CN116443473A - Storage system and novel narrow tunnel omnidirectional lifting transportation device in storage system - Google Patents
Storage system and novel narrow tunnel omnidirectional lifting transportation device in storage system Download PDFInfo
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- 238000005516 engineering process Methods 0.000 abstract description 13
- 238000013461 design Methods 0.000 abstract description 11
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/14—Stack holders or separators
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Abstract
The application provides a storage system and novel narrow tunnel qxcomm technology lift conveyer in wherein, it is including the three-dimensional goods shelves that are used for storing the goods to and the qxcomm technology lift conveyer of transport takeout goods. The omnidirectional lifting transportation device has the advantages that the chassis assembly and the upper driving unit are independent, the bottom of the chassis assembly is provided with the mutually independent fixed installation surface and the self-balancing installation surface, so that the travelling wheels are respectively installed on the self-balancing installation surface and the fixed installation surface, the first degree of freedom of rotation of the self-balancing installation surface relative to the fixed installation surface is utilized to compensate the flatness drop of the travelling wheel operation plane, and the driving is provided for the omnidirectional lifting transportation device more stably. The utility model provides an omnidirectional lifting conveyer adopts split type, modularization design can be in the tunnel that solves traditional 3 point and supports chassis structure and lead to speed unable promotion problem to and traditional omnidirectional lifting conveyer automobile body overlength problem, when reducing the turning radius of device, promotes its driving performance.
Description
Technical Field
The application relates to intelligent lifting conveying equipment, in particular to a storage system and a novel narrow roadway omnidirectional lifting conveying device in the storage system.
Background
With the rapid development of the logistics industry, the existing cargo warehousing system faces the challenge of increasing throughput. In addition, because of the high cost of newly-built warehouse, the existing warehouse is generally preferred to utilize the existing warehouse for equipment system upgrading and reconstruction. The ground in the existing storehouse is worn and worn greatly, and the pits are more. The existing equipment often affects the driving transmission of the travelling wheels due to uneven ground during operation, so that the running of the transportation device is unstable and even overturns.
The transportation devices in the current market are various in product form, the correlation between products is not high, and equipment units among the transportation devices of different bodies cannot be commonly used. Therefore, aiming at different operation functions and different transportation scenes, the research, the development, the production and the test are required to be independently organized, and the design period is long and the cost is high.
In addition, the chassis of the transportation device in the existing storage system adopts a single steering wheel mechanism and a double steering wheel mechanism, namely a three-point supporting structure. The double steering wheels are positioned at the front side of the operation part of the conveying device, and the steering wheels are positioned at the rear end of the device main body. The whole transportation device only depends on a single steering wheel at the rear side to provide driving power. When the transportation device with the structure runs in the roadway, the power direction provided by the steering wheel deviates from the geometric center of the forklift, so that the running speed of the transportation device in the roadway is greatly reduced, and the turning radius is overlarge.
The operation unit in the traditional omni-directional lifting and transporting device is usually driven by a rear-mounted oil cylinder, and the operation unit is operated by providing forward guide through the cooperation of rollers and channel steel, or is driven by the forward and backward expansion of the oil cylinder to realize the forward and backward movement of the operation unit. The forward driving system needs to arrange the oil cylinder at the rear side of the vehicle body of the conveying equipment, and the oil cylinder needs to occupy a large space, so that the vehicle body of the traditional omni-directional lifting conveying device is directly longer. In order to match with a longer vehicle body of the conventional omnidirectional lifting transportation device, a sufficient turning space is provided for the vehicle body, and the width of a roadway between the racks is generally required to be widened, so that the requirement of dense storage of customers cannot be well met.
Disclosure of Invention
The utility model provides a to the not enough of prior art, provide a storage system and novel narrow tunnel qxcomm technology lift conveyer therein, this application changes traditional design thinking, adopts split type, modularized design can solve the unable promotion problem of speed in the tunnel that traditional qxcomm technology lift conveyer 3 point support chassis structure led to and when traditional qxcomm technology lift conveyer automobile body overlength problem, reduce its turning radius, promote its driving performance, make it realize the direct access between goods and the three-dimensional goods shelves more nimble. The application specifically adopts the following technical scheme.
First, to achieve the above object, there is provided a storage system comprising: the three-dimensional goods shelf is provided with a plurality of layers of goods space arrays and is used for storing and accommodating goods; the omnidirectional lifting transport device runs on the periphery of the three-dimensional goods shelf and is used for directly transporting goods to be received into a connection bin positioned at the edge position in a goods space array at the lower layer of the three-dimensional goods shelf or taking out goods to be delivered from the connection bin; the four-way shuttle vehicle is operated between goods space arrays of all layers of the three-dimensional goods shelf, is used for receiving goods by a connection bin at the edge position, carrying the goods to a storage bin at the middle position of the goods space array of all layers, and is also used for receiving goods to be delivered from the storage bin at the middle position of the goods space array of all layers, carrying the goods to the connection bin at the edge position of the goods space array of all layers and taking out by the omnidirectional lifting transportation device; the chassis of the omnidirectional lifting transportation device is provided with a fixed installation surface and a self-balancing installation surface, wherein the fixed installation surface is arranged in the conveying operation direction, the self-balancing installation surface is arranged on the opposite side of the fixed installation surface, walking wheels are respectively arranged on the fixed installation surface and the self-balancing installation surface, the self-balancing installation surface has a first degree of freedom rotating relative to the fixed installation surface, and the first degree of freedom is used for compensating the flatness drop of a walking wheel running plane.
Optionally, the storage system according to any one of the preceding claims, wherein the fixed mounting surface and the self-balancing mounting surface of the omnidirectional lifting transport device are respectively equipped with a driving wheel and a driven wheel, the driving wheel and the driven wheel have a degree of freedom of operation of rotating relative to the mounting surface of the driving wheel and the driven wheel, and the driving wheel and the driven wheel are respectively arranged along a diagonal line of the chassis of the omnidirectional lifting transport device.
Meanwhile, the application also provides a storage system and a novel narrow roadway omnidirectional lifting transportation device therein, which is used for the storage system, and the omnidirectional lifting transportation device comprises: the chassis assembly is provided with a U-shaped operation port for carrying operation at the front side and walking wheels at the bottom, wherein the walking wheels at the front side of the vehicle body are directly arranged on a fixed installation surface at the bottom of the chassis assembly, the walking wheels at the rear side of the vehicle body are directly arranged on a self-balancing installation surface at the bottom of the chassis assembly, the self-balancing installation surface is provided with a first degree of freedom rotating relative to the fixed installation surface, and the first degree of freedom is used for compensating the flatness drop of a walking wheel operation plane; the upper driving unit is inserted and fixed above the chassis assembly, and the left side and the right side of the U-shaped operation port are respectively provided with a power module and an energy storage module; the operation unit is arranged in the U-shaped operation port of the upper driving unit, translates back and forth along the U-shaped operation port, and is driven by the power module to lift up to hold up the goods or descend to put down the goods; the chassis assembly and the upper driving unit are independent assembling units and are used for assembling the omnidirectional lifting conveying device in the storage system.
Optionally, the omnidirectional lifting transport device for a novel narrow roadway according to any one of the above, wherein the travelling wheel comprises: the first driving wheel is arranged on one side of the fixed mounting surface at the bottom of the chassis assembly; the first driven wheel is arranged on the other side of the fixed mounting surface at the bottom of the chassis assembly; a second driven wheel arranged on one side of the self-balancing mounting surface at the bottom of the chassis assembly; the second driving wheel is arranged on the other side of the self-balancing mounting surface at the bottom of the chassis assembly; the self-balancing mounting surface is positioned at the rear side of the U-shaped operation opening.
Optionally, the omnidirectional lifting transport device for a novel narrow roadway according to any one of the above, wherein the first driving wheel and the second driving wheel are respectively arranged at two opposite angles of the bottom of the chassis assembly; the first driven wheel and the second driven wheel are respectively arranged at two other diagonal positions at the bottom of the chassis assembly.
Optionally, the novel narrow roadway omnidirectional lifting transport device according to any one of the above, wherein the bottom of the chassis assembly is further provided with a spin balancing device, the spin balancing device is rotatably installed at the rear side of the U-shaped operation opening, the bottom of the spin balancing device is provided with a balancing shaft orthogonal to the axial direction of the U-shaped operation opening, and the self-balancing installation surface is a bottom plane of the balancing shaft; the second driven wheel and the second driving wheel are respectively arranged at the left end and the right end of the bottom of the balance shaft in the spin balance device.
Optionally, the novel narrow roadway omnidirectional lifting transport device according to any one of the above, wherein a transverse mounting groove for accommodating a balance shaft is formed in the bottom of the chassis assembly; the spin balance apparatus further includes: the bearing seat is fixedly arranged on the surface of the side wall of the transverse installation groove and is installed at the center position of the rear side of the U-shaped operation port; the self-aligning roller bearing is rotatably arranged in the bearing seat and is connected with the balance shaft and the chassis assembly, and the axis of the self-aligning roller bearing is parallel to the central axis of the U-shaped operation port.
Optionally, the omnidirectional lifting transport device for a novel narrow roadway according to any one of the above, wherein the left end and the right end of the balance shaft are respectively connected with a spring, the bottom ends of the springs are connected with the balance shaft, and the top of the springs is suspended at the bottom of the installation groove.
Optionally, the novel narrow roadway omnidirectional lifting transport device according to any one of the above, wherein the front side and the rear side of the balance shaft are respectively provided with the aligning roller bearing and the bearing seat; the front end and the rear end of the balance shaft are sealed by shaft collars, and the shaft collars and the front side wall surface and the rear side wall surface of the transverse installation groove are respectively provided with shaft collar baffles and shaft end baffles.
Optionally, the omnidirectional lifting transport device for a novel narrow roadway according to any one of the above, wherein the first driving wheel and the second driving wheel are steering wheels, and the driving direction of the steering wheels deviates from the center of the chassis assembly; the first driven wheel and the second driven wheel are steering wheels; the steering wheel and the steering wheel are rigidly connected with the chassis assembly.
Optionally, the omnidirectional lifting transport device for a novel narrow roadway according to any one of the above, wherein the top of the chassis assembly is further provided with a plugging mounting groove at the left side and the right side of the U-shaped operation opening respectively, and the power module and the energy storage module in the upper driving unit are fixedly arranged in the plugging mounting groove respectively; the power module is internally provided with a pump station for driving a fork frame in the operation unit to lift up along a portal main body to hold up goods or to drop down to put down goods; and a battery box and a control circuit are arranged in the power module and are used for controlling the omnidirectional lifting transportation device to operate.
Optionally, the omnidirectional lifting transport device for a novel narrow roadway according to any one of the preceding claims, wherein, both sides of the portal frame main body are respectively connected with a forward driving device, and the forward driving device comprises a gear rack pair and/or a screw rod pair which are embedded in a U-shaped operation port of the upper driving unit.
Advantageous effects
The utility model provides a storage system and novel narrow tunnel qxcomm technology lift conveyer in wherein, it is including the three-dimensional goods shelves that are used for storing the goods to and the qxcomm technology lift conveyer of transport takeout goods. The omnidirectional lifting transportation device has the advantages that the chassis assembly and the upper driving unit are independent, the bottom of the chassis assembly is provided with the mutually independent fixed installation surface and the self-balancing installation surface, so that the travelling wheels are respectively installed on the self-balancing installation surface and the fixed installation surface, the first degree of freedom of rotation of the self-balancing installation surface relative to the fixed installation surface is utilized to compensate the flatness drop of the travelling wheel operation plane, and the driving is provided for the omnidirectional lifting transportation device more stably. The utility model provides an omnidirectional lifting conveyer adopts split type, modularization design can be in the tunnel that solves traditional 3 point and supports chassis structure and lead to speed unable promotion problem to and traditional omnidirectional lifting conveyer automobile body overlength problem, when reducing the turning radius of device, promotes its driving performance. From this, the storage system of this application can directly utilize this qxcomm technology lift conveyer to shift the goods to the three-dimensional goods shelves in, can also directly realize directly drawing out the goods of waiting to go out the storehouse by three-dimensional goods shelves to promote whole storage system's throughput efficiency.
Taking a fork truck AGV as an example, the novel narrow tunnel omnidirectional lifting transportation device is constructed based on the design concept of a chassis and an upper assembly mechanism based on the consideration of product generality, and the fork truck AGV is split into two modules: the double steering wheel chassis module consists of a chassis assembly and the front-moving type portal loading module consists of a detachable loading driving unit. The chassis module and the upper mounting module adopt split type plug-in structures, so that the universality of the product structure, particularly the universality of the chassis module, can be improved to a great extent. From this, the fork truck of this application can be to the demand of different loads and different heap heights, corresponding selection suitable chassis module and upper assembling module to take the building blocks form and can obtain the fork truck structure of adaptation in corresponding operating mode demand through simple hoist and mount, grafting action, realize customer's different demands. The upper mounting driving unit in the application not only can be used for driving the forklift mast, but also can carry the conveying line and the fork. The present application can obtain other lifting and transporting devices such as a counterweight type forklift AGV and a transporting type forklift AGV by different selections of the loading driving unit and the working unit composed of the forward type portal frame unit and the like. The split type automobile body system of this application can effectively reduce the development cycle of different power demands, different operation demand forklifts, can directly realize different product functions through the equipment of different model modularization chassis subassembly and modularization facial make-up drive unit, compresses the research and development, production, the test cycle of fork truck structure, reduces the design cost of different grade type fork truck.
According to the omnidirectional lifting transportation device, the mutually independent fixed installation surface and the self-balancing installation surface are arranged at the bottom of the chassis assembly, the driving wheels and the driven wheels of the omnidirectional lifting transportation device are respectively and alternately arranged on the two installation surfaces, the flatness drop of the running plane of the travelling wheels can be compensated through the first degree of freedom of the rotation of the self-balancing installation surface relative to the fixed installation surface, so that the ground grabbing of the omnidirectional lifting transportation device when walking on the uneven running plane is ensured, the driving forces can be stably provided by the fixed installation surface and the driving wheels on the self-balancing installation surface, and the running of the omnidirectional lifting transportation device is ensured.
In addition, the novel narrow tunnel omnidirectional lifting transportation device is characterized in that the driving wheel and the driven wheel are respectively arranged at two diagonal positions of the chassis, therefore, when the driving wheel rotates, the rotation center of the driving wheel is positioned at the center position of a diagonal line of the vehicle body, and the rotation distance required by turning of the vehicle body is only the length of the diagonal line of the vehicle body in the forward-moving type portal frame unit backward-shrinking state. Meanwhile, the double-bearing supporting structure on the front side and the rear side of the balance shaft in the spin balance device can further omit a triangle beam type framework serving as a stable balance structure, the whole width of the spin balance device can be effectively reduced on the premise of ensuring the load, more space is reserved for the forward movement of the omnidirectional lifting transport device, the width of the whole omnidirectional lifting transport device is smaller, and the squeeze of the operation space of the omnidirectional lifting transport device to the storage space of a warehouse is reduced, so that the warehouse is more beneficial to densification.
The portal main part in this application is embedded in the rack and pinion pair and/or the screw pair of facial make-up drive unit U-shaped operation mouth by both sides and realizes the drive of advancing to hydraulic power unit through embedded in chassis subassembly U-shaped operation mouth left and right sides grafting mounting groove provides fork lift, the hydraulic drive of decline, the installation space of drive arrangement in this kind of driving scheme can effectively compress the omnidirectional lifting conveyer, reduce traditional hydraulic pressure and advance actuating mechanism to the occupation of automobile body length space, compress automobile body overall dimension, reduce the invasion of omnidirectional lifting conveyer operation space to effective storage space, more be favorable to the storage intensive, promote storage space's utilization efficiency.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and explain the application and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a novel narrow roadway omni-directional lifting transport device in a storage system of the present application;
FIG. 2 is a schematic view of the structure of the other side of the novel narrow tunnel omni-directional lifting transport device in the storage system shown in FIG. 1;
FIG. 3 is a schematic diagram of the chassis structure of the novel narrow tunnel omni-directional lifting transport device in the storage system of the present application;
FIG. 4 is a bottom view of the bottom structure of the chassis of FIG. 3;
FIG. 5 is a schematic illustration of the structure of the spin balance device in section A-A of FIG. 4;
FIG. 6 is a schematic diagram of the structure of an upper electric control and power unit in the novel narrow tunnel omni-directional lifting transport device in the storage system of the present application;
FIG. 7 is a schematic view of the overall structure of an upper-mounted forward portal in the novel narrow-roadway omni-directional lifting transport device in the storage system of the present application;
FIG. 8 is a schematic view of the other side structure of the front-moving mast of FIG. 7;
FIG. 9 is a front elevational view of the front side structure of the front-shifting mast of FIG. 7;
FIG. 10 is a diagram comparing the turning radius of a novel narrow tunnel omni-directional lift truck in the storage system of the present application with that of an existing forklift;
fig. 11 is a schematic diagram of the compensation principle of the structure of the spin balancing device in the novel narrow tunnel omnidirectional lifting transport device in the storage system of the application.
In the drawings, 100 denotes a chassis assembly; 200 denotes a top-loading drive unit; 300 denotes a forward gantry unit;
110 navigation radar; 120 denotes an obstacle avoidance radar; 130 denotes a safe touch edge; 140 denotes a steering wheel; 150 denotes a steering wheel; 160 denotes a two-dimensional code camera; 170 denotes a spin balancing device; 180 denotes a U-shaped chassis frame; 171 denotes a collar shield; 172 denotes a collar; 173 denotes a self-aligning roller bearing; 174 denotes a bearing housing; 175 denotes an axial end stop; 176 denotes a balance shaft;
210 a hydraulic power unit housing; 220 denotes a control box; 230 denotes a battery case; 240 denotes a drag chain; 250 represents a trailing tow chain bracket; 260 represents a rubber backing plate; 270 denotes a stationary drag link plate; 211 denotes a hydraulic pump station; 212 denotes a hydraulic power unit housing upper cover; 213 denotes a hydraulic access door; 231 denotes a battery case upper cover; 232 denotes a power lithium battery; 233 denotes a power lithium battery access door; 221 denotes a reserved line inlet;
310 denotes a gantry body; 320 denotes a first slider seat; 330 denotes a first reference block; 340 denotes a first linear guide; 350 denotes a second rack; 360 denotes a first rack; 370 denotes a second linear guide; 380 denotes a second slider seat; 390 denotes a second speed reducer; 311 denotes a second motor; 312 denotes a first motor; 313 denotes a first speed reducer; 314 denotes a first gear; 315 denotes a second gear; 316 denotes a second reference block; 317 denotes a fork front detection photo-electricity; 318 denotes a camera; 319 denotes a tray in place detection device; 321, a pull-wire encoder.
Description of the embodiments
In order to make the objects and technical solutions of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without the benefit of the present disclosure, are intended to be within the scope of the present application based on the described embodiments.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as referred to in this application means that each exists alone or both.
The meaning of 'inner and outer' in the application refers to taking an AGV forklift as an example, the direction from the forklift shell to the inside of the forward-moving type portal frame unit in the U-shaped operation port is the inner, and the reverse is the outer; and not as a specific limitation on the device mechanisms of the present application.
The terms "left and right" as used herein refer to the direction in which a user is facing the forward direction of the forward mast unit, the left side of the user is the left side, and the right side of the user is the right side, and are not intended to be limiting to the mechanism of the apparatus of the present application.
As used herein, "connected" means either a direct connection between elements or an indirect connection between elements via other elements.
The meaning of up and down in the application refers to that when a user is right facing the forward direction of the AGV forklift, the lifting direction of the forward portal unit is indicated to be up by the running plane of the travelling wheel, and the direction indicated to the track system by the bogie is indicated to be down, but is not limited to the specific mechanism of the device.
Fig. 1 and 2 are all-directional lifting and transporting devices for a novel narrow roadway in a storage system according to the application. The storage system is internally provided with:
the three-dimensional goods shelf is provided with a plurality of layers of goods space arrays and is used for storing and accommodating goods;
the omnidirectional lifting transport device runs on the periphery of the three-dimensional goods shelf and is used for directly transporting goods to be received to a temporary storage position positioned at the edge position in a goods space array at the lower layer of the three-dimensional goods shelf or taking out goods to be delivered from the temporary storage position;
the four-way shuttle vehicle is operated between goods space arrays of each layer of the three-dimensional goods shelf, is used for receiving goods from temporary storage positions of edge positions, carrying the goods to storage positions of middle positions of the goods space arrays of each layer, is also used for receiving goods to be delivered from the storage positions of the middle positions of the goods space arrays of each layer, carrying the goods to the temporary storage positions of the edge positions of the goods space arrays of each layer and taking the goods out by the omnidirectional lifting transportation device;
the chassis of the omnidirectional lifting transportation device is provided with a fixed installation surface and a self-balancing installation surface, wherein the fixed installation surface is arranged in the conveying operation direction, the self-balancing installation surface is arranged on the opposite side of the fixed installation surface, walking wheels are respectively arranged on the fixed installation surface and the self-balancing installation surface, the self-balancing installation surface has a first degree of freedom rotating relative to the fixed installation surface, and the first degree of freedom is used for compensating the flatness drop of a walking wheel running plane.
From this, this application can utilize qxcomm technology to go up and down conveyer direct reception goods and carry it to the three-dimensional goods shelves in, can also directly carry out three-dimensional goods space with the goods.
Taking the omni-directional lifting transportation device in the forklift form as an example, other lifting transportation devices can realize corresponding functions only by correspondingly changing the operation units in the device. The omnidirectional lifting and transporting device is different from the overall design thought of a traditional omnidirectional AGV forklift, is in modularized design, and is arranged to comprise a relatively independent chassis assembly 100, an upper driving unit 200 and a forward-moving type door frame unit 300.
The chassis assembly 100 adopts a U-shaped design of welding a high-strength steel plate and a frame, and a U-shaped operation port is formed in the front side of the chassis assembly 100, so that the U-shaped opening space is increased to the maximum extent according to the requirement of moving and taking goods in front of a forklift, the width of the forklift is effectively reduced, the intensive storage is conveniently carried out by reducing the width of a roadway, and meanwhile, the split modular design can be used for freely combining different modules according to different requirements, so that different operation scenes can be quickly adapted. The bottom of the chassis assembly 100 is provided with travelling wheels, wherein the travelling wheels positioned at the front side of a forklift are directly arranged on a fixed mounting surface at the bottom of the chassis assembly 100, the travelling wheels positioned at the rear side of the forklift are directly arranged on a self-balancing mounting surface at the bottom of the chassis assembly 100, the self-balancing mounting surface and the fixed mounting surface are mutually independent, and the self-balancing mounting surface has a first degree of freedom which rotates relative to the fixed mounting surface, so that the flatness drop of a travelling wheel running plane can be compensated through the first degree of freedom of the self-balancing mounting surface, at least three travelling wheels of the forklift can be attached to the running plane to drive the forklift to walk, and the stability of the forklift is ensured;
the upper driving unit 200 is independently arranged in the vehicle body, is inserted and fixed above the chassis assembly 100, and is respectively provided with a power module and an energy storage module at the left side and the right side of the U-shaped operation port;
the omni-directional lifting and transporting device represented by a forklift in the application can be provided with an operation unit as a forward-moving type portal frame unit 300 for realizing the forking operation, the forward-moving type portal frame unit is arranged in a U-shaped operation port of the upper driving unit 200 and translates back and forth along the U-shaped operation port, and is driven by a power module to lift upwards to hold up goods or descend downwards to put down goods;
because the chassis assembly 100 and the upper driving unit 200 are respectively independent assembling units, the application can correspondingly select different driving components and the fork gantry system to construct the chassis assembly 100 and the upper driving unit 200 with different models according to different driving requirements and different goods picking and placing requirements, so that the corresponding chassis assembly 100 and the upper driving unit 200 are assembled into a storage system suitable for specific operation requirements and a novel narrow tunnel omnidirectional lifting and transporting device in the storage system according to operation indexes.
Referring to fig. 3 and 4, the chassis assembly 100 of the present invention uses a U-shaped chassis frame 180 as a main body, four Zhou Duijiao of the chassis assembly is provided with a navigation radar 110, and the obstacle avoidance radar 120 realizes navigation positioning and omnibearing safety obstacle avoidance, and at the same time, collision type safety contact edges 130 are installed around the chassis assembly as secondary safety protection.
The chassis assembly 100 of the present application may have a fixed mounting surface provided on a front side of a U-shaped work opening, a self-balancing mounting surface provided on a rear side of the U-shaped work opening, and road wheels provided on both mounting surfaces, respectively, comprising:
a first driving wheel provided at one side of a fixed installation surface of the bottom of the chassis assembly 100;
a first driven wheel provided on the other side of the fixed mounting surface of the bottom of the chassis assembly 100;
a second driven wheel provided on one side of the self-balancing mounting surface of the bottom of the chassis assembly 100;
a second driving wheel provided on the other side of the self-balancing mounting surface of the bottom of the chassis assembly 100;
therefore, the first driving wheel and the second driving wheel can be respectively arranged at two opposite angle positions of the bottom of the chassis assembly 100, the first driven wheel and the second driven wheel are respectively arranged at other two opposite angle positions of the bottom of the chassis assembly 100, and the positive pressure on the ground can be ensured to the greatest extent by the rotational freedom degree of the spin balancing device on uneven ground. Meanwhile, due to the fact that the driving wheels of the omnidirectional lifting conveying device are arranged diagonally, power source output can be more balanced relative to the layout of the power steering wheels arranged on one side when the omnidirectional lifting conveying device walks, stable power can be provided when the omnidirectional lifting conveying device walks in all directions, and the running speed and stability of the omnidirectional lifting conveying device in a narrow roadway can be improved.
The diagonally arranged drive wheels also allow for in-situ rotation of the AGV with a minimum turning radius. The principle of which can be seen with reference to fig. 10: when the two driving wheels rotate clockwise by 45 degrees to drive the omnidirectional lifting conveying device, the two driven wheels rotate anticlockwise by 45 degrees, and when the omnidirectional lifting conveying device rotates, the central point of the axis of the driving wheels is used as an origin to rotate, so that the AGV can operate more flexibly, the utilization rate of a warehouse is improved, and the intensive storage is facilitated. The traditional omni-directional lifting transportation device needs to drive the wheel center to rotate by one side of the vehicle body, and the turning radius of the traditional omni-directional lifting transportation device needs to reach the whole width of the vehicle body.
Referring to fig. 4 and 5, in a more specific implementation, the chassis assembly 100 of the present application may further be provided with a spin balancing device at its bottom to mount a corresponding road wheel structure. The spin balance device is rotatably arranged at the rear side of the U-shaped operation opening, a balance shaft 176 orthogonal to the axial direction of the U-shaped operation opening is arranged at the bottom of the spin balance device, and the bottom plane of the balance shaft can be used as the self-balance mounting surface for mounting the second driving wheel and the second driven wheel. To maximize the capacity of the chassis assembly 100 for the height drop of the operating floor of the omni-directional lift conveyor, it is generally preferred in the present application to mount the secondary driven wheel and the secondary drive wheel on the left and right sides of the balance shaft 176 in the spin balance device, respectively.
The first driving wheel and the second driving wheel may be preferably provided as steering wheels 140, and the driving direction of the steering wheels is deviated from the center of the chassis assembly 100; the first driven wheel and the second driven wheel may preferably be provided as a steering wheel 150. The concrete installation mode can be as follows: steering wheels 140 and steering wheels 150 are arranged on the left side and the right side of a U-shaped leg in a U-shaped chassis frame 180, a spin balancing device 170 is arranged in a transverse installation groove at the rear connecting part of the U-shaped leg, the other pair of steering wheels 140 and steering wheels 150 is arranged on two ends of the spin balancing device, and meanwhile, the installation positions of the steering wheels 140 and the steering wheels 150 on the spin balancing device 170 are required to be diagonally distributed with the two wheels on the side of the U-shaped leg. With this arrangement, the spin balance device 170 can be provided with a bearing housing 174 passing through its center position, and a self-aligning roller bearing 173 is hinged to the chassis frame, so that the spin balance device 170 can swing up and down around the center of its balance shaft 176, and the unevenness of the ground can be accommodated by releasing the rotational freedom of the balance shaft 176.
Considering that unevenness of the ground can bring a large impact to the power unit, the spring shown in fig. 11 can be further arranged at two ends of the spin balance device to reduce the impact. The spring cushioning is not used in the previous embodiments, but does not represent a spring cushioning structure that is outside the scope of the present invention. During installation, the bottom ends of the springs are respectively connected with the left end and the right end of the balance shaft 176, and the tops of the springs are suspended at the bottoms of the installation grooves so as to resist and absorb impact on the balance shaft 176 and the upper travelling wheels of the balance shaft 176 through buffering of the springs.
The present invention is preferably supported by two self-aligning roller bearings 173 at both front and rear ends of the spin balance device 170. The concrete installation structure is as follows: a lateral mounting groove for accommodating the balance shaft 176 is provided at the bottom of the chassis assembly 100, and the bearing housing 174 is fixedly provided on a side wall surface of the lateral mounting groove, specifically, the bearing housing 174 may be mounted at a central position of the rear side of the U-shaped work port. The aligning roller bearings 173 on both front and rear sides of the balance shaft 176 are rotatably installed in the bearing housing 174, connecting the balance shaft with the chassis assembly 100, and the axes of both aligning roller bearings 173 may be disposed parallel to the central axis of the U-shaped work port. Wherein, the front and rear ends of the two aligning roller bearings 173 in the balance shaft 176 can be sealed by the collar 172, and a collar baffle 171 and a shaft end baffle 175 are respectively arranged between the collar 172 and the front and rear side wall surfaces of the transverse mounting groove. Wherein the collar stop blocks the bearing outer race and the shaft end stop blocks the bearing inner race, both of which are disposed between the collar 172 and the front and rear sidewall surfaces of the transverse mounting groove, respectively.
Such connection structure, for single bearing support structure more can adapt to the superhigh load, double bearing support structure saves as stable balance structure's triangle beam type framework simultaneously, can effectively reduce spin balancing device whole width under the prerequisite of guaranteeing the load, lets out more spaces for the antedisplacement of operation unit in the qxcomm technology lift conveyer, makes whole qxcomm technology lift conveyer width smaller, more is favorable to the storage to intensive.
The transverse mounting groove for accommodating the balance shaft 176 in the invention can set the spin balance device 170 below the fixed mounting surface of the running wheel at the front side of the vehicle body, so that the upper surface of the spin balance device forms a flat surface at the bottom of the chassis assembly 100, and the upper space of the chassis assembly 100 is released, thus, after the chassis assembly 100 is separated from the upper driving unit 200, the upper mounting surface of the spin balance device 170 is kept to be a plane, and the arrangement of the universal module is facilitated.
In the present invention, the spin balance device 170 is disposed at the rear of the front portal unit 300, and the front steering wheel 140 and the steering wheel 150 are rigidly connected to the chassis assembly 100. Therefore, the characteristic that the front side wheels cannot be settled due to the fact that the wheels are rigidly connected can not be settled is achieved, and settlement which possibly occurs due to the fact that the gravity center of the whole truck moves forward relatively after the fork moves forward in the process of taking goods through the forward movement of the portal is effectively reduced. The walking wheel of rigid connection cooperates the counter weight that the omnidirectional lift conveyer automobile body rear portion set up, can avoid the automobile body to lean forward the front rigidity inadequately and lead to the omnidirectional lift conveyer problem forward when focus forward, more is favorable to getting fast and puts the goods, improves storage efficiency.
The use of the aligning roller bearing 173 in the invention can reduce the problem of non-concentricity of the two ends of the balance shaft 176 caused by external factors such as processing, the shaft collar 172 and the shaft collar baffle 171 can effectively fix the aligning roller bearing 173, the fixed bearing is not shifted, and the shaft end baffle 175 is used for fixing the bearing inner ring and preventing falling off.
The chassis assembly 100 of the omnidirectional lifting conveying device body can be provided with the two-dimensional code camera 160 at a position, close to the middle part of the body, in one side U-shaped leg of the chassis assembly, and the two-dimensional code camera 160 is matched with a ground two-dimensional code tag to be used for driving and positioning of the omnidirectional lifting conveying device in a roadway. The installation position of the two-dimensional code camera 160 can avoid a driving path in the tunnel of the omnidirectional lifting and transporting device, so that the damage to the two-dimensional code label caused by repeated rolling of the roller of the omnidirectional lifting and transporting device is effectively avoided.
The omnidirectional lifting transportation device structure can be further provided with a plugging installation groove at the top of the chassis assembly 100 and at the left and right sides of the U-shaped operation opening, so that the power modules and the energy storage modules at the left and right sides of the U-shaped operation opening in the upper driving unit 200 are respectively and fixedly arranged in the plugging installation groove as shown in fig. 6. The upper driving unit 200 may be composed of a hydraulic power unit housing 210, a control housing 220, a battery housing 230, etc. A pump station 211 can be arranged in the power module and used for driving the fork frame in the forward type portal unit 300 to lift upwards along the portal main body 310 so as to hold up goods or to drop downwards so as to put down goods; and a battery box and a control circuit are arranged in the power module and used for controlling the operation of the omnidirectional lifting transportation device.
Referring specifically to fig. 6, 7, 8 and 9, the forward moving gantry unit 300 of the narrow lane omni-directional AGV forklift using the modular chassis technology of the present application can fix the fixed drag link plate 270 to the inner side of the hydraulic power unit box 210 and the battery box, the drag link 240 is fixed to the fixed drag link plate, and the following drag link bracket 250 and the drag link following end are fixed to the forward moving gantry unit 300 by screws, so that the drag link can move forward and backward along with the gantry unit.
A reserved wire inlet 221 can be arranged on the control box 220, so that the inner line of the drag chain can conveniently enter the control box.
The hydraulic power unit box body 210 is provided with the upper cover 212 of the hydraulic power unit box body, so that the hydraulic pump station 211 is convenient to install and hang, and meanwhile, the hydraulic access door 213 is reserved on the side edge, so that the hydraulic pump station is convenient to overhaul and maintain.
The battery box 230 is provided with a battery box upper cover 231, so that the power lithium battery 232 is convenient to install and hang, and meanwhile, the side edge is provided with a power battery access door 233, so that the battery is convenient to overhaul and maintain.
The control box 220 is provided with a rubber backing plate 260 which is positioned between the forward-moving gantry unit and the control box and is used for limiting and buffering the backward movement of the gantry unit.
The forward mast unit 300 of the present invention is fixedly coupled to the chassis assembly 100 by screw threads, and includes: and forward driving means respectively connected to both sides of the mast body 310. The forward driving device comprises a gear rack pair and/or a screw rod pair which are embedded in a U-shaped operation port of the upper driving unit 200.
Taking a forward driving device formed by a gear rack pair as an example, a first sliding block seat 320, a first reference block 330, a first linear guide 340, a first rack 360, a first gear 314, a first speed reducer 313 and a first motor 312 can form a first power unit of a portal frame and be arranged at one side of the forward portal frame unit 300; and a second power unit composed of a second slider seat 380, a second reference block 316, a second linear guide rail 370, a second rack 350, a second gear 315, a second speed reducer 390 and a second motor 311 is arranged on the other side of the forward type gantry unit 300.
The linear guide rail in the first power unit and the second power unit is arranged above the rack, and the rack is fixed with the chassis assembly through threads.
The motor and the speed reducer in the first power unit and the second power unit are fixed on the sliding block seat through threads.
The sliding block seat in the first and second power units is fixed to the door frame body 310 through threads.
The gears in the first power unit and the second power unit are fixed with the output shaft of the speed reducer through the expansion sleeve.
The gears and racks in the first and second power units are meshed to form a group of gear-rack pairs respectively.
The first motor and the second motor can be set as servo motors, accurate positioning can be achieved, synchronous operation of the motors is achieved through the double-shaft control module, synchronous rolling operation of two groups of gear and rack pairs is achieved, and then stable and rapid operation of the gantry main body 310 is achieved.
The first and second power units are generally installed on two sides of the gantry main body 310, and the rack and pinion and the linear guide rail are arranged on the left and right sides of the U-shaped operation opening of the chassis assembly 100 in a front-back penetrating manner, so as to increase the front-back moving distance of the gantry system through the penetrating arrangement of the linear guide rail. Compared with the traditional post-ejection scheme of the oil cylinder, the forward driving device can effectively reduce the width of the forklift body, reduce the required roadway width and is more beneficial to intensive warehouse storage.
Referring to fig. 9, the present application may further install the pre-fork detection photoelectric 317 at the front end of the fork for detecting the fork position of the tray, so as to effectively prevent the problem of fork displacement or collision caused by the problem of tray placement.
The application can also install tray detection device in place in two prong intermediate positions, and fork truck can extrude the inside switch of device when the goods is in place when getting the goods, triggers information in place.
The application can also install the camera 318 in tray detection device right side that targets in place, accurately judge the tray position through visual technology, rectify to fork truck, realize the accurate fork of goods and get.
The utility model discloses still can be fixed in portal main part 310 with the stay wire encoder 321 on, the stay wire is fixed in on the prong, and the stay wire is along with the prong up-and-down motion for real-time detection fork height and position realizes fork tooth direction of height accurate location.
The foregoing is merely exemplary of embodiments of the present application and is thus not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application.
Claims (10)
1. A storage system, comprising:
the three-dimensional goods shelf is provided with a plurality of layers of goods space arrays and is used for storing and accommodating goods;
the omnidirectional lifting transport device runs on the periphery of the three-dimensional goods shelf and is used for directly transporting goods to be received to a temporary storage position positioned at the edge position in a goods space array at the lower layer of the three-dimensional goods shelf or taking out goods to be delivered from the temporary storage position;
the four-way shuttle vehicle is operated between goods space arrays of each layer of the three-dimensional goods shelf, is used for receiving goods from temporary storage positions of edge positions, carrying the goods to storage positions of middle positions of the goods space arrays of each layer, is also used for receiving goods to be delivered from the storage positions of the middle positions of the goods space arrays of each layer, carrying the goods to the temporary storage positions of the edge positions of the goods space arrays of each layer and taking the goods out by the omnidirectional lifting transportation device;
the chassis of the omnidirectional lifting transportation device is provided with a fixed installation surface and a self-balancing installation surface, wherein the fixed installation surface is arranged in the conveying operation direction, the self-balancing installation surface is arranged on the opposite side of the fixed installation surface, walking wheels are respectively arranged on the fixed installation surface and the self-balancing installation surface, the self-balancing installation surface has a first degree of freedom rotating relative to the fixed installation surface, and the first degree of freedom is used for compensating the flatness drop of a walking wheel running plane.
2. The storage system of claim 1, wherein the fixed mounting surface and the self-balancing mounting surface of the omni-directional lift transport device are each equipped with a drive wheel and a driven wheel, each having a degree of freedom of operation to rotate relative to its mounting surface, and wherein the drive wheel and driven wheel are each disposed along a diagonal of the chassis of the omni-directional lift transport device.
3. A novel narrow roadway omni-directional lift transport device for use with the storage system of claim 1, the omni-directional lift transport device comprising:
the chassis assembly (100) is provided with a U-shaped operation port for carrying operation at the front side, and walking wheels are arranged at the bottom of the chassis assembly, wherein the walking wheels at the front side of a vehicle body are directly arranged on a fixed installation surface at the bottom of the chassis assembly (100), the walking wheels at the rear side of the vehicle body are directly arranged on a self-balancing installation surface at the bottom of the chassis assembly (100), the self-balancing installation surface is provided with a first degree of freedom rotating relative to the fixed installation surface, and the first degree of freedom is used for compensating the flatness drop of a walking wheel operation plane;
the upper driving unit (200) is inserted and fixed above the chassis assembly (100), and the left side and the right side of the U-shaped operation port are respectively provided with a power module and an energy storage module;
the operation unit is arranged in the U-shaped operation port of the upper driving unit (200), translates back and forth along the U-shaped operation port, and is driven by the power module to lift up to hold up goods or fall down to put down goods;
the chassis assembly (100) and the upper driving unit (200) are independent assembling units and are used for assembling the omnidirectional lifting conveying device in the storage system.
4. The novel narrow roadway omni-directional lift transport device of claim 3, wherein the road wheels comprise:
the first driving wheel is arranged on one side of a fixed mounting surface at the bottom of the chassis assembly (100);
a first driven wheel arranged on the other side of the fixed mounting surface at the bottom of the chassis assembly (100);
a second driven wheel provided on one side of a self-balancing mounting surface of the bottom of the chassis assembly (100);
the second driving wheel is arranged on the other side of the self-balancing mounting surface at the bottom of the chassis assembly (100);
the self-balancing mounting surface is positioned at the rear side of the U-shaped operation opening.
5. The novel narrow roadway omnidirectional lifting transport device as recited in claim 4, wherein a spin balancing device is further arranged at the bottom of said chassis assembly (100), said spin balancing device is rotatably mounted at the rear side of the U-shaped operation opening, a balancing shaft (176) orthogonal to the axial direction of the U-shaped operation opening is arranged at the bottom of said spin balancing device, and said self-balancing mounting surface is the bottom plane of the balancing shaft;
the second driven wheel and the second driving wheel are respectively arranged at the left end and the right end of a balance shaft (176) in the spin balance device.
6. The novel narrow roadway omni-directional lift transport apparatus of claim 5 wherein the bottom of said chassis assembly (100) is provided with a transverse mounting slot for receiving a balance shaft (176);
the spin balance apparatus further includes:
a bearing block (174) fixedly arranged on the side wall surface of the transverse installation groove and installed at the center position of the rear side of the U-shaped operation port;
and a self-aligning roller bearing (173) rotatably installed in the bearing block (174) and connecting the balance shaft and the chassis assembly (100), wherein the axis of the self-aligning roller bearing (173) is parallel to the central axis of the U-shaped operation port.
7. The novel narrow roadway omnidirectional lifting and transporting device according to claim 5, wherein the left end and the right end of the balance shaft (176) are respectively connected with springs, the bottom ends of the springs are connected with the balance shaft, and the tops of the springs are suspended at the bottoms of the mounting grooves.
8. The novel narrow roadway omnidirectional lifting and transporting device according to claim 6, wherein the front side and the rear side of the balance shaft (176) are respectively provided with the aligning roller bearing (173) and the bearing seat (174);
the front end and the rear end of the balance shaft (176) are sealed by a collar (172), and collar baffles (171) and shaft end baffles (175) are respectively arranged on the surfaces of the front side wall and the rear side wall of the collar (172) and the transverse mounting groove.
9. The novel narrow roadway omnidirectional lifting and lowering transport device as recited in claim 4, wherein said first and second drive wheels are steering wheels (140) with a drive direction offset from the center of the chassis assembly (100);
the first driven wheel and the second driven wheel are steering wheels (150);
the steering wheel (140) and the steering wheel (150) are both rigidly connected to the chassis assembly (100).
10. The novel narrow roadway omnidirectional lifting transport device according to claim 3, wherein the top of the chassis assembly (100) is further provided with inserting installation grooves respectively at the left side and the right side of the U-shaped operation opening, and the power module and the energy storage module in the upper driving unit (200) are respectively fixedly arranged in the inserting installation grooves;
wherein, a pump station (211) is arranged in the power module and is used for driving a fork frame in the operation unit to lift up along a portal main body (310) so as to hold up goods or drop down so as to put down goods;
a battery box and a control circuit are arranged in the power module and used for controlling the omnidirectional lifting transportation device to operate;
the two sides of the portal frame main body (310) are respectively connected with a forward driving device, and the forward driving device comprises a gear rack pair and/or a screw rod pair which are embedded in a U-shaped operation port of the upper driving unit (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310525469.6A CN116443473A (en) | 2023-05-11 | 2023-05-11 | Storage system and novel narrow tunnel omnidirectional lifting transportation device in storage system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310525469.6A CN116443473A (en) | 2023-05-11 | 2023-05-11 | Storage system and novel narrow tunnel omnidirectional lifting transportation device in storage system |
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