Four-way shuttle vehicle

Abstract

The four-way shuttle vehicle comprises a rack, a walking transmission mechanism and a jacking reversing mechanism, the mechanism comprises an outer ring and an inner ring, the outer ring is composed of front, rear, left and right outer rack plates, and the inner ring is composed of front, rear, left and right inner rack plates; multiple sets of shearing reinforcing plates and bending reinforcing plates are fixedly installed between the four outer rack plates and the inner rack plate, a bottom plate is fixedly installed at the bottom end of the outer ring, full-gear transmission is achieved, a transmission system is high in precision, low in noise, closed and free of maintenance, the structure is compact, and the internal space is concentrated.

Description

Technical Field

[0001] The utility model relates to the technical field of four-way shuttle vehicles, in particular to a four-way shuttle vehicle. Background Art

[0002] The four-way shuttle is a mobile handling robot that travels in a special three-dimensional shelf. It can complete functions such as driving, changing direction, lifting and lowering to pick up and place goods on mutually perpendicular tracks.

[0003] There are many manufacturers and product models of four-way shuttle vehicles on the market. The functions are basically the same. However, each product has its own advantages and disadvantages in terms of geometric dimensions, moving speed, lifting and reversing time, driving acceleration, safe obstacle avoidance, traffic control and dispatching system, cargo identification, automatic charging, dust and water resistance, maintenance cycle, working environment, etc.

[0004] The traditional four-way shuttle has the following shortcomings:

[0005] 1. First, the chain-driven travel transmission system is often used, which has obvious noise during high-speed operation, poor transmission rigidity, and frequent maintenance;

[0006] 2. For products that use hydraulic power for lifting and reversing, the traditional four-way shuttle has many hydraulic system pipelines, pumps, valves, and cylinders, with limited internal space and the risk of oil leakage, which cannot meet the food-grade cleanliness requirements. For products that use lifting and reversing mechanisms based on mechanical transmission as the basic principle, the transmission system load capacity is often poor and the structure is complex. The structural dimensions are difficult to compress, resulting in an increase in the size of the vehicle body;

[0007] 3. Traditional four-way shuttles are mostly open transmission, which limits their dust and water resistance and increases maintenance frequency.

[0008] 4. The size of the parts of the traditional four-way shuttle transmission system is related to the size of the vehicle body, and the internal remaining space is small, and the platform of the vehicle body is poor, which is not conducive to non-standard customization and product upgrades. Utility Model Content

[0009] (I) Purpose of the utility model

[0010] In view of this, the purpose of the present invention is to provide a four-way shuttle vehicle to solve the problems raised in the above background.

[0011] (II) Technical solution

[0012] A four-way shuttle vehicle comprises a frame, a travel transmission mechanism and a lifting and reversing mechanism;

[0013] The mechanism comprises an outer ring and an inner ring, wherein the outer ring is composed of four outer frame plates at the front, rear, left and right sides, and the inner ring is composed of four inner frame plates at the front, rear, left and right sides, and multiple groups of shear reinforcement plates and bending reinforcement plates are fixedly installed between the four outer frame plates and the inner frame plates, and a bottom plate is fixedly installed at the bottom end of the outer ring;

[0014] The walking transmission mechanism includes a second motor, and the second motor is fixedly mounted on the second reducer, the second motor is fixed on the frame, and one end of the second motor is connected to the middle first-stage gear, multiple groups of bearing seats are arranged between the curved reinforcement plates, and the multiple groups of bearing seats are respectively fixedly mounted with side second-stage gears and side third-stage gears, and the inner wall of the side second-stage gear is provided with a side transmission shaft, multiple groups of longitudinal wheels B and longitudinal wheels A are movably mounted on both sides of the frame, and the multiple groups of longitudinal wheels B and longitudinal wheels A are mutually transmitted through auxiliary chains, and one end of the auxiliary chain is movably mounted on The outer surface of one end of the side three-stage gear, one side of the middle first-stage gear is connected with an umbrella gear, and the outer surface of the middle first-stage gear is engaged with the middle second-stage gear, the middle second-stage gear is movably installed between the mounting plates, and the mounting plates are fixed in the frame, the inner wall of the middle second-stage gear is installed with a first transmission shaft, and one end of the first transmission shaft is connected with another group of middle second-stage gears, the other group of middle second-stage gears is engaged with the middle three-stage gear, and one side of the middle three-stage gear is connected with a side first-stage gear, and the side first-stage gear is meshed with another group of side second-stage gears;

[0015] The lifting and reversing mechanism includes a first motor, and the first motor is fixedly connected to the first reducer, a first-stage gear box is arranged at one end of the first reducer, and a second-stage gear box is connected to one side of the first-stage gear box, a box body is arranged on the outer surface of the second-stage gear box, and the box body is fixedly installed in the frame, an intermediate transmission shaft is arranged on one side of the first-stage gear box, and one end of the intermediate transmission shaft is connected to another group of second-stage gear boxes, a plurality of groups of output shafts are arranged and connected inside the second-stage gear box, and the plurality of groups of output shafts pass through the frame plate and are fixedly connected to the crank shaft system through a clamping sleeve, a fixed bearing seat is arranged on the crank shaft system, and a crank slider transmission relationship is formed with the crank slide groove on the wheel frame through the fixed bearing seat, a guide slider is installed on the wheel frame, and the guide slider contacts with the guide slide groove fixed on the frame plate to form a friction guiding relationship, the wheel frame is arranged in the inner wall of the outer ring, and a lifting plate is connected to the top of the wheel frame, a shaft rod is arranged on the outer surface of the wheel frame, and transverse wheels are connected to both ends of the shaft rod.

[0016] Preferably, the four outer frame plates and the inner frame plate are connected by slot embedding and are fastened by screws.

[0017] Preferably, the lifting and reversing mechanisms on both sides are in a front-to-rear mirror relationship and are connected by a transmission shaft. The size of the vehicle body can be adjusted by changing the length of the transmission shaft and the size of part of the frame plate.

[0018] Preferably, the side transmission shaft system is installed symmetrically to the center, so that all the lateral wheels can rotate in the same direction.

[0019] Preferably, the lifting and reversing mechanisms are centrally arranged at the front and rear of the vehicle body and fixed on the front and rear frame plates of the vehicle body.

[0020] Preferably, the travel transmission mechanism is centrally arranged on the left and right sides of the vehicle body and fixed on the left and right frame plates of the vehicle body.

[0021] Preferably, the travel transmission mechanisms on both sides are in a centrally symmetrical relationship and are connected by a transmission shaft. The size of the vehicle body can be adjusted by changing the length of the transmission shaft and the size of part of the frame plate.

[0022] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0023] 1. The utility model adopts full gear transmission, with high transmission system precision, low noise, closed and maintenance-free, compact structure and concentrated internal space.

[0024] 2. The vehicle body size of the utility model is not related to the transmission system, the geometric size has a large non-standard space, and most parts do not need to be changed, and the transmission system positions are isolated from each other and do not affect each other. A large amount of space can be provided for internal wiring and device layout.

[0025] 3. The utility model integrates multi-stage gear reduction, balances the stress of parts by distributing the transmission ratio, increases the system's carrying capacity and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0027] Figure 2 This is a side view of the structure of the utility model;

[0028] Figure 3 This is a schematic diagram of the top view structure of the utility model;

[0029] Figure 4 This is a schematic diagram of the three-dimensional structure of the frame of the utility model;

[0030] Figure 5 This is a three-dimensional structural diagram of the travel transmission mechanism of the utility model;

[0031] Figure 6 This is a schematic diagram of the three-dimensional structure of the jacking and reversing mechanism of the utility model;

[0032] Figure 7It is a schematic diagram of the installation structure of the jacking and reversing mechanism of the utility model.

[0033] In the figure: 1, outer ring; 2, inner ring; 3, outer frame plate; 4, shear reinforcement plate; 5, inner frame plate; 6, bending reinforcement plate; 7, first motor; 8, second motor; 9, bottom plate; 711, first reducer; 712, first stage gear box; 713, second stage gear box; 714, output shaft; 715, crank slide; 716, fixed bearing seat; 717, crank shaft system; 718, wheel frame; 719, guide slide; 720, guide slider; 721, intermediate transmission shaft; 81 1. Middle primary gear; 812. Middle secondary gear; 813. Side secondary gear; 814. Side tertiary gear; 815. Side transmission shaft; 816. Auxiliary chain; 817. Longitudinal wheel B; 818. Longitudinal wheel A; 819. First transmission shaft; 820. Transverse wheel; 821. Shaft; 822. Side primary gear; 823. Second reducer; 824. Middle tertiary gear; 825. Mounting plate; 826. Umbrella gear; 911. Box; 111. Lifting plate. DETAILED DESCRIPTION

[0034] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0035] See also Figure 1-7 , an embodiment provided by the utility model:

[0036] A four-way shuttle vehicle comprises a frame, a travel transmission mechanism and a lifting and reversing mechanism;

[0037] The mechanism includes an outer ring 1 and an inner ring 2. The outer ring 1 is composed of four outer frame plates 3 on the front, back, left and right sides. The inner ring 2 is composed of four inner frame plates 5 on the front, back, left and right sides. Multiple sets of shear reinforcement plates 4 and bending reinforcement plates 6 are fixedly installed between the four outer frame plates 3 and the inner frame plates 5. A bottom plate 9 is fixedly installed at the bottom end of the outer ring 1.

[0038] The travel transmission mechanism includes a second motor 8, and the second motor 8 is fixedly mounted on the second reducer 823, the second motor 8 is fixed on the frame, and one end of the second motor 8 is connected to the middle first-stage gear 811, multiple groups of bearing seats are arranged between the bending reinforcement plates 6, and the multiple groups of bearing seats are respectively fixedly mounted with side second-stage gears 813 and side third-stage gears 814, and the inner wall of the side second-stage gear 813 is provided with a side transmission shaft 815, and multiple groups of longitudinal wheels B817 and longitudinal wheels A818 are movably mounted on both sides of the frame, and the multiple groups of longitudinal wheels B817 and longitudinal wheels A818 are mutually transmitted through auxiliary chains 816, and one end of the auxiliary chain 816 is movably mounted on the side third-stage gear 8 14, one side of the middle primary gear 811 is connected with an umbrella gear 826, and the outer surface of the middle primary gear 811 is engaged with the middle secondary gear 812, the middle secondary gear 812 is movably installed between the mounting plates 825, and the mounting plates 825 are fixed in the frame, the inner wall of the middle secondary gear 812 is installed with a first transmission shaft 819, and one end of the first transmission shaft 819 is connected with another group of middle secondary gears 812, the other group of middle secondary gears 812 is engaged with the middle tertiary gear 824, and one side of the middle tertiary gear 824 is connected with a side primary gear 822, and the side primary gear 822 is meshed with another group of side secondary gears 813;

[0039] The lifting and reversing mechanism includes a first motor 7, and the first motor 7 is fixedly connected to a first reducer 711, a first-stage gearbox 712 is arranged at one end of the first reducer 711, and a second-stage gearbox 713 is connected to one side of the first-stage gearbox 712, a box body 911 is arranged on the outer surface of the second-stage gearbox 713, and the box body 911 is fixedly installed in the frame, an intermediate transmission shaft 721 is arranged at one side of the first-stage gearbox 712, and another set of second-stage gearbox 713 is connected to one end of the intermediate transmission shaft 721, and a plurality of output shafts 714 are arranged and connected inside the second-stage gearbox 713, and the plurality of output shafts 714 are connected to the second-stage gearbox 713. 14 passes through the frame plate and is fixedly connected to the crank shaft system 717 through a tightening sleeve. A fixed bearing seat 716 is arranged on the crank shaft system 717, and a crank slider transmission relationship is formed with the crank slide groove 715 on the wheel frame 718 through the fixed bearing seat 716. A guide slider 720 is installed on the wheel frame 718, and the guide slider 720 contacts with the guide slide groove 719 fixed on the frame plate to form a friction guide relationship. The wheel frame 718 is arranged in the inner wall of the outer ring 1, and the top of the wheel frame 718 is connected to the lifting plate 111. The outer surface of the wheel frame 718 is provided with a shaft rod 821, and the two ends of the shaft rod 821 are connected to transverse wheels 820.

[0040] Furthermore, the four outer frame plates 3 and the inner frame plate 5 are connected by slot embedding and fastened with screws. This design enhances the stability of the frame structure. At the same time, the slot embedding method also makes installation and disassembly more convenient and improves maintainability.

[0041] Furthermore, the lifting and reversing mechanisms on both sides are in a front-to-rear mirror relationship and are connected by a transmission shaft. The size of the vehicle body can be adjusted by changing the length of the transmission shaft and the size of part of the frame plate. This design makes it easy to adjust the size of the vehicle body by changing the length of the transmission shaft and the size of part of the frame plate, thereby increasing the flexibility and adaptability of the design.

[0042] Furthermore, the side transmission shaft 815 is installed in a centrally symmetrical manner, so that all the transverse wheels 820 can rotate in the same direction, thereby ensuring the same rotation direction of all the transverse wheels 820, thereby ensuring stability and coordination during walking.

[0043] Furthermore, the lifting and reversing mechanisms are centrally arranged at the front and rear of the vehicle body and fixed on the front and rear frame plates of the vehicle body. Such a layout is conducive to uniform weight distribution and is also convenient for maintenance and operation of the lifting and reversing mechanisms.

[0044] Furthermore, the travel transmission mechanism is centrally arranged on the left and right sides of the vehicle body and fixed on the left and right frame plates of the vehicle body. Such a layout is conducive to the travel transmission mechanism directly driving the wheels, reducing the loss of power transmission and improving travel efficiency.

[0045] Furthermore, the travel transmission mechanisms on both sides are centrally symmetrical and connected by a transmission shaft. The vehicle body size can be adjusted by changing the length of the transmission shaft and the size of part of the frame plate. Since the travel transmission mechanisms on both sides are centrally symmetrical, the travel components on both sides of the vehicle are consistent in structure and performance, thereby improving the overall travel stability of the vehicle. This symmetrical design helps to reduce the deviation or bump caused by uneven travel speed or force on both sides.

[0046] Working principle: The travel transmission mechanism is connected to the middle primary gear 811 through the coupling via the second motor 8 to drive it to rotate. The middle primary gear 811 is not only interconnected with 812, but also the umbrella gear 826 connected to one end of the primary gear 811 is meshed with 813 on 815, thereby realizing the transmission of the motor power to the side transmission shaft. At the same time, the middle primary gear 811 is also directly meshed with the middle secondary gear 812, and the middle secondary gear 812 is connected to 824 through the first transmission shaft 819, one side of 824 is connected to 822, and 822 is meshed with the other 813, and the power is also transmitted by direct meshing, thereby realizing the transmission of the motor power to the other side 815, and transmitting the power to the transverse wheel set and the longitudinal wheel set A respectively. The longitudinal wheel set A and the longitudinal wheel set B are transmitted through the auxiliary chain 816 to realize all-wheel drive;

[0047] When the first motor 7 in the lifting and reversing mechanism is started, it transmits power through the fixedly connected first reducer 711. The output shaft of the first reducer 711 is connected to the first-stage gear box 712, and the power is transmitted to the second-stage gear box 713 through the meshing between the gears. The first-stage gear box 712 and the second-stage gear box 713 together constitute a multi-stage gear transmission system. Their main function is to increase or decrease the speed and torque of the output shaft through the transmission ratio of the gears. A plurality of groups of output shafts 714 are arranged inside the second-stage gear box 713. These output shafts pass through the frame plate through the box body 911 to transmit power to the crank shaft system 717. The plurality of groups of output shafts 714 are fixedly connected to the crank shaft system 717 through a clamping sleeve. The fixed bearing seat 716 on the crank shaft system 717 and the crank groove 715 on the wheel frame 718 constitute a crank slider transmission relationship. This mechanism can convert rotary motion into linear reciprocating motion. When the output shaft 714 rotates, the fixed bearing seat 716 on the crank shaft system 717 slides in the crank slot 715, thereby pushing the wheel frame 718 to move up and down to achieve the lifting or lowering action. The guide slider 720 installed on the wheel frame 718 contacts the guide slot 719 fixed on the frame plate to form a friction guide relationship. This guiding mechanism ensures the stability and accuracy of the wheel frame 718 during movement. The friction between the guide slider 720 and the guide slot 719 also plays a certain positioning role, so that the wheel frame 718 can remain stable after being lifted or lowered into place. The top of the wheel frame 718 is connected to the lifting plate 111. When the wheel frame 718 moves up and down, the lifting plate 111 also moves up and down to achieve the lifting or lowering action.

[0048] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A four-way shuttle vehicle, characterized in that: It includes a frame, a travel transmission mechanism and a lifting and reversing mechanism; The mechanism comprises an outer ring (1) and an inner ring (2), wherein the outer ring (1) is composed of four outer frame plates (3) at the front, rear, left and right sides, and the inner ring (2) is composed of four inner frame plates (5) at the front, rear, left and right sides, and a plurality of groups of shear reinforcement plates (4) and bending reinforcement plates (6) are fixedly installed between the four outer frame plates (3) and the inner frame plates (5), and a bottom plate (9) is fixedly installed at the bottom end of the outer ring (1); The travel transmission mechanism comprises a second motor (8), and the second motor (8) is fixedly mounted on a second reducer (823), the second motor (8) is fixed on a frame, and one end of the second motor (8) is connected to an intermediate first-stage gear (811), multiple groups of bearing seats are arranged between the bent reinforcing plates (6), and side second-stage gears (813) and side third-stage gears (814) are respectively fixedly mounted in the multiple groups of bearing seats, and side transmission shafts (815) are arranged on the inner walls of the side second-stage gears (813), multiple groups of longitudinal wheels B (817) and longitudinal wheels A (818) are movably mounted on both sides of the frame, and the multiple groups of longitudinal wheels B (817) and longitudinal wheels A (818) are mutually transmitted through auxiliary chains (816), and one end of the auxiliary chain (816) is movably mounted on the side third-stage gear (814). 14), one side of the intermediate primary gear (811) is connected with a parachute gear (826), and the outer surface of the intermediate primary gear (811) and the intermediate secondary gear (812) are engaged with each other, the intermediate secondary gear (812) is movably mounted between the mounting plates (825), and the mounting plates (825) are fixed in the frame, the inner wall of the intermediate secondary gear (812) is mounted with a first transmission shaft (819), and one end of the first transmission shaft (819) is connected with another group of intermediate secondary gears (812), the other group of intermediate secondary gears (812) and the intermediate tertiary gear (824) are engaged with each other, and one side of the intermediate tertiary gear (824) is connected with a side primary gear (822), and the side primary gear (822) and the other group of side secondary gears (813) are engaged with each other; The lifting and reversing mechanism comprises a first motor (7), and the first motor (7) is fixedly connected to a first reducer (711); a first-stage gearbox (712) is arranged at one end of the first reducer (711), and a second-stage gearbox (713) is connected to one side of the first-stage gearbox (712); a box body (911) is arranged on the outer surface of the second-stage gearbox (713), and the box body (911) is fixedly installed in a frame; an intermediate transmission shaft (721) is arranged at one side of the first-stage gearbox (712), and one end of the intermediate transmission shaft (721) is connected to another set of second-stage gearboxes (713); a plurality of output shafts (714) are arranged inside the second-stage gearbox (713), and the plurality of output shafts (714) are connected to the second-stage gearbox (713); 4) passes through the frame plate and is fixedly connected to the crank shaft system (717) through a tightening sleeve, the crank shaft system (717) is provided with a fixed bearing seat (716), and a crank slider transmission relationship is formed through the fixed bearing seat (716) and the crank slide groove (715) on the wheel frame (718), the wheel frame (718) is installed with a guide slider (720), and the guide slider (720) contacts with the guide slide groove (719) fixed on the frame plate to form a friction guide relationship, the wheel frame (718) is arranged in the inner wall of the outer ring (1), and the top end of the wheel frame (718) is connected to a lifting plate (111), the outer surface of the wheel frame (718) is provided with a shaft rod (821), and the two ends of the shaft rod (821) are connected to transverse wheels (820).

2. A four-way shuttle vehicle according to claim 1, characterized in that: The four outer frame plates (3) and the inner frame plate (5) are connected by being embedded in slots and fastened by screws.

3. The four-way shuttle according to claim 1, characterized in that: The lifting and reversing mechanisms on both sides are in a front-to-rear mirror relationship and are connected by a transmission shaft. The size of the vehicle body can be adjusted by changing the length of the transmission shaft and the size of part of the frame plate.

4. The four-way shuttle according to claim 1, characterized in that: The side transmission shafts (815) are centrally symmetrically installed so that all the transverse wheels (820) can rotate in the same direction.

5. The four-way shuttle according to claim 1, characterized in that: The lifting and reversing mechanisms are centrally arranged at the front and rear of the vehicle body and fixed on the front and rear frame plates of the vehicle body.

6. The four-way shuttle according to claim 1, characterized in that: The travel transmission mechanism is centrally arranged on the left and right sides of the vehicle body and is fixed on the left and right frame plates of the vehicle body.

7. The four-way shuttle according to claim 1, characterized in that: The traveling transmission mechanisms on both sides are in a centrally symmetrical relationship and are connected by a transmission shaft. The size of the vehicle body can be adjusted by changing the length of the transmission shaft and the size of part of the frame plate.

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