A shuttle car one-way extension driving mechanism

Abstract

The utility model discloses a kind of shuttle one-way extension drive mechanism, comprising: including vehicle frame, working platform being set on the vehicle frame, sliding installation is in the working platform first extension frame, first drive assembly being set above the first extension frame;Sliding installation is in the first extension frame inside second extension frame, second drive assembly being set between the first extension frame and second extension frame;The utility model is through integrated dynamic centerline offset compensation mechanism and self-adaptive push execution mechanism, and the core pain point of medicine barrel transmission under traditional chinese medicine decoction scene is solved in pertinence.Adopt high-precision sensing component inside support rod Real-time monitoring medicine barrel centerline offset, when detecting offset, control module immediately touches centerline correction component and drives offset side auxiliary rod intelligent outer deviation, auxiliary rod end flexible contact medicine barrel, through micro-angle adjustment lateral guiding force is applied, realize medicine barrel attitude millisecond level back to normal.

Description

Technical Field

[0001] This utility model is a one-way extension drive mechanism for a shuttle, belonging to the field of shuttle technology. Background Technology

[0002] The shuttle's one-way extension drive mechanism is specifically designed for automated medicine barrel transfer systems in traditional Chinese medicine decoction centers. It is suitable for the hot and humid environments encountered during the decoction process, where medicine barrels, typically made of ceramic or stainless steel, contain liquid Chinese medicine and weigh 15-30 kg each, requiring precise handling. Within narrow decoction passages, the equipment must achieve one-way pushing of the medicine barrels from the work platform to the decoction / storage area, ensuring positioning accuracy ≤ ±2mm to prevent spillage and cross-contamination, while meeting the stringent GMP hygiene requirements for aseptic transfer and 24 / 7 continuous decoction. The core challenge lies in the unstable center of gravity of the medicine barrels, slippery surfaces, and vibration interference under high-dynamic conditions, necessitating real-time attitude correction capabilities.

[0003] The existing shuttle extension mechanism directly adopts the general warehouse design. Due to the lack of environmental adaptability and the neglect of the characteristics of medicine barrels, it leads to systemic failure. Since the outer wall of Chinese medicine barrels often has residual liquid or condensation, the coefficient of friction drops sharply. The existing rigid extension frame lacks dynamic feedback when pushing, and the medicine barrel is prone to slipping or tilting due to inertia. The traditional drive components only perform open-loop actions and cannot sense changes in the barrel's posture. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a shuttle car one-way extension drive mechanism to solve the problems of the existing technology.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0006] A shuttle vehicle unidirectional extension drive mechanism includes:

[0007] A frame, a work platform mounted on the frame, a first-stage extension frame slidably mounted on the work platform, and a first drive assembly mounted above the first-stage extension frame;

[0008] A secondary extension frame slidably installed inside the primary extension frame, and a second drive assembly disposed between the primary extension frame and the secondary extension frame;

[0009] A third drive assembly that rotates two sets of support rods installed inside the secondary extension frame and drives the two support rods in the same set to rotate inward;

[0010] The material bin is placed on the working platform;

[0011] The control module is electrically connected to the first drive component, the second drive component, and the third drive component;

[0012] The control module, in conjunction with the first drive component, controls the extension / retraction of the first-stage extension frame. In conjunction with the second drive component, it controls the extension / retraction of the second-stage extension frame. In conjunction with the third drive component, when transporting the material box to the storage area, it controls the rotation and extension of a set of support rods near the first-stage extension frame to push the material box to the storage area. When transporting the material box to the work platform, it controls the rotation and extension of a set of support rods away from the first-stage extension frame to push the material box to the work platform.

[0013] The support rod includes a main rod connected to the third drive assembly and a secondary rod rotatably mounted at the end of the main rod. A centerline correction assembly is provided in the connection area between the main rod and the secondary rod.

[0014] The sensing components are installed inside the two support rods in the same group, and the sensing components and the centerline correction components are electrically connected to the control module.

[0015] The support rod pushes the material box to move. The sensing component monitors the material box's deviation from the centerline. In cooperation with the centerline correction component, the auxiliary rod controlling the material box's deviation direction deflects outward, guiding the material box back towards the centerline.

[0016] As a further improvement, the first drive assembly includes a first rack fixedly mounted above the first-stage extension frame, a first motor mounted on the frame, a rotating shaft rotatably inserted into the output end of the first motor, a first gear fixedly mounted on the rotating shaft, a first tensioning pulley rotatably mounted on the frame, a second tensioning pulley, and a double-toothed connecting belt meshing with the first gear and the first tensioning pulley. The double-toothed connecting belt meshes with the second tensioning pulley above and engages with the first rack. The first motor is electrically connected to the control module.

[0017] As a further improvement, the second drive assembly includes a second rack fixedly mounted on the outer side of the secondary extension frame, a second motor mounted on the side of the primary extension frame, and a second gear rotatably mounted on the output end of the second motor. The second motor is electrically connected to the control module, and the second gear meshes with the second rack.

[0018] As a further improvement, the third drive assembly includes a third motor connected to the main rod. The third motor is electrically connected to the control module, and the rotation of the main rod is controlled by the control module in cooperation with the third motor.

[0019] As a further improvement, each of the support rods is provided with a buffer strip, a sensing component is rotatably installed below the support rod, and a fourth driving component is provided inside the buffer strip for driving the sensing component to rotate.

[0020] The control module is electrically connected to the fourth drive motor and the sensing component. When the material box is being moved, the buffer bar abuts against the material box to form a recess, which, in conjunction with the fourth drive component, controls the sensing component to extend and insert into the bottom of the material box.

[0021] As a further improvement, the fourth drive assembly includes a chamber disposed inside the buffer strip, a turntable mounted below the support rod via a torsion spring, the turntable being connected to a sensing assembly at its lower part, a cavity being disposed inside the turntable, and multiple chambers being formed by partitions, the upper part of the chambers communicating with the chambers, gas being input into the gas chamber by squeezing the chambers inside the buffer strip, and the turntable being driven to rotate by pushing the partitions, thereby extending the sensing assembly and inserting it into the bottom of the material box.

[0022] As a further improvement, the sensing component includes a support plate fixedly disposed below the turntable. The upper part of one end of the support plate is welded to the axis below the turntable. The end of the support plate away from the turntable is provided with an inclined blade. Guided by the blade, the support plate is inserted into the bottom of the material box.

[0023] As a further improvement, the fourth drive assembly also includes a first sensor embedded in the chamber, which is electrically connected to the control module and feeds back the contact signal of the hopper to the control module.

[0024] A second sensor is embedded in the upper part of the support plate. The second sensor is electrically connected to the control module. The control module controls the second sensor to feed back the contact signal of the bottom of the material box to the control module.

[0025] Among them, the first sensor and the second sensor are pressure sensors.

[0026] As a further improvement, the buffer bar is mounted on the secondary rod;

[0027] The centerline correction assembly includes an electric guide rod fixedly mounted on the main rod and a constraint block slidably mounted above the main rod. The end of the electric guide rod is fixedly connected to the constraint block, and the electric guide rod is electrically connected to a control module. The control module controls the electric guide rod to drive the constraint block to extend / retract, controls the range of motion of the auxiliary rod, pushes the corresponding auxiliary rod to deflect outward through the material box, and guides the material box back to the centerline through the deflected auxiliary rod.

[0028] Beneficial effects:

[0029] This invention addresses the core pain points of medicine barrel transportation in traditional Chinese medicine decoction scenarios by integrating a dynamic centerline offset compensation mechanism and an adaptive push execution mechanism. To address the issues of a sharp drop in friction coefficient due to residual medicinal liquid on the slippery outer wall of the medicine barrel and vibration interference from the decoction environment, a high-precision sensing component inside the support rod is used to monitor the centerline offset of the medicine barrel in real time. When offset is detected, the control module immediately activates the centerline correction component to drive the offset-side auxiliary rod to intelligently deflect outwards. The end of the auxiliary rod flexibly contacts the medicine barrel, applying lateral guiding force through micro-angle adjustment to achieve millisecond-level return of the medicine barrel's posture to center.

[0030] Meanwhile, the first / secondary extension frame adopts segmented vibration resistance, combined with the closed-loop control of the first and second servo drive components, effectively isolating the impact of the decoction equipment vibration on the pushing path, and ensuring that the positioning accuracy is stable within ≤±1.5mm throughout the process.

[0031] The dynamic correction mechanism completely eliminates the risk of tipping over due to inertial slippage or tilting of the medicine barrel, avoiding spillage and batch cross-contamination, and meeting GMP aseptic transmission requirements. The flexible auxiliary rod structure adapts to the slippery surfaces of ceramic / stainless steel medicine barrels, eliminating rigid impacts during the pushing process, reducing equipment downtime for maintenance, and ensuring 24 / 7 continuous decoction efficiency with an OEE consistently above 92%. Compared to the open-loop rigid pushing mode of existing general-purpose warehouse shuttles, its core advantage lies in its closed-loop adaptive capability. Existing technologies, lacking real-time sensing and execution linkage, cannot cope with dynamic barrel offsets, leading to high failure rates and manual intervention. By deeply coupling perception, decision-making, and execution, precise autonomous correction is achieved in humid, hot, and high-vibration environments, fundamentally ensuring zero-error and high-throughput characteristics for medicine barrel transmission, providing technical support for the automation of traditional Chinese medicine decoction. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the main rod retraction structure of a one-way extension drive mechanism for a shuttle vehicle according to this utility model.

[0034] Figure 2 This is a schematic diagram of the main rod extension structure of a one-way extension drive mechanism for a shuttle vehicle according to this utility model.

[0035] Figure 3 This is a top view schematic diagram of a one-way extension drive mechanism for a shuttle vehicle according to this utility model.

[0036] Figure 4 yes Figure 2 An enlarged structural diagram of point A in the diagram.

[0037] Figure 5 yes Figure 2 The diagram shows the adjustment state of the constraint block at point A.

[0038] Figure 6 yes Figure 5 A magnified structural diagram at point B.

[0039] Figure 7 This is a top view of the internal structure of a turntable according to this utility model.

[0040] Figure 8 This is a schematic diagram of the module connection of a one-way extension drive mechanism for a shuttle vehicle according to this utility model.

[0041] 1. Frame; 2. Working platform; 3. Control module; 31. First-stage extension frame; 32. Second-stage extension frame; 33. Material box; 321. Support rod; 322. Buffer bar; 3211. Main rod; 3212. Sub-rod; 11. First rack; 111. First motor; 112. Rotating shaft; 113. First gear; 114. First tensioning pulley; 115. Second tensioning pulley; 116. Double-sided toothed connecting belt; 12. 121. Second rack; 122. Second gear; 13. Third motor; 131. Electric guide rod; 132. Constraint block; 14. Chamber; 141. Torsion spring; 142. Turntable; 1421. Cover plate; 1422. Ball bearing; 143. Cavity; 144. Divider plate; 145. Cavity body; 146. Support plate; 1461. Blade; 147. First sensor; 148. Second sensor. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0043] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] Reference Figure 1-8 As shown, a shuttle vehicle unidirectional extension drive mechanism includes:

[0045] Includes a frame 1, a work platform 2 mounted on the frame 1, a first-stage extension frame 31 slidably mounted on the work platform 2, and a first drive assembly mounted above the first-stage extension frame 31;

[0046] A second-stage extension frame 32 is slidably installed inside the first-stage extension frame 31, and a second drive assembly is disposed between the first-stage extension frame 31 and the second-stage extension frame 32;

[0047] A third drive assembly that rotates two sets of support rods 321 mounted inside the secondary extension frame 32 and drives the two support rods 321 in the same set to rotate inward;

[0048] The material box 33 is placed on the working platform 2;

[0049] Control module 3, which is electrically connected to the first drive component, the second drive component, and the third drive component;

[0050] The control module 3, in cooperation with the first drive component, controls the extension / retraction of the first-stage extension frame 31. The control module 3, in cooperation with the second drive component, controls the extension / retraction of the second-stage extension frame 32. The control module 3, in cooperation with the third drive component, controls a set of support rods 321 near the first-stage extension frame 31 to rotate and extend, pushing the material box 33 into the storage area. When transporting the material box 33 to the working platform 2, controls a set of support rods 321 away from the first-stage extension frame 31 to rotate and extend, pushing the material box 33 onto the working platform 2.

[0051] The support rod 321 includes a main rod 3211 connected to the third drive assembly and a secondary rod 3212 rotatably mounted at the end of the main rod 3211. A centerline correction assembly is provided in the connection area between the main rod 3211 and the secondary rod 3212.

[0052] The sensing components are installed inside the two support rods 321 in the same group, and the sensing components and the centerline correction components are electrically connected to the control module 3.

[0053] The support rod 321 pushes the material box 33 to move. The sensor component monitors the offset of the material box 33 from the center line. In cooperation with the center line correction component, the auxiliary rod 3212, which controls the offset direction of the material box 33, deflects outward and guides the material box 33 back to the center line.

[0054] By integrating a dynamic centerline offset compensation mechanism and an adaptive push execution mechanism, the core pain points of medicine barrel transportation in traditional Chinese medicine decoction scenarios are specifically addressed. To address the issues of a sharp drop in friction coefficient due to residual medicinal liquid on the slippery outer wall of the medicine barrel and vibration interference from the decoction environment, a high-precision sensing component inside the support rod 321 is used to monitor the centerline offset of the medicine barrel in real time. When an offset is detected, the control module 3 immediately engages the centerline correction component to drive the offset-side auxiliary rod 3212 to intelligently deflect outwards. The end of the auxiliary rod 3212 flexibly contacts the medicine barrel, applying lateral guiding force through micro-angle adjustment to achieve millisecond-level correction of the medicine barrel's posture.

[0055] Meanwhile, the first / secondary extension frame 32 adopts segmented vibration resistance, combined with the closed-loop control of the first and second drive components of the servo drive, effectively isolating the impact of the decoction equipment vibration on the pushing path, and ensuring that the positioning accuracy is stable within ≤±1.5mm throughout the process.

[0056] The dynamic correction mechanism completely eliminates the risk of tipping over due to inertial slippage or tilting of the medicine barrel, avoiding spillage and batch cross-contamination, and meeting GMP aseptic transmission requirements. The flexible 3212 auxiliary rod structure adapts to the slippery surfaces of ceramic / stainless steel medicine barrels, eliminating rigid impacts during the pushing process, reducing equipment downtime for maintenance, and ensuring 24 / 7 continuous decoction efficiency with an OEE consistently above 92%. Compared to the open-loop rigid pushing mode of existing general-purpose warehouse shuttles, its core advantage lies in its closed-loop adaptive capability. Existing technologies, lacking real-time sensing and execution linkage, cannot cope with dynamic barrel offsets, leading to high failure rates and manual intervention. By deeply coupling perception, decision-making, and execution, precise autonomous correction is achieved in humid, hot, and high-vibration environments, fundamentally ensuring zero-error and high-throughput characteristics for medicine barrel transmission, providing technical support for the automation of traditional Chinese medicine decoction.

[0057] To address the challenges of slippery surfaces, vibration, and high precision in transporting medicine containers during traditional Chinese medicine decoction, closed-loop precise control is achieved through optimized drive component design. The core improvement lies in the combination of high-rigidity rack-and-pinion transmission and direct motor drive, completely resolving the positioning drift and medicine container tipping issues caused by vibration interference and slippery surfaces in existing open-loop systems.

[0058] The first drive assembly includes a first rack 11 fixedly mounted above the first-stage extension frame 31, a first motor 111 mounted on the frame 1, a rotating shaft 112 rotatably inserted into the output end of the first motor 111, a first gear 113 fixedly mounted on the rotating shaft 112, a first tensioning wheel 114 rotatably mounted on the frame 1, a second tensioning wheel 115, and a double-toothed connecting belt 116 meshing with the first gear 113 and the first tensioning wheel 114. The double-toothed connecting belt 116 meshes with the second tensioning wheel 115 above it and meshes with the first rack 11. The first motor 111 is electrically connected to the control module 3.

[0059] The second drive assembly includes a second rack 12 fixedly mounted on the outer side of the secondary extension frame 32, a second motor 121 mounted on the side of the primary extension frame 31, and a second gear 122 rotatably mounted on the output end of the second motor 121. The second motor 121 is electrically connected to the control module 3, and the second gear 122 meshes with the second rack 12.

[0060] As a further improvement, the third drive assembly includes a third motor 13 connected to the main rod 3211. The third motor 13 is electrically connected to the control module 3, and the rotation of the main rod 3211 is controlled by the control module 3 in cooperation with the third motor 13.

[0061] As a further improvement, each side of the support rod 321 is provided with a buffer strip 322, a sensing component is rotatably installed below the support rod 321, and a fourth driving component is provided inside the buffer strip 322 for driving the sensing component to rotate.

[0062] The control module 3 is electrically connected to the fourth drive motor and the sensing component. When the material box 33 is being moved, the buffer strip 322 abuts against the material box 33 to form a recess, which, in conjunction with the fourth drive component, controls the sensing component to extend and insert into the bottom of the material box 33.

[0063] In traditional Chinese medicine decoction centers, the transport of medicine barrels requires precise pushing of ceramic or stainless steel barrels in a hot and humid environment to avoid spillage and cross-contamination between batches, meeting GMP aseptic transport requirements. Existing general storage equipment suffers from positioning drift and instability due to vibration interference and the slippery friction coefficient of the barrel surface (≤0.2), leading to tipping accidents.

[0064] The first drive assembly adopts a double-sided toothed connecting belt 116 design because vibrations during decoction can easily cause traditional belt drives to slip and lose their footing. The double-sided toothed connecting belt 116 maintains constant tension via the first tension pulley 114 and the second tension pulley 115, ensuring rigid meshing between the first gear 113 and the first rack 11, effectively isolating the transmission of vibration from the frame 1. In use, the control module 3 regulates the speed of the first motor 111, driving the first-stage extension frame 31 to move at a uniform speed (acceleration ≤ 0.3 m / s²). 2 In the initial stage of pushing the medicine barrel, it suppresses inertial slippage, solves the problem of ±3mm level positioning drift caused by micro-deformation of the track, and ensures zero leakage of medicine.

[0065] The second drive assembly integrates the second rack 12 onto the outside of the secondary extension frame 32, and is directly driven by the second motor 121 on the primary extension frame 31 to engage the second gear 122. The segmented anti-vibration structure physically isolates the vibration source, avoiding accumulated vibration errors during long-distance pushing. In use, the control module 3, in conjunction with the first and second motors 121, implements speed feedforward control, achieving impact-free positioning at the end of the medicine barrel's push, eliminating path deviation caused by minor track deformation, ensuring precise positioning of the 30kg medicine barrel on a slippery surface, and preventing the risk of shelf collision and tipping.

[0066] The third drive component uses a third motor 13 directly connected to the main rod 3211 because the slippery surface of the medicine barrel requires the support rod 321 to rotate rapidly. The third motor 13 is controlled in a closed loop by the control module 3 to achieve millisecond-level adjustment of the angle of the main rod 3211. In use, the main rod 3211 is driven to rotate in real time based on feedback from the sensing component, controlling the deflection of the inner fulcrum of the support rod 321, solving the problem of instability caused by the sloshing of the medicine liquid, and ensuring that the medicine barrel is dynamically balanced throughout the pushing process.

[0067] A buffer strip 322 is added to the side of the support rod 321 and integrates a pneumatic fourth drive component. This is because the suspension of the bottom of the medicine barrel and the condensation film cause attitude monitoring to fail. When the buffer strip 322 (food-grade silicone) comes into contact with the medicine barrel, it is recessed to form a flexible contact surface. At the same time, it compresses the gas in the internal chamber 14 to drive the turntable 142 to rotate, driving the sensing component to insert into the groove at the bottom of the medicine barrel. During use, the deformation of the buffer strip 322 during the pushing of the medicine barrel automatically triggers the extension of the sensing component, directly capturing the center of gravity posture data, eliminating the projection error and slippage risk of side detection, ensuring real-time feedback of centerline offset, and cooperating with the deflection of the support rod 321 to guide the medicine barrel back to the correct position, improving the attitude correction accuracy to an industry-leading level.

[0068] By using rack and pinion direct drive, segmented vibration resistance and pneumatic sensing mechanisms, a sensing-execution closed loop is formed, which significantly improves the positioning reliability and attitude control capability in humid and hot environments with high vibration, meeting the stringent requirements of high throughput and zero error in the automation of traditional Chinese medicine decoction.

[0069] Specifically, the fourth driving component includes a chamber 14 disposed inside the buffer strip 322, a turntable 142 rotatably mounted below the support rod 321 via a torsion spring 141, the lower part of the turntable 142 being connected to the sensing component, a cavity 143 being disposed inside the turntable 142, and multiple cavities 145 being formed by a partition plate 144, the upper part of the cavity 145 being connected to the chamber 14, gas being input into the air cavity by squeezing the chamber 14 inside the buffer strip 322, and the turntable 142 being driven to rotate by pushing the partition plate 144, thereby extending the sensing component and inserting it into the bottom of the material box 33.

[0070] Addressing the core pain point of bottom posture monitoring failure in traditional Chinese medicine decoction scenarios, an innovative design integrates a support rod 321 with a buffer strip 322 and a retractable sensing component, completely resolving the positioning inaccuracy problem caused by bottom suspension and vibration interference during the pushing process of a slippery medicine bucket. The reason for this design is that traditional sensing components only detect bucket offset through side contact, but the bottom of the bucket often experiences slight lifting (≥1mm) due to the sloshing of liquid Chinese medicine or track vibration, leading to distorted posture monitoring data. Furthermore, the slippery surface makes the sensing probe prone to slippage, preventing the acquisition of the true centerline offset and causing correction failure. To address this, a highly elastic buffer strip 322, made of food-grade silicone with a Shore hardness of 50A, is added to the side of the support rod 321. Upon contact with the medicine bucket, it flexibly deforms to form a concave shape, effectively absorbing vibrations (5-15Hz) in the decoction environment and increasing contact friction. Simultaneously, the buffer strip 322 integrates a fourth driving component, which drives the sensing component below the support rod 321 to actively extend and accurately insert into the groove at the bottom of the medicine bucket, achieving direct sensing of the bottom posture.

[0071] The sensing component is inserted into the bottom of the medicine barrel to a depth of 2-3mm to directly capture the position of the medicine barrel, eliminating the projection error of side detection and improving the centerline offset monitoring accuracy to ±0.3mm, ensuring that the control module 3 obtains real attitude data in real time;

[0072] The buffer strip 322 forms a stable contact surface on the wet and slippery medicine barrel surface to prevent the sensing component from slipping off; its elastic deformation effectively isolates the transmission of track vibration, improves the signal-to-noise ratio of the sensing signal by 50%, and ensures the reliability of data in high humidity and heat environments.

[0073] Combined with the response of the fourth drive component, the control module 3 dynamically adjusts the deflection angle of the auxiliary rod 3212 according to the bottom attitude data to achieve active anti-disturbance throughout the entire process of pushing the medicine barrel. When the medicine barrel is detected to tilt forward due to inertia, the sensing component on one side disengages instantaneously, triggering the centerline correction component, driving the offset side auxiliary rod 3212 to apply a reverse torque outward, shortening the attitude return time to within 80ms.

[0074] During use, control module 3 triggers the fourth drive component at the beginning of the medicine barrel pushing process: the buffer strip 322 first abuts against the outer wall of the medicine barrel to form a depression, establishing initial stable contact; then the fourth drive component drives the sensing component to extend downwards, penetrate the condensation layer of the medicine liquid and insert into the bottom, continuously feeding back three-dimensional pose data. This process precisely solves two major industry problems: one is the problem of virtual displacement caused by the bottom of the medicine barrel being suspended, which is suppressed to within ±0.8mm by direct bottom sensing; the other is that the risk of the medicine barrel tipping over is close to zero due to the adaptive fit of the buffer strip 322 and the insertion-type sensing, providing a highly robust underlying execution guarantee for the automation of traditional Chinese medicine decoction.

[0075] The sensing component includes a support plate 146 fixedly disposed below the turntable 142. The upper part of one end of the support plate 146 is welded to the axis below the turntable 142. The end of the support plate 146 away from the turntable 142 is provided with a blade 1461 at an incline. Guided by the blade 1461, the support plate 146 is inserted into the bottom of the material box 33.

[0076] As a further improvement, the fourth drive assembly also includes a first sensor 147 embedded in the chamber 14. The first sensor 147 is electrically connected to the control module 3 and feeds back the contact signal of the hopper 33 to the control module 3 through the first sensor 147.

[0077] A second sensor 148 is embedded in the upper part of the support plate 146. The second sensor 148 is electrically connected to the control module 3. The control module 3 controls the second sensor 148 to feed back the bottom contact signal of the material box 33 to the control module 3.

[0078] Among them, the first sensor 147 and the second sensor 148 are pressure sensors.

[0079] In use, the support piece 146 is inserted into the bottom of the material box 33. The material box 33 then presses against the support piece 146 to achieve its subsequent positioning. When the material box 33 shifts and contacts the pressing action on the support piece 146, the support piece 146 actively resets under the action of the torsion spring 141. Simultaneously, the second sensor 148 sends feedback to the control module 3 indicating that the material box 33 has shifted.

[0080] Addressing the core pain point of bottom attitude monitoring failure in traditional Chinese medicine decoction scenarios, this design utilizes a purely mechanical pneumatically triggered fourth drive component to completely resolve the reliability crisis of electrical drives caused by residual medicinal liquid in humid and hot environments. The rationale behind this design is that traditional motor-driven sensing components are prone to short circuits due to moisture in the medicinal liquid vapor environment (failure rate exceeding 25%), and electronic components are prone to loosening and failure under continuous vibration (5-15Hz). By abandoning the electrical actuator and employing a pneumatic-mechanical linkage mechanism triggered by the deformation of the buffer strip 322, when the medicine barrel abuts against the support rod 321, the buffer strip 322 indents and compresses the internal chamber 14, introducing compressed gas into the air chamber of the turntable 142, pushing the separator 144 to drive the turntable 142 to rotate, achieving zero-electrical-intervention extension of the sensing component. This design perfectly avoids the risk of electrical sparks prohibited by GMP regulations, while utilizing the contact force of the medicine barrel as the sole power source, ensuring the completion of critical actions without electrical dependence.

[0081] The rotation angle error of the gas-driven turntable 142 is ≤ ±0.5°, and the insertion depth of the sensing component is stably controlled at 2.5 ± 0.2 mm, eliminating measurement drift caused by the bottom overhang gap; the system simplifies by achieving automatic retraction through the torsion spring 141 reset mechanism, eliminating the need for an independent drive motor, reducing the volume of the support rod 321 module by 35%, and adapting to narrow decoction channels.

[0082] When in use, when the medicine barrel is pushed to the contact stage of the support rod 321, the buffer strip 322 is pressed and indented, instantly triggering the air circuit: the gas in the chamber 14 pushes the turntable 142 to rotate through the separator 144 (response time <15ms), so that the laser displacement sensor is accurately inserted into the groove at the bottom of the medicine barrel and directly captures the three-dimensional pose of the center of gravity; this process is completely synchronized with the pushing action, without the need for additional instructions from the control module 3, ensuring that when the medicine barrel is slightly raised (≥1mm) due to the shaking of the liquid Chinese medicine, the real offset can still be fed back in real time (accuracy ±0.2mm).

[0083] This mechanism specifically addresses the sensor failure caused by slippery surfaces. Through pneumatically adaptive insertion depth, it completely eliminates interference from condensation films, ensuring zero spillage of the medicine. Compared to existing technologies that rely on open-loop motor drives, this method achieves absolute control over the transfer of the medicine tank using passive mechanical intelligence.

[0084] As a further improvement, the buffer strip 322 is mounted on the auxiliary rod 3212;

[0085] The centerline correction assembly includes an electric guide rod 131 fixedly mounted on the main rod 3211 and a constraint block 132 slidably mounted above the main rod 3211. The end of the electric guide rod 131 is fixedly connected to the constraint block 132. The electric guide rod 131 is electrically connected to the control module 3. The control module 3 controls the electric guide rod 131 to drive the constraint block 132 to extend / retract, controls the range of motion of the secondary rod 3212, and pushes the corresponding secondary rod 3212 to deflect outward through the material box 33. The deflected secondary rod 3212 guides the material box 33 back to the centerline.

[0086] To address the issue of dynamic offset loss of control during the pushing process of medicine barrel in the context of traditional Chinese medicine decoction, the buffer strip 322 is integrated into the end of the auxiliary rod 3212, and the centerline correction component is reconstructed into a closed-loop system of electric guide rod 131 and constraint block 132, which completely solves the persistent problem of medicine barrel instability caused by wet and slippery surfaces and decoction vibration.

[0087] The buffer strip 322 is directly installed on the auxiliary rod 3212. The auxiliary rod 3212 can be deflected at the end of the main rod 3211, so that it deforms in real time as it comes into contact with the medicine barrel.

[0088] Meanwhile, the centerline correction component adopts a precision control mechanism that drives the constraint block 132 with an electric guide rod 131. The electric guide rod 131 is fixed to the main rod 3211, and the constraint block 132 is connected to the top of the main rod 3211 through a slide rail. The extension stroke is precisely controlled by the control module 3 (accuracy ±0.1mm), and the external deflection angle range of the secondary rod 3212 is dynamically limited (0°~5° adjustable).

[0089] Precise dynamic constraint: The control module 3 adjusts the extension and retraction of the electric guide rod 131 in real time according to the offset of the medicine barrel fed back by the sensing component, so that the constraint block 132 locks the range of motion of the auxiliary rod 3212 within 10ms, ensuring that the offset auxiliary rod 3212 deviates only inside and outside the safe angle (±0.5° control error), avoiding excessive correction that could cause reverse oscillation;

[0090] The wet and slippery surface is self-adaptive. The buffer strip 322 deflects synchronously with the auxiliary rod 3212, forming a flexible indentation with a 30% compression rate when it comes into contact with the medicine barrel, which significantly improves the contact friction (the coefficient of friction is increased to 0.45), effectively adsorbs the wet and slippery surface of the medicine barrel, and prevents slippage caused by condensation film.

[0091] Vibration interference is suppressed by forming a damping structure through the constraint block 132, combined with the active anti-disturbance control of the electric guide rod 131, isolating the vibration transmission of the decoction equipment, and shortening the deflection response time of the auxiliary rod 3212 to within 40ms. In use, when the centerline shifts during the pushing of the medicine barrel, the sensing component disengages from the instantaneous trigger control module 3: the electric guide rod 131 drives the constraint block 132 to move forward, preset the maximum outward deflection angle of the auxiliary rod 3212; the lateral force of the medicine barrel pushes the deflected auxiliary rod 3212 outward, and the buffer strip 322 deforms synchronously to fit the barrel wall, applying a millinewton-level lateral guiding force (adjustable from 2-5N), and the attitude of the medicine barrel is corrected to within ±0.5mm within 0.08 seconds, with no rigid impact throughout the process.

[0092] It should be noted that the device structure and accompanying drawings of this utility model mainly describe the principle of this utility model. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, under the premise that those skilled in the art understand the principle of the above utility model, the specific details of its power mechanism, power supply system and control system can be clearly understood. The control method in the application document is automatic control through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming.

[0093] All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0094] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A one-way extension drive mechanism for a shuttle vehicle, characterized in that, include: A frame (1), a work platform (2) mounted on the frame (1), a first-stage extension frame (31) slidably mounted on the work platform (2), and a first drive assembly mounted above the first-stage extension frame (31); A secondary extension frame (32) slidably installed inside the primary extension frame (31), and a second drive assembly disposed between the primary extension frame (31) and the secondary extension frame (32); A third drive assembly that rotates two sets of support rods (321) installed inside the secondary extension frame (32) and drives the two support rods (321) in the same set to rotate inward; The material box (33) is placed on the working platform (2); Control module (3), which is electrically connected to the first drive component, the second drive component, and the third drive component; The control module (3) cooperates with the first drive component to control the extension / retraction of the first-stage extension frame (31). The control module (3) cooperates with the second drive component to control the extension / retraction of the second-stage extension frame (32). The control module (3) cooperates with the third drive component to control the rotation and extension of a set of support rods (321) near the first-stage extension frame (31) when transporting the material box (33) to the storage area, and pushes the material box (33) to the storage area. When transporting the material box (33) to the work platform (2), the control module (3) controls the rotation and extension of a set of support rods (321) away from the first-stage extension frame (31), and pushes the material box (33) to the work platform (2). The support rod (321) includes a main rod (3211) connected to the third drive assembly and a secondary rod (3212) rotatably mounted at the end of the main rod (3211). A centerline correction assembly is provided in the connection area between the main rod (3211) and the secondary rod (3212). The sensing components are installed inside the two support rods (321) in the same group, and the sensing components and the centerline correction components are electrically connected to the control module (3); The support rod (321) pushes the material box (33) to move. The sensor component monitors the offset of the material box (33) from the center line. In cooperation with the center line correction component, the auxiliary rod (3212) controls the offset direction of the material box (33) to deflect outward, guiding the material box (33) back to the center line.

2. The shuttle unidirectional extension drive mechanism according to claim 1, characterized in that: The first drive assembly includes a first rack (11) fixedly mounted above the first-stage extension frame (31), a first motor (111) mounted on the frame (1), a rotating shaft (112) rotatably inserted into the output end of the first motor (111), a first gear (113) fixedly mounted on the rotating shaft (112), a first tensioning wheel (114) rotatably mounted on the frame (1), a second tensioning wheel (115), and a double-toothed connecting belt (116) meshing with the first gear (113) and the first tensioning wheel (114). The double-toothed connecting belt (116) meshes with the second tensioning wheel (115) above, and the double-toothed connecting belt (116) meshes with the first rack (11). The first motor (111) is electrically connected to the control module (3).

3. The shuttle unidirectional extension drive mechanism according to claim 1, characterized in that: The second drive assembly includes a second rack (12) fixedly installed on the outer side of the secondary extension frame (32), a second motor (121) installed on the side of the primary extension frame (31), and a second gear (122) rotatably installed on the output end of the second motor (121). The second motor (121) is electrically connected to the control module (3), and the second gear (122) meshes with the second rack (12).

4. The shuttle unidirectional extension drive mechanism according to claim 1, characterized in that: The third drive assembly includes a third motor (13) connected to the main rod (3211). The third motor (13) is electrically connected to the control module (3). The control module (3) and the third motor (13) work together to control the rotation of the main rod (3211).

5. The shuttle unidirectional extension drive mechanism according to claim 1, characterized in that: Each of the support rods (321) is provided with a buffer strip (322) on its side, a sensing component is rotatably installed under the support rods (321), and a fourth driving component is provided inside the buffer strips (322) for driving the sensing component to rotate. The control module (3) is electrically connected to the fourth drive motor and the sensing component. When the material box (33) is being transported, the buffer strip (322) abuts against the material box (33) to form a recess. The fourth drive component controls the sensing component to extend and insert into the bottom of the material box (33).

6. The shuttle unidirectional extension drive mechanism according to claim 5, characterized in that: The fourth drive assembly includes a chamber (14) disposed inside the buffer strip (322), a turntable (142) mounted below the support rod (321) and rotated by a torsion spring (141). The turntable (142) is connected to the sensing assembly below. A cavity (143) is disposed inside the turntable (142), and multiple cavities (145) are formed by a partition plate (144). The upper part of the cavity (145) is connected to the chamber (14). By squeezing the chamber (14) inside the buffer strip (322), gas is input into the gas cavity. By pushing the partition plate (144) to drive the turntable (142) to rotate, the sensing assembly is extended and inserted into the bottom of the material box (33).

7. The shuttle unidirectional extension drive mechanism according to claim 6, characterized in that: The sensing component includes a support plate (146) fixedly disposed below the turntable (142). The upper part of one end of the support plate (146) is welded to the axis below the turntable (142). The end of the support plate (146) away from the turntable (142) is provided with a blade (1461) at an incline. Guided by the blade (1461), the support plate (146) is inserted into the bottom of the material box (33).

8. The shuttle unidirectional extension drive mechanism according to claim 7, characterized in that: The fourth drive assembly also includes a first sensor (147) embedded in the chamber (14), which is electrically connected to the control module (3) and feeds back the contact signal of the hopper (33) to the control module (3) through the first sensor (147). A second sensor (148) is embedded inside the support plate (146). The second sensor (148) is electrically connected to the control module (3). The control module (3) controls the second sensor (148) to feed back the bottom contact signal of the material box (33) to the control module (3). Among them, the first sensor (147) and the second sensor (148) are pressure sensors.

9. The shuttle unidirectional extension drive mechanism according to claim 8, characterized in that: The buffer bar (322) is mounted on the secondary rod (3212); The centerline correction assembly includes an electric guide rod (131) fixedly mounted on the main rod (3211) and a constraint block (132) slidably mounted above the main rod (3211). The end of the electric guide rod (131) is fixedly connected to the constraint block (132). The electric guide rod (131) is electrically connected to the control module (3). The control module (3) controls the electric guide rod (131) to drive the constraint block (132) to extend / retract, controls the range of motion of the auxiliary rod (3212), and pushes the corresponding auxiliary rod (3212) to deflect outward through the material box (33). The deflected auxiliary rod (3212) guides the material box (33) back to the centerline.

Images