Double-drive four-point type high-position picking vehicle and driving structure thereof

Abstract

The utility model discloses a double-drive four-point type high-position sorting vehicle and a driving structure thereof, and aims to overcome the defects that a conventional high-position sorting vehicle is poor in movement flexibility and difficult to meet the requirement for convenient movement among various scenes in a warehouse. The trolley comprises a trolley frame, a first driving wheel, a second driving wheel and universal wheels, the trolley frame is provided with a plurality of wheel installation positions, the wheel installation positions are located at corner points of a rectangle, the first driving wheel and the second driving wheel are arranged on the two corner points in tandem, and the two universal wheels are installed on the other two corner points. A first driving structure and a second driving structure are arranged on the frame, the first driving structure drives the first driving wheel to move, the second driving structure drives the second driving wheel to move, and the movement comprises rotation and steering. The high-position picking vehicle is provided with the two independent driving wheels, and the two independent driving wheels are matched with the universal wheels at the other two angular points, so that the stability of the high-position picking vehicle in the moving process can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the motion control field of low-speed storage and transport vehicle, more particularly, it relates to a double drive four-point high picking vehicle and driving structure thereof. BACKGROUND

[0002] The high picking vehicle is a low-speed storage and transport vehicle for industrial use, a mechanical equipment used in warehouses and logistics centers, mainly used for picking, carrying and stacking goods on high shelves. The operator drives the high picking vehicle to move between shelves, and the operator is lifted by raising the platform carrying the operator, so as to take or place goods on the high shelf.

[0003] When the operator takes or places goods between shelves, there is a demand that the high picking vehicle can have a motion mode other than the conventional vehicle, so as to meet the function of convenient movement between shelves. For example, there is a scenario where the operator needs to take or place goods between two parallel shelves, and the channel between the shelves is often wider than the shelf so that the operator needs to adjust the position of the vehicle body laterally. Or, in a dead-end angle, the operator wants the high picking vehicle to turn around, but the width of the channel is not enough to complete the turn in a small number of operations.

[0004] In the above scenario, the operator often needs a large number of operations to move the high picking vehicle into place, which increases the burden of the operator, reduces the efficiency, and increases the use cost of the user.

[0005] The above scenario occurs frequently in the actual application of the high picking vehicle, so it is urgent to provide more running modes for the high picking vehicle to solve the inconvenience caused by the above scenario.

[0006] In order to provide more running modes, the present application aims to provide a driving structure of a double drive four-point high picking vehicle to support the above running modes. SUMMARY

[0007] The utility model overcomes the poor motion flexibility of the conventional high picking vehicle, and provides a double drive four-point high picking vehicle and driving structure thereof, which realizes support for multiple movement modes by independent motion of the first driving wheel and the second driving wheel, covers most scenarios of movement in narrow channels, can move more flexibly, and reduces the burden of the operator.

[0008] In order to solve the above technical problem, the utility model adopts the following technical scheme:

[0009] The application discloses a driving structure of a double-drive four-point high-position sorting vehicle.

[0010] As a preference, the rectangle is coincident with the projection shape of the vehicle frame on a horizontal plane.

[0011] As a preference, the first driving wheel and the second driving wheel are located on the same side of the width direction of the rectangle.

[0012] As a preference, the first driving wheel and the second driving wheel are located on the opposite sides of the width direction of the rectangle.

[0013] As a preference, the first driving structure comprises a power base, a power motor arranged on the power base, a steering base and a steering motor arranged on the steering base, the power base and the steering base are rotationally connected, the steering motor is in transmission connection with the power base and drives the power base to rotate, the steering base is fixedly connected to the vehicle frame, and the power motor drives the first driving wheel to rotate.

[0014] As a preference, the second driving structure is identical with the first driving structure, wherein the driving motor of the second driving structure drives the second driving wheel to rotate.

[0015] As a preference, the transmission motor of the first driving structure and the power base are in transmission connection through a speed reducer, and the transmission motor of the second driving structure and the power base are in transmission connection through a speed reducer.

[0016] As a preference, the top of the power base is circular and the outer edge of the power base is provided with a gear ring, the steering motor is in transmission connection with a driving gear, and the driving gear is in mesh with the gear ring.

[0017] As a preference, a driven gear is further rotationally connected to the steering base, the driven gear and the driving gear are arranged on the two sides of the gear ring, and the centers of the driven gear and the driving gear are arranged on a straight line passing through the center of the gear ring.

[0018] The application further discloses a double-drive four-point high-position sorting vehicle comprising the driving structure of the double-drive four-point high-position sorting vehicle.

[0019] Compared with the prior art, the high-position sorting vehicle has the advantages that:

[0020] (1) The high-position sorting vehicle has two independent driving wheels, and the two driving wheels are arranged at the corner point positions of the high-position sorting vehicle, so that the stability of the high-position sorting vehicle during movement can be realized.

[0021] (2) The universal wheel follows the vehicle body to be driven, so that the levelness of the vehicle can be maintained. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic view of the high-position sorting vehicle of the utility model;

[0023] Figure 2 is a bottom view of one embodiment of the utility model;

[0024] Figure 3 is a bottom view of another embodiment of the utility model;

[0025] Figure 4 is a schematic view of the vehicle frame of the utility model;

[0026] Figure 5 is a schematic view of the high-position sorting vehicle of the utility model from another angle;

[0027] In the drawings:

[0028] Frame 1, first driving wheel 2, second driving wheel 3, universal wheel 4, wheel mounting position 5, first driving structure 6, second driving structure 7, power seat 8, power motor 9, steering seat 10, steering motor 11, speed reducer 12, gear ring 13, driving gear 14, driven gear 15. DETAILED DESCRIPTION

[0029] The present disclosure will be further described below in conjunction with the drawings and embodiments.

[0030] It should be noted that the following detailed description is all exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0031] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, they indicate the presence of a feature, step, operation, device, component and / or combination thereof.

[0032] In the present disclosure, the terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", and the like indicate the orientation or positional relationship shown in the drawings, which are only the relationship words determined for the convenience of describing the structural relationship of the components or elements of the present disclosure, and cannot be understood as the limitation of the present disclosure.

[0033] In the present disclosure, the terms such as "fixedly connected", "connected", "connected", and the like should be understood broadly, which means that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific researchers or technicians in the field, the specific meaning of the above terms in the present disclosure can be determined according to the specific circumstances, and cannot be understood as the limitation of the present disclosure.

[0034] Embodiment:

[0035] A driving structure of a double-drive four-point high-position sorting vehicle is shown in Figure 2 、 Figure 3 The driving structure of the double-drive four-point high-position sorting vehicle includes a vehicle frame 1, a first driving wheel 2, a second driving wheel 3, and a universal wheel 4. The first driving wheel 2, the second driving wheel 3, and the universal wheel 4 are installed at the bottom of the vehicle frame 1, and the first driving wheel 2, the second driving wheel 3, and the universal wheel 4 are tangent to the same plane, which is a horizontal plane or a ground plane. Among them, the first driving wheel 2 and the second driving wheel 3 are driving wheels, and the universal wheel 4 is a driven wheel. The structure design of the universal wheel 4 refers to the "universal wheel 4" commonly understood in the prior art, and the corresponding universal wheel 4 accessories can be designed or purchased by the technicians in the field according to the prior art.

[0036] The vehicle frame 1 has a plurality of wheel mounting positions 5, and the wheel mounting positions 5 are located at the corners of the rectangle. Specifically, the vehicle frame 1 has four wheel mounting positions 5. The center of gravity of the vehicle frame 1 is located inside the rectangle, so as to avoid overturning of the vehicle frame 1 and rollover accidents.

[0037] Among them, the rectangle is coincided with the projection shape of the vehicle frame 1 on the horizontal plane. In some possible embodiments, the rectangle is larger than or smaller than the projection shape of the vehicle frame 1 on the horizontal plane. Among them, the rectangle and the projection shape of the vehicle frame 1 on the horizontal plane have the same graphic shape but different sizes.

[0038] The first driving wheel 2 and the second driving wheel 3 are arranged on two wheel mounting positions 5 corresponding to the length direction of the rectangle, and the two universal wheels 4 are arranged on the other two wheel mounting positions 5 corresponding to the other two corners of the rectangle. In some embodiments, the first driving wheel 2 and the second driving wheel 3 are arranged on the same side of the width direction of the rectangle. In other embodiments, the first driving wheel 2 and the second driving wheel 3 are arranged on the opposite side of the width direction of the rectangle. Specifically, the first driving wheel 2 is arranged on the front left wheel, and the second driving wheel 3 is arranged on the rear left wheel; or the first driving wheel 2 is arranged on the front right wheel, and the second driving wheel 3 is arranged on the rear right wheel; or the first driving wheel 2 is arranged on the front left wheel, and the second driving wheel 3 is arranged on the rear right wheel; or the first driving wheel 2 is arranged on the front right wheel, and the second driving wheel 3 is arranged on the rear left wheel.

[0039] Corresponding to the positions of the first driving wheel 2 and the second driving wheel 3, the frame 1 is provided with a first driving structure 6 and a second driving structure 7, the first driving structure 6 drives the first driving wheel 2 to move, and the second driving structure 7 drives the second driving wheel 3 to move, the movement including rotation and steering.

[0040] Referring to FIG. 1, Figure 4 and Figure 5 The first driving structure 6 includes a power seat 8, a power motor 9 arranged on the power seat 8, a steering seat 10, and a steering motor 11 arranged on the steering seat 10. The power seat 8 and the steering seat 10 are rotationally connected, the steering motor 11 is transmissionally connected to the power seat 8 and drives the power seat 8 to rotate, the steering seat 10 is fixedly connected to the frame 1, and the power motor 9 drives the first driving wheel 2 to rotate. The second driving structure 7 has the same structure as the first driving structure 6, wherein the driving motor of the second driving structure 7 drives the second driving wheel 3 to rotate. The transmission motor of the first driving structure 6 and the power seat 8 are transmissionally connected through a speed reducer 12; the transmission motor of the second driving structure 7 and the power seat 8 are transmissionally connected through the speed reducer 12.

[0041] The top of the power seat 8 is circular and has a gear ring 13 arranged on the outer edge. The steering motor 11 is transmissionally connected with a driving gear 14, and the driving gear 14 is engaged with the gear ring 13. The steering seat 10 is further rotationally connected with a driven gear 15, and the driven gear 15 and the driving gear 14 are arranged on both sides of the gear ring 13. The centers of the driven gear 15 and the driving gear 14 are arranged on a straight line passing through the center of the gear ring 13. This structure can further improve the steering accuracy of the driving wheel and the stability of the driving structure.

[0042] The motion control module is further provided, and the motion control module is electrically connected with the first driving structure 6 and the second driving structure 7. The motion control module controls the motion of the first driving wheel 2 and / or the second driving wheel 3, thereby controlling the motion mode of the frame 1.

[0043] The application provides several movement modes as examples, but is not limited thereto, and those skilled in the art can select other movement combinations of the first driving wheel 2 and the second driving wheel 3 to generate new movement modes according to the teaching of the application:

[0044] Normal mode: the movement control module controls one of the first driving wheel 2 or the second driving wheel 3 to steer, and one or more of the first driving wheel 2 and the second driving wheel 3 to rotate, thereby generating a movement mode similar to a normal vehicle;

[0045] In this way, the movement control module also controls the driving wheel not responsible for steering to follow the driving wheel responsible for steering to steer, and the steering directions are the same, but the steering angles are smaller, thereby reducing the steering radius of the vehicle frame 1;

[0046] Multi-directional movement mode: also known as crab mode, the movement control module controls the first driving wheel 2 and the second driving wheel 3 to steer synchronously, and the steering angles and directions are the same, and one or more of the first driving wheel 2 and the second driving wheel 3 rotates;

[0047] Small steering radius mode: the movement control module controls the first driving wheel 2 and the second driving wheel 3 to steer reversely, and the steering angles are the same, and one or more of the first driving wheel 2 and the second driving wheel 3 rotates;

[0048] The small steering radius mode further includes a zero steering mode, in which, when the movement control module detects that the steering angles of the first driving wheel 2 and the second driving wheel 3 reach a steering threshold value of 90 degrees, the movement control module limits the rotating speed of the first driving wheel 2 and the second driving wheel 3 to be below a preset value.

[0049] On this basis, referring to Figure 1 、 Figure 5 As shown in the figure, the embodiment discloses a double-drive four-point high-picking vehicle, which has a driving structure of a double-drive four-point high-picking vehicle as described above.

[0050] The above-described embodiments are only preferred schemes of the utility model, and do not limit the utility model in any form, and other variants and modifications can be made without exceeding the technical scheme recorded in the claims.

Claims

1. A driving structure of a double drive four-point high-level picking vehicle, characterized in that, The application relates to a double-drive four-point high-picking vehicle driving structure.

2. The driving structure of the double driving four-point high-picking vehicle according to claim 1, characterized in that, The rectangle is coincident with the projection shape of the vehicle frame on a horizontal plane.

3. The driving structure of the double driving four-point high-picking vehicle according to claim 1, characterized in that, The first driving wheel and the second driving wheel are located on the same side of the rectangle in the width direction.

4. The driving structure of the double driving four-point high-picking vehicle according to claim 1, characterized in that, The first driving wheel and the second driving wheel are located on the different sides of the rectangle in the width direction.

5. The driving structure of the double driving four-point high-picking vehicle according to claim 1, characterized in that, The first driving structure comprises a power seat, a power motor arranged on the power seat, a steering seat and a steering motor arranged on the steering seat, the power seat and the steering seat are rotationally connected, the steering motor is in transmission connection with the power seat and drives the power seat to rotate, the steering seat is fixedly connected to the vehicle frame, and the power motor drives the first driving wheel to rotate.

6. The driving structure of the double driving four-point high-picking vehicle according to claim 5, characterized in that, The second driving structure is the same as the first driving structure, wherein the driving motor of the second driving structure drives the second driving wheel to rotate.

7. The driving structure of the double-driven four-point high-picking vehicle according to claim 5 or 6, characterized in that, The transmission motor of the first driving structure and the power seat are in transmission connection through a speed reducer; the transmission motor of the second driving structure and the power seat are in transmission connection through a speed reducer.

8. The driving structure of the double-driven four-point high-picking vehicle according to claim 5 or 6, characterized in that, The top of the power seat is circular and the outer edge of the power seat is provided with a gear ring, the steering motor is in transmission connection with a driving gear, and the driving gear is in mesh with the gear ring.

9. The driving structure of the double-driven four-point high-picking vehicle according to claim 8, characterized in that, The steering seat is further rotationally connected with a driven gear, the driven gear and the driving gear are arranged on the two sides of the gear ring, and the centers of the driven gear and the driving gear are arranged on a straight line passing through the center of the gear ring.

10. A double drive four-point high picking vehicle, characterized in that, The application relates to a double-drive four-point high-picking vehicle driving structure.

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