A pallet four-way shuttle vehicle and a warehousing system

Abstract

The embodiment of the application provides a tray four-way shuttle vehicle and a warehouse system, which comprises a vehicle body, a first walking assembly, a second walking assembly and a jacking assembly. The vehicle body provides a mounting base for each component. The first walking assembly is connected with the vehicle body, which drives the vehicle body to move in the first direction. The second walking assembly is movably connected with the vehicle body, which can be lifted and lowered, and can drive the vehicle body to move in the second direction. The jacking assembly is connected with the vehicle body, which can switch the first walking assembly or the second walking assembly to contact the corresponding track, thereby driving the vehicle body to move in the corresponding direction. The jacking assembly is provided with a limiting assembly. When the jacking assembly is actuated to lower the height of the second walking assembly and make it contact the track, the limiting assembly abuts against the side surface of the track, thereby ensuring the movement along the track and avoiding derailment.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing equipment technology, and in particular to a pallet four-way shuttle and warehousing system. Background Technology

[0002] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread. In a warehousing system, racks are fixed to the ground, and each rack has multiple storage aisles. To make full use of storage space, goods are placed sequentially into the storage aisles using pallets.

[0003] In related technologies, each storage aisle of the shelving unit is equipped with a track underneath, and each track has a shuttle plate used to move goods within the corresponding storage aisle. During the goods handling process, the shuttle plate needs to switch between a first traveling component and a second traveling component to change its direction of movement and move the goods to the designated location.

[0004] Figure 1 This is a schematic diagram of a walking wheel in contact with a track in the prior art; Figure 2 This is a schematic diagram of another type of contact between a walking wheel and a track in existing technology. For example... Figure 1 and Figure 2 As shown, in the prior art, the traveling wheels of the first and second traveling components are both flanged track wheels. The track wheels are guided during travel through the flanges, but when the track wheels are severely misaligned, they may jam or derail on the track, resulting in poor guiding performance. Utility Model Content

[0005] This application provides a pallet four-way shuttle and warehousing system for moving and transporting goods within multiple storage channels on a rack.

[0006] In a first aspect, embodiments of this application provide a pallet four-way shuttle vehicle, including:

[0007] Vehicle body;

[0008] A first traveling assembly connected to the vehicle body is used to drive the vehicle body to move along a first direction;

[0009] A second traveling assembly movably connected to the vehicle body is used to drive the vehicle body to move along a second direction;

[0010] The lifting assembly connected to the vehicle body is used to switch the first or second traveling assembly to contact the corresponding track.

[0011] In addition, the lifting assembly is provided with a first guide assembly, which is used to guide the second traveling assembly when it moves in the second direction. When the lifting assembly moves to make the second traveling assembly contact the track, the first guide assembly abuts against the side of the track.

[0012] In one feasible implementation, the first guide component includes a first guide wheel and a drive component, wherein the drive component is used to drive the state switching of the first guide wheel;

[0013] The driving component is a swing driving component. When the lifting component moves to make the second traveling component contact the track, the swing driving component drives the first guide wheel (520) to rotate to abut against the side of the corresponding track.

[0014] Alternatively, the driving component may be a lifting driving component. When the lifting component moves to make the second traveling component contact the track, the lifting driving component drives the first guide wheel to move to abut against the side of the corresponding track.

[0015] In one feasible implementation, the lifting assembly includes a lifting drive assembly, a lifting transmission assembly, and an eccentric drive assembly, all of which are disposed on the vehicle body.

[0016] The second walking assembly is movably connected to the vehicle body, and the eccentric drive assembly is disposed on the side of the vehicle body and is connected in cooperation with the second walking assembly;

[0017] The lifting drive assembly drives the second traveling assembly to rise and fall through the lifting transmission assembly and the eccentric drive assembly, so as to switch the first traveling assembly or the second traveling assembly in contact with the track;

[0018] And / or, the lifting drive assembly is configured as a gearbox, chain drive, or belt drive assembly;

[0019] And / or, the eccentric drive assembly is configured as an eccentric wheel or crank.

[0020] In one possible implementation, the first guide assembly includes a mounting shaft and a limiting wheel;

[0021] The mounting shaft is perpendicular to the outer edge of the eccentric drive assembly and is disposed on the eccentric drive assembly, and the first guide wheel is rotatably disposed on the mounting shaft;

[0022] When the lifting drive assembly drives the second traveling assembly to rise and fall and contact the corresponding track, the first guide wheel follows the eccentric drive assembly to rise and fall, and abuts against the side of the corresponding track.

[0023] And / or, the first guide wheel swings up and down or moves vertically up and down following the eccentric drive assembly.

[0024] In one feasible implementation, the pallet four-way shuttle also includes multiple second guide components;

[0025] Multiple second guide components are disposed on the vehicle body and are arranged on both sides of the vehicle body;

[0026] When the first traveling component comes into contact with the track, all the second guiding components abut against the track;

[0027] And / or, the second guide assembly includes a second guide wheel and a mounting base, the second guide wheel being mounted on the vehicle body via the mounting base.

[0028] In one feasible implementation, the first walking component and the second walking component are respectively provided with corresponding walking drive components. The walking drive component corresponding to the first walking component drives the first walking component to move, and the walking drive component corresponding to the second walking component drives the second walking component to move.

[0029] In one feasible implementation, the first walking component and the second walking component share the same walking drive component, which is capable of driving the first walking component or the second walking component to move.

[0030] In one feasible implementation, the first traveling assembly is provided on both sides of the vehicle body extending along the first direction, and the two oppositely arranged first traveling assemblies are respectively connected to the two ends of the first drive shaft.

[0031] The vehicle body is provided with the second travel assembly on both sides extending along the second direction, and the two oppositely arranged second travel assemblies are respectively connected to the two ends of the second drive shaft via universal joints.

[0032] The walking drive component is connected to the first walking component and the second walking component through a reversing component.

[0033] In one feasible implementation, the pallet four-way shuttle further includes an image acquisition component and a dust removal component. The image acquisition component is used to acquire images of the detection markers set on the shelf track, and the dust removal component is used to remove dust from the detection markers to ensure the image acquisition effect of the image acquisition component.

[0034] And / or, the dust removal component (900) is a dust sweeping component or a dust blowing component.

[0035] In one feasible implementation, the image acquisition component is configured as a barcode scanner, and / or the detection identifier is configured as a QR code identifier.

[0036] Secondly, embodiments of this application provide a warehousing system, including a rack and a pallet four-way shuttle as described in any of the first aspects. The rack is provided with a main track and a plurality of sub-tracks arranged perpendicularly to each other. The pallet four-way shuttle is used to move on the main track and the sub-tracks to transport goods in each storage channel of the rack.

[0037] This application provides a four-way pallet shuttle, including a vehicle body, a first traveling assembly, a second traveling assembly, and a lifting assembly. The vehicle body provides the mounting base for each component. The first traveling assembly is connected to the vehicle body and drives the vehicle body to move in a first direction. The second traveling assembly is movably connected to the vehicle body, capable of raising and lowering, and also capable of driving the vehicle body to move in a second direction. The lifting assembly is connected to the vehicle body and can switch between the first or second traveling assembly contacting the corresponding track, thereby driving the vehicle body to move in the corresponding direction. The lifting assembly is equipped with a limiting component. When the lifting assembly moves and lowers the height of the second traveling assembly to contact the track, the limiting component abuts against the side of the track, ensuring that it moves along the track and preventing derailment.

[0038] Secondly, embodiments of this application also provide a warehousing system, including racks and a pallet four-way shuttle as described in any of the first aspects. The racks are provided with a main track and multiple sub-tracks arranged perpendicularly to each other. The pallet four-way shuttle is used to move on the main track and the sub-tracks to transport goods in various storage channels of the racks. Since this warehousing system includes the pallet four-way shuttle of any of the above-described technical solutions, it has all the beneficial effects of the pallet four-way shuttle of any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0039] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0040] In the attached diagram:

[0041] Figure 1 This is a schematic diagram of a walking wheel in contact with a track in the prior art;

[0042] Figure 2 This is a schematic diagram of another type of contact between a walking wheel and a track in the prior art;

[0043] Figure 3 This is a schematic diagram of the structure of a pallet four-way shuttle provided in one embodiment of this application;

[0044] Figure 4 yes Figure 3 A schematic diagram of the internal structure of the pallet four-way shuttle vehicle in the image;

[0045] Figure 5 This is a schematic diagram illustrating the arrangement of a first guiding component according to an embodiment of this application;

[0046] Figure 6 yes Figure 5 Another schematic diagram of the first guide component setting method;

[0047] Figure 7 This is a schematic diagram of the arrangement of the second guide component provided in an embodiment of this application.

[0048] Explanation of reference numerals in the attached figures:

[0049] 100 - Vehicle body; 200 - First traveling assembly; 300 - Second traveling assembly; 400 - Lifting assembly; 500 - First guide assembly; 600 - Second guide assembly; 700 - Travel drive assembly; 800 - Image acquisition component; 900 - Dust removal component; 1000 - Vehicle body; 1100 - Reversing assembly; 1200 - First synchronous shaft; 1300 - Second synchronous shaft; 1400 - Traveling wheel; 1500 - Track;

[0050] 410 - Lifting drive assembly; 420 - Lifting transmission assembly; 430 - Eccentric drive assembly; 510 - Mounting shaft; 520 - First guide wheel; 610 - Second guide wheel; 620 - Mounting base. Detailed Implementation

[0051] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0052] In the description of the embodiments of this application, 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread. In a warehousing system, racks are fixed to the ground, and each rack has multiple storage aisles. To make full use of storage space, goods are placed sequentially into the storage aisles using pallets.

[0056] In related technologies, each storage aisle of the shelving unit is equipped with a track underneath, and each track has a shuttle plate used to move goods within the corresponding storage aisle. During the goods handling process, the shuttle plate needs to switch between a first traveling component and a second traveling component to change its direction of movement and move the goods to the designated location.

[0057] Figure 1 This is a schematic diagram of a walking wheel in contact with a track in the prior art; Figure 2 This is a schematic diagram of another type of contact between a walking wheel and a track in existing technology. For example... Figure 1 and Figure 2 As shown, in the prior art, the traveling wheels of the first and second traveling components are both flanged track wheels. The track wheels are guided during travel through the flanges, but when the track wheels are severely misaligned, they may jam or derail on the track, resulting in poor guiding performance.

[0058] To avoid the problem of shuttle board derailment and to ensure the efficiency of pallet handling, this application provides a pallet four-way shuttle vehicle.

[0059] Figure 3This is a schematic diagram of the structure of a pallet four-way shuttle provided in one embodiment of this application; Figure 4 yes Figure 3 A schematic diagram of the internal structure of the pallet four-way shuttle.

[0060] Reference Figure 3 and Figure 4 As shown, this application embodiment provides a pallet four-way shuttle vehicle, including a vehicle body 100, a first traveling component 200, a second traveling component 300, and a lifting component 400. It includes a frame and an outer protective shell. The frame is a frame structure, serving as the mounting base for each component. The first traveling component 200 is connected to the vehicle body 100 and drives the vehicle body 100 to move in a first direction. The second traveling component 300 is movably connected to the vehicle body 100, capable of lifting and lowering, and can also drive the vehicle body 100 to move in a second direction. The lifting component 400 is connected to the vehicle body 100 and can switch between the first traveling component 200 and the second traveling component 300 contacting the corresponding track, thereby driving the vehicle body 100 to move in the corresponding direction. The lifting component 400 is provided with a first guide component 500. When the lifting component 400 moves, causing the second traveling component 300 to decrease in height and contact the track, the first guide component 500 abuts against the side of the track. In other words, the first guide component 500 is used to guide the second walking component 300 when it moves in the second direction, ensuring that it can move along the track, avoid derailment, and ensure the efficiency of pallet handling.

[0061] In some examples, the pallet four-way shuttle also includes a body 1000, which is movably connected to the vehicle body 100 via a slide rail. Under external force, the body 1000 can be raised and lowered vertically. The lifting assembly 400 can drive the second traveling assembly 300 to rise and fall simultaneously, thereby raising the cargo height and lifting it off the ground for easy movement.

[0062] When retrieving goods, the lifting assembly 400 lowers the vehicle body 1000, then moves it to the space below the goods. Next, the lifting assembly 400 raises the vehicle body 1000 to a certain height, lifting the goods and detaching them from the storage location. Finally, the first traveling assembly 200 or the second traveling assembly 300 drives the vehicle body 100 along the track to complete the retrieval. When placing goods in the storage location, the first traveling assembly 200 or the second traveling assembly 300 drives the vehicle body 100 to the location. The lifting assembly 400 continuously lowers the vehicle body 1000. After the goods are placed in the storage location, the vehicle body 1000 detaches from the goods. Finally, the first traveling assembly 200 or the second traveling assembly 300 removes the vehicle body 100 from the storage location to complete the unloading task.

[0063] When the lifting assembly 400 controls the relative movement of the first traveling assembly 200 and the second traveling assembly 300, and brings the second traveling assembly 300 into contact with the track, the first traveling assembly 200 disengages from the track. At this time, the traveling drive assembly 700 correspondingly drives the second traveling assembly 300 to move, thereby causing the second traveling assembly 300 to move the entire vehicle body 100 along the second direction. It should be noted that the track contacted by the first traveling assembly 200 is different from the track contacted by the second traveling assembly 300; they are arranged perpendicularly to each other. For example, the track contacted by the first traveling assembly 200 is the first track, which extends along the first direction, and the track contacted by the second traveling assembly 300 is the second track, which extends along the second direction. The first track and the second track are perpendicular to each other and intersect. The pallet four-way shuttle can change its direction of movement at the intersection of the first track and the second track.

[0064] Goods are placed on a pallet, which is then placed in a storage channel extending in a first direction, beneath which a first track in the same direction is provided. When handling goods in these examples, the pallet shuttle moves along the first track extending in the first direction to a position under the pallet. The lifting assembly 400 drives the second traveling assembly 300 and the vehicle body 1000 to rise, lifting the pallet and removing it from its original placement position. Then, the first traveling assembly 200 moves along the first direction, moving the pallet. When the pallet shuttle moves to the intersection of the first track and a second track perpendicular to and intersecting the first track, if the pallet shuttle needs to change direction and move along the second track, the lifting assembly lowers the second traveling assembly 300 to contact the second track. Simultaneously, the first traveling assembly 200 rises away from the first track. Then, the traveling drive assembly 700 drives the second traveling assembly 300 to move along the second track, moving the goods to the designated position.

[0065] Understandably, this four-way pallet shuttle can move along the track set in the first direction (the aforementioned first track) and the track set in the second direction (the aforementioned second track), which greatly improves flexibility compared to the existing shuttle board. It is no longer restricted to moving along a track in a certain direction, thus improving the efficiency of goods handling. Furthermore, since it is not necessary to set up a shuttle board in each track, it greatly reduces the setup cost of the entire warehousing system.

[0066] When the second traveling assembly 300 contacts the track extending in the second direction, the first traveling assembly 200 is suspended in the air, and the vehicle body 100 is used to support the cargo. The lifting assembly 400 can switch between the first traveling assembly 200, the second traveling assembly 300, and the corresponding track. Figure 3As shown, the vehicle body 1000 is movably mounted inside the vehicle body 100. When the first traveling component 200 contacts the rail and the second traveling component 300 contacts the rail, the lifting component 400 drives the second traveling component 300 to continuously descend, and the vehicle body 1000 drapes over the vehicle body 100. After the second traveling component 300 contacts the rail, it continues to move. At this time, under the relative action of forces, the height of the vehicle body 100 and the first traveling component 200 will rise until the first traveling component 200 disengages from the rail. The process of switching from the second traveling component 300 contacting the rail to the first traveling component 200 contacting the rail is the reverse of the above process and will not be described in detail.

[0067] For example, the lifting assembly 400 includes a lifting drive assembly 410, a lifting transmission assembly 420, and an eccentric drive assembly 430. The lifting drive assembly 410 is fixedly mounted on the vehicle body 100, and the eccentric drive assembly 430 is mounted on the vehicle body 100 via a bearing shaft. The lifting drive assembly 410 drives the eccentric drive assembly 430 to rotate via the lifting transmission assembly 420. The eccentric drive assembly 430 is located on the side of the vehicle body 100 and is connected to the second traveling assembly 300. The second traveling assembly 300 is movably connected to the vehicle body 100 via a slide rail. During the rotation of the eccentric drive assembly 430, it drives the second traveling assembly 300 to rise and fall. That is, the lifting drive assembly 410 drives the second traveling assembly 300 to rise and fall via the lifting transmission assembly 420 and the eccentric drive assembly 430, thereby switching the contact between the first traveling assembly 200 or the second traveling assembly 300 and the track. Additionally, the lifting transmission assembly 420 can also be configured as a gearbox, a chain drive assembly, or a belt drive assembly. For example, the eccentric drive assembly 430 may be an eccentric wheel or a crank.

[0068] In some examples, the first guide assembly 500 includes a first guide wheel 520 and a corresponding drive assembly. The drive assembly is mounted on the vehicle body 100, and the first guide wheel 520 is located at the output end of the drive assembly. The drive assembly is used to drive the first guide wheel 520 to switch states. For example, the drive assembly can be a swing drive assembly, such as a servo motor. When the lifting assembly 400 actuates to bring the second traveling assembly 300 into contact with the track, the swing drive assembly drives the first guide wheel 520 to rotate until it abuts against the corresponding track side. The abutment and limiting effect of the first guide wheel 520 prevents the vehicle body 100 from tilting during movement.

[0069] In other examples, the driving component is a lifting drive component. Similarly, when the lifting component 400 actuates to bring the second traveling component 300 into contact with the track, the lifting drive component drives the first guide wheel 520 to rise and fall and move until it abuts against the corresponding side of the track. For example, the lifting drive component can be an electric cylinder or other linear drive module, as long as it can drive the first guide wheel 520 to rise and fall.

[0070] Figure 5 This is a schematic diagram of the arrangement of the first guide component 500 provided in an embodiment of this application; Figure 6 yes Figure 5 Another schematic diagram showing the arrangement of the first guide component 500. (Refer to...) Figure 5 and Figure 6 As shown, the first guide assembly 500 includes a mounting shaft 510 and a first guide wheel 520. The mounting shaft 510 is connected to the eccentric drive assembly 430, and the first guide wheel 520 is rotatably mounted on the mounting shaft 510.

[0071] In some examples, the mounting shaft 510 is disposed perpendicular to the outer edge of the eccentric drive assembly 430 and is mounted on the eccentric drive assembly 430. The first guide wheel 520 is rotatably mounted on the mounting shaft 510. When the lifting drive assembly 410 drives the eccentric drive assembly 430 to rotate, thereby raising and lowering the second traveling assembly 300, the first guide wheel 520 rotates with the eccentric drive assembly 430. When the second traveling assembly 300 comes into contact with the corresponding track, the first guide wheel 520 rises and falls with the eccentric drive assembly 430. The first guide wheel 520 abuts against the side of the track, which can prevent the traveling wheel 1400 of the second traveling assembly 300 from tilting inward and prevent it from derailing.

[0072] In other examples, the mounting shaft is vertically mounted on the vehicle body 100 via a limiting assembly. A first guide wheel 520 is rotatably mounted at the lower end of the mounting shaft. An eccentric drive assembly 430 is connected to this mounting shaft. When the eccentric drive assembly 430 swings downwards, it presses against the mounting shaft, thereby driving the mounting shaft to move downwards. This causes the first guide wheel 520 at the top of the mounting shaft to move downwards and abut against the side of the track. For example... Figure 2 and Figure 3 As shown, the pallet four-way shuttle also includes multiple second guide components 600. These second guide components 600 are all disposed on the vehicle body 100 and arranged on both sides of the vehicle body 100. When the first traveling component 200 contacts the track, all the second guide components 600 abut against the side of the track.

[0073] For example, the second guide assembly 600 includes a second guide wheel 610 and a mounting base 620, wherein the mounting base 620 is fixedly mounted on the side of the vehicle body 100, and the second guide wheel 610 is rotatably mounted on the mounting base 620.

[0074] Figure 7 This is a schematic diagram illustrating the arrangement of the second guide component 600 according to an embodiment of this application. (Refer to...) Figure 7 As shown, when the traveling wheel 1400 of the first traveling assembly 200 contacts the track, the second guide assembly 600 abuts against the side of the track.

[0075] For example, the second guide assembly 600 includes a second guide wheel 610, which is horizontally disposed on the side of the vehicle body 100 and protrudes from the vehicle body 100.

[0076] In some examples, the first traveling component 200 is fixedly disposed on two sides of the vehicle body 100 along a first direction. The first traveling component 200 is connected to a corresponding traveling drive component 700, and the traveling drive component 700 drives the first traveling component 200 to move, that is, the traveling drive component 700 drives the vehicle body 100 to move along the first direction through the first traveling component 200.

[0077] The second traveling assembly 300 is disposed on both sides of the vehicle body 100 along the second direction and is connected to the corresponding traveling drive assembly 700. The traveling drive assembly 700 drives the vehicle body 100 to move along the second direction through the second traveling assembly 300. It should be noted that the first direction and the second direction are perpendicular to each other. The first direction can be referred to as... Figure 3 As shown in the x-direction, the second direction can be referenced. Figure 3 shown in the y direction.

[0078] In other examples, the first walking component 200 and the second walking component 300 share the same walking drive component 700, which can drive the first walking component 200 or the second walking component 300 to move.

[0079] For example, the vehicle body 100 has first travel components 200 on both sides extending along a first direction, and the two opposing first travel components 200 are respectively connected to both ends of a first drive shaft. The vehicle body 100 also has second travel components 300 on both sides extending along a second direction, and the two opposing second travel components 300 are respectively connected to both ends of a second drive shaft via universal joints. A travel drive component 700 is connected to the first travel components 200 and the second travel components 300 via a reversing component 1100. That is, when a first travel component 200 contacts a corresponding track, the travel drive component 700 drives the first travel component 200 to move via the reversing component 1100; when a second travel component 300 contacts a corresponding track, the travel drive component 700 drives the second travel component 300 to move via the reversing component 1100.

[0080] For example, the reversing assembly 1100 is connected to the first synchronous shaft 1200 via a chain drive assembly or a belt drive assembly, and both ends of the first synchronous shaft 1200 are respectively connected to the first traveling assembly 200 via a chain drive assembly or a belt drive assembly. The reversing assembly 1100 is connected to the second synchronous shaft 1300 via a chain drive assembly or a belt drive assembly. It can be understood that since the second synchronous shaft 1300 is connected to the second traveling assembly 300 via a flexible universal joint, after the lifting assembly 400 drives the second traveling assembly 300 to rise and fall to change its position, the power output by the traveling drive assembly 700 can also be transmitted to the second traveling assembly 300 via the second synchronous shaft 1300 and the universal joint. That is, the universal joint ensures the power transmission of the traveling drive assembly 700 without affecting the rising and falling of the second traveling assembly 300.

[0081] Specifically, the output end of the walking drive component 700 is connected to the input end of the commutation component 1100. One output end of the commutation component 1100 is connected to the first walking component 200 through the first synchronous shaft 1200, and the other output end is connected to the second walking component 300 through the second synchronous shaft 1300 and a universal joint. The walking drive component 700 can control the power transmission path of its power through the commutation component 1100, so that its power is transmitted to the first walking component 200 or the second walking component 300. That is, the walking drive component 700 can control the action of the first walking component 200 or control the action of the second walking component 300.

[0082] Additionally, for example, each second traveling component 300 includes a mounting plate and a plurality of traveling wheels 1400, which are spaced apart on the mounting plate. The mounting plate is connected to the vehicle body 100 via a slide rail, and is also connected to an eccentric drive component 430. The rotation of the eccentric drive component 430 causes the mounting plate to rise and fall, which in turn causes the plurality of traveling wheels 1400 to rise and fall.

[0083] The first traveling assembly 200 includes multiple traveling wheels 1400, which are respectively mounted on the frame of the vehicle body 100, and at least one traveling wheel 1400 is connected to a first synchronous shaft 1200. The traveling wheel 1400 connected to the synchronous shaft is the driving wheel, and the other traveling wheels 1400 are driven wheels. Of course, all traveling wheels 1400 can also be connected to the first synchronous shaft 1200, and all traveling wheels 1400 can serve as driving wheels.

[0084] For example, the walking drive assembly 700 can be configured to drive a motor.

[0085] Reference Figure 4As shown, the four-way pallet shuttle also includes an image acquisition unit 800 and a dust removal unit 900. The image acquisition unit 800 acquires images of detection markers positioned on the shelf track, while the dust removal unit 900 removes dust from the detection markers, ensuring that the image acquisition unit 800 can acquire clear images to determine the accurate position of the four-way pallet shuttle. For example, the image acquisition unit 800 can be configured as a barcode scanner, and the detection markers can be configured as QR code markers. After the barcode scanner scans the QR code marker, the QR code marker contains position coordinate information, allowing the control system of the four-way pallet shuttle to accurately determine the position of the vehicle body 100. For example, the dust removal unit 900 can be a dust sweeping unit or a dust blowing unit.

[0086] In some examples, the dust removal component 900 is configured as a dust-blowing fan, which is fixedly mounted on the vehicle body 100 by a bracket and is positioned facing forward or at an angle. The dust-blowing fan generates airflow when it rotates, and when the vehicle body 100 moves and causes the dust-blowing fan to pass over the detection mark, the airflow generated by the rotating dust-blowing fan blows away the dust covering the detection mark, ensuring that the image acquisition component 800 can acquire an image of the detection mark.

[0087] In other examples, the dust removal component 900 is configured as a brush, which is fixedly mounted on the vehicle body 100, and the tip of the brush can contact the detection markings on the track surface. When the vehicle body 100 moves past the detection markings, the brush can sweep away the dust on the surface of the detection markings.

[0088] In some examples, the pallet four-way shuttle also includes multiple photoelectric modules. All photoelectric modules are mounted on the vehicle body 100 and face the outside or top of the pallet four-way shuttle. These modules are used to detect obstacles in the direction of movement, preventing collisions with pallets or rack structures. For example, each photoelectric module includes at least two spaced-apart photoelectric detection sensors. Multiple photoelectric detection sensors simultaneously detect obstacles on one side, avoiding misjudgments of obstacles due to the failure of a single photoelectric detection sensor, and ensuring that the pallet storage robot does not collide with obstacles.

[0089] Secondly, embodiments of this application also provide a warehousing system, including racks and a pallet four-way shuttle as described in any of the first aspects. The racks are provided with a main track and multiple sub-tracks arranged perpendicularly to each other. The pallet four-way shuttle is used to move on the main track and the sub-tracks to transport goods in various storage channels of the racks. Since this warehousing system includes the pallet four-way shuttle of any of the above-described technical solutions, it has all the beneficial effects of the pallet four-way shuttle of any of the above-described technical solutions, which will not be elaborated further here.

[0090] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0091] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A pallet four-way shuttle vehicle, characterized in that, include: Vehicle body (100); A first traveling assembly (200) connected to the vehicle body (100) is used to drive the vehicle body (100) to move along a first direction; A second traveling assembly (300) movably connected to the vehicle body (100) is used to drive the vehicle body (100) to move in a second direction; A lifting assembly (400) connected to the vehicle body (100) is used to switch the first traveling assembly (200) or the second traveling assembly (300) in contact with the corresponding track; The lifting assembly (400) is provided with a first guide assembly (500), which is used to guide the second traveling assembly (300) when it moves in a second direction. When the lifting assembly (400) moves to make the second traveling assembly (300) contact the track, the first guide assembly (500) abuts against the side of the track.

2. The pallet four-way shuttle according to claim 1, characterized in that, The first guide assembly (500) includes a first guide wheel (520) and a drive assembly, the drive assembly being used to drive the first guide wheel (520) to switch states; The driving component is a swing driving component. When the lifting component (400) moves to make the second traveling component (300) contact the track, the swing driving component drives the first guide wheel (520) to rotate to abut against the side of the corresponding track. Alternatively, the driving component may be a lifting driving component. When the lifting component (400) moves to make the second traveling component (300) contact the track, the lifting driving component drives the first guide wheel (520) to move to abut against the side of the corresponding track.

3. The pallet four-way shuttle according to claim 1, characterized in that, The lifting assembly (400) includes a lifting drive assembly (410), a lifting transmission assembly (420), and an eccentric drive assembly (430), all of which are disposed on the vehicle body (100); The second walking assembly (300) is movably connected to the vehicle body (100), and the eccentric drive assembly (430) is disposed on the side of the vehicle body (100) and is connected to the second walking assembly (300). The lifting drive assembly (410) drives the second traveling assembly (300) to rise and fall through the lifting transmission assembly (420) and the eccentric drive assembly (430) to switch the first traveling assembly (200) or the second traveling assembly (300) in contact with the track; And / or, the lifting drive assembly (420) is configured as a gearbox, chain drive, or belt drive assembly; And / or, the eccentric drive assembly (430) is configured as an eccentric wheel or crank.

4. The pallet four-way shuttle according to claim 3, characterized in that, The first guide assembly (500) includes a mounting shaft (510) and a first guide wheel (520); The mounting shaft (510) is connected to the eccentric drive assembly (430), and the first guide wheel (520) is rotatably mounted on the mounting shaft (510). When the lifting drive assembly (410) drives the second traveling assembly (300) to rise and fall and contact the corresponding track, the first guide wheel (520) follows the eccentric drive assembly (430) to rise and fall and abuts against the side of the corresponding track. And / or, the first guide wheel (520) swings up and down or moves vertically up and down following the eccentric drive assembly (430).

5. The pallet four-way shuttle according to claim 1, characterized in that, The pallet four-way shuttle also includes multiple second guide components (600); Multiple second guide components (600) are disposed on the vehicle body (100) and are arranged on both sides of the vehicle body (100); When the first walking component (200) comes into contact with the track, all the second guiding components (600) abut against the track; And / or, the second guide assembly (600) includes a second guide wheel (610) and a mounting base (620), the second guide wheel (610) being mounted on the vehicle body (100) via the mounting base (620).

6. The pallet four-way shuttle according to claim 1, characterized in that, The first walking component (200) and the second walking component (300) are respectively provided with corresponding walking drive components (700). The walking drive component (700) corresponding to the first walking component (200) drives the first walking component (200) to move, and the walking drive component (700) corresponding to the second walking component (300) drives the second walking component (300) to move.

7. The pallet four-way shuttle according to claim 1, characterized in that, The first walking component (200) and the second walking component (300) share the same walking drive component (700), which can drive the first walking component (200) or the second walking component (300) to move.

8. The pallet four-way shuttle according to claim 6, characterized in that, The vehicle body (100) is provided with the first walking assembly (200) on both sides extending along the first direction, and the two oppositely arranged first walking assemblies (200) are respectively connected to the two ends of the first drive shaft. The vehicle body (100) has two second travel assemblies (300) on both sides extending along the second direction. The two oppositely arranged second travel assemblies (300) are respectively connected to the two ends of the second drive shaft through universal joints. The walking drive component (700) is connected to the first walking component (200) and the second walking component (300) via a reversing component (1100).

9. The pallet four-way shuttle according to claim 1, characterized in that, The pallet four-way shuttle also includes an image acquisition component (800) and a dust removal component (900). The image acquisition component (800) is used to acquire images of the detection marks set on the shelf track, and the dust removal component (900) is used to remove dust from the detection marks to ensure the image acquisition effect of the image acquisition component (800). And / or, the dust removal component (900) is a dust sweeping component or a dust blowing component.

10. The pallet four-way shuttle according to claim 9, characterized in that, The image acquisition unit (800) is configured as a barcode scanner, and / or the detection identifier is configured as a QR code identifier.

11. A warehousing system, characterized in that, The device includes a rack and a pallet four-way shuttle as described in any one of claims 1-10, wherein the rack is provided with a main track and a plurality of sub-tracks arranged perpendicularly to each other, and the pallet four-way shuttle is used to move on the main track and the sub-tracks to transport goods in each storage aisle of the rack.

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