Intelligent four-way shuttle vehicle

Abstract

The intelligent four-direction shuttle vehicle comprises a vehicle body (1) composed of a longitudinal walking frame (11) and a transverse walking frame (12), an X-direction walking mechanism (2), a Y-direction walking mechanism (3) and a Z-direction moving mechanism (4) are arranged in the vehicle body (1), and the X-direction walking mechanism (2) comprises an X-direction driving device (21), an X-direction driving wheel, an X-direction chain and an X-direction driven wheel which are matched with one another; the Y-direction travelling mechanism (3) comprises a Y-direction driving device (31), a Y-direction driving wheel, a Y-direction chain and a Y-direction driven wheel which are matched with one another; the Z-direction moving mechanism (4) comprises a guide rail (41), a guide block (42) and a Z-direction driving device (43), wherein the guide rail (41) and the guide block (42) are matched with each other, and a driving gear (44) at the end of the Z-direction driving device (43) is correspondingly meshed with the rack (451). The utility model has the advantages that the stable reversing operation is realized, the accurate position and motion control of the vehicle in the warehouse can be ensured, and the goods storage efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of storage and handling equipment technology, and in particular to an intelligent four-way shuttle vehicle. Background Technology

[0002] In warehouse storage, stacker cranes are primarily suitable for storing and handling large, heavy goods. Because they can only operate on fixed tracks, each aisle requires one stacker crane, making them more suitable for well-organized, structurally stable automated warehouses. However, requiring a stacker crane for every aisle is costly and limits flexibility.

[0003] To address the aforementioned problems in actual production, intelligent shuttle vehicles have emerged. Due to their high flexibility and adaptability, they are widely used in various industries such as pharmaceuticals, food, home appliances, automobiles, and tobacco. Whether it's irregularly shaped warehouses, multi-level warehouses, multi-level through-warehouses, or flat warehouses, four-way shuttle vehicles can meet the needs. Their modular and standardized design makes the system easy to expand and upgrade, suitable for high-volume, high-density storage and picking operations. However, current shuttle vehicles vary in type, and their flexibility and stability in reversing or lifting operations are insufficient. Furthermore, the positioning of shuttle vehicles in warehouses is not precise enough, which undoubtedly affects the accuracy of inbound and outbound operations and the efficiency of goods storage. Utility Model Content

[0004] The purpose of this invention is to solve the problems of poor stability, low accuracy and low work efficiency of existing shuttle vehicles, and to provide an intelligent four-way shuttle vehicle that can not only achieve stable reversing operation, but also ensure the precise position and motion control of the vehicle in the warehouse, thereby improving the efficiency of cargo storage.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An intelligent four-way shuttle vehicle includes a vehicle body composed of a longitudinal walking frame and a transverse walking frame. The vehicle body is equipped with an X-axis walking mechanism, a Y-axis walking mechanism, and a Z-axis moving mechanism. The X-axis walking mechanism includes a pair of symmetrical X-axis drive devices. Each X-axis drive device has an X-axis driving wheel 1 and an X-axis driving wheel 2 connected to its drive shaft. The X-axis driving wheel 1 is connected to the X-axis driven wheel 1 via an X-axis chain 1. The X-axis driven wheel 1 is then connected to the X-axis driven wheel 2 via an X-axis chain 2. The X-axis driving wheel 2 is connected to the X-axis driven wheel 3 via an X-axis chain 3. The X-axis driven wheel 3 is then connected to the X-axis driven wheel 4 via an X-axis chain 4. The X-axis chains 1, 2, 3, and 4 are all arranged parallel to each other along the X direction, and the X-axis driven wheels 1, 2, 3, and 4 are all located on the longitudinal walking frame along the X direction.

[0007] The Y-axis traveling mechanism includes a pair of symmetrical Y-axis driving devices. Each Y-axis driving device has a Y-axis driving wheel 1 and a Y-axis driving wheel 2 connected to its drive shaft. The Y-axis driving wheel 1 is connected to the Y-axis driven wheel 1 via a Y-axis chain 1, and the Y-axis driving wheel 2 is connected to the Y-axis driven wheel 2 via a Y-axis chain 2. The Y-axis driven wheel 1 and the Y-axis driven wheel 2 are both located on the transverse traveling frame along the Y-axis, and are symmetrically arranged with the drive shaft of the Y-axis driving device as the center line.

[0008] The Z-axis moving mechanism includes a set of cooperating guide rails and guide blocks, as well as a Z-axis driving device. Each guide rail is connected to the inner side of the longitudinal traveling frame along the Z-axis, and the guide block is connected to the outer side of the transverse traveling frame. The guide rails and guide blocks are correspondingly connected and form a sliding guide engagement. The drive shaft of the Z-axis driving device is connected to a drive gear, which meshes with a rack. The rack is located on the transverse traveling frame and is used to make the transverse traveling frame move longitudinally along the guide rail when the drive gear and rack mesh.

[0009] Furthermore, the longitudinal traveling frame includes a rectangular frame and a pair of vertical beams connected to the rectangular frame. The lower part of the vertical beams is provided with a set of slots. The transverse traveling frame has an I-shaped structure and a pair of horizontal beams in the middle. The upper part of the horizontal beams is provided with a set of slots. The vertical beams and horizontal beams are perpendicular to each other. The transverse traveling frame is set in the rectangular frame and the two adopt an inlay structure. When the two are inlaid, slots one and slot two are correspondingly engaged.

[0010] Furthermore, there are six guide rails and six guide blocks. Every three guide rails are fixed at equal intervals to the inner side of the rectangular frame of the longitudinal traveling frame, and the corresponding guide blocks are connected to the outer side of the transverse traveling frame. The guide rails and guide blocks are connected and form a sliding guide engagement.

[0011] Furthermore, there are four Z-axis drive devices, and every two Z-axis drive devices are symmetrically arranged with the X-axis drive device or the Y-axis drive device as the center.

[0012] Furthermore, the vehicle body with the X-axis walking mechanism, Y-axis walking mechanism and Z-axis moving mechanism has a centrally symmetrical structure.

[0013] Furthermore, one end of the Z-axis drive device is fixed to the vertical beam of the longitudinal traveling frame, and the other end is connected to the drive gear. The rack is set on the rack column of the transverse traveling frame on the corresponding side, and the axis of the rack column and the axis of the guide rail are both set along the Z-axis.

[0014] Furthermore, the upper surface of the vehicle body is also provided with a battery pack, telescopic forks and control system that cooperate with each other, and the side of the vehicle body is also provided with an identification and addressing system. The battery pack and control system are respectively located on both sides of the telescopic forks. The telescopic forks include multi-stage slides connected to the telescopic drive device. The uppermost slide is connected to the corresponding fork, and the two forks are located on the same horizontal plane and are arranged parallel to each other.

[0015] Compared with the prior art, the advantages of the technical solution of this utility model are as follows:

[0016] (1) This utility model integrates longitudinal walking, lateral walking and cross bidirectional walking functions into one, and uses a gear rack motor reducer to drive lifting and lowering, and completes the rapid switching of longitudinal / lateral functions;

[0017] (2) The walking wheel of this utility model is powered by sprocket and chain, and combined with the arrangement of multiple wheels, it can achieve the function of crossing ditches and improve the climbing function;

[0018] (3) This utility model adopts an embedded longitudinal / lateral moving frame with a small lifting stroke, which effectively completes the longitudinal / lateral function switching. Through the mutual cooperation of walking, lifting, transplanting and identification mechanisms, it can move laterally and longitudinally along the predetermined track and directly reach any position in the warehouse, realizing functions such as automatic storage and retrieval, automatic lane changing and layer changing, intelligent leveling and automatic climbing.

[0019] (4) The multi-directional mobility of this utility model enables the intelligent shuttle to operate flexibly in complex warehouse environments, supports multi-level expansion, meets the storage needs of different types and sizes of products, and improves the adaptability and work efficiency of the shuttle. Attached Figure Description

[0020] Figure 1 This is a top view of the intelligent four-way shuttle vehicle of this utility model;

[0021] Figure 2 for Figure 1 AA section view;

[0022] Figure 3 for Figure 1 BB section view;

[0023] Figure 4 for Figure 1 CC section view;

[0024] Figure 5 This is a perspective view of the longitudinal walking frame structure of this utility model;

[0025] Figure 6 This is a perspective view of the transverse walking frame structure of this utility model;

[0026] Figure 7 This is a schematic diagram of the assembly of the intelligent four-way shuttle and the telescopic forks in this embodiment. Detailed Implementation Example

[0027] To make this utility model clearer, the following description, in conjunction with the accompanying drawings, further illustrates an intelligent four-way shuttle vehicle and its entry / exit method. The specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this utility model.

[0028] This utility model's intelligent shuttle can move along predetermined transverse and longitudinal tracks, directly reaching any location in the warehouse, realizing functions such as automatic storage and retrieval, automatic lane changing and layer changing, intelligent leveling, automatic climbing, and crossing ditches. In this embodiment, an intelligent four-way shuttle is provided, comprising a vehicle body composed of a longitudinal traveling frame and a transverse traveling frame, characterized in that:

[0029] See Figure 1 , Figure 5 and Figure 6 The longitudinal traveling frame 11 includes a rectangular frame 111 and a pair of vertical beams 112 connected within the rectangular frame 111. The lower part of the vertical beams 112 is provided with a set of slots 112a. The transverse traveling frame 12 has an I-shaped structure and a pair of horizontal beams 121 in the middle. The upper part of the horizontal beams 121 is provided with a set of slots 121a. The vertical beams 112 and the horizontal beams 121 are perpendicular to each other. The transverse traveling frame 12 is located within the rectangular frame 111 and the two adopt an inlay structure. When the two are inlaid, slots 112a and slots 121a are correspondingly engaged.

[0030] See Figures 1-4 The vehicle body 1 is equipped with an X-axis traveling mechanism 2, a Y-axis traveling mechanism 3, and a Z-axis moving mechanism 4. The X-axis traveling mechanism 2 includes a pair of symmetrical X-axis drive devices 21. Each X-axis drive device 21 has an X-axis drive wheel 1 22 and an X-axis drive wheel 23 connected to its drive shaft. The X-axis drive wheel 1 22 is connected to the X-axis driven wheel 1 25 via the X-axis chain 1 24. The X-axis driven wheel 1 25 is then connected to the X-axis driven wheel 27 via the X-axis chain 26. The X-axis drive wheel 23 is connected to the X-axis driven wheel 3 29 via the X-axis chain 3 28. The X-axis driven wheel 3 29 is then connected to the X-axis driven wheel 4 211 via the X-axis chain 4 210. The X-axis chains 1, 2, 3, and 4 are all arranged parallel to each other along the X direction, and the X-axis driven wheels 1, 2, 3, and 4 are all arranged on the longitudinal traveling frame along the X direction.

[0031] The Y-direction traveling mechanism 3 includes a pair of symmetrical Y-direction driving devices 31. Each Y-direction driving device 31 has a Y-direction driving wheel 32 and a Y-direction driving wheel 33 connected to its drive shaft. The Y-direction driving wheel 32 is connected to the Y-direction driven wheel 35 via the Y-direction chain 34. The Y-direction driving wheel 33 is connected to the Y-direction driven wheel 37 via the Y-direction chain 36. The Y-direction driven wheel 35 and the Y-direction driven wheel 37 are both arranged along the Y direction on the transverse traveling frame 12, and the two are symmetrically arranged with the drive shaft of the Y-direction driving device 31 as the center line.

[0032] Z-axis moving mechanism 4 includes six pairs of cooperating guide rails 41 and guide blocks 42, and four Z-axis driving devices 43. Every three guide rails 41 are connected at equal intervals along the Z-axis to the inner side of the longitudinal walking frame 11, and the guide blocks 43 are connected to the outer side of the transverse walking frame 12. The guide rails 41 and guide blocks 42 are correspondingly connected and the two form a sliding guide cooperation.

[0033] Two Z-axis drive units 43 are symmetrically arranged with the X-axis drive unit 21 or the Y-axis drive unit 31 as the center. One end of the Z-axis drive unit 43 is fixed on the vertical beam 111 of the longitudinal traveling frame 11, and the other end is connected to the drive gear 44. The rack 451 is provided on the rack post 45 of the transverse traveling frame 12 on the corresponding side, and the axis of the rack post 45 and the axis of the guide rail 41 are both arranged along the Z-axis. The drive gear 44 and the rack 451 mesh with each other to make the transverse traveling frame move longitudinally along the guide rail when the drive gear and rack mesh.

[0034] See Figure 7 The upper surface of the vehicle body 1 is also provided with a battery pack 5, a telescopic fork 7 and a control system 6 that cooperate with each other. The side of the vehicle body 1 is also provided with an identification and addressing system 8. The battery pack 5 and the control system 6 are respectively located on both sides of the telescopic fork 7. The telescopic fork 7 includes a multi-stage slide 71 connected to the telescopic drive device. The uppermost slide is connected to the corresponding fork 72. The two forks 72 are located on the same horizontal plane and are arranged parallel to each other.

[0035] In this embodiment, the four-way shuttle's drive mechanism is powered by its own lithium battery system, which drives the wheel assembly via a motor chain to move the shuttle forward, backward, and left and right. Longitudinal movement is achieved through eight-wheel drive, enabling it to cross ditches.

[0036] The Z-axis moving mechanism 4, also known as the track-changing mechanism, is a key component in completing the vehicle's reversing operation. The shuttle car is lifted on the track by the entire vehicle. The longitudinal traveling frame 11 and the transverse traveling frame 12 adopt an embedded structure, such as... Figure 5 and Figure 6 As shown, the gear and rack lifting mechanism is driven by motor reducers distributed at the four corners of the walking frame, and the front and rear ends are guided by linear guide rails to achieve stable longitudinal / lateral reversing operation.

[0037] In this embodiment, the shuttle utilizes advanced communication and positioning technologies to ensure precise vehicle location and motion control within the warehouse. This includes wireless communication technology and high-precision positioning systems such as lidar and inertial navigation. The shuttle's spatial position is determined by interacting with a reflector mounted on the ground using a laser beam. By measuring the time and angle of the laser beam, the shuttle's position relative to the reflector can be calculated.

[0038] This utility model's intelligent shuttle boasts high flexibility and intelligence. It can move laterally and longitudinally along a predetermined track, directly reaching any location in the warehouse, and realizing functions such as automatic storage and retrieval, automatic lane changing and layer changing, intelligent leveling, and automatic climbing and trench crossing. This multi-directional mobility enables the intelligent shuttle to operate flexibly in complex warehouse environments, supports multi-layer expansion, and meets the storage needs of different types and sizes of products.

[0039] In addition to the embodiments described above, this utility model may have other implementation methods. All technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by this utility model.

Claims

1. An intelligent four-way shuttle vehicle, comprising a vehicle body (1) composed of a longitudinal walking frame (11) and a transverse walking frame (12), characterized in that: The vehicle body (1) is equipped with an X-axis traveling mechanism (2), a Y-axis traveling mechanism (3), and a Z-axis moving mechanism (4). The X-axis traveling mechanism (2) includes a pair of symmetrical X-axis driving devices (21). Each X-axis driving device (21) has an X-axis driving wheel one (22) and an X-axis driving wheel two (23) connected to its drive shaft. The X-axis driving wheel one (22) is connected to the X-axis driven wheel one (25) via an X-axis chain one (24). The X-axis driven wheel one (25) is then... The X-direction drive wheel (23) is connected to the X-direction driven wheel (27) via the X-direction chain 2 (26). The X-direction drive wheel (23) is connected to the X-direction driven wheel (29) via the X-direction chain 3 (28). The X-direction driven wheel (29) is then connected to the X-direction driven wheel (211) via the X-direction chain 4 (210). The X-direction chains 1, 2, 3, and 4 are all parallel to each other along the X direction, and the X-direction driven wheels 1, 2, 3, and 4 are all located on the longitudinal traveling frame (11) along the X direction. The Y-direction traveling mechanism (3) includes a pair of symmetrical Y-direction driving devices (31). Each Y-direction driving device (31) has a Y-direction driving wheel 1 (32) and a Y-direction driving wheel 2 (33) connected to its driving shaft. The Y-direction driving wheel 1 (32) is connected to the Y-direction driven wheel 1 (35) via the Y-direction chain 1 (34). The Y-direction driving wheel 2 (33) is connected to the Y-direction driven wheel 2 (37) via the Y-direction chain 2 (36). The Y-direction driven wheel 1 (35) and the Y-direction driven wheel 2 (37) are both located on the transverse traveling frame (12) along the Y direction, and are symmetrically arranged with the driving shaft of the Y-direction driving device (31) as the center line. The Z-axis moving mechanism (4) includes a set of mutually cooperating guide rails (41) and guide blocks (42), and a Z-axis driving device (43). Each guide rail (41) is connected to the inner side of the longitudinal traveling frame (11) along the Z-axis, and the guide block (42) is connected to the outer side of the transverse traveling frame (12). The guide rail (41) and the guide block (42) are correspondingly connected and form a sliding guide engagement. The drive shaft of the Z-axis driving device (43) is connected to a drive gear (44), and the drive gear (44) meshes with a rack (451). The rack (451) is located on the transverse traveling frame (12).

2. The intelligent four-way shuttle vehicle according to claim 1, characterized in that: The longitudinal walking frame (11) includes a rectangular frame (111) and a pair of vertical beams (112) connected within the rectangular frame (111). The lower part of the vertical beam (112) is provided with a set of slot one (112a). The transverse walking frame (12) is an I-shaped structure, and a pair of horizontal beams (121) are provided in the middle. The upper part of the horizontal beams (121) is provided with a set of slot two (121a). The vertical beams (112) and the horizontal beams (121) are perpendicular to each other. The transverse walking frame (12) is located within the rectangular frame (111) and the two adopt an inlay structure. When the two are inlaid, slot one (112a) and slot two (121a) are correspondingly fitted together.

3. The intelligent four-way shuttle vehicle according to claim 2, characterized in that: The guide rail (41) and guide block (42) are provided in six units. Every three guide rails (41) are fixed at equal intervals to the inner side of the rectangular frame (111) of the longitudinal walking frame (11). The corresponding guide block (42) is connected to the outer side of the transverse walking frame (12). The guide rail (41) and the guide block (42) are connected and form a sliding guide fit.

4. The intelligent four-way shuttle vehicle according to any one of claims 1 to 3, characterized in that: The Z-axis drive device (43) is provided in four parts, and each pair of Z-axis drive devices (43) are symmetrically arranged with the X-axis drive device (21) or the Y-axis drive device (31) as the center.

5. The intelligent four-way shuttle vehicle according to claim 4, characterized in that: The vehicle body (1) with an X-axis walking mechanism (2), a Y-axis walking mechanism (3) and a Z-axis moving mechanism (4) is a centrally symmetrical structure.

6. The intelligent four-way shuttle vehicle according to claim 3, characterized in that: One end of the Z-direction drive device (43) is fixed on the vertical beam (112) of the longitudinal walking frame (11), and the other end is connected to the drive gear (44). The rack (451) is set on the rack column (45) of the transverse walking frame (12) on the corresponding side, and the axis of the rack column (45) and the axis of the guide rail (41) are both set along the Z direction.

7. The intelligent four-way shuttle vehicle according to any one of claims 1 to 3, characterized in that: The upper surface of the vehicle body (1) is also provided with a battery pack (5), a telescopic fork (7) and a control system (6) that cooperate with each other. The side of the vehicle body (1) is also provided with an identification and addressing system (8). The battery pack (5) and the control system (6) are respectively located on both sides of the telescopic fork (7). The telescopic fork (7) includes a multi-stage slide (71) connected to the telescopic drive device. The uppermost slide is connected to the corresponding fork (72). The two forks (72) are located on the same horizontal plane and are arranged parallel to each other.

Images