Shuttle vehicle with steering mechanism for automatic stereoscopic warehouse

Abstract

The utility model discloses a shuttle vehicle with a steering mechanism for an automatic stereoscopic warehouse. The shuttle vehicle comprises a shuttle vehicle body, a driving main wheel installed at the lower left end of the shuttle vehicle body and a transfer plate used for supporting. The mounting mechanisms are symmetrically arranged on the left side and the right side of the lower end of the transfer plate and used for mounting and fixing the transfer plate and the shuttle vehicle body, and the steering rods are fixedly connected to the upper ends of steering driven wheels and are mounted at the right end of the shuttle vehicle body in a penetrating mode. According to the shuttle vehicle provided with the steering mechanism and used for the automatic stereoscopic warehouse, a proper transfer plate can be conveniently replaced according to the type and size of an object, and when the object is transferred, a steering gear and a connecting strip are in meshed connection, so that a steering rod drives a steering driven wheel to conduct automatic steering; and collision between the shuttle vehicle and an external object can be effectively prevented, and the travel path direction of the shuttle vehicle can be conveniently changed.

Description

Technical Field

[0001] The utility model relates to the technical field of shuttle cars, in particular to a shuttle car for an automated stereoscopic warehouse with a steering mechanism. Background Technique

[0002] An automated stereoscopic warehouse refers to a warehouse that can achieve high-rise rationalization, automated storage and retrieval, and simple operation by using stereoscopic warehouse equipment; an automated stereoscopic warehouse is a form with a relatively high current technical level and is a new concept in logistics warehousing. In an automated stereoscopic warehouse, a shuttle car is often needed to transfer and move objects. Most of the commonly used shuttle cars adopt optical navigation, laser navigation, and electromagnetic navigation, etc. Among them, optical navigation is to paint or paste a colored ribbon on the driving path, and then process the ribbon image signal captured by the camera to achieve automatic guidance.

[0003] Referring to the Chinese patent authorization announcement number CN209922129U, the authorization announcement date is January 10, 2020, which discloses a four-way shuttle car for a stereoscopic warehouse, including a wheel lifting mechanism fixed bracket, a servo reduction motor, and a power group servo reduction motor. A long connecting rod is arranged on one side of the wheel lifting mechanism fixed bracket. There are two groups of the wheel lifting mechanism fixed bracket and the long connecting rod, and the two long connecting rods are parallel to each other. A short connecting rod is arranged on the other side of the wheel lifting mechanism fixed bracket. The end of each long connecting rod is connected to the short connecting rod. A lifting mechanism drive shaft bearing seat is arranged at the bottom of the wheel lifting mechanism fixed bracket. The beneficial effects achieved by the utility model are: the structure of the utility model is compact and the function is practical. It can walk in four directions and has strong applicability. The utility model can freely shuttle and walk on the shelf, saving the trouble of the mother and son cars walking and reversing out of the shelf. At the same time, the structure is simple, the technology is mature, the feasibility and reliability are strong, so as to improve the efficiency, reduce the cost, save the time of the shuttle car leaving the warehouse and reversing, and can improve the handling efficiency and reduce the operation cost.

[0004] However, in the prior art, most of the used shuttle cars can only move linearly to transfer objects, which is not convenient for steering operations, and it is not convenient to disassemble and replace the plate for supporting objects according to the actual object type and size. For example, the above-listed comparative patent has this problem.

[0005] Therefore, we propose a shuttle car for an automated stereoscopic warehouse with a steering mechanism to solve the above problems. Content of the Utility Model

[0006] The purpose of the present utility model is to provide a shuttle vehicle for an automated stereoscopic warehouse with a steering mechanism, so as to solve the problems in the prior art proposed in the above background technology, that is, most of the shuttle vehicles used can only move linearly to transport objects, it is inconvenient to perform steering operations, and it is also inconvenient to disassemble and replace the plate for supporting objects according to the actual type and size of the objects.

[0007] To achieve the above purpose, the present utility model provides the following technical solutions: A shuttle vehicle for an automated stereoscopic warehouse with a steering mechanism, including a shuttle vehicle body, a driving main wheel installed at the lower left end of the shuttle vehicle body, and a transfer plate for support.

[0008] Among them, distance sensors are installed on the side surfaces of both the left and right ends of the shuttle vehicle body.

[0009] It also includes:

[0010] An installation mechanism, the installation mechanism is symmetrically arranged on the left and right sides at the lower end of the transfer plate, and the installation mechanism is used to install and fix the transfer plate and the shuttle vehicle body, and the installation mechanism drives the transfer plate to form a disassembly structure on the upper end of the shuttle vehicle body.

[0011] A steering rod, the steering rod is fixedly connected to the upper end of the driven steering wheel, and the steering rod penetrates and is installed at the right end of the shuttle vehicle body, and the upper end of the steering rod is fixedly connected with a steering gear.

[0012] Among them, the steering gear combines with the auxiliary plate and the connecting strip to drive the steering rod and the shuttle vehicle body to form a rotating structure.

[0013] Preferably, a fixed column is fixedly connected to the edge of the upper end of the shuttle vehicle body, and a convex block for positioning is inserted at the upper end of the fixed column, and the convex block is fixedly connected to the edge of the lower end of the transfer plate.

[0014] Preferably, the installation mechanism includes bottom blocks fixedly connected to the left and right sides of the upper end of the shuttle vehicle body, movable sleeves rotatably connected to the upper ends of the bottom blocks, connecting columns fixedly connected to the left and right sides of the lower end of the transfer plate, and convex rods for positioning.

[0015] Preferably, a torsion spring is provided at the connection between the movable sleeve and the bottom block, and the angle range of rotation between the movable sleeve and the shuttle vehicle body is 0-90°, and a connecting column is inserted in the middle of the movable sleeve.

[0016] Preferably, a convex rod is fixedly connected to the side surface of the connecting column, and the convex rod is snap-fitted to the middle of the movable sleeve.

[0017] Preferably, an electric telescopic rod is fixedly installed in the middle of the shuttle body, and the output end of the electric telescopic rod is fixedly connected to an auxiliary plate, and the front and rear ends of the auxiliary plate are fixedly connected to connecting strips, and the connecting strips are meshingly connected to the steering gear.

[0018] Preferably, a left-right sliding structure is formed between the auxiliary plate and the auxiliary rod with a limiting function, and the auxiliary rod is fixedly connected to the inside of the shuttle body.

[0019] Compared with the prior art, the utility model has the following beneficial effects: the shuttle car for the automated stereoscopic warehouse with the steering mechanism is convenient for positioning the transfer plate and the shuttle car body by setting the fixed column and the protrusion, and the disassembly and assembly between the transfer plate and the shuttle car body is realized by combining the setting of the installation mechanism, so that it is convenient to replace the appropriate transfer plate according to the type and size of the object, and when the object is transported, the steering rod drives the steering follower wheel to automatically steer by meshing the steering gear and the connecting bar, which can also effectively prevent collision with external objects, and is convenient for changing the travel direction of the shuttle car;

[0020] 1. A fixed column and a convex block are provided, the convex block is engaged with the upper end of the fixed column, and the convex block and the fixed column are arranged one by one, so as to facilitate the positioning between the transfer plate and the shuttle body;

[0021] 2. An installation mechanism is provided, which includes a bottom block, a movable sleeve, a connecting column and a protruding rod. Through the setting of the installation mechanism, it is convenient to replace a suitable transfer plate according to the type and size of the object;

[0022] 3. A steering gear and a connecting bar are provided, and the connecting bar is meshed and connected with the steering gear, so that the steering rod drives the steering follower wheel to rotate, so as to change the travel direction of the shuttle vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the front view structure of the utility model;

[0024] Figure 2 For this utility model Figure 1 The enlarged structural diagram at A in the middle;

[0025] Figure 3 This is a schematic diagram of the overall structure of the installation mechanism of the utility model;

[0026] Figure 4 This is a schematic diagram of the cross-sectional structure of the fixed column, transfer plate and protrusion connection of the utility model when viewed from above;

[0027] Figure 5 This is a schematic diagram of the front view cutaway structure of the shuttle vehicle body, auxiliary plate, connecting strip and auxiliary rod connection of the utility model;

[0028] Figure 6 This is a schematic diagram of the bottom view of the connection structure of the auxiliary plate, connecting strip, steering gear and steering rod of the utility model;

[0029] Figure 7 The utility model is a schematic diagram of the overall structure of the steering follower wheel, the steering rod, the steering gear, the auxiliary plate and the connecting strip.

[0030] In the figure: 1. Shuttle body; 2. Driving main wheel; 3. Fixed column; 4. Transfer plate; 5. Bump; 6. Mounting mechanism; 7. Bottom block; 8. Movable sleeve; 9. Connecting column; 10. Bump rod; 11. Distance sensor; 12. Steering follower wheel; 13. Steering rod; 14. Steering gear; 15. Electric telescopic rod; 16. Auxiliary plate; 17. Connecting strip; 18. Auxiliary rod. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] See also Figure 1-7 The utility model provides a technical solution: a shuttle car for an automated stereoscopic warehouse with a steering mechanism, comprising a shuttle car body 1, a driving main wheel 2, a fixed column 3, a transfer plate 4, a convex block 5, a mounting mechanism 6, a bottom block 7, a movable sleeve 8, a connecting column 9, a convex rod 10, a distance sensor 11, a steering follower wheel 12, a steering rod 13, a steering gear 14, an electric telescopic rod 15, an auxiliary plate 16, a connecting bar 17 and an auxiliary rod 18.

[0033] When using the shuttle vehicle for automated high-bay warehouse with a steering mechanism, Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a fixed column 3 is fixedly connected to the edge of the upper end of the shuttle body 1, and the fixed column 3 and the protrusion 5 are arranged in a one-to-one correspondence. First, according to the type and size of the objects to be transferred in the automated stereoscopic warehouse, the corresponding transfer plate 4 is selected, and combined with the setting of the installation mechanism 6, the installation mechanism 6 is symmetrically arranged on the left and right sides of the shuttle body 1, and the installation mechanism 6 includes a bottom block 7 fixedly connected to the left and right sides of the upper end of the shuttle body 1, a movable sleeve 8 rotatably connected to the upper end of the bottom block 7, a connecting column 9 fixedly connected to the left and right sides of the lower end of the transfer plate 4, and a protrusion 10 for positioning;

[0034] By rotating the movable sleeve 8 by 90°, at this time the movable sleeve 8 rotates at the upper end of the bottom block 7, and the torsion spring at the connection between the movable sleeve 8 and the bottom block 7 undergoes elastic deformation. Then, the transfer plate 4 drives the convex block 5 to be engaged in the fixed column 3, which is convenient for supporting and positioning between the transfer plate 4 and the shuttle car body 1. At the same time, the transfer plate 4 drives the connecting column 9 to be inserted into the movable sleeve 8, and a convex rod 10 is fixedly connected to the side of the connecting column 9. The connecting column 9 drives the convex rod 10 to be stuck in the side of the movable sleeve 8. Then, directly release the movable sleeve 8. At this time, the torsion spring restores elastic deformation, driving the movable sleeve 8 to rotate on the bottom block 7. At this time, the movable sleeve 8 and the convex rod 10 are engaged with each other, showing a state as Figure 2 shown, thus facilitating the disassembly and fixing between the transfer plate 4 and the shuttle car body 1;

[0035] After the fixing is completed, place the object on the upper end of the transfer plate 4. At the same time, the central processor controls the corresponding driving device to drive the driving main wheel 2 to rotate on the left side of the shuttle car body 1, thereby driving the shuttle car body 1 to shuttle and move in the automated storage and retrieval system. Moreover, the color band image signal collected by the camera is processed to achieve automatic guidance. And combined with the distance sensor 11 to sense the blocking object in the traveling direction. When an object is sensed to block, the signal is fed back to the central processing unit. Combined with Figure 5 、 Figure 6 and Figure 7 shown, at this time the central processor controls to start the electric telescopic rod 15. The electric telescopic rod 15 drives the sliding between the auxiliary plate 16 and the auxiliary rod 18, and the auxiliary plate 16 drives the connecting strip 17 to move. And the connecting strip 17 is meshed with the steering gear 14. At this time, the steering gear 14 drives the steering rod 13 to rotate at the right end of the shuttle car body 1, and the steering rod 13 is fixedly connected to the lower end of the steering slave wheel 12, thereby driving the steering slave wheel 12 to rotate, realizing the change of the traveling direction of the shuttle car and achieving the steering effect, preventing collision with objects, and facilitating the transfer of the object to the corresponding position.

[0036] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shuttle vehicle for an automated three-dimensional warehouse with a steering mechanism, comprising a shuttle vehicle body (1), a driving main wheel (2) mounted on the lower left end of the shuttle vehicle body (1), and a transfer plate (4) for support; in, Distance sensors (11) are installed on the sides of the left and right ends of the shuttle vehicle body (1); It is characterized by further comprising: A mounting mechanism (6), wherein the mounting mechanism (6) is symmetrically arranged on the left and right sides of the lower end of the transfer plate (4), and the mounting mechanism (6) is used to mount and fix the transfer plate (4) and the shuttle vehicle body (1), and the mounting mechanism (6) drives the transfer plate (4) to form a disassembly structure at the upper end of the shuttle vehicle body (1); A steering rod (13), wherein the steering rod (13) is fixedly connected to the upper end of the steering follower wheel (12), and the steering rod (13) is installed through the right end of the shuttle vehicle body (1), and the upper end of the steering rod (13) is fixedly connected to a steering gear (14); The steering gear (14) is combined with the auxiliary plate (16) and the connecting strip (17) to drive the steering rod (13) and the shuttle body (1) to form a rotating structure.

2. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 1, characterized in that: A fixing column (3) is fixedly connected to the edge of the upper end of the shuttle vehicle body (1), and a convex block (5) for positioning is inserted into the upper end of the fixing column (3), and the convex block (5) is fixedly connected to the edge of the lower end of the transfer plate (4).

3. The shuttle vehicle for an automated high-bay warehouse with a steering mechanism according to claim 1, characterized in that: The mounting mechanism (6) comprises a bottom block (7) fixedly connected to the left and right sides of the upper end of the shuttle body (1), a movable sleeve (8) rotatably connected to the upper end of the bottom block (7), a connecting column (9) fixedly connected to the left and right sides of the lower end of the transfer plate (4), and a protruding rod (10) for positioning.

4. The shuttle vehicle for an automated high-bay warehouse with a steering mechanism according to claim 3, characterized in that: A torsion spring is provided at the connection between the movable sleeve (8) and the bottom block (7), and the rotation angle range between the movable sleeve (8) and the shuttle body (1) is 0-90 degrees, and a connecting column (9) is inserted in the middle of the movable sleeve (8).

5. The shuttle vehicle for an automated high-bay warehouse with a steering mechanism according to claim 4, characterized in that: A convex rod (10) is fixedly connected to the side surface of the connecting column (9), and the convex rod (10) is snap-connected to the middle part of the movable sleeve (8).

6. The shuttle vehicle for an automated high-bay warehouse with a steering mechanism according to claim 1, characterized in that: An electric telescopic rod (15) is fixedly installed in the middle of the shuttle vehicle body (1), and the output end of the electric telescopic rod (15) is fixedly connected to an auxiliary plate (16), and the front and rear ends of the auxiliary plate (16) are fixedly connected to connecting strips (17), and the connecting strips (17) are meshingly connected to the steering gear (14).

7. The shuttle vehicle for an automated high-bay warehouse with a steering mechanism according to claim 6, characterized in that: A left-right sliding structure is formed between the auxiliary plate (16) and the auxiliary rod (18) having a limiting function, and the auxiliary rod (18) is fixedly connected to the inside of the shuttle vehicle body (1).

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