CN114180251A

CN114180251A - Four-way shuttle

Info

Publication number: CN114180251A
Application number: CN202111679275.9A
Authority: CN
Inventors: 栾飞; 桓源; 薛毅飞; 柴雯玮; 周志骞; 乔骞; 何舟; 刘雄
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-15

Abstract

The invention provides a four-direction shuttle which comprises a vehicle body, a transverse driving device and a longitudinal driving device, wherein the transverse driving device and the longitudinal driving device are arranged in the vehicle body, the transverse driving device and the longitudinal driving device respectively control the vehicle body to move towards two mutually perpendicular methods, a pulling device is arranged between two parallel transmission shafts, the height of the transmission shafts is controlled through the pulling device, and then the height of wheels is controlled, so that the wheels of the transverse driving device and the longitudinal driving device are alternately contacted with the ground, and the steering control of the vehicle body is realized. The shuttle car is simple in structure, easy to process and manufacture, convenient and fast to assemble, capable of saving manufacturing cost, detachable and independent in working among all mechanisms, and convenient to maintain and install.

Description

Four-way shuttle

Technical Field

The invention relates to the technical field of transportation devices, in particular to a four-way shuttle.

Background

Along with the development of the logistics industry, the improvement of logistics efficiency is the problem that needs to be solved urgently, and the automatic stereoscopic warehouse is a key factor for improving the logistics efficiency by using a stereoscopic warehouse to realize high-level storage and automatic access, realizing the automation and intellectualization of warehousing and reducing the warehousing operation and management cost. Meanwhile, the storage space is reasonably utilized, the utilization rate of the existing space is improved, and the storage space is also a main factor for improving the logistics efficiency.

The common shuttle car takes a bidirectional shuttle car as a main cargo carrying carrier, and is matched with a dense goods shelf system to carry out work such as sorting and transmission of goods on the goods shelves, and is combined with a traditional forklift to achieve the purpose of logistics transportation. The common shuttle vehicle mainly comprises a vehicle body, a driving power supply device, a driving device, a jacking device, a vehicle controller, a communication device, a safety protection device and the like. The shuttle car can be used as peripheral equipment of a stereoscopic warehouse or an independent system as common equipment for material conveying. The shuttle car is mainly used for material conveying, workshop assembly and the like, and is particularly widely applied to the storage system and the logistics industry at present.

Two to shuttle and automatic system's combination work compare and have efficient outstanding characteristics in manual work, nevertheless need set up fork truck's passageway of traveling in goods shelves setting, and is not abundant to the utilization of storage space to a certain extent to in fork truck working process, owing to be manual driving, can not avoid having the drawback of inefficiency. The shuttle car can complete logistics operation more efficiently, and the improvement of the operation efficiency of the automatic stereoscopic warehouse is of great significance.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a four-way shuttle vehicle, which is used for improving the transportation capacity, enhancing the storage space utilization rate and reducing the production cost.

The invention is realized by the following technical scheme:

a four-way shuttle comprises a vehicle body, wherein a transverse driving device and a longitudinal driving device are arranged in the vehicle body and are respectively used for driving the vehicle body to move towards two mutually vertical directions; the longitudinal driving device comprises a plurality of driving wheels which are symmetrically and respectively arranged at two sides of the vehicle body and rotate towards the same direction;

the transverse transmission shaft comprises two parallel transmission shafts, second wheels are respectively installed at two ends of each transmission shaft, the two transmission shafts are connected through a pulling-up mechanism, and when the longitudinal driving device drives the vehicle body to move, the pulling-up mechanism is used for controlling the height of the second wheels to enable the second wheels to be separated from the ground.

Preferably, the lifting mechanism comprises a lifting base, a lifting shaft, a lifting body and a sliding block;

the two ends of the pulling-up shaft are respectively provided with a pulling-up base, a vertical lifting groove is formed in the pulling-up base, the pulling-up body is assembled in the lifting groove, the transmission shaft is sleeved with the end part of the pulling-up base, an inclined sliding groove is formed in the pulling-up body, a sliding block is arranged in the pulling-up body and matched with the sliding groove, and the pulling-up shaft and the sliding block form a screw rod sliding block mechanism.

Preferably, the sliding groove is obliquely arranged from top to bottom in the direction of the self-lifting shaft to the second wheel.

Preferably, the lifting base comprises two spaced bearing seats, support plates are arranged on two sides of the two bearing seats, the bearing seats and the support plates are fixedly connected to a bottom plate of the vehicle body, a lifting groove is formed in a space defined by the two bearing seats, the two support plates and the bottom plate of the vehicle body, and the lifting shaft is mounted on the two bearing seats through bearings.

Preferably, the pulling-up body is connected with the transmission shaft through a pulling-up bearing seat, the pulling-up bearing seat comprises a fixed plate and a bearing fixed seat, one end of the fixed plate is fixedly connected to the top of the pulling-up body, the other end of the fixed plate extends towards the transmission shaft, the bearing fixed seat is connected with the end of the fixed plate, and the transmission shaft is connected with the bearing fixed seat through a bearing.

Preferably, the transmission shaft and the pulling-up shaft are both provided with gears, and the gears are connected with an output shaft of the motor.

Preferably, the jacking device comprises a direct current steel pipe motor, a telescopic assembly and a jacking plate;

the direct current steel pipe motor is fixedly connected to the bottom plate of the vehicle body, the direct current steel pipe motor is connected with the telescopic assembly through the gear transmission mechanism, and the jacking plate is arranged at the top of the telescopic assembly.

Preferably, the bottom of the jacking plate is provided with a plane calibration mechanism for calibrating the levelness of the jacking plate.

Preferably, the driving wheel comprises a gear transmission device and a first wheel, the first wheel is connected with the gear transmission device, and the input end of the gear transmission device is connected with the output shaft of the servo motor.

Preferably, the vehicle body is further provided with a battery pack and a control system, the battery pack is respectively connected with the transverse driving device, the longitudinal driving device and the jacking device, and the control system is used for controlling the working states of the transverse driving device, the longitudinal driving device and the jacking device.

Compared with the prior art, the invention has the following beneficial technical effects:

Furthermore, through the inclined sliding groove and the sliding block arranged in the inclined sliding groove, the sliding block is connected with the lifting shaft to form a screw rod sliding block mechanism, the inclined sliding groove of the sliding block is controlled to move by the torque force generated by the screw rod, the horizontal acting force is changed into the vertical acting force, the control of the height of the wheel is realized, the control method is simple, and the height can be accurately controlled according to the number of turns of rotation.

Further, the space that encloses through bearing frame, two extension boards and automobile body bottom plate forms the lift groove, adopts the part equipment to form the lift groove, and the whole equipment that promotes the base of being convenient for also is convenient for the maintenance in later stage simultaneously.

Furthermore, the output torque of the motor is transmitted to the transmission shaft through the gear, so that the stability of power transmission is ensured, and the power loss is reduced.

Furthermore, the motor is adopted to drive the telescopic assembly to lift, so that goods can be loaded and unloaded, and the mechanism is simple to operate, stable in operation and high in loading and unloading efficiency.

Furthermore, a horizontal calibration device is arranged on the jacking plate, so that the risk of falling caused by the inclination of the goods is avoided, and the transportation safety is improved.

Drawings

FIG. 1 is a view of the exterior of the four-way shuttle of the present invention;

FIG. 2 is an internal structural view of the four-way shuttle of the present invention;

FIG. 3 is a view showing the construction of the longitudinal driving apparatus and the vehicle body according to the present invention;

FIG. 4 is a structural view of the longitudinal driving apparatus of the present invention;

FIG. 5 is a block diagram of the pulling structure of the present invention;

FIG. 6 is an internal structural view of the pulling structure of the present invention;

FIG. 7 is a partial block diagram of a jacking mechanism of the present invention;

fig. 8 is a layout view of the lateral driving means and the longitudinal driving means of the present invention.

In the figure: the device comprises a gear transmission device 1, a servo motor a2, a vehicle body 3, a battery pack 4, a transmission shaft 5, a jacking plate 6, a first wheel 7, a pulling bearing seat 8, a pulling mechanism 9, a battery pack 10, a servo motor b11, a support plate 12, a pulling shaft 13, a bearing seat 14, a pulling body 15, a sliding block 16, a direct-current steel pipe motor 17, a telescopic assembly 18, a plane calibration mechanism 19, an electronic control box 20, servo motors c and c 22, a jacking device 23 and a second wheel 23.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The present invention will now be described in further detail with reference to the attached drawings, which are illustrative, but not limiting, of the present invention.

Referring to fig. 1-8, a four-way shuttle includes a body 3, which is provided with a plurality of parallel and spaced transverse driving devices and longitudinal driving devices therein, and is respectively used for driving the body to move in two perpendicular directions. The vehicle body is also provided with a battery pack, the battery pack is respectively connected with the transverse driving device and the longitudinal driving device through an electric control box 20, the vehicle body is also provided with a jacking device 22 used for jacking cargos, the battery pack 4 is connected with the transverse driving device, the battery pack 10 is connected with the longitudinal driving device, the battery pack 4 and the battery pack 10 respectively control the transverse driving device and the longitudinal driving device to work, the vehicle body can move along two directions, and the four-way shuttle vehicle can reach any preset position through transverse and longitudinal vertical alternate movement.

The longitudinal driving device comprises four sets of driving wheels which are symmetrically arranged on two sides of the vehicle body respectively and rotate in the same direction, each driving wheel comprises a gear transmission device 1 and a first wheel 7, each first wheel 7 is connected with the gear transmission device 1, and the input end of the gear transmission device 1 is connected with the output shaft of the servo motor a 2. The power is transmitted to the gear transmission device 1 through the servo motor a2, a gear set is arranged in the gear transmission device 1, the output rotation is improved through a gear ratio, the rotating speed of wheels is improved, the running speed of the shuttle vehicle is improved, and the carrying efficiency of logistics is improved; every drive wheel is connected a servo motor and drives respectively, can simplify the structure of shuttle car like this, the control of also being convenient for simultaneously, but the cost is higher, can also be connected through the transmission shaft between two coaxial drive wheels, the both ends of transmission shaft are connected with the gear drive of two coaxial drive wheels, the transmission shaft is connected with servo motor, fix servo motor on the automobile body, the fixed gear of mid-mounting at the transmission shaft to with the gear engagement on the servo motor output shaft, servo motor gives the transmission shaft with power transmission through the gear, two drive shafts of transmission shaft synchronous drive rotate.

In this embodiment, the gear at the output end of the servo motor and the gear of the transmission shaft form an acceleration mechanism, that is, the number of the teeth of the gear at the output end of the servo motor is greater than that of the teeth of the gear of the transmission shaft, so that a first acceleration effect is formed at the starting stage, and at the same time, a second speed change is performed through the gear transmission device 1, and similarly, a multi-stage gear set can be designed in the gear transmission device 1, so that the wheels can reach a preset rotating speed.

In another embodiment, two transmission shafts are connected through a main transmission shaft, the middle of the main transmission shaft is connected with a servo motor through a gear, the main transmission shaft is perpendicular to the two parallel transmission shafts, and two ends of the main transmission shaft are connected with the transmission shafts through bevel gear sets, so that the two transmission shafts can be driven to move by one servo motor, and the rotation of a plurality of wheels is ensured to be the same.

The number of the wheels is illustrated, in an actual application link, the number of the wheels can be customized according to the overall gear and the working environment of the shuttle car, for example, when an object to be carried is light, the structure of the embodiment is installed to set the number of the wheels, 4 wheels, when carried goods are heavy, the number of the driving wheels can be properly increased, for example, 4 groups of driving wheels are arranged at intervals, two driving wheels of each group are coaxially arranged, the weight of the goods is borne on 8 wheels, the pressure of each wheel is reduced, the overall service life of the shuttle car is prolonged, and the bearing weight is also increased.

The transverse driving device comprises two parallel transmission shafts 5, the axes of the transmission shafts are perpendicular to the axes of the first wheels 7, the two ends of each transmission shaft are respectively provided with a second wheel 23, the two transmission shafts are connected through a pulling-up mechanism 9, and when the longitudinal driving device drives the vehicle body to move, the pulling-up mechanism 9 is used for controlling the height of the second wheels 23 to enable the second wheels 23 to be separated from the ground.

Because the pulling mechanism can control the height of the second wheel 23 to separate the second wheel from the ground, the alternate work of the transverse driving device and the longitudinal driving device can be realized, the two driving devices can work singly, when the longitudinal driving device works, the height of the second wheel 23 is regulated and controlled by the pulling mechanism 9 to separate the second wheel from the ground, so that the driving direction of the longitudinal driving device arranged on the shuttle car moves, when the direction needs to be turned, the second wheel moves downwards to contact with the ground through the lifting mechanism, meanwhile, the wheels of the longitudinal driving device are separated from the ground through the reverse thrust of the ground, and the shuttle car is turned for 90 degrees through the transverse driving device.

In this embodiment, two sets of lifting mechanisms are respectively disposed on two sides of the vehicle body, the two sets of lifting mechanisms are respectively connected to the same ends of the two transmission shafts and move synchronously, and the two sets of lifting mechanisms synchronously control wheels on two sides of the vehicle body to move simultaneously.

The pulling-up mechanism 9 comprises a pulling-up base, a pulling-up shaft 13, a pulling-up body 15 and a sliding block 16, wherein the pulling-up base is respectively arranged at two ends of the pulling-up shaft 13, a vertical lifting groove is formed in the pulling-up base, the pulling-up body 15 is assembled in the lifting groove, one end of the pulling-up body 15 extends to the end part of the pulling-up base, and a transmission shaft is sleeved with the end part of the pulling-up base. The lifting body 15 is provided with an inclined sliding groove, the lifting body 15 is of a hollow structure, a sliding block is arranged in the hollow structure, the sliding block is matched with the sliding groove, a thread section at the end part of the lifting shaft 13 penetrates through a lifting base and extends into the lifting body to be connected with the sliding block through threads to form a screw rod sliding block mechanism, the sliding groove inclines from top to bottom from the lifting shaft 13 to the direction of the second wheel 23, the lifting shaft 13 is connected with a servo motor c21, the servo motor c21 is fixed on a vehicle body, when the lifting shaft 13 rotates, the screw rod at the end part of the lifting body 15 drives the sliding block to move along the sliding groove, the sliding block drives the lifting body 15 to move along the lifting groove in the moving process, the lifting body 15 drives a transmission shaft to lift, the height control of the second wheel 23 is realized, when the second wheel is in contact with the ground, a longitudinal driving device is separated from the ground, so that the vehicle body moves along one direction, and when steering is required, the second wheel is separated from the ground, the driving wheel of the longitudinal driving device is contacted with the ground, so that the vehicle body moves along the other direction, and the vehicle can move to reach a preset position through vertical movement in the two directions.

The lifting base comprises two spaced bearing seats 14, support plates 12 are arranged on two sides of the two bearing seats 14, the bearing seats 14 and the support plates are fixedly connected to a bottom plate of a vehicle body, a lifting groove is formed in a space surrounded by the two bearing seats 14, the two support plates and the bottom plate of the vehicle body, a lifting body 15 is assembled in the lifting groove, a lifting shaft 13 is installed on the two bearing seats 14 through a bearing, and the lifting body 15 is connected with a transmission shaft through a lifting bearing seat 8.

The lifting bearing seat 8 comprises a fixed plate and a bearing fixed seat, one end of the fixed plate is fixedly connected to the top of the lifting body, the other end of the fixed plate extends towards the transmission shaft, the bearing fixed seat is connected with the end of the fixed plate, the transmission shaft is connected with the bearing fixed seat through a bearing, a gear is fixedly connected to the transmission shaft, and the gear is meshed with an output shaft of a servo motor b11 and used for driving the transmission shaft to rotate.

The lifting device 22 comprises a direct current steel pipe motor 17, a limiting base, a gear transmission mechanism, a telescopic assembly 18, a plane calibration mechanism 19 and a lifting plate 6 connecting assembly; the direct current steel pipe motor 17 is fixed on the limiting base through a screw, the limiting base is connected with a bottom plate of the vehicle body, the direct current steel pipe motor 17 is connected with the telescopic assembly 18 through a gear transmission mechanism, a jacking plate connecting assembly is sleeved at the top end of the telescopic assembly 18, and a plane calibration mechanism 19 is arranged below the jacking plate connecting assembly and used for calibrating the levelness of the jacking plate.

The servo motors are brushless motors.

A control system is arranged in the control box and comprises a control electrical appliance and control software, the control electrical appliance is connected with drivers of the servo motor a and the servo motor b through signal lines to realize control of driving, positioning, braking and the like, is connected with the servo motor c through signal lines to realize pull-up control, and is connected with the direct current steel pipe motor 17 through signal lines to realize jacking control.

The control electrical appliance comprises a Siemens PLC, an FC 300 series frequency converter, a laser ranging sensor, wireless serial port equipment, a photoelectric sensor and the like. The system takes S7-315 series CPU of Siemens company as a control core and is responsible for analyzing and processing a distance value measured by a laser sensor, an RGV control mode, communication with an upper computer, an anti-collision strategy and a scheme for controlling the speed regulation and stop of a frequency converter.

The working principle of the four-way shuttle provided by the invention is explained in detail below.

Example 1

The invention relates to a shuttle vehicle application and a rail type logistics cabin.

The bottom surface upper berth in commodity circulation storehouse is equipped with the track, and all wheels of shuttle are rail road, and at the operation in-process, this wheel and track cooperation move according to orbital route, and the track divide into horizontal and fore-and-aft track. When the four-way shuttle car is used, the four-way shuttle car is placed on the transverse rail, and then the four telescopic assemblies 18 of the jacking device jack up the jacking plate 6, so that goods are separated from the goods shelf. At the moment, the four first wheels 7 in contact with the guide rail are walking wheels, the other four second wheels 23 are suspended, and the corresponding driving devices work to drive the shuttle car to move forward. When the shuttle vehicle reaches the intersection of the longitudinal rail and the transverse rail, the four wheels 23 which are not contacted descend to a certain height under the action of the servo motor, so that the first wheels 7 which are contacted are suspended. Since the four wheels in different directions are perpendicular to each other, the corresponding driving device operates when the second wheel 23 just contacts the track, and the forward direction of the shuttle vehicle is changed by 90 degrees. After the shuttle vehicle arrives at the destination, the telescopic assembly 18 descends to drive the jacking plate 6 to descend, so that the goods on the jacking plate 6 are in contact with the bearing body, the goods are unloaded from the jacking plate, then the shuttle vehicle is controlled to exit, and the carrying action of the goods is realized. The shuttle car can not only do four-way running work on a straight track, but also run on a track with a certain gradient.

Example 2

The shuttle car is applied to a logistics cabin which is flat with a road surface.

Transversely set up a plurality of goods shelves with longitudinal separation in this commodity circulation storehouse, the interval of two adjacent goods shelves is greater than the automobile body width of shuttle to the shuttle passes through, the passage route storage that passes through in the commodity circulation storehouse is at control terminal, at the operation in-process, moves four telescoping component 18 jack-up jacking boards 6 of jacking device according to the passage route, makes goods and goods shelves separation. Then, the first wheels and the second wheels are alternately contacted with the ground according to the routes of the preset positions, after the forward route of the shuttle vehicle is controlled to reach the preset destination, the telescopic assembly 18 descends to drive the jacking plate 6 to descend, so that the goods on the jacking plate 6 are contacted with the bearing body, the goods are unloaded from the jacking plate, then the shuttle vehicle is controlled to exit, and the carrying action of the goods is realized.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims

1. A four-way shuttle is characterized by comprising a vehicle body (3), wherein a transverse driving device and a longitudinal driving device are arranged in the vehicle body and are respectively used for driving the vehicle body to move towards two mutually vertical directions, and a jacking device (22) for jacking cargos is also arranged on the vehicle body; the longitudinal driving device comprises a plurality of driving wheels which are symmetrically and respectively arranged at two sides of the vehicle body and rotate towards the same direction;

the transverse transmission shaft comprises two parallel transmission shafts (5), second wheels (23) are respectively installed at two ends of each transmission shaft, the two transmission shafts are connected through a pulling-up mechanism (9), and when the longitudinal driving device drives the vehicle body to move, the pulling-up mechanism (9) is used for controlling the height of the second wheels (23) to enable the second wheels to be separated from the ground.

2. A four-way shuttle according to claim 1, characterised in that said lifting mechanism (9) comprises a lifting base, a lifting shaft (13), a lifting body (15) and a slider (16);

the two ends of the pulling-up shaft (13) are respectively provided with a pulling-up base, a vertical lifting groove is formed in the pulling-up base, a pulling-up body (15) is assembled in the lifting groove, the transmission shaft is sleeved with the end part of the pulling-up base, an inclined sliding groove is formed in the pulling-up body (15), a sliding block is arranged in the pulling-up body (15) and matched with the sliding groove, and the pulling-up shaft (13) and the sliding block form a screw rod sliding block mechanism.

3. A four-way shuttle according to claim 2, characterised in that said chute is inclined from top to bottom in the direction of the second wheel (23) from the lifting shaft (13).

4. A four-way shuttle according to claim 2 wherein the lifting base comprises two spaced bearing blocks (14), support plates (12) are provided on both sides of the two bearing blocks (14), the bearing blocks (14) and the support plates are fixedly connected to the floor of the vehicle body, the space enclosed by the two bearing blocks (14), the two support plates and the floor of the vehicle body forms a lifting slot, and the lifting shaft (13) is mounted on the two bearing blocks (14) through bearings.

5. A four-way shuttle according to claim 2 wherein the pull-up body (15) is connected to the drive shaft through a pull-up bearing mount (8), the pull-up bearing mount (8) comprising a fixed plate and a bearing mount, one end of the fixed plate being fixedly attached to the top of the pull-up body and the other end extending in the direction of the drive shaft, the bearing mount being connected to the end of the fixed plate, the drive shaft being connected to the bearing mount through a bearing.

6. A four-way shuttle according to claim 2, characterised in that the drive shaft and the pull-up shaft (13) are provided with gears which are connected to the output shaft of the motor.

7. A four-way shuttle according to claim 1, characterised in that said jacking means (22) comprise a dc steel tube motor (17), a telescopic assembly (18) and a jacking plate (6);

the direct-current steel pipe motor (17) is fixedly connected to a vehicle body bottom plate, the direct-current steel pipe motor (17) is connected with the telescopic assembly (18) through a gear transmission mechanism, and the jacking plate (6) is arranged at the top of the telescopic assembly (18).

8. A four-way shuttle according to claim 7 wherein the bottom of the lift plate is provided with a planar alignment means (19) for aligning the levelness of the lift plate.

9. A four-way shuttle according to claim 1, characterised in that the driving wheels comprise a gear transmission (1) and a first wheel (7), the first wheel (7) being connected to the gear transmission (1), the input of the gear transmission (1) being connected to the output shaft of the servo motor.

10. The four-way shuttle according to claim 1, wherein the vehicle body is further provided with a battery pack and a control system, the battery pack is respectively connected with the transverse driving device, the longitudinal driving device and the jacking device, and the control system is used for controlling the working states of the transverse driving device, the longitudinal driving device and the jacking device.