Four-way shuttle vehicle

Abstract

The utility model provides a four-way shuttle vehicle. The four-way shuttle vehicle comprises a lifting frame; the multiple first driving wheels are configured to bear the lifting frame to move in the first direction, and at least one first driving wheel is connected with a first encoder; the multiple second driving wheels are configured to bear the lifting frame to move in the second direction, and at least one second driving wheel is connected with a second encoder; and one or more displacement sensors configured to detect the actual movement distance of the lifting frame in the first direction and the second direction. A first encoder is arranged on a first driving wheel, a second encoder is arranged on a second driving wheel, and one or more displacement sensors are arranged on a lifting frame, so that the movement track of the four-way shuttle vehicle is accurately controlled, and the positioning accuracy of the four-way shuttle vehicle is improved; and solid hardware support is provided for speed control, acceleration control, detection, slip prevention and the like of the four-way shuttle vehicle.

Description

Technical Field

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

[0002] The four-way shuttle is a highly efficient automated logistics equipment that can move flexibly in four directions (forward, backward, left, and right) on the track, quickly store and retrieve goods, and significantly improve logistics efficiency.

[0003] Currently, most four-way shuttles rely on shaft encoders to calculate true displacement. These encoders are typically mounted on the drive wheels, measuring the drive wheel's speed and direction of rotation to determine the shuttle's trajectory, velocity, acceleration, and position. However, in practice, the shuttle's acceleration is often limited. Excessive acceleration can easily cause the drive wheels to slip, affecting the shuttle's accuracy in reaching its designated location and potentially causing accidents such as collisions or guardrails. Furthermore, low acceleration can also affect the shuttle's operating efficiency, a challenge that needs to be optimized in modern logistics systems, which strive for efficiency.

[0004] At present, in order to improve the operating efficiency of the four-way shuttle and the accuracy of reaching the designated location, the method generally adopted is to reduce the hardness of the driving wheel to increase the friction between the driving wheel and the track, so that the driving wheel is less likely to slip under higher acceleration. However, this will also increase the loss of the driving wheel and the energy consumption of the four-way shuttle, and to a certain extent will also reduce the load capacity of the performance.

[0005] Therefore, developing a four-way shuttle vehicle that can achieve precise positioning has become a common goal pursued by four-way shuttle vehicle manufacturers.

[0006] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Utility Model Content

[0007] In view of one or more deficiencies in the prior art, the present invention provides a four-way shuttle vehicle, comprising:

[0008] Lifting frame;

[0009] a plurality of first driving wheels, rotatably disposed on a first side and a second side of the lifting frame, respectively, the plurality of first driving wheels being configured to carry the lifting frame and move along a first direction, wherein at least one of the first driving wheels is connected to a first encoder, the first encoder being configured to detect an angular displacement of the first driving wheel;

[0010] a plurality of second driving wheels, rotatably disposed on a third side and a fourth side of the lifting frame, respectively, the plurality of second driving wheels being configured to carry the lifting frame and move along a second direction, wherein at least one of the second driving wheels is connected to a second encoder, the second encoder being configured to detect an angular displacement of the second driving wheel; and

[0011] One or more displacement sensors are respectively connected to the lifting frame, and the one or more displacement sensors are configured to detect actual movement distances of the lifting frame in the first direction and the second direction.

[0012] According to one aspect of the present invention, the displacement sensor is an optical tracking sensor.

[0013] According to one aspect of the present invention, an optical tracking sensor is provided, wherein the optical tracking sensor is configured to detect the actual movement distance of the lifting frame in the first direction and the second direction; or

[0014] A plurality of optical tracking sensors are provided, wherein at least one optical tracking sensor is provided on the first side or the second side of the lifting frame and is configured to detect the actual movement distance of the lifting frame in the first direction; and at least one optical tracking sensor is provided on the third side or the fourth side of the lifting frame and is configured to detect the actual movement distance of the lifting frame in the second direction.

[0015] According to one aspect of the present invention, the optical tracking sensor is configured to have an adjustable installation height and / or installation angle.

[0016] According to one aspect of the present invention, a threaded hole is provided on the lower side of the lifting frame, and the optical tracking sensor includes a threaded connection portion, which can be screwed into the threaded hole; or,

[0017] The lifting frame is connected to a sensor bracket, and the sensor bracket includes a first clamping block and a second clamping block, wherein the first clamping block is bolted to the second clamping block and is configured to be suitable for clamping the optical tracking sensor.

[0018] According to one aspect of the present invention, the four-way shuttle further comprises at least one first driven wheel and at least one second driven wheel, wherein the first driven wheel is rotatably disposed on the first side or the second side of the lifting frame, and the second driven wheel is rotatably disposed on the third side or the fourth side of the lifting frame;

[0019] The displacement sensor is a third encoder, wherein at least one third encoder is connected to the first driven wheel and configured to detect the angular displacement of the first driven wheel; at least one third encoder is connected to the second driven wheel and configured to detect the angular displacement of the second driven wheel.

[0020] According to one aspect of the present invention, the four-way shuttle further includes multiple first drive motors and multiple second drive motors, wherein the first drive motor is configured to directly drive one of the first driving wheels, and the second drive motor is configured to directly drive one of the second driving wheels.

[0021] According to one aspect of the present invention, the first driving wheel includes a first hub motor, and / or the second driving wheel includes a second hub motor.

[0022] According to one aspect of the present invention, the lifting frame includes an upper frame, a lower frame and a lifting device, wherein the upper frame is arranged above the lower frame, and the lifting device is configured to drive the upper frame to rise and fall relative to the lower frame.

[0023] According to one aspect of the present invention, the first driving wheel is rotatably connected to the lower frame, and the second driving wheel is rotatably connected to the upper frame.

[0024] Compared with the prior art, the embodiment of the present invention provides a four-way shuttle. By arranging a first encoder on the first driving wheel, a second encoder on the second driving wheel, and one or more displacement sensors on the lifting frame, it is not only conducive to achieving precise control of the motion trajectory of the four-way shuttle and improving the positioning accuracy of the four-way shuttle, but also provides solid hardware support for the speed control, acceleration control, detection and prevention of slippage of the four-way shuttle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 1 shows a schematic diagram of a four-way shuttle 100 according to one embodiment of the present invention;

[0027] Figure 2 14 is a schematic diagram showing the installation structure of an optical tracking sensor 141 according to another embodiment of the present invention;

[0028] Figure 3 1 shows a schematic diagram of a four-way shuttle 100 according to an embodiment of the present invention;

[0029] Figure 4 FIG. 1 is a schematic diagram of a four-way shuttle 200 according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0031] In the description of the present invention, it should be understood that terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," and "counterclockwise" are used to indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance or to implicitly specify the number of the technical features referred to. Therefore, features designated "first" or "second" may explicitly or implicitly include one or more of the aforementioned features. In the description of the present invention, "plurality" means two or more, unless otherwise clearly defined.

[0032] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0033] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0034] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but a person of ordinary skill in the art will recognize the application of other processes and / or the use of other materials.

[0035] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0036] Figure 1 A schematic diagram of a four-way shuttle 100 according to an embodiment of the present invention is shown below. Figure 1 Provide a detailed description.

[0037] like Figure 1 As shown, the four-way shuttle 100 includes a lifting frame 110, a first driving wheel 120, a second driving wheel 130, and a displacement sensor 140. The lifting frame 110 is responsible for carrying goods and realizing the reversing operation, and can also provide support and installation space for other components. There are multiple first driving wheels 120 and second driving wheels 130, and the multiple first driving wheels 120 are rotatably arranged on the first side and the second side ( Figure 1 The first driving wheel 120 is configured to carry the lifting frame 110 and move along the first direction. The plurality of second driving wheels 130 are rotatably arranged on the third side and the fourth side ( Figure 1 The second driving wheel 130 is configured to carry the lifting frame 110 and move in the second direction. At least one of the first driving wheels 120 is connected to a first encoder 150 that can detect the angular displacement of the first driving wheel 120; at least one of the second driving wheels 130 is connected to a second encoder 160 that can detect the angular displacement of the second driving wheel 130. One or more displacement sensors 140 are mounted on the lifting frame 110. The one or more displacement sensors 140 are configured to detect the actual movement distance of the lifting frame 110 in the first and second directions.

[0038] The configuration of the first encoder 150, the second encoder 160, and the displacement sensor 140 can provide precise data support for the motion control of the four-way shuttle 100. This not only facilitates precise control of the motion trajectory of the four-way shuttle 100 and improves the positioning accuracy of the four-way shuttle 100, but also facilitates speed and acceleration control of the four-way shuttle 100, as well as the detection and prevention of slippage. Specifically, the output of one or more displacement sensors 140 can achieve high-precision positioning of the four-way shuttle 100. The output of the first encoder 150 or the second encoder 160 can be used to calculate the speed and acceleration of the four-way shuttle 100 in the first or second direction, providing a good hardware foundation for achieving precise speed and acceleration control. In addition, the output of the first encoder 150 or the second encoder 160 can also be used to calculate the theoretical travel distance of the four-way shuttle 100 in the first or second direction. By comparing the theoretical travel distance of the four-way shuttle 100 in the first or second direction with the actual travel distance, slippage can be effectively detected. Once the slippage is detected, the acceleration can be reduced to effectively eliminate the slippage, thereby ensuring the safe and stable operation of the four-way shuttle 100.

[0039] According to one embodiment of the present invention, Figure 1As shown, the displacement sensor 140 may be an optical tracking sensor 141. The optical tracking sensor 141 emits a light beam toward a target object (e.g., a track), uses a photodetector (e.g., a photodiode or CCD camera) to capture the reflected light, and converts it into an electrical signal, thereby detecting the actual movement distance of the lifting frame (four-way shuttle 100). Optionally, multiple optical tracking sensors 141 may be provided, with at least one optical tracking sensor 141 provided on the first or second side of the lifting frame 110 to detect the actual movement distance of the lifting frame 110 in the first direction; and at least one optical tracking sensor 141 provided on the third or fourth side of the lifting frame 110 to detect the actual movement distance of the lifting frame 110 in the second direction. For example, at least one optical tracking sensor 141 may be provided on the first or second side of the lifting frame 110, aligned with the first driving wheel 120 on the first or second side, to detect the actual movement distance of the lifting frame (four-way shuttle 100) in the first direction. At least one optical tracking sensor 141 is disposed on the third or fourth side of the elevating frame 110 and aligned with the second driving wheel 130 on the third or fourth side to detect the actual movement distance of the elevating frame (four-way shuttle 100) in the second direction. In some embodiments, an optical tracking sensor 141 may also be provided, configured to detect the actual movement distance of the elevating frame 110 in the first and second directions. For example, the optical tracking sensor 141 may be disposed at a corner of the elevating frame 110 and aligned with the first driving wheel 120 on the first or second side and the second driving wheel 130 on the third or fourth side to detect the actual movement of the elevating frame (four-way shuttle 100) in the first and second directions.

[0040] According to one embodiment of the present invention, Figure 1 As shown, the optical tracking sensor 141 can be configured to have an adjustable installation height and / or installation angle, so that the optical tracking sensor 141 can be adapted to tracks of different specifications, thereby ensuring the detection accuracy of the optical tracking sensor 141. Figure 1As shown, the lifting frame 110 is connected to a sensor bracket 170. Sensor bracket 170 may include a first clamping block 171 and a second clamping block 172. The first clamping block 171 and the second clamping block 172 are connected by bolts and are configured to clamp the optical tracking sensor 141. Specifically, a first groove is provided on the first clamping block 171, and a second groove is provided on the second clamping block 172. When the first clamping block 171 and the second clamping block 172 are connected together, the first groove and the second groove form a hole that can accommodate the optical tracking sensor 141. The user can adjust the height of the optical tracking sensor 141 by loosening the bolts. In other embodiments, the sensor bracket 170 may also adopt a multi-axis adjustable bracket with lifting and rotation functions, such as a four-axis, five-axis, or six-axis adjustable bracket, to ensure that the optical tracking sensor 141 can be quickly and accurately adjusted to the optimal position according to different usage scenarios and needs. Figure 2 FIG. 1 shows a schematic diagram of the installation structure of an optical tracking sensor 141 according to another embodiment of the present invention. Figure 2 As shown, a threaded hole 111 is provided on the lower side of the lifting frame 110. A threaded connection portion is provided on the optical tracking sensor 141. The threaded connection portion of the optical tracking sensor 141 is screwed into the threaded hole 111, and the user can adjust the installation height of the optical tracking sensor 141 by rotating it.

[0041] According to one embodiment of the present invention, Figure 1 As shown, Figure 1As shown, the four-way shuttle 100 further includes a first drive motor 180 and a second drive motor 190. The number of first drive motors 180 is the same as the number of first driving wheels 120, with each first drive motor 180 directly driving one first driving wheel 120. The number of second drive motors 190 is the same as the number of second driving wheels 130, with each second drive motor 190 directly driving one second driving wheel 130. Four first driving wheels 120 and four second driving wheels 130 may be provided, with two first driving wheels 120 disposed on a first side of the lift frame 110, two other first driving wheels 120 disposed on the other side of the lift frame 110, two second driving wheels 130 disposed on a third side of the lift frame 110, and two other second driving wheels 130 disposed on a fourth side of the lift frame 110. In some embodiments, two first driving wheels 120 and two second driving wheels 130 may also be provided, along with two first driven wheels and two second driven wheels, to ensure stable travel of the four-way shuttle 100. Among them, a first driving wheel 120 and a first driven wheel are arranged on a first side of the lifting frame 110, another first driving wheel 120 and another first driven wheel are arranged on a second side of the lifting frame 110, a second driving wheel 130 and a second driven wheel are arranged on a third side of the lifting frame 110, and another second driving wheel 130 and another second driven wheel are arranged on a fourth side of the lifting frame 110. It will be appreciated by those skilled in the art that in other embodiments, other numbers of first driving wheels 120 and second driving wheels 130 may also be arranged, and the present invention is not limited thereto.

[0042] According to a preferred embodiment of the present invention, the first driving wheel 120 may include a first hub motor, which serves as a first drive motor 180 to drive the first driving wheel 120 to rotate. The second driving wheel 130 may include a second hub motor, which serves as a second drive motor 190 to drive the second driving wheel 130 to rotate.

[0043] Figure 3 A schematic diagram of a four-way shuttle 100 according to an embodiment of the present invention is shown. Figure 1 and Figure 3As shown, the lifting frame 110 may include an upper frame 112, a lower frame 113, and a lifting device 114. The upper frame 112 is disposed directly above the lower frame 113. The lifting device 114 is connected between the upper frame 112 and the lower frame 113 and is configured to drive the upper frame 112 to rise and fall relative to the lower frame 113. Optionally, the first driving wheel 120 is rotatably connected to the lower frame 113, and the second driving wheel 130 is rotatably connected to the upper frame 112. By driving the upper frame 112 to rise and fall relative to the lower frame 113 through the lifting device 114, the four-way shuttle 100 can be used to pick up and place goods and change directions. It should be noted that, in order to avoid interference between the lifting frame 110 and the first drive motor 180 and the second drive motor 190, corresponding avoidance gaps may be provided on the upper frame 112 and / or the lower frame 113.

[0044] Figure 4 A schematic diagram of a four-way shuttle 200 according to an embodiment of the present invention is shown. Figure 4 As shown, the four-way shuttle 200 includes a lifting frame 210, a first driving wheel 220, a second driving wheel 230, a first encoder 250, and a second encoder 260. The lifting frame 210, the first driving wheel 220, the second driving wheel 230, the first encoder 250, and the second encoder 260 can adopt the same or similar structures and functions as the corresponding structures (devices) in the four-way shuttle 200. The four-way shuttle 200 may also include at least one first driven wheel 270, at least one second driven wheel 280, and a plurality of displacement sensors 240. The first driven wheel 270 is rotatably disposed on the first side or the second side of the lifting frame 210. The second driven wheel 280 is rotatably disposed on the third side or the fourth side of the lifting frame 210. The displacement sensor 240 is a third encoder 241. At least one third encoder 241 is connected to the first driven wheel 270 and is configured to detect the angular displacement of the first driven wheel 270. The actual movement distance of the lifting frame 210 (four-way shuttle 200) in the first direction can be calculated based on the angular displacement of the first driven wheel 270 and the circumference of the first driven wheel 270. At least one third encoder 241 is connected to the second driven wheel 280 and is configured to detect the angular displacement of the second driven wheel 280. The actual movement distance of the lifting frame 210 (four-way shuttle 200) in the second direction can be calculated based on the angular displacement of the second driven wheel 280 and the circumference of the second driven wheel 280.

[0045] Compared with the prior art, the embodiment of the present invention provides a four-way shuttle. By arranging a first encoder on the first driving wheel, a second encoder on the second driving wheel, and one or more displacement sensors on the lifting frame, it is not only conducive to achieving precise control of the motion trajectory of the four-way shuttle and improving the positioning accuracy of the four-way shuttle, but also provides solid hardware support for the speed control, acceleration control, detection and prevention of slippage of the four-way shuttle.

[0046] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A four-way shuttle vehicle, characterized in that: include: Lifting frame; a plurality of first driving wheels, rotatably disposed on a first side and a second side of the lifting frame, respectively, the plurality of first driving wheels being configured to carry the lifting frame and move along a first direction, wherein at least one of the first driving wheels is connected to a first encoder, the first encoder being configured to detect an angular displacement of the first driving wheel; a plurality of second driving wheels, rotatably disposed on a third side and a fourth side of the lifting frame, respectively, the plurality of second driving wheels being configured to carry the lifting frame and move along a second direction, wherein at least one of the second driving wheels is connected to a second encoder, the second encoder being configured to detect an angular displacement of the second driving wheel; and One or more displacement sensors are respectively connected to the lifting frame, and the one or more displacement sensors are configured to detect actual movement distances of the lifting frame in the first direction and the second direction.

2. The four-way shuttle according to claim 1, characterized in that: The displacement sensor is an optical tracking sensor.

3. The four-way shuttle according to claim 2, characterized in that: Provide an optical tracking sensor configured to detect actual movement distances of the lifting frame in the first direction and the second direction; or A plurality of optical tracking sensors are provided, wherein at least one optical tracking sensor is provided on the first side or the second side of the lifting frame and is configured to detect the actual movement distance of the lifting frame in the first direction; and at least one optical tracking sensor is provided on the third side or the fourth side of the lifting frame and is configured to detect the actual movement distance of the lifting frame in the second direction.

4. The four-way shuttle according to claim 2 or 3, characterized in that: The optical tracking sensor is configured to have adjustable mounting height and / or mounting angle.

5. The four-way shuttle according to claim 4, characterized in that: A threaded hole is provided on the lower side of the lifting frame, and the optical tracking sensor includes a threaded connection portion, which can be screwed into the threaded hole; or, The lifting frame is connected to a sensor bracket, and the sensor bracket includes a first clamping block and a second clamping block, wherein the first clamping block is bolted to the second clamping block and is configured to be suitable for clamping the optical tracking sensor.

6. The four-way shuttle according to claim 1, characterized in that: The four-way shuttle further includes at least one first driven wheel and at least one second driven wheel, wherein the first driven wheel is rotatably disposed on a first side or a second side of the lifting frame, and the second driven wheel is rotatably disposed on a third side or a fourth side of the lifting frame; The displacement sensor is a third encoder, wherein at least one third encoder is connected to the first driven wheel and configured to detect the angular displacement of the first driven wheel; at least one third encoder is connected to the second driven wheel and configured to detect the angular displacement of the second driven wheel.

7. The four-way shuttle according to claim 1, characterized in that: The four-way shuttle further includes a plurality of first drive motors and a plurality of second drive motors, wherein the first drive motor is configured to directly drive one of the first driving wheels, and the second drive motor is configured to directly drive one of the second driving wheels.

8. The four-way shuttle according to claim 7, characterized in that: The first driving wheel includes a first hub motor, and / or the second driving wheel includes a second hub motor.

9. The four-way shuttle according to claim 1, characterized in that: The lifting frame includes an upper frame, a lower frame and a lifting device, wherein the upper frame is arranged above the lower frame, and the lifting device is configured to drive the upper frame to rise and fall relative to the lower frame.

10. The four-way shuttle according to claim 9, characterized in that: The first driving wheel is rotatably connected to the lower frame, and the second driving wheel is rotatably connected to the upper frame.

Images