Guided vehicle for transporting pallets along a rack structure

Abstract

The invention relates to a guided vehicle (1) for transporting pallets, intended to be moved along a rack structure provided with movement rails to be movable in a first direction and in a second direction perpendicular to the first, comprising a main frame (2) provided with a first plurality of wheels (3) for moving the main frame in the first direction and a second plurality of wheels (5) for moving the frame in the second direction, a loading platform (7) that supports the pallets which is able to be axially lifted perpendicular to the horizontal plane, in which actuation means for lifting the loading platform are provided, the upwards and downwards movement of the loading platform (7) being able to be linked to the upwards and downwards movement of the first plurality of wheels, the first plurality of wheels (3) being located in movable housings (20) arranged on opposite sides of the frame (2), and a self-centring system (10) with retractable wheels, that acts to center the frame (2) relative to the movement rails.

Description

[0001] Guided vehicle for pallet transport with self-centering system

[0002] DESCRIPTIVE MEMORY

[0003] OBJECT OF THE INVENTION

[0004] This application relates to the registration of a guided vehicle for transporting pallets, for example, in smart storage facilities.

[0005] More specifically, the invention proposes the development of a guided vehicle provided with a self-centering system to adjust the position of the vehicle on the rolling means.

[0006] BACKGROUND OF THE INVENTION

[0007] In large shelving structures for storing palletized products, a shuttle is used that moves linearly along main rails, i.e., it operates only in one linear direction. To access the aisles located on both sides of the main rails, which are perpendicular to the movement of the shuttle, the shuttle incorporates a carriage designed to move along the side channels, i.e., in a direction perpendicular to the movement of the shuttle, thereby collecting and depositing the pallets on their corresponding shelf. This arrangement, while satisfactorily fulfilling its primary function, entails the use of a complex shuttle with a higher manufacturing cost. Furthermore, this described system may limit the number of operations to be performed over time, since it does not allow for the simultaneous operation of several shuttles, given the movement limitations of moving only in one direction.

[0008] On the other hand, well-known shuttles or guided vehicles are equipped with wheeled platforms for movement and / or guidance along profiles present in rails or walkways. The wheels can be moved up and / or down by means of an actuator mechanism designed solely for this movement, while a second actuator mechanism is used for the movement of the platform. This arrangement involves a greater number of components, which increases the complexity of the shuttle and, consequently, the associated manufacturing and / or maintenance costs. Therefore, there is a need to improve this type of transport equipment.A solution for resolving the aforementioned problem is found in document No. ES 1291744U, which shows a guided vehicle for transporting pallets, provided with drive means for a first plurality of wheels designed to move in one direction and a second plurality of wheels designed to move in a second direction. The common parts or elements of document No. ES 1291744U form part of the preamble of claim 1.

[0009] Although this vehicle complies satisfactorily, from a manufacturing and operating point of view of the vehicle, it is worth mentioning that they are provided with platforms with separate groups of wheels to move in both directions X, Z, exchanging the group of wheels that rest on the running rails, also requiring other groups of guide wheels that, resting on the lateral surface of the running rail, contribute to keeping the vehicle properly located and centered on the running rail.

[0010] However, unwanted lateral movements can occur, which can cause the vehicle frame to rub against the guide rails that are part of a storage facility.

[0011] Furthermore, the applicant is not currently aware of an invention that has all of the features described herein.

[0012] DESCRIPTION OF THE INVENTION

[0013] The present invention has been developed in order to provide a guided vehicle that is configured as a novelty within the field of application and solves the aforementioned drawbacks, also providing other additional advantages that will be evident from the description that follows.

[0014] It is therefore an object of the present invention to provide a guided vehicle for transporting pallets, being of the type that is intended to be moved along a racking structure provided with movement rails to be moved in a first direction and in a second direction that is perpendicular to the first direction, comprising a main frame provided with a first plurality of wheels provided for movement of the main frame in the first direction and a second plurality of wheels provided for movement of the main frame in the second direction, a loading platform configured to support the pallets that can be raised axially perpendicular to the horizontal plane, in which drive means configured for lifting the loading platform are provided, managed by a control unit mounted on the frame,the upward and downward movement of the loading platform being linkable with the upward and downward movement of the first plurality of wheels, the first plurality of wheels being located in movable housings arranged on opposite sides of the frame.

[0015] In particular, the invention is characterized in that it includes a self-centering system that acts to center the frame with respect to the movement rails linked to the first plurality of wheels, the self-centering system being provided with retractable wheels actuated by an actuating mechanism that is linked to the movement of the movable housing, such that in an extended position, the lowest point of the retractable wheels extend beyond the plane defined by the lowest point of the wheels that form part of the second plurality of wheels, while in a folded position, the lowest point of the retractable wheels is located above the plane defined by the lowest point of the wheels that form part of the second plurality of wheels.

[0016] Preferably, the self-centering system comprises at least four retractable wheels located in the corner areas of the assembly formed by the frame and the movable housings located at opposite ends of the frame.

[0017] The retractable wheels are orientable in such a way that they are capable of coming into contact with a movement rail along which the first plurality of wheels can be moved.

[0018] Thanks to these features, a system is obtained that allows the vehicle to self-center on the running rails, avoiding the need to monitor and correct the vehicle's position. It is especially suitable for vehicles equipped with two sets of multiple wheels for different directions. This ensures that unwanted lateral movements that could cause the frame to rub against the guide or running rails present in a storage facility do not occur. Therefore, retractable guide means are provided, linked to the first plurality of wheels. In other words, this self-centering system acts in a synchronized manner with the upward and downward movement of the first plurality of wheels.According to another aspect of the invention, the actuating mechanism for each of the retractable wheels comprises a rack fixed to the main frame, in which a toothed wheel coupled to a rocker support is engaged, which is in turn rotatably articulated to a rocker arm that has the retractable wheel, such that the linear movement of the toothed wheel by the rack transmits an arcuate trajectory of the retractable wheel, and tensioning means provided to keep the retractable wheel in contact with one side of the movement rail.

[0019] The arrangement of the tensioning means on the retractable wheels located on both sides of the vehicle's main frame ensures self-centering of the vehicle, since the retractable wheels self-regulate their angle of inclination upon contact with the sides of the running rails without the need for electrical or software adjustment, which simplifies the self-centering system.

[0020] Preferably, the tensioning means comprise a push rod which is located in the rocker support in a movable and guided manner, the push rod being associated with an elastic spring to keep the push rod in tension, and an extension which extends from the rocker arm which is abutting against the push rod.

[0021] According to the invention, the extension has a ball joint at its end in contact with the push rod.

[0022] Additionally, the actuating mechanism may include stop means to limit the rotary movement between the rocker arm and the rocker arm support.

[0023] Preferably, the aforementioned stop means may consist of two projecting regions present on the rocker support which are spaced apart from each other and located in opposite regions with respect to the position of an articulation axis, the two projecting regions defining a pair of contact planes which are located in different spatial planes and each of them intended to abut a corresponding upper and lower portion of the rocker.

[0024] Also preferably, the gear wheel has one section with meshing teeth and a second section without meshing teeth. The guided vehicle described therefore represents an innovative structure with previously unknown structural and constitutive characteristics for its intended purpose. These reasons, combined with its practical utility, provide sufficient grounds for obtaining the exclusive privilege requested.

[0025] Other features and advantages of the guided vehicle object of the present invention will become evident from the description of a preferred, but not exclusive, embodiment, which is illustrated by way of non-limiting example in the accompanying drawings, in which:

[0026] BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1.- It is a top perspective view of the guided vehicle according to the present invention;

[0028] Figure 2.- It is a bottom perspective view of the guided vehicle according to the invention;

[0029] Figure 3.- It is a partial elevation view of the guided vehicle with the retractable wheels of the self-centering system in a folded position;

[0030] Figure 4.- It is a partial elevation view of the guided vehicle with the retractable wheels of the self-centering system in an extended position;

[0031] Figure 5.- It is a partial elevation view of one end of the guided vehicle that is in an off-center position on a travel rail where it moves in an installation;

[0032] Figure 6.- A detailed perspective view of the actuating mechanism that forms part of the self-centering system; and

[0033] Figure 7.- It is a detailed elevation view of the actuating mechanism of a retractable wheel.

[0034] DESCRIPTION OF A PREFERRED EMBODIMENT

[0035] In view of the aforementioned figures and according to the numbering adopted, a preferred embodiment of the invention can be observed, which comprises the parts and elements indicated and described in detail below. Furthermore, the terms "first," "second," "third," and the like in the description and claims are used to distinguish between similar elements and not necessarily to describe a sequential or chronological order. The terms may be interchanged in appropriate circumstances, and embodiments of the invention may operate in sequences other than those described or illustrated herein.

[0036] Furthermore, the terms upper, lower, above, below and the like in the description and claims are used for descriptive purposes and not necessarily to describe relative positions.

[0037] As can be seen in Figures 1 to 3, an embodiment of the guided vehicle, generally indicated by reference (1) for transporting pallets, is intended to be moved along a conventional shelving structure (not shown) that is provided with travel rails so as to be moved in a first direction and in a second direction that is perpendicular to the first direction. Thus, the guided vehicle (1) acts on the three spatial axes (x,y,z).

[0038] The vehicle (1) comprising a box-shaped main frame (2) provided with a first plurality of wheels arranged in such a manner as to allow movement of the vehicle (1) in the first direction, having two wheels (3) spaced apart from each other which are located on each of two opposite sides. On each of the sides, one of the wheels (3) is a drive wheel which is linked to an electric motor (not shown) by a chain gear system, both electric motors working in a synchronized manner, whereby the two drive wheels rotate at the same speed.

[0039] The main frame (2) also includes a second plurality of wheels intended for the movement of the vehicle (1) in the second direction, which has four sets of wheels (5) each formed by two wheels (50) linked together by a gear chain (not shown), two sets of wheels (5) being located on each of the opposite sides. Two sets of wheels (5) are coupled to separate electric motors that act synchronously with each other.

[0040] Thus, the first plurality of wheels is on an axis perpendicular to the second plurality of wheels described above, as can also be seen in Figure 2. At the top of the main frame (2) there is provided a loading platform (7) configured to raise the pallets resting on the racking structure. This pallet can be raised axially and vertically perpendicular to the horizontal plane, in which drive means configured for raising the loading platform (7) are provided managed by a control unit mounted on the main frame (2), the upward and downward movement of the loading platform (7) being linkable with the upward and downward movement of the wheels (3).

[0041] The aforementioned drive means comprise a cam system connected to a control unit, such that the movement of a cam is linked to the up and down movement of the loading platform (7), the up and down movement of the first plurality of wheels and the up and down movement of the second plurality of wheels, such that the spatial position of the cams defines three operating positions.

[0042] These three previous operating positions correspond to a first position in which the vehicle moves along a main aisle and the loading platform (7) is in its lowest position; a second position in which the vehicle moves along a side channel and the loading platform (7) is in its lowest position; and a third position in which the loading platform (7) is elevated for loading a pallet (not shown).

[0043] Now, returning again to the first plurality of wheels, such wheels (3) are located in two movable housings (20) arranged on opposite sides and on the outside of the frame (2), the wheels being mounted on rotational shafts (21) that are removably fixed in the movable housings (20). These housings (20) are formed by drawers defined by four side walls such that they are open at the top and inside. Mention that the movable housings (20) move together and simultaneously in an ascending or descending direction depending on the functional position to be operated at each instant.

[0044] Advantageously, the guided vehicle includes a self-centering system, generally indicated by reference (10), which acts to center the main frame (2) with respect to the travel rails linked to the first plurality of wheels, the self-centering system being provided with retractable wheels (11) actuated by means of an actuating mechanism (described later) which is linked to the movement of the movable housing, such that in an extended position, the lowest point of the retractable wheels extend beyond the plane defined by the lowest point of the wheels (50) that form part of the second plurality of wheels, while in a stowed position, the lowest point of the retractable wheels (11) is located above the plane defined by the lowest point of the wheels (50) that form part of the second plurality of wheels.

[0045] This self-centering system (10) shown comprises four retractable wheels (11) located in the corner areas of the assembly formed by the main frame (2) and the movable housings (20) located at opposite ends of the main frame (2). Each of the retractable wheels (11) is associated with a corresponding actuating mechanism described below.

[0046] With particular reference to the actuating mechanism for each of the retractable wheels (11), it comprises a rack (12) arranged vertically and fixed to a side wall (21) of the main frame (2), to which a toothed wheel (13) is engaged, coupled to a rocker support (14) which is in turn rotatably articulated to a rocker arm (15) on an articulation axis (18) having the retractable wheel (11). In this way, the linear displacement of the toothed wheel (13) along the rack (12) transmits an arcuate trajectory of the retractable wheel (11) until it couples or uncouples from the movement rail (9).

[0047] In addition, tensioning means are provided to keep the retractable wheel (11) in contact with one side of the movement rail (9), as shown in Figure 5.

[0048] As can be seen in detail in figures 5 to 7, the tensioning means comprise a mushroom-shaped push rod (16), which is located in the rocker support (14) in a movable and guided manner, the push rod (16) being associated with an elastic spring (17) to keep the push rod (16) in tension, and an extension that extends from the rocker (15) that is abutting against the push rod (16).

[0049] The elastic spring (17) has a double function, on the one hand, it limits the movement of the rocker arm (15) and, on the other hand, it contributes to positioning the guided vehicle (1) in a central manner on the two movement rails (9), which is achieved by the combinatorial effect of the differential compression between the pairs of elastic springs (17) facing each other on both sides of the guided vehicle (1).

[0050] It should be noted that the extension has a ball joint (19) at its end in contact with the push rod (16).

[0051] Additionally, the actuating mechanism includes stop means to limit the rotary movement between the rocker arm (15) and the rocker arm support (14).

[0052] Thus, the actuator system described above works in such a way that if the guided vehicle (1) is off-center with respect to the movement rail (9), the retractable wheel (11) tilts the rocker arm (15). When tilted, the ball joint (19) presses on the push rod (16), which runs through a guide present in the rocker arm support (14) and compresses the elastic spring (17). When in a non-equilibrium position, the elastic spring (17) will tend to expand and push the guided vehicle (1) to its centered position on the movement rail (9), thus recovering the equilibrium position automatically and progressively.

[0053] Such stop means consist of two protruding regions present on the rocker support

[0054] (14), which are indicated more clearly by a rectangular indication, which are spaced apart from each other and located in opposite regions with respect to the position of an articulation axis (19), such as a bolt, the two projecting regions (140) defining a pair of contact planes which are located in different spatial planes and each of them intended to abut a corresponding upper and lower portion of the rocker arm.

[0055] (15).

[0056] As can be seen in figures 5 to 7, the gear wheel (8) has a section with gear teeth and a second section without gear teeth and is fixed to the rocker support (14) by means of a rotation shaft (8).

[0057] Also, for the guidance without unwanted lateral movements of the main frame (2) along the rails formed by two separate and parallel profiles (see figure 13), when the vehicle moves by the movement of the wheel trains (5) when contacting the horizontal rolling surface of the rails, guide wheels (32) have also been provided. These guide wheels (32) are coupled by means of an axle mounted on an extension that protrudes from the side wall of the frame (2) intended to contact a vertical section of the rail. These guide wheels (32) are located on the two opposite sides where the wheel trains (5) are located.

[0058] The details, shapes, dimensions and other accessory elements used in the manufacture of the guided vehicle of the invention may be conveniently replaced by others that do not deviate from the scope defined by the claims included below.

Claims

CLAIMS 1. Guided vehicle for transporting pallets, intended to be moved along a racking structure provided with travel rails to be moved in a first direction and in a second direction that is perpendicular to the first direction, comprising a main frame provided with a first plurality of wheels intended for moving the main frame in the first direction and a second plurality of wheels intended for moving the main frame in the second direction, a loading platform configured to support the pallets that can be raised axially perpendicular to the horizontal plane, in which drive means configured for raising the loading platform are provided, managed by a control unit mounted on the frame,the upward and downward movement of the loading platform being linkable with the upward and downward movement of the first plurality of wheels, the first plurality of wheels being located in movable housings arranged on opposite sides of the frame, characterized in that it includes a self-centering system that acts to center the frame with respect to the movement rails linked to the first plurality of wheels, the self-centering system being provided with retractable wheels actuated by an actuating mechanism that is linked to the movement of the movable housing, such that in an extended position, the lowest point of the retractable wheels extend beyond the plane defined by the lowest point of the wheels that are part of the second plurality of wheels, while in a stowed position,The lowest point of the retractable wheels is located above the plane defined by the lowest point of the wheels that form part of the second plurality of wheels.

2. Guided vehicle according to claim 1, characterized in that the self-centering system comprises at least four retractable wheels located in the corner areas of the assembly formed by the frame and the movable housings located at opposite ends of the frame, each of the retractable wheels being associated with a corresponding actuating mechanism.

3. Guided vehicle according to any of the preceding claims, characterized in that the actuating mechanism for each of the retractable wheels comprises a rack fixed to the main frame, in which a toothed wheel coupled to a rocker support is engaged, which is in turn rotatably articulated to a rocker arm that has the retractable wheel, such that the movement The linear motion of the toothed wheel by the rack transmits an arcuate trajectory to the retractable wheel, and tensioning means are provided to keep the retractable wheel in contact with one side of the movement rail.

4. Guided vehicle according to claim 3, characterized in that the tensioning means comprise a push rod which is located in the rocker support in a movable and guided manner, the push rod being associated with an elastic spring to keep the push rod in tension, and an extension which extends from the rocker arm which is abutting against the push rod.

5. Guided vehicle according to claim 4, characterized in that the extension has a ball joint at its end in contact with the push rod.

6. Guided vehicle according to claim 3, characterized in that the actuating mechanism includes stop means for limiting the rotary movement between the rocker arm and the rocker arm support.

7. Guided vehicle according to claim 6, characterized in that the stop means consist of two projecting regions present on the rocker support which are spaced apart from each other and located in opposite regions with respect to the position of an articulation axis, the two projecting regions defining a pair of contact planes which are located in different spatial planes and each of them designed to abut a corresponding upper and lower portion of the rocker.

8. Guided vehicle according to claim 3, characterized in that the gear wheel has a section with meshing teeth and a second section without meshing teeth.

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