one end of the sliding connecting rod slides in the long hole.

[0036] In order to avoid elastic attenuation of the elastic connecting rod, an elastic support structure may be provided between the elastic connecting rod and the side wall of the shuttle 9. The elastic support structure may be an elastic plate, a compression spring, a torsion spring, etc. In view of the elastic properties of the elastic connecting rod itself, a compression spring, a torsion spring, etc. are preferably provided to elastically support it.

[0037] It is understandable that the initial compression states of the elastic support structures of the guide assemblies 1 on both sides of the shuttle 9 are the same, and the elastic forces of the elastic support structures are the same. Similarly, the elastic forces of the elastic connecting rods are also the same.

[0038] In a preferred embodiment, the elastic connecting rod itself is a rigid structure, and other elastic supporting structures can be used to realize elastic support for the guide wheel 6. At the same time, an intermediate structure can be arranged between the connecting rod structure and the side wall to realize detachable fixing.

[0039] Specifically, the guide assembly 1 also includes a guide fixing block 2 and a connecting rod fixing block 8, which are used to load the connecting rod structure; wherein the guide fixing block 2 is fixedly connected to the ends of the two side walls corresponding to the shuttle 9 and the track, and the guide fixing block 2 has a built-in pin shaft 3, one end of the elastic connecting rod is rotatably set on the pin shaft 3, and a torsion spring 4 is sleeved on the pin shaft 3, and the torsion spring 4 is used to elastically support the elastic connecting rod; the connecting rod fixing block 8 is fixed on the side wall of the shuttle 9 inside the guide fixing block 2, and a strip-shaped sliding hole 81 is opened on the connecting rod fixing block 8, and one end of the sliding connecting rod is slidably set in the sliding hole 81.

[0040] It is understandable that the relative positions of the guide fixing block 2 and the connecting rod fixing block 8 are not absolute and can be adjusted according to installation convenience, actual needs, etc.

[0041] For the assembly of the guide wheel 6 , a linkage shaft 51 is provided on the other end of the elastic link, the other end of the sliding link is rotatably disposed on the linkage shaft 51 , and the guide wheel 6 is assembled on the linkage shaft 51 .

[0042] For example, see Figure 2 , Figure 4 , the elastic connecting rod is the first connecting rod 5, the sliding connecting rod is the second connecting rod 7, and the first connecting rod 5 can be in the form of a kit, such as Figure 4 As shown in the figure, it includes two parallel sleeves and a connecting plate for connecting the two sleeves. The two parallel springboards are both rotatably sleeved on the pin shaft 3 and are respectively arranged at two sections of the pin shaft 3. The torsion spring 4 is arranged between the two sleeves of the first connecting rod 5 and is located in the middle of the pin shaft 3. One abutting end of the torsion spring 4 abuts against the connecting plate of the first connecting rod 5, and the other abutting end can directly abut against the side wall of the shuttle car 9, thereby realizing elastic support for the first connecting rod 5.

[0043] The second connecting rod 7 can be in the form of a side plate, which is arranged on one side of the sleeve plate. A linkage shaft 51 is arranged on one side of the sleeve plate. The side plate and the linkage shaft 51 are rotationally connected. After the linkage shaft 51 passes through the side plate, the guide wheel 6 can be assembled thereon.

[0044] It is understandable that the first connecting rod 5 and the second connecting rod 7 can have a variety of matching forms, and the guide wheel 6 can be mounted at the connection point or other suitable positions without affecting the lateral expansion and retraction of the connecting rod structure.

[0045] As a feasible embodiment, a buffer block 91 can be provided at the outer end of the guide fixing block 2. The buffer block 91 protrudes outward and is located on the front side wall and the rear side wall of the shuttle 9. Figure 1The buffer block 91 may be a rubber block, which can reduce the collision impact in the event of an emergency out-of-control state of the vehicle.

[0046] Based on the above two implementation methods of the connecting rod structure, the elastic connecting rods are constrained by the sliding connecting rods. As a preferred embodiment, the constraint of the sliding connecting rod on the elastic connecting rod can be in the following state: the sliding connecting rod pulls the elastic connecting rod in an elastically stressed state or a just unstressed state, wherein when the elastic connecting rod is in an elastically stressed state, the elastic force is a rebound force, and the rebound force should not be too large.

[0047] It is understandable that when the number of guide assemblies 1 on both sides of the shuttle 9 is different, the elastic force of the elastic connecting rod should be adjusted to meet the use requirements.

[0048] When a centering structure of the present application is applied to a shuttle vehicle, guide assemblies 1 are provided on both sides of the shuttle vehicle, and the guide assemblies 1 are in contact with the track. The guide wheel 6 is elastically supported by a connecting rod structure with elastic telescopic effect. When the guide wheel 6 is squeezed and drives the connecting rod structure to expand laterally, the sliding connecting rod slides in the sliding hole 81, the overall length of the connecting rod structure increases, and the guide wheel 6 is compressed in the direction of approaching the vehicle body; but at this time, if the force on both sides is uneven, the vehicle body will be pushed to the other side (small squeezing force), thereby realizing the centering calibration of the vehicle body; if the force on both sides is even, the vehicle body will maintain a centered posture when running.

[0049] When the vehicle reaches the designated position on the Y-direction main track and needs to switch to the X-direction track, the guide assembly 1 is in an elastically extended state. When entering the X-direction track, the guide wheel 6 first rolls against the track wall and rotates under the force of the torsion spring, driving the vehicle to be subjected to lateral force when traveling in the X-direction track, thereby achieving adaptive deviation correction of the vehicle on track, thereby realizing automatic centering calibration when the vehicle is running.

[0050] In this application scenario, the installation accuracy requirements for the left and right clear width of the track are reduced, the processing requirements for the corresponding shelf track components are reduced, and the fault tolerance rate of the project operation is improved.

[0051] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device comprising the elements.

[0052] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementation methods, and the specific embodiments of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A centering structure for a shuttle vehicle, characterized in that: The invention comprises a plurality of guide assemblies (1) arranged on both sides of a shuttle vehicle (9) and abutting against a track, wherein the guide assembly (1) comprises an elastic connecting rod, a sliding connecting rod and a guide wheel (6), wherein one end of the sliding connecting rod is slidably connected to the side wall of the shuttle vehicle (9), and the other end of the sliding connecting rod is rotatably connected to the guide wheel (6); one end of the elastic connecting rod is connected to the side wall of the shuttle vehicle (9), and the other end of the elastic connecting rod is rotatably connected to the guide wheel (6); and the sliding connecting rod pulls the elastic connecting rod to be in an elastically stressed state or a just unstressed state.

2. A centering structure for a shuttle vehicle according to claim 1, characterized in that: The fixed end of the elastic connecting rod is fixedly connected to the side wall of the shuttle vehicle (9), and the elastic end of the elastic connecting rod is rotatably connected to the guide wheel (6).

3. The centering structure of a shuttle vehicle according to claim 1, characterized in that: A strip-shaped long hole is provided on the side wall of the shuttle vehicle (9), and one end of the sliding connecting rod is slidably arranged in the long hole, so that one end of the sliding connecting rod slides in the long hole.

4. The centering structure of a shuttle vehicle according to claim 2, characterized in that: An elastic support structure is provided between the elastic connecting rod and the side wall of the shuttle vehicle (9); the elastic support structures of the guide assemblies (1) located on both sides of the shuttle vehicle (9) have the same initial compression state and the same elastic force.

5. The centering structure of a shuttle vehicle according to claim 1, characterized in that: The elastic connecting rod and the sliding connecting rod jointly support the guide wheel (6), and when the guide wheel (6) abuts against the track, the elastic connecting rod is pressed in a direction close to the shuttle vehicle (9).

6. The centering structure of a shuttle vehicle according to claim 1, characterized in that: It comprises at least four guide assemblies (1), and the four guide assemblies (1) are respectively arranged at two ends of two side walls of the shuttle vehicle (9) corresponding to the track.

7. The centering structure of a shuttle vehicle according to claim 1, characterized in that: The guide assembly (1) further comprises a guide fixing block (2), the guide fixing block (2) being fixedly connected to the ends of two side walls of the shuttle vehicle (9) corresponding to the track, the guide fixing block (2) being provided with a pin shaft (3) built therein, one end of the elastic connecting rod being rotatably arranged on the pin shaft (3), a torsion spring (4) being sleeved on the pin shaft (3), and the torsion spring (4) being used for elastically supporting the elastic connecting rod.

8. The centering structure of a shuttle vehicle according to claim 7, characterized in that: The guide assembly (1) further comprises a connecting rod fixing block (8), wherein the connecting rod fixing block (8) is fixedly mounted on a side wall of the shuttle vehicle (9) on the inner side of the guide fixing block (2), and a strip-shaped sliding hole (81) is formed on the connecting rod fixing block (8), and one end of the sliding connecting rod is slidably mounted in the sliding hole (81).

9. The centering structure of a shuttle vehicle according to claim 8, characterized in that: A linkage shaft (51) is provided on the other end of the elastic link, the other end of the sliding link is rotatably disposed on the linkage shaft (51), and the guide wheel (6) is mounted on the linkage shaft (51).

10. The centering structure of a shuttle vehicle according to claim 7, characterized in that: The outer end of the guide fixing block (2) is provided with a buffer block (91) protruding outwards.

Images