Crab type AGV shuttle vehicle

Abstract

The crab type AGV shuttle vehicle comprises a vehicle body shell, four sets of walking mechanisms, a telescopic mechanism and a jacking mechanism, the jacking mechanism is installed at the top of the vehicle body shell, the telescopic mechanism is installed at the bottom of the vehicle body shell, and the four sets of walking mechanisms are symmetrically installed on the telescopic mechanism; the walking mechanism comprises three walking wheels, a driven chain wheel, a bearing supporting seat and a walking driving motor, the three walking wheels are transversely installed at the outer end of the telescopic plate at equal intervals, the driven chain wheel and the bearing supporting seat are installed at the inner end of the walking wheels, and the walking driving motor is installed on the telescopic plate. A driving chain wheel is arranged at the driving end of the walking driving motor and connected with the driven chain wheel through a chain. The device can be used in cooperation with a goods shelf with the adjustable spacing, and the functions of achieving the diversity of goods stored in a warehouse and improving the space utilization rate of the warehouse are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics warehousing equipment, and specifically relates to a crab-type AGV shuttle car. Background Art

[0002] With the development of science and technology, more and more warehousing logistics have been widely applied, and intelligent automated storage and retrieval systems (AS / RS) warehousing handling equipment has been intensively studied. As an important handling tool for AS / RS warehousing logistics, shuttle cars are currently mainly classified according to their reversing and lifting mechanisms into three types: shuttle cars with hydraulic lifting, cam lifting, and screw jack lifting.

[0003] The existing shuttle cars have the following defects:

[0004] When the existing shuttle cars shuttle in the shelves, the width of their running tracks is fixed. When the track width changes, traditional shuttle cars need to be redesigned in terms of their width, thus affecting their use. Therefore, solutions need to be provided. Content of the Utility Model

[0005] (1) Technical Problems to be Solved

[0006] In view of the deficiencies of the prior art, the utility model provides a crab-type AGV shuttle car to solve the problems raised in the above background art.

[0007] (2) Technical Solutions

[0008] To achieve the above purposes, the utility model is realized through the following technical solutions: A crab-type AGV shuttle car includes a vehicle body shell, a traveling mechanism, a telescopic mechanism, and a lifting mechanism. The lifting mechanism is installed on the top of the vehicle body shell, the telescopic mechanism is installed at the bottom of the vehicle body shell, and there are four groups of traveling mechanisms, and the four groups of traveling mechanisms are symmetrically installed on the telescopic mechanism; guide wheels are provided at the outer ends of the telescopic plates. The traveling mechanism includes traveling wheels, driven sprockets, bearing support seats, and traveling drive motors. There are three traveling wheels, and the three traveling wheels are installed at equal intervals horizontally at the outer ends of the telescopic plates. The driven sprockets and bearing support seats are installed at the inner ends of the traveling wheels, and the traveling drive motors are installed on the telescopic plates. A driving sprocket is provided at the driving end of the traveling drive motor, and the driving sprocket is connected to the driven sprocket through a chain.

[0009] Preferably, the telescopic mechanism includes a telescopic plate, a cylindrical gear, a telescopic drive motor, and a cylindrical gear mounting plate. The cylindrical gear is installed inside the cylindrical gear mounting plate. The telescopic drive motor is installed on the top of the cylindrical gear mounting plate, and the drive end of the telescopic drive motor is meshed with the cylindrical gear through a gear. There are four telescopic plates, and the four telescopic plates are respectively located at the left and right ends of the cylindrical gear mounting plate. Connecting rods are provided on both groups of telescopic plates, and the other ends of the connecting rods are installed in the curved grooves of the cylindrical gear.

[0010] Preferably, the jacking mechanism includes a top jacking plate, a first jacking drive motor, a first driving sprocket, a first driven sprocket, a second driven sprocket, a bottom jacking cam, a second driving sprocket, a top jacking cam, and a second jacking drive motor. There is a group of top jacking plates, and the group of top jacking plates are distributed at equal intervals horizontally. The first jacking drive motor is located at the bottom of the top jacking plate. The first driven sprocket, the second driven sprocket, the bottom jacking cam, and the top jacking cam are all installed horizontally at the bottom of the group of top jacking plates. The first driving sprocket is installed at the drive end of the first jacking drive motor. The first driving sprocket is connected to the first driven sprocket through a chain. The top jacking cam and the first driven sprocket are connected and fixed through a connecting shaft. The second jacking drive motor is located at the bottom of the group of top jacking plates. The second driving sprocket is installed at the drive end of the second jacking drive motor. The second driving sprocket is connected to the second driven sprocket through a chain. The bottom jacking cam and the second driven sprocket are connected and fixed through a connecting shaft.

[0011] (III) Beneficial effects

[0012] The present utility model provides a crab-type AGV shuttle car, which has the following beneficial effects:

[0013] This crab-type AGV shuttle car can be used in cooperation with shelves with adjustable spacing to realize the diversity of storing goods in the warehouse and improve the utilization rate of the warehouse space. The loading platform of this crab-type AGV shuttle car can be telescoped, reducing the external dimensions of the stacker. The shuttle car can realize the transportation function of goods in three directions. Description of the drawings

[0014] Figure 1 is the overall schematic diagram of the crab-type AGV shuttle car;

[0015] Figure 2 is the internal structure schematic diagram of the crab-type AGV shuttle car;

[0016] Figure 3 is the schematic diagram of the jacking mechanism of the crab-type AGV shuttle car;

[0017] Figure 4 is the schematic diagram of the telescopic mechanism of the crab-type AGV shuttle car;

[0018] Figure 5 It is a schematic diagram of the traveling mechanism of a crab - type AGV shuttle car;

[0019] Figure 6 It is a schematic diagram of the extension of the telescopic mechanism of a crab - type AGV shuttle car;

[0020] Figure 7 It is a schematic diagram of the retraction of the telescopic mechanism of a crab - type AGV shuttle car.

[0021] In the figure, 1 - 1 is the vehicle body shell; 1 - 2 is the top lifting plate; 1 - 3 is the guide wheel; 2 - 1 is the traveling mechanism; 2 - 2 is the telescopic mechanism; 2 - 3 is the lifting mechanism; 3 - 1 is the first lifting drive motor; 3 - 2 is the first driving sprocket; 3 - 3 is the first driven sprocket; 3 - 4 is the second driven sprocket; 3 - 5 is the bottom lifting cam; 3 - 6 is the second driving sprocket; 3 - 7 is the top lifting cam; 3 - 8 is the second lifting drive motor; 4 - 1 is the telescopic plate; 4 - 2 is the cylindrical gear; 4 - 3 is the telescopic drive motor; 4 - 4 is the cylindrical gear mounting plate; 5 - 1 is the traveling wheel; 5 - 2 is the driven sprocket; 5 - 3 is the bearing support seat; 5 - 4 is the driving sprocket; 5 - 5 is the traveling drive motor; 6 - 1 is the connecting rod. Specific implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0023] Please refer to Figure 1-7 , an embodiment of the present invention provides a technical solution: a crab - type AGV shuttle car, including a vehicle body shell 1 - 1, a traveling mechanism 2 - 1, a telescopic mechanism 2 - 2, and a lifting mechanism 2 - 3. The lifting mechanism 2 - 3 is installed on the top of the vehicle body shell 1 - 1, the telescopic mechanism 2 - 2 is installed at the bottom of the vehicle body shell 1 - 1, there are four groups of the traveling mechanisms 2 - 1, and the four groups of the traveling mechanisms 2 - 1 are symmetrically installed on the telescopic mechanism 2 - 2;

[0024] It is solved that the telescopic mechanism 2-2 includes a telescopic plate 4-1, a cylindrical gear 4-2, a telescopic driving motor 4-3 and a cylindrical gear mounting plate 4-4. The cylindrical gear 4-2 is installed in the cylindrical gear mounting plate 4-4. The telescopic driving motor 4-3 is installed on the top of the cylindrical gear mounting plate 4-4, and the driving end of the telescopic driving motor 4-3 is meshed with the cylindrical gear 4-2 through a gear. There are four telescopic plates 4-1. The four telescopic plates 4-1 are respectively located at the left end and the right end of the cylindrical gear mounting plate 4-4. Link rods 6-1 are provided on both groups of telescopic plates 4-1. The other end of the link rod 6-1 is installed in the curve groove of the cylindrical gear 4-2. By driving the cylindrical gear to rotate through the telescopic driving motor 4-3, a curve groove is milled on the surface of the cylindrical gear. One end of the link rod 6-1 is fixed to the telescopic plate 4-1, and the other end can slide in the curve groove on the surface of the above-mentioned cylindrical gear. When it is necessary to increase the width spacing of the traveling wheels, the telescopic driving motor 4-3 rotates forward to drive the cylindrical gear 4-2 to rotate. One end of the link rod 6-1 slides in the curve groove as the cylindrical gear 4-2 rotates, and the other end drives the telescopic plate 4-1 to move outward, realizing the function of increasing the width spacing of the traveling wheels. When it is necessary to reduce the width spacing of the traveling wheels, the telescopic driving motor 4-3 rotates in reverse, realizing the function of reducing the width spacing of the traveling wheels. The principle is as described above.

[0025] Furthermore, a guide wheel 1-3 is provided at the outer end of the telescopic plate 4-1. The traveling mechanism 2-1 includes traveling wheels 5-1, driven sprockets 5-2, bearing support seats 5-3 and a traveling driving motor 5-5. There are three traveling wheels 5-1, and the three traveling wheels 5-1 are installed at the outer end of the telescopic plate 4-1 in a horizontally equidistant manner. The driven sprockets 5-2 and the bearing support seats 5-3 are installed at the inner end of the traveling wheels 5-1. The traveling driving motor 5-5 is installed on the telescopic plate 4-1. A driving sprocket 5-4 is provided at the driving end of the traveling driving motor 5-5. The driving sprocket 5-4 is connected to the driven sprocket 5-2 through a chain. When the crab-type AGV shuttle needs to travel, the traveling driving motor 5-5 starts to rotate, driving the driving sprocket 5-4 at its end face to rotate. The driven sprocket 5-2 rotates in the same direction as the driving sprocket 5-4 through the chain, and the traveling wheels 5-1 rotate following the driven sprocket 5-2, thereby realizing the traveling function of the crab-type AGV shuttle.

[0026] Differently, the jacking mechanism 2-3 includes a top jacking plate 1-2, a first jacking drive motor 3-1, a first driving sprocket 3-2, a first driven sprocket 3-3, a second driven sprocket 3-4, a bottom jacking cam 3-5, a second driving sprocket 3-6, a top jacking cam 3-7 and a second jacking drive motor 3-8. There is a set of the top jacking plates 1-2, and the set of top jacking plates 1-2 are distributed at equal intervals horizontally. The first jacking drive motor 3-1 is located at the bottom of the top jacking plate 1-2. The first driven sprocket 3-3, the second driven sprocket 3-4, the bottom jacking cam 3-5 and the top jacking cam 3-7 are all installed horizontally at the bottom of the set of top jacking plates 1-2. The first driving sprocket 3-2 is installed at the driving end of the first jacking drive motor 3-1. The first driving sprocket 3-2 is connected to the first driven sprocket 3-3 by a chain. The top jacking cam 3-7 and the first driven sprocket 3-3 are connected and fixed by a connecting shaft. The second jacking drive motor 3-8 is located at the bottom of the set of top jacking plates 1-2. The second driving sprocket 3-6 is installed at the driving end of the second jacking drive motor 3-8. The second driving sprocket 3-6 is connected to the second driven sprocket 3-4 by a chain. The bottom jacking cam 3-5 and the second driven sprocket 3-4 are connected and fixed by a connecting shaft. When it is necessary to jack up the goods, the first jacking drive motor 3-1 drives the top jacking cam 3-7 to rotate through the sprocket and chain, jacks up the top jacking plate 1-2, and realizes the function of lifting the goods. When it is necessary to jack up the vehicle body, the second jacking drive motor 3-8 drives the bottom jacking cam 3-5 to rotate through the sprocket and chain, jacks up the bottom jacking plate, and realizes the function of jacking up the vehicle body.

[0027] Working principle: During operation, when storing goods; when the goods reach the designated position and the crab-type AGV shuttle needs to transport the goods to the designated storage location; first, the second jacking drive motor 3-8 of the jacking mechanism drives the bottom jacking cam 3-5 to rotate to complete the jacking up of the vehicle body; the telescopic drive motor 4-3 of the telescopic mechanism drives the cylindrical gear 4-2 to rotate to adjust the traveling width of the running wheels of the crab-type AGV shuttle according to the width of the shelf track of the target storage location; after the adjustment is completed, the second jacking drive motor 3-8 of the jacking mechanism drives the bottom jacking cam 3-5 to rotate to restore the vehicle body height to the initial height; the traveling drive motor 5-5 of the crab-type AGV shuttle drives the crab-type AGV shuttle to travel to the designated position for transporting the goods; after reaching the designated position, the first jacking drive motor 3-1 of the jacking mechanism drives the top jacking cam 3-7 to rotate to complete the jacking up of the top jacking plate 1-2 and jack up the goods; after jacking up the goods, the traveling drive motor 5-5 of the crab-type AGV shuttle drives the crab-type AGV shuttle to transport the goods to the designated storage location. After reaching the designated storage location, the first jacking drive motor 3-1 of the jacking mechanism drives the top jacking cam 3-7 to rotate, and the jacking plate descends to the initial position to complete the goods storage operation.

[0028] Outbound; when performing outbound operations on goods, the crab-type AGV shuttle vehicle is required to transport the goods from the shelf to the designated location; first, the lifting drive motor two 3-8 of the lifting mechanism drives the bottom lifting cam 3-5 to rotate, completing the lifting of the vehicle body; the telescopic drive motor 4-3 of the telescopic mechanism drives the cylindrical gear 4-2 to rotate, adjusting the traveling width of the walking wheels of the crab-type AGV shuttle vehicle according to the shelf track width of the target storage location; after the adjustment is completed, the lifting drive motor two 3-8 of the lifting mechanism drives the bottom lifting cam 3-5 to rotate, restoring the vehicle body height to the initial height; the traveling drive motor 5-5 of the crab-type AGV shuttle vehicle drives the crab-type AGV shuttle vehicle to travel to the storage location of the outbound goods; after reaching the designated location, the lifting drive motor one 3-1 of the lifting mechanism drives the top lifting cam 3-7 to rotate, completing the lifting of the top lifting plate 1-2 and lifting the goods; after lifting the goods, the traveling drive motor 5-5 of the crab-type AGV shuttle vehicle drives the crab-type AGV shuttle vehicle to transport the goods to the outbound area; after reaching the designated location, the lifting drive motor one 3-1 of the lifting mechanism drives the top lifting cam 3-7 to rotate, and the lifting plate descends to the initial position, completing the outbound operation of the goods.

[0029] 1-1, vehicle body shell; 1-2, top lifting plate; 1-3, guide wheel; 2-1, traveling mechanism; 2-2, telescopic mechanism; 2-3, lifting mechanism; 3-1, lifting drive motor one; 3-2, driving sprocket one; 3-3, driven sprocket one; 3-4, driven sprocket two; 3-5, bottom lifting cam; 3-6, driving sprocket two; 3-7, top lifting cam; 3-8, lifting drive motor two; 4-1, telescopic plate; 4-2, cylindrical gear; 4-3, telescopic drive motor; 4-4, cylindrical gear mounting plate; 5-1, walking wheel; 5-2, driven sprocket; 5-3, bearing support; 5-4, driving sprocket; 5-5, traveling drive motor; 6-1, connecting rod of the present utility model are all common standard parts or parts known to those skilled in the art, and their structures and principles can all be learned by those skilled in the art through technical manuals or obtained through conventional experimental methods. The problem solved by the present utility model is that when the existing shuttle vehicle shuttles in the shelf, the width of its traveling track is fixed. When the track width changes, the traditional shuttle vehicle needs to be redesigned for its width, thus affecting its use. Through the mutual combination of the above-mentioned parts, the present utility model can be used in cooperation with a shelf with adjustable spacing, realizing the function of diversifying the storage of goods in the warehouse and improving the utilization rate of the warehouse space.

[0030] The foregoing has shown and described the basic principles, main features and advantages of the present utility model. For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic features of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claims concerned.

[0031] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A crab-type AGV shuttle vehicle, characterized in that: The vehicle comprises a vehicle body shell (1-1), a running mechanism (2-1), a telescopic mechanism (2-2) and a lifting mechanism (2-3), wherein the lifting mechanism (2-3) is mounted on the top of the vehicle body shell (1-1), the telescopic mechanism (2-2) is mounted on the bottom of the vehicle body shell (1-1), and the running mechanism (2-1) is provided with four groups, and the four groups of the running mechanisms (2-1) are symmetrically mounted on the telescopic mechanisms (2-2); The telescopic mechanism (2-2) comprises a telescopic plate (4-1), a cylindrical gear (4-2), a telescopic drive motor (4-3) and a cylindrical gear mounting plate (4-4); the cylindrical gear (4-2) is mounted inside the cylindrical gear mounting plate (4-4); the telescopic drive motor (4-3) is mounted on the top of the cylindrical gear mounting plate (4-4); and the driving end of the telescopic drive motor (4-3) is meshed with the cylindrical gear (4-2) via a gear; four telescopic plates (4-1) are provided, and the four telescopic plates (4-1) are respectively located at the left end and the right end of the cylindrical gear mounting plate (4-4); two groups of telescopic plates (4-1) are provided with connecting rods (6-1); and the other end of the connecting rod (6-1) is mounted in the curved groove of the cylindrical gear (4-2).

2. The crab-type AGV shuttle according to claim 1, characterized in that: The outer end of the telescopic plate (4-1) is provided with a guide wheel (1-3); the walking mechanism (2-1) comprises a walking wheel (5-1), a driven sprocket (5-2), a bearing support seat (5-3) and a walking drive motor (5-5); three walking wheels (5-1) are provided, and the three walking wheels (5-1) are installed on the outer end of the telescopic plate (4-1) in a transversely equidistant manner; the driven sprocket (5-2) and the bearing support seat (5-3) are installed on the inner end of the walking wheel (5-1); the walking drive motor (5-5) is installed on the telescopic plate (4-1); a driving sprocket (5-4) is provided at the driving end of the walking drive motor (5-5); and the driving sprocket (5-4) is connected to the driven sprocket (5-2) through a chain.

3. The crab-type AGV shuttle according to claim 1, characterized in that: The lifting mechanism (2-3) comprises a top lifting plate (1-2), a lifting drive motor (3-1), a driving sprocket (3-2), a driven sprocket (3-3), a driven sprocket (3-4), a bottom lifting cam (3-5), a driving sprocket (3-6), a top lifting cam (3-7) and a lifting drive motor (3-8). The top lifting plate (1-2) is provided with a group, and the top lifting plates (1-2) of the group are distributed in a transverse equidistant manner. The lifting drive motor (3-1) is located at the bottom of the top lifting plate (1-2). The driven sprocket (3-3), the driven sprocket (3-4), the bottom lifting cam (3-5) and the top lifting cam (3-7) are all arranged in a transverse manner. Installed at the bottom of a group of top lifting plates (1-2), the driving sprocket one (3-2) is installed at the driving end of the lifting drive motor one (3-1), the driving sprocket one (3-2) is connected to the driven sprocket one (3-3) through a chain, the top lifting cam (3-7) and the driven sprocket one (3-3) are connected and fixed through a connecting shaft, the lifting drive motor two (3-8) is located at the bottom of a group of top lifting plates (1-2), the driving sprocket two (3-6) is installed at the driving end of the lifting drive motor two (3-8), the driving sprocket two (3-6) is connected to the driven sprocket two (3-4) through a chain, and the bottom lifting cam (3-5) and the driven sprocket two (3-4) are connected and fixed through a connecting shaft.

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