WO2022057815A1 - 一种斜拉顶升换向式十六轮四向穿梭车 - Google Patents

一种斜拉顶升换向式十六轮四向穿梭车 Download PDF

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Publication number
WO2022057815A1
WO2022057815A1 PCT/CN2021/118428 CN2021118428W WO2022057815A1 WO 2022057815 A1 WO2022057815 A1 WO 2022057815A1 CN 2021118428 W CN2021118428 W CN 2021118428W WO 2022057815 A1 WO2022057815 A1 WO 2022057815A1
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WO
WIPO (PCT)
Prior art keywords
jacking
wheel
transverse
longitudinal
cable
Prior art date
Application number
PCT/CN2021/118428
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English (en)
French (fr)
Inventor
黄晓明
马云龙
Original Assignee
隆链智能科技（上海）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 隆链智能科技（上海）有限公司 filed Critical 隆链智能科技（上海）有限公司
Priority to EP21868637.6A priority Critical patent/EP4086198A4/en
Priority to JP2022521327A priority patent/JP7309243B2/ja
Priority to US18/042,366 priority patent/US20230348188A1/en
Publication of WO2022057815A1 publication Critical patent/WO2022057815A1/zh

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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
    • 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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for

Definitions

  • the invention relates to a shuttle vehicle, in particular to a 16-wheel four-direction shuttle vehicle of a cable-pulling, jacking and reversing type.
  • the current three-dimensional warehouse structure more adopts the mode of one loading and unloading lane and multiple storage rack lanes vertically connected to it, which requires that the shuttle car must be able to travel in two mutually perpendicular directions, vertical and horizontal.
  • the three-dimensional warehouse usually uses a sub-mother car system, that is, the main car carries the sub-cars and walks in the incoming and unloading aisles, and then the sub-cars drive out in a direction perpendicular to the direction of the mother car, enter the racking aisle, and then Back on the original road to the mother car, and finally taken away by the mother car.
  • the existing combination of two shuttles of the sub-mother car mostly adopts a two-way 8-wheel structure design, which has low cargo carrying capacity, weak ability to pass sills, and high failure rate, which can no longer meet the increasingly busy warehousing and logistics needs; and its general
  • the cam jacking structure has the defects of easy wear of the cam, uneven force on the follower and low transmission efficiency; in addition, the existing shuttle car not only occupies a considerable space by itself, but also reduces the number of shelves and partitions. It reduces the space utilization of the three-dimensional library and increases the manufacturing, procurement and maintenance costs.
  • the technical problem to be solved by the present invention is: aiming at the above-mentioned defects in the prior art, a cable-pulling jacking reversing type sixteen-wheel four-direction shuttle is proposed.
  • the present invention adopts the following technical solutions:
  • the present invention provides a 16-wheel, four-direction shuttle vehicle of a cable-pulling and jacking-reversing type, comprising a support frame, a lateral travel drive mechanism, a longitudinal travel drive mechanism, and an inclined pull changeover and jacking mechanism installed on the support frame. ,in:
  • the lateral walking drive mechanism includes a lateral driving wheel, a first lateral driven wheel, a second lateral driven wheel and a third lateral driven wheel, which are symmetrically arranged on the front and rear sides of the support frame, respectively.
  • the two ends of the transverse transmission shaft, the two third transverse driven wheels are respectively arranged at both ends of the transverse connection shaft, and the transverse transmission shaft is connected to the transverse motor through the first transverse transmission belt;
  • the longitudinal travel drive mechanism includes a first longitudinal driving wheel, a second longitudinal driving wheel, a first longitudinal driven wheel and a second longitudinal driven wheel symmetrically arranged on the left and right sides of the support frame, and the first longitudinal driving wheel on both sides.
  • the longitudinal driving wheel and the second longitudinal driving wheel are respectively connected to the longitudinal transmission shaft through the first longitudinal transmission belt, and the longitudinal transmission shaft is drivingly connected to the longitudinal motor through the second longitudinal transmission belt;
  • the inclined pull reversing and jacking mechanism includes jacking cross plates symmetrically arranged on the front and rear sides of the support frame and inclined pulling jacking blocks respectively arranged at the bottoms of both ends of the jacking cross plate.
  • the two ends of the lifting transverse plate are respectively provided with a first reversing assembly groove and a second reversing assembly groove for assembling the transverse transmission shaft and the transverse connecting shaft;
  • the lifting shaft hole and the front and rear through lifting inclined holes are arranged obliquely;
  • the lifting shaft hole is movably provided with a ball bushing, and the front and rear sides of the ball bushing are provided with inclined pulleys a jacking shaft, and the inclined-pulling jacking shaft is movably embedded in the jacking-up inclined hole;
  • the inclined-pulling jacking blocks at both ends are connected by a ball screw movably penetrated in the ball bushing , the ball screw is connected to the transverse motor through a chain drive.
  • the front and rear side walls of the support frame are respectively provided with four square assembly holes, and the left and right side walls of the support frame are respectively provided with four square assembly holes. Open four circular mounting holes, where:
  • the transverse driving wheel is connected with the transverse transmission shaft passing through the second reversing assembly groove and corresponding to the square assembly hole, and the axles of the first transverse driven wheel and the second transverse driven wheel pass through the corresponding
  • the square assembly hole is connected to the lifting transverse plate, and the third lateral driven wheel is connected to the lateral connection shaft passing through the first reversing assembly groove and corresponding to the square assembly hole;
  • the axles of the first longitudinal driving wheel and the second longitudinal driving wheel respectively pass through the circular assembly hole and connect to the bottom of the support frame through a first bearing seat, and the first longitudinal driven wheel and the first longitudinal driven wheel are arranged in the corresponding circular mounting holes.
  • the lateral driving wheel is connected to the first lateral driven wheel on the same side through the second lateral transmission belt; and/or through the second lateral drive belt.
  • Two transverse transmission belts are connected to the third transverse driven pulley on the same side.
  • the tensioning adjustment mechanism arranged on the outside of the first longitudinal transmission belt, wherein:
  • the tensioning adjustment mechanism includes a first tensioning wheel and a second tensioning wheel that are attached to the outside of the first longitudinal transmission belt, and the first tensioning wheel is fixedly arranged on the support frame through a first fixing plate
  • the inner side wall, the second tensioning wheel is movably arranged on the inner side wall of the support frame through the adjusting plate.
  • the adjusting plate is provided with an adjusting square hole horizontally, and is movably fixed by bolts passing through the adjusting square hole. It is attached to the inner side wall of the supporting frame, and one end thereof is adjustable and connected to the second fixing plate fixed to the inner side wall of the supporting frame through adjusting nuts and bolts.
  • the cable-pulling reversing and jacking mechanism also includes:
  • a second bearing seat which is arranged on the support frame, and a bearing is arranged at the top end to support the ball screw;
  • the jacking nut is fixedly sleeved on the ball bearing sleeve, and the front and rear side walls of the jacking nut are respectively welded and connected with the inclined-pull jacking shaft.
  • the cable-pulling reversing and jacking mechanism further includes:
  • Limiting chutes are respectively vertically arranged on the front and rear side walls of the lifting slider;
  • the limit guide post is vertically arranged on the support frame and connected with the limit chute slider.
  • the jacking cross plate is connected to the jacking at the four corners of the supporting frame by sliding up and down through the guide chutes opened at both ends thereof. guide post.
  • the inclination angle of the jacking inclined hole is 5-85°, and its vertical height is equal to the jacking shaft hole. vertical height.
  • the transverse motor is respectively connected to the first transverse transmission belt and the chain through a cross reducer.
  • the present invention adopts the above-mentioned technical scheme, compared with the prior art, has the following technical effects:
  • the wheel transmission mechanism is optimized. By moving up the position of the longitudinal transmission shaft and increasing the diameter of the longitudinal wheels, the trolley has a better bearing capacity;
  • the tension adjustment mechanism is used to adjust the tension of the first longitudinal drive belt, while ensuring the stability and continuity of the power transmission of the first longitudinal driving wheel and the second longitudinal driving wheel;
  • the inclined-pull reversing and jacking mechanism adopts the inclined-pulling jacking block to contact the rolling line of the inclined-pulling jacking shaft, with high transmission efficiency and no change in the pressure angle.
  • the jacking inclined holes on both sides of the jacking block are symmetrically arranged , the force is uniform; its novel design, compact structure, stable operation, small size, heavy load, reducing the maintenance and maintenance times of the mechanical mechanism, high work efficiency and long service life;
  • the sixteen-wheel four-way shuttle has a compact structure design, which not only reduces the cost, but also saves space; it also reduces the overall weight and volume of the trolley, and improves the running capacity and the efficiency of cargo storage.
  • Fig. 1 is a top-view structural schematic diagram of a cable-pulling jacking reversing type sixteen-wheel four-way shuttle according to the present invention
  • Figure 2 is a schematic front view of the structure of a cable-pulled jack-up reversing type sixteen-wheel four-way shuttle according to the present invention
  • Figure 3 is a schematic side view of the structure of a cable-pulled jack-up reversing type sixteen-wheel four-way shuttle according to the present invention
  • FIG. 4 is a schematic three-dimensional structure diagram of a cable-pulling jacking reversing type sixteen-wheel four-way shuttle according to the present invention
  • FIG. 5 is a schematic structural diagram of a support frame in a cable-pulling, jacking, and reversing type sixteen-wheel four-way shuttle according to the present invention
  • Fig. 6 is a schematic diagram of the assembly structure of the tensioning adjustment mechanism in a cable-pulling jacking and reversing type sixteen-wheel four-way shuttle according to the present invention
  • FIG. 7 is a schematic structural diagram of a cable-pull reversing and jacking mechanism in a cable-pulling jacking-reversing type sixteen-wheel four-way shuttle according to the present invention
  • FIG. 8 is a schematic structural diagram of a cable-pulling jacking block in a sixteen-wheel four-way shuttle car of the present invention.
  • FIG. 9 is a cross-sectional structural schematic diagram of a cable-pulling jacking block in a sixteen-wheel four-way shuttle car of the present invention.
  • Figure 10 is a cross-sectional structural schematic diagram of a ball screw and a ball bush in a 16-wheel, four-way shuttle of a cable-pulling jacking and reversing type of the present invention
  • Fig. 11 is the structural representation of the cable-pulling jacking slider in a kind of cable-pulling jacking reversing type sixteen-wheel four-way shuttle of the present invention
  • each reference sign is:
  • 200-transverse driving mechanism 201-transverse driving wheel, 202-first transverse driven wheel, 203-second transverse driven wheel, 204-third transverse driven wheel, 205-second transverse transmission belt, 206-transverse transmission shaft, 207-first transverse transmission belt, 208-transverse motor, 209-transverse connecting shaft, 210-cross reducer;
  • 300-longitudinal travel drive mechanism 301-first longitudinal driving wheel, 302-second longitudinal driving wheel, 303-first longitudinal driven wheel, 304-first longitudinal driven wheel, 305-longitudinal transmission shaft, 306-second longitudinal Transmission belt, 307-longitudinal motor, 308-first longitudinal transmission belt;
  • 400-Cable-pull reversing and jacking mechanism 401-Jacking horizontal plate, 402-Cable-pull jacking slider, 403-Ball screw, 404-Second bearing seat, 405-Gear bushing, 406-Chain, 407-ball bushing, 408-jacking nut, 409-inclined jacking shaft, 410-jacking shaft hole, 411-jacking inclined hole, 412-limit chute, 413-limit guide post, 414- The first reversing assembly groove, 415 - the second reversing assembly groove, 416 - the guide chute;
  • 500-battery pack 600-controller; 700-tension adjustment mechanism, 701-first tensioner, 702-first fixing plate, 703-second tensioner, 704-adjustment plate, 705-adjustment square hole , 706-Second fixed plate.
  • a sixteen-wheel four-way shuttle which includes a support frame 100 , a lateral travel drive mechanism 200 , a longitudinal travel drive mechanism 300 , and a cable-pull changer mounted on the support frame 100 .
  • the lifting and lifting mechanism 400 , the battery pack 500 and the controller 600 are mounted on the support frame 100 .
  • the support frame 100 is a whole formed by bending sheet metal and local reinforcing ribs, which greatly improves the carrying capacity of the whole vehicle;
  • the battery pack 500 is used as a power source to improve the power of the whole vehicle, and the battery pack 500 can use lithium-ion rechargeable batteries, accumulators or any other energy storage batteries to supply power for each function of the car;
  • the controller 600 acts as the brain of the whole vehicle and controls the movement of the whole vehicle.
  • the transverse motor 208 of the drive mechanism 200, the longitudinal travel drive mechanism 300, the longitudinal motor 307, and the jacking motor 408 of the reversing and jacking mechanism 400 are controlled by the controller 600 to run flexibly radially longitudinally or laterally, and through the reversing and The jacking mechanism 400 realizes the jacking and reversing of the trolley.
  • the lateral travel drive mechanism 200 is used as the execution unit for lateral movement of the sixteen-wheel four-way shuttle, which includes lateral driving wheels symmetrically arranged on the front and rear sides of the support frame 100 , respectively.
  • Both are arranged at the front and rear sides of the support frame 100 to form a one-way 8-wheel vehicle body structure, which improves the load capacity and the ability of the trolley to travel laterally.
  • two transverse driving wheels 201 are respectively disposed at both ends of the transverse transmission shaft 206 , and the transverse driving wheels 201 at both ends can be driven to rotate by the transverse transmission shaft 206 .
  • the transmission shaft 206 is provided with a transverse coupling 210; in order to improve the running stability of the trolley, the two third transverse driven wheels 204 are connected by a transverse connecting shaft 209 to ensure that the third transverse driven wheels 204 on both sides run synchronously.
  • transverse transmission shaft 206 is connected to the transverse motor 208 through the first transverse transmission belt 207, and the transverse transmission shaft 206 is driven to rotate by the transverse motor 208 through the first transverse transmission belt 207, and the transverse motor 208 adopts a servo drive motor.
  • the working principle of the lateral driving mechanism 200 in the sixteen-wheel four-way shuttle is as follows: the lateral drive shaft 206 is driven to rotate by the lateral motor 208 through the first lateral transmission belt 207, and the lateral driving wheels 201 at both ends of the lateral drive shaft 206 are simultaneously driven to rotate, And synchronously drives the first lateral driven wheel 202, the second lateral driven wheel 203 and the third lateral driven wheel 204 on the support frame 100 to rotate, so as to realize the lateral walking of the sixteen-wheel four-way shuttle.
  • the longitudinal travel drive mechanism 300 is used as an execution unit for lateral movement of the sixteen-wheel four-direction shuttle vehicle, which includes a first longitudinal direction symmetrically arranged on the left and right sides of the support frame 100 , respectively.
  • the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 on both sides are used as driving wheels, respectively connected to the longitudinal transmission shaft 305 through the first longitudinal transmission belt 308, And the longitudinal transmission shaft 305 is connected to the longitudinal motor 307 through the second longitudinal transmission belt 306, and the longitudinal motor 307 drives the longitudinal transmission shaft 305 to rotate through the second longitudinal transmission belt 306, so the longitudinal motor 307 adopts a servo drive motor.
  • the transmission mechanism of the longitudinal wheels is optimized, and the position of the longitudinal transmission shaft 305 is moved up, so that the longitudinal transmission shaft 305, the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302
  • a longitudinal drive shaft 305 is used to drive the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 to rotate at the same time;
  • the reversing and jacking mechanism 400 arranged below it is staggered, which makes the design of the trolley more compact and reasonable, and saves space.
  • the 8 longitudinal wheels used in the longitudinal travel drive mechanism 300 are all larger than the 8 transverse wheels used in the transverse travel drive mechanism 200 .
  • diameter of the longitudinal wheel Specifically, the diameters of the transverse driving wheel 201 , the first transverse driving wheel 202 , the second transverse driving wheel 203 and the third transverse driving wheel 204 are slightly smaller than the diameters of the first longitudinal driving wheel 301 , the second longitudinal driving wheel 302 , the first longitudinal driving wheel 302 , the first longitudinal driving wheel.
  • the diameter ratio of the driving wheel 303 and the second longitudinal driven wheel 304 is 1:1.1-1:1.3, preferably, the diameter ratio is 1:1.2.
  • the working principle of the longitudinal driving mechanism 300 in the sixteen-wheel four-way shuttle is as follows: the longitudinal motor 307 drives the longitudinal transmission shaft 305 to rotate through the second longitudinal transmission belt 306, and simultaneously drives the first longitudinal driving wheels 301 at both ends of the longitudinal transmission shaft 305. , The second longitudinal driving wheel 302 rotates, and synchronously drives the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 on the support frame 100 to rotate, so as to realize the longitudinal walking of the sixteen-wheel four-way shuttle, and the longitudinal drive shaft A longitudinal coupling 306 is provided on 305 .
  • the second longitudinal transmission belt 306 is re-tensioned after working for a period of time, and the tension adjustment mechanism 700 can be used to move laterally to achieve the purpose of adjustment according to the tightness of the pulley.
  • the cable pull reversing and jacking mechanism 400 is used as a sixteen-wheel four-way shuttle to jack up and reverse up and down.
  • the execution unit includes a jacking cross plate 401 symmetrically arranged on the front and rear sides of the support frame 100 and an inclined-pull jacking block 402 respectively arranged at the bottom of both ends of the jacking cross plate 401.
  • Both ends of the jacking cross plate 401 A first reversing assembly groove 414 and a second reversing assembly groove 415 for assembling the transverse transmission shaft 206 and the transverse connecting shaft 209 are respectively opened; the lifting shaft hole 410 and the left and right through-through jacking shaft holes 410 and Lifting inclined holes 411 that pass through the front and rear, and the lifting inclined holes 411 are arranged obliquely; the lifting shaft hole 410 is movably provided with a ball bushing 407, and the front and rear sides of the ball bushing 407 are provided with inclined pulling jacking shafts 409, And the inclined-pull jacking shaft 409 is movably embedded in the jacking inclined hole 411; the inclined-pulling jacking blocks 402 at both ends are connected by the ball screw 403 movably penetrated in the ball bushing 407, and the ball screw 403
  • the traverse motor 208 is drive-connected through a chain 406 .
  • the working principle of the oblique pull reversing and jacking mechanism 400 in the sixteen-wheel four-way shuttle is as follows: the lateral motor 208 drives the ball screws 403 on the front and rear sides synchronously through the chain 406 to rotate, and the ball screws 403 rotate during the rotation process. In the middle, it drives the ball bushing 407 and the two inclined jacking shafts 409 to slide left and right along the jacking shaft hole 410 and the jacking inclined hole 411 respectively, and simultaneously drives the jacking slider 402 to move up and down, and then drives the inclined jack 402 to move up and down.
  • the jacking cross plate 401 on the top of the jacking shaft 409 and the jacking platform provided on the jacking cross plate 401 are pulled up and down, so as to realize the lifting and reversing functions of the trolley.
  • both ends of the transverse drive shaft 206 and the transverse connection shaft 209 pass through the first reversing assembly groove 414 and the second reversing assembly groove at both ends of the jacking up transverse plate 401 respectively.
  • the 8 transverse wheels composed of the second transverse driven wheel 203 and the third transverse driven wheel 204 move up and down synchronously relative to the 8 longitudinal wheels, so as to leave the ground or contact the ground, and realize the exchange between the transverse travel drive mechanism 200 and the longitudinal travel drive mechanism 300 to function.
  • the oblique-pulling jacking blocks 402 on the same side are linked by ball screws 403 , and the two oblique-pulling jacking blocks 402 are respectively arranged on the ball screws 403 .
  • the middle position of the ball screw 403 is sleeved with a gear bushing 405 , and the gear bushing 405 is connected to the transverse motor 208 through the chain 406 and the cross reducer 210 .
  • the torque of the ball screw 403 is controlled after being driven by the chain 406, and then the ball screw 403 drives the inclined-pulling and lifting sliders 402 at both ends to move up and down, thereby
  • the jacking cross plate 401 and the jacking platform provided on the jacking cross plate 401 are controlled to rise and fall, so as to realize the functions of car jacking and reversing.
  • the support frame 100 is formed as a whole by bending sheet metal and local reinforcing ribs, and four front and rear side walls of the support frame 100 are respectively provided for assembling transverse wheels.
  • the support frame 100 is formed as a whole by bending sheet metal and local reinforcing ribs, and four front and rear side walls of the support frame 100 are respectively provided for assembling transverse wheels.
  • four circular mounting holes 102 for mounting longitudinal wheels are respectively provided on the left and right side walls of the support frame 100 .
  • the lateral driving wheels 201 on the front and rear sides are axially connected with the lateral drive shaft 206 passing through the second reversing assembly groove 415 and through the corresponding square assembly hole 101 ;
  • the axles of the first lateral driven wheel 202 and the second lateral driven wheel 203 pass through the corresponding square assembly holes 101 to connect the lifting cross plate 401, and the third lateral driven wheel 204 passes through the first reversing assembly slot 414, corresponding to The transverse connecting shaft 209 of the square fitting hole 101 is connected.
  • the lateral driving wheel 201 , the first lateral driven wheel 202 , the second lateral driven wheel 203 and the third lateral driven wheel 204 can follow the lifting of the transverse plate.
  • 401 performs upper and lower limit lifting in the corresponding square assembly hole 101 .
  • the axles of the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 respectively pass through the corresponding circular mounting holes 102 to connect the longitudinal transmission shaft 305 , the longitudinal drive shaft 305 drives the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 to rotate synchronously through the first longitudinal transmission belt 308 to improve the carrying capacity of the trolley; in addition, the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302
  • the axles of the wheels 302 are respectively arranged through the circular assembly holes 102, and are fixedly connected to the bottom of the support frame 100 through the first bearing seat 105, so as to ensure the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 during the rotation process. stability.
  • the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 are used as driven wheels to run passively driven by the support frame 100 , Mainly for supporting and guiding, the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 are fixedly arranged in the corresponding circular mounting holes 102 .
  • the wheel mounting structure of the sixteen-wheel four-way shuttle is optimized, and the first lateral driven wheel 202 is used as the auxiliary driving wheel of the trolley, and further Improve the lateral grip and over-the-sill ability of the trolley.
  • the transverse driving wheel 201 is connected to the first transverse driven wheel 202 on the same side through the second transverse transmission belt 205, and the power of the transverse driving wheel 201 is transmitted to the first transverse driven wheel 202 through the second transverse transmission belt 205, and synchronously drives The first lateral driven wheel 202 rotates.
  • the third transverse driven wheel 204 on the same side can also be connected through the second transverse transmission belt 205, and the third transverse driven wheel 204 can be a linkage mechanism of the transverse driving wheel 201, thereby further improving the transverse direction of the trolley. Stability of walking and ability to grip and pass over hurdles.
  • the sixteen-wheel four-way shuttle in order to ensure the stability of the power transmission of the longitudinal travel drive mechanism 300 , the sixteen-wheel four-way shuttle further includes a tensioner disposed outside the first longitudinal transmission belt 308 .
  • the tension adjustment mechanism 700 optimizes the connection between the first longitudinal drive belt 308 and the first longitudinal drive pulley 301 and the second longitudinal drive pulley 302 through the tension adjustment mechanism 700 , making the first longitudinal drive belt 308 more convenient to install.
  • the tensioning adjustment mechanism 700 includes a first tensioning pulley 701 and a second tensioning pulley 703 that are attached to the outside of the first longitudinal transmission belt 308 .
  • the first tensioning pulley 701 is fixedly arranged on the inner side wall of the support frame 100 through the first fixing plate 702, and the first tensioning wheel 701 is fixed and is always located between the first tensioning wheel 701 and the longitudinal transmission shaft 305, and is always connected with the first longitudinal transmission belt.
  • the second tensioning wheel 703 can be movably arranged on the inner side wall of the support frame 100 through the adjusting plate 704 , and the second tensioning wheel 703 can be relatively tensioned relative to the second tensioning wheel 703 under the adjusting action of the adjusting plate 704
  • the pulley 703 produces relative displacement to the longitudinal drive shaft 305, presses against the other side end face of the first longitudinal drive belt 308, and forms a tensioned state for the first longitudinal drive belt 308; or moves the second tensioning wheel 703 away from the longitudinal drive shaft 305 to disengage it from the first longitudinal transmission belt 308 to eliminate the tension state of the first longitudinal transmission belt 308 .
  • an adjusting square hole 705 is horizontally opened on the adjusting plate 704 , and is movably fixed to the inner side wall of the support frame 100 by bolts passing through the adjusting square hole 705 .
  • the 705 plays a certain limiting role under the action of the bolt, and the length of the adjusting square hole 705 determines the left and right adjustable spacing of the second tensioning pulley 703 to meet the tensioning requirement of the first longitudinal transmission belt 308 .
  • the distal end of the adjustment plate 704 is adjustedly connected to the second fixing plate 706 through adjustment nuts and bolts.
  • the second tensioning wheel 703 moves left and right along the length direction of the adjusting square hole 705 to adjust the tension of the first longitudinal transmission belt 308
  • the second fixing plate 706 is fixed to the inner side wall of the support frame 100 .
  • the adjusting plate 704 and the second fixing plate 706 are both L-shaped plates, and their side end faces are arranged oppositely.
  • the adjusting nuts and bolts are arranged on the oppositely arranged L-shaped plates, and the adjustment methods of the adjusting nuts and bolts adopt the existing conventional structure. The implementation is not repeated here.
  • the inclined pull reversing and jacking mechanism 400 further includes: a second bearing seat 404 , which is arranged on the support frame 100 and is The top end is provided with a bearing to support the ball screw 403; there are at least two second bearing seats 404 on each side, which are respectively arranged between and/or on both sides of the inclined-pull jacking block 402, and the ball screw 403 passes through the bearing Set in the mounting hole at the upper end of the second bearing seat 404, the two ends of the ball screw 403 protrude out of the inclined-pull jacking block 402 and pass through the bearing installed in the mounting hole.
  • the second bearing seat 404 acts to stabilize and support the ball screw.
  • the action of the rod 403 improves the stability of the operation of the tilt-pull reversal, that is, the jacking assembly.
  • the oblique pull reversing and jacking mechanism 400 further includes: a jacking nut 408 , which is fixedly sleeved on the ball bushing 407 , and its front and rear side walls are respectively welded and connected with the inclined-pull jacking shaft 409 .
  • the jacking nut 408 adopts a copper nut, and the jacking nut 408 is fixedly sleeved on the ball bushing 407, and the transmission efficiency reaches 50%-70%, which reduces the kinetic energy loss.
  • the inclined pull reversing and jacking mechanism 400 further includes: limit chute 412 , which are respectively vertically arranged on the front and rear two sides of the inclined pull jacking block 402 .
  • the jacking cross plate 401 opens through its two ends.
  • the guide chute 416 slides up and down to connect the jacking guide posts 103 at the four corners of the support frame 100 .
  • the defect of left and right shaking during the process; and the upper and lower ends of the lifting guide column 103 are respectively fixed and connected to the support frame 100 through the guide column fixing plate 104, and the guide column fixing plate 104 arranged at the upper and lower ends simultaneously lifts and lowers the lifting cross plate 401 to the limit.
  • different inclination angles of the lifting inclined holes 411 can be designed for different working conditions according to implementation requirements.
  • the inclination angle of the jacking inclined hole 411 is 5-85°; preferably, the inclination angle of the jacking inclined hole 411 is 15-75°; preferably, the inclination angle of the jacking inclined hole 342 is 25-65°; further preferably Preferably, the inclination angle of the jacking inclined hole 411 is 30-65°; more preferably, the inclination angle of the jacking inclined hole 411 is 35-65°; more preferably, the inclination angle of the jacking inclined hole 411 is 40-65° 45°.
  • the jacking shaft hole 410 communicates with the jacking oblique hole 411 , and the shapes of the jacking shaft holes 410 are all designed with arc-shaped slot holes.
  • the vertical height of the jacking shaft hole 410 is equal to the vertical height of the jacking inclined hole 411, so as to satisfy the requirement that the ball screw 403 is in the jacking shaft hole 410 and the inclined pulling jacking is synchronously satisfied during the upward and downward movement of the jacking slider.
  • the up and down movement stroke of the shaft 409 in the lifting inclined hole 411 .
  • the cable-pulling, jacking, and reversing type sixteen-wheel four-way shuttle provided by the present invention adopts eight wheels on each side to form a structure design of a 16-wheel two-way traveling trolley, which greatly improves the load capacity and sill-crossing ability of the trolley;
  • the pull-reversing and jacking mechanism uses the inclined-pull jacking block to contact the rolling line of the inclined-pull jacking shaft, with high transmission efficiency and no change in the pressure angle. It is uniform, novel in design, compact in structure, stable in operation, small in size and heavy in load, which reduces the maintenance and maintenance times of the mechanical mechanism, and has high working efficiency and long service life.
  • the cable-pulling jacking reversing type sixteen-wheel four-way shuttle has a compact structure design, which not only reduces costs, but also saves space; it also reduces the overall weight and volume of the trolley, and improves the running capacity and cargo storage efficiency.

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Abstract

一种斜拉顶升换向式十六轮四向穿梭车，包括支撑框架（100）、横向行走驱动机构（200）、纵向行走驱动机构（300）和斜拉换向及顶升机构（400）；横向行走驱动机构（200）包括横向主动轮（201）、第一横向从动轮（202）、第二横向从动轮（203）和第三横向从动轮（204）；纵向行走驱动机构（300）包括第一纵向主动轮（301）、第二纵向主动轮（302）、第一纵向从动轮（303）和第二纵向从动轮（304）；以及斜拉换向及顶升机构（400）包括顶升横板（401）和斜拉顶升滑块（402），顶升轴孔（410）内活动设置有滚珠轴套（407），滚珠轴套（407）的前后两侧设置有斜拉顶升轴（409），两端的斜拉顶升滑块（402）之间通过滚珠丝杆（403）连接。本发明的斜拉顶升换向式十六轮四向穿梭车，采用16轮双向行走小车的结构设计，大大提高小车的载重能力和过坎能力；且其结构设计紧凑，既降低成本，又节省空间。

Description

一种斜拉顶升换向式十六轮四向穿梭车 技术领域
本发明涉及一种穿梭车，尤其涉及一种斜拉顶升换向式十六轮四向穿梭车。
背景技术
随着仓储物流业的快速发展，对立体仓库空间的利用率提出了越来越高的要求，希望立体仓库平面上布置更多的货架，高度方向上布置更多的货架隔层，最大限度减少进货、卸货通道占据的空间。
目前的立体库结构更多采用一条进货卸货巷道与多条与其垂直相连存货架巷道的模式，这就要求穿梭车必须可以纵向、横向两个互相垂直的方向行走。现有技术中，立体仓库通常使用子母车***，即母车承载着子车在进货、卸货巷道行走，然后子车从与母车行走方向相垂直的方向驶出，进入货架巷道，之后再原路回到母车上，最后再由母车带走。
现有子母车两台穿梭车组合的方式，大多采用双向8轮结构设计，其货物承载量低、过坎能力弱，且故障率高，已不能满足日益繁忙的仓储物流需要；且其一般采用凸轮顶升结构，存在凸轮易磨损，从动件受力不均匀及传动效率低的缺陷；此外，现有的子母车穿梭车，不仅自身占据了相当大的空间，减少货架及隔层的数量，降低了立体库的空间利用率，还增加了制造、采购及维护成本。
发明内容
本发明所要解决的技术问题是：针对现有技术中的上述缺陷，提出一种斜拉顶升换向式十六轮四向穿梭车。
为实现上述目的，本发明采用以下技术方案：
本发明提供一种斜拉顶升换向式十六轮四向穿梭车，包括支撑框架和装设于所述支撑框架上的横向行走驱动机构、纵向行走驱动机构和斜拉换向及顶升机构，其中：
所述横向行走驱动机构包括分别对称布置于所述支撑框架前后两侧的横向 主动轮、第一横向从动轮、第二横向从动轮和第三横向从动轮，两所述横向主动轮分别设置于横向传动轴两端，两所述第三横向从动轮分别设置于横向连接轴两端，且所述横向传动轴通过第一横向传动带传动连接横向电机；
所述纵向行走驱动机构包括分别对称布置于所述支撑框架左右两侧的第一纵向主动轮、第二纵向主动轮、第一纵向从动轮和第二纵向从动轮，两侧的所述第一纵向主动轮和第二纵向主动轮分别通过第一纵向传动带连接纵向传动轴，且所述纵向传动轴通过第二纵向传动带传动连接纵向电机；以及
所述斜拉换向及顶升机构包括分别对称布置于所述支撑框架前后两侧的顶升横板和分别设置于所述顶升横板两端底部的斜拉顶升滑块，所述顶升横板两端分别开设有用于装配所述横向传动轴和横向连接轴的第一换向装配槽和第二换向装配槽；所述斜拉顶升滑块上开设有左右贯通的顶升轴孔和前后贯通的顶升斜孔，且所述顶升斜孔呈倾斜布置；所述顶升轴孔内活动设置有滚珠轴套，所述滚珠轴套的前后两侧设置有斜拉顶升轴，且所述斜拉顶升轴活动嵌设于所述顶升斜孔内；两端的所述斜拉顶升滑块之间通过活动穿设于滚珠轴套内的滚珠丝杆连接，所述滚珠丝杆通过链条传动连接所述横向电机。
进一步地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述支撑框架的前后两侧壁分别开设四个方形装配孔，所述支撑框架的左右两侧壁分别开设四个圆形装配孔，其中：
所述横向主动轮与穿过所述第二换向装配槽、对应所述方形装配孔的所述横向传动轴连接，所述第一横向从动轮和第二横向从动轮的轮轴分别穿过对应的所述方形装配孔连接所述顶升横板，所述第三横向从动轮与穿过所述第一换向装配槽、对应所述方形装配孔的横向连接轴连接；
所述第一纵向主动轮和第二纵向主动轮的轮轴分别穿过所述圆形装配孔通过第一轴承座连接所述支撑框架底部，所述第一纵向从动轮、第一纵向从动轮设置于对应的所述圆形装配孔内。
进一步地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述横向主动轮通过第二横向传动带连接同侧的所述第一横向从动轮；和/或通过第二横向传动带连接同侧的所述第三横向从动轮。
进一步地，在所述的斜拉顶升换向式十六轮四向穿梭车上，还包括设置于所 述所述第一纵向传动带外侧的张紧调节机构，其中：
所述张紧调节机构包括贴合于所述第一纵向传动带外侧布置的第一张紧轮和第二张紧轮，所述第一张紧轮通过第一固定板固定设置于所述支撑框架内侧壁，所述第二张紧轮通过调节板活动设置于所述支撑框架内侧壁。
进一步优选地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述调节板上水平开设调节方孔，并通过穿设于所述调节方孔内的螺栓活动固定于所述支撑框架内侧壁，且其一端通过调节螺母及螺栓与固定于所述支撑框架内侧壁的第二固定板可调节连接。
进一步地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述斜拉换向及顶升机构还包括：
第二轴承座，其设置于所述支撑框架上，其顶端设置有轴承，以支撑所述滚珠丝杆；
顶升螺母，其固定套设于所述滚珠轴套上，且其前后两侧壁分别与所述斜拉顶升轴焊接连接。
进一步优选地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述斜拉换向及顶升机构还包括：
限位滑槽，分别竖向设置于所述顶升滑块的前后两侧壁；
限位导柱，其垂直设置于所述支撑框架上，且与所述限位滑槽滑块连接。
进一步地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述顶升横板通过其两端开设的导向滑槽上下滑动连接所述支撑框架四角位置的顶升导柱。
进一步优选地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述顶升斜孔的倾斜角度为5-85°，且其垂直高度等于所述顶升轴孔的垂直高度。
进一步地，在所述的斜拉顶升换向式十六轮四向穿梭车上，所述横向电机通过十字减速器分别传动连接所述第一横向传动带和所述链条。
本发明采用上述技术方案，与现有技术相比，具有如下技术效果：
(1)采用横向8轮纵向8轮及强化的支撑框架，提高了载重能力；并优化了各车轮的安装位置，使小车具有较好的过坎能力；
(2)为匹配16轮，优化了车轮传动机构，通过将纵向传动轴的位置上移，及加大纵向车轮的直径，使小车具有较好的承载能力；
(3)采用张紧调节机构调整第一纵向传动带的张紧度，同时保证第一纵向主动轮和第二纵向主动轮动力传输的稳定性和连续性；
(4)斜拉换向及顶升机构采用斜拉顶升滑块与斜拉顶升轴滚动线接触，传动效率高，压力角无变化，顶升滑块两侧的顶升斜孔对称布置，受力均匀；其设计新颖，结构紧凑，运行稳定，体积小，载重大，减少了机械机构的维护、保养次数，工作效率高，使用寿命长；
(5)采用滚柱丝杆与滚珠轴套相配合的传动结构，传动效率达50％-70％，且滚珠轴套与顶升轴之间通过顶升螺母直接配合连接，减少了动能损失；
(6)该十六轮四向穿梭车，结构设计紧凑，既降低成本，又节省空间；且减小了小车整体重量和体积，提升运行能力和货物存取效率。
附图说明
图1为本发明一种斜拉顶升换向式十六轮四向穿梭车的俯视结构示意图；
图2为本发明一种斜拉顶升换向式十六轮四向穿梭车的主视结构示意图；
图3为本发明一种斜拉顶升换向式十六轮四向穿梭车的侧视结构示意图；
图4为本发明一种斜拉顶升换向式十六轮四向穿梭车的立体结构示意图；
图5为本发明一种斜拉顶升换向式十六轮四向穿梭车中支撑框架的结构示意图；
图6为本发明一种斜拉顶升换向式十六轮四向穿梭车中张紧调节机构的装配结构示意图；
图7为本发明一种斜拉顶升换向式十六轮四向穿梭车中斜拉换向及顶升机构的结构示意图；
图8为本发明一种斜拉顶升换向式十六轮四向穿梭车中斜拉顶升滑块的结构示意图；
图9为本发明一种斜拉顶升换向式十六轮四向穿梭车中斜拉顶升滑块的剖视结构示意图；
图10为本发明一种斜拉顶升换向式十六轮四向穿梭车中滚珠丝杆与滚珠轴套的剖视结构示意图；
图11为本发明一种斜拉顶升换向式十六轮四向穿梭车中斜拉顶升滑块的结 构示意图；
其中，各附图标记为：
100-支撑框架，101-方形装配孔，102-圆形装配孔，103-顶升导柱，104-导柱固定板，105-第一轴承座；
200-横向行走驱动机构，201-横向主动轮，202-第一横向从动轮，203-第二横向从动轮，204-第三横向从动轮，205-第二横向传动带，206-横向传动轴，207-第一横向传动带，208-横向电机，209-横向连接轴，210-十字减速器；
300-纵向行走驱动机构，301-第一纵向主动轮，302-第二纵向主动轮，303-第一纵向从动轮，304-第一纵向从动轮，305-纵向传动轴，306-第二纵向传动带，307-纵向电机，308-第一纵向传动带；
400-斜拉换向及顶升机构，401-顶升横板，402-斜拉顶升滑块，403-滚珠丝杆，404-第二轴承座，405-齿轮轴套，406-链条，407-滚珠轴套，408-顶升螺母，409-斜拉顶升轴，410-顶升轴孔，411-顶升斜孔，412-限位滑槽，413-限位导柱，414-第一换向装配槽，415-第二换向装配槽，416-导向滑槽；
500-电池组，600-控制器；700-张紧调节机构，701-第一张紧轮，702-第一固定板，703-第二张紧轮，704-调节板，705-调节方孔，706-第二固定板。
具体实施方式
下面通过具体实施例对本发明进行详细和具体的介绍，以使更好的理解本发明，但是下述实施例并不限制本发明范围。
在一些实施例中，如图1所示，提供一种十六轮四向穿梭车，包括支撑框架100和装设于支撑框架100上的横向行走驱动机构200、纵向行走驱动机构300、斜拉换向及顶升机构400、电池组500和控制器600。
在其中的一个实施例中，支撑框架100是通过钣金折弯及局部加强筋连成的一个整体，极大提高整车的承载能力；电池组500作为动力源给整车提高动力，电池组500可采用锂离子可充电电池、蓄电池或其他任何蓄能电池，为小车各功能电源供电；控制器600作为整车的大脑，控制整车的运动，控制器600电连接电池组500、横向行走驱动机构200的横向电机208、纵向行走驱动机构300、纵向电机307和换向及顶升机构400的顶升电机408，通过控制器600控制小车 灵活径向纵向或横向行走，并通过换向及顶升机构400实现小车顶升和换向。
在一些实施例中，如图2和图4所示，横向行走驱动机构200作为十六轮四向穿梭车横向移动的执行单元，其包括分别对称布置于支撑框架100前后两侧的横向主动轮201、第一横向从动轮202、第二横向从动轮203和第三横向从动轮204，其中，横向主动轮201、第一横向从动轮202、第二横向从动轮203和第三横向从动轮204均为两个布置在支撑框架100的前后两侧位置，形成单向8轮车体结构，提高了小车的横向行走的载重能力和过坎能力。
在其中的一个实施例中，如图2和图4所示，两横向主动轮201分别设置于横向传动轴206两端，通过横向传动轴206可带动两端的横向主动轮201转动，且在横向传动轴206上设置有横向联轴器210；为提高小车的运行稳定性，两第三横向从动轮204之间通过横向连接轴209连接，同步保证两侧第三横向从动轮204同步运行。且横向传动轴206通过第一横向传动带207传动连接横向电机208，由横向电机208通过第一横向传动带207驱动横向传动轴206转动，所横向电机208采用伺服驱动电机。
该十六轮四向穿梭车中横向行走驱动机构200的工作原理为：由横向电机208通过第一横向传动带207驱动横向传动轴206转动，同步带动横向传动轴206两端的横向主动轮201转动，并同步带动支撑框架100上的第一横向从动轮202、第二横向从动轮203和第三横向从动轮204转动，实现该十六轮四向穿梭车的横向行走。
在一些实施例中，如图3和图4所示，纵向行走驱动机构300作为十六轮四向穿梭车横向移动的执行单元，其包括分别对称布置于支撑框架100左右两侧的第一纵向主动轮301、第二纵向主动轮302、第一纵向从动轮303和第二纵向从动轮304，其中第一纵向主动轮301、第二纵向主动轮302、第一纵向从动轮303和第二纵向从动轮304均为两个，呈对称布置在支撑框架100的两侧位置，形成单向8轮车体结构，提高了小车纵向行走的载重能力和过坎能力。
在其中的一个实施例中，如图3和图4所示，两侧的第一纵向主动轮301和第二纵向主动轮302作为主动轮，分别通过第一纵向传动带308连接纵向传动轴305，且纵向传动轴305通过第二纵向传动带306传动连接纵向电机307，由纵向电机307通过第二纵向传动带306驱动纵向传动轴305转动，所纵向电机307 采用伺服驱动电机。
在其中的一个实施例中，为匹配16轮，优化了纵向车轮的传动机构，将纵向传动轴305的位置上移，使纵向传动轴305、第一纵向主动轮301和第二纵向主动轮302的装配结构在其侧面形成三角结构，一方面采用一根纵向传动轴305同步带动第一纵向主动轮301和第二纵向主动轮302同时转动，另一方面抬升布置的纵向传动轴305可很好的错开其下方布置的换向及顶升机构400，使得小车设计更为紧凑、合理，节省了空间。
在其中的一个实施例中，为使得小车具有较好的承载能力，相比横向行走驱动机构200所采用的8个横向车轮，纵向行走驱动机构300上所采用的8个纵向车轮均采用较大直径的纵向车轮。具体地，横向主动轮201、第一横向从动轮202、第二横向从动轮203和第三横向从动轮204的直径略小于第一纵向主动轮301、第二纵向主动轮302、第一纵向从动轮303和第二纵向从动轮304的直径，其直径比为1:1.1-1:1.3，优选地，其直径比为1:1.2。
该十六轮四向穿梭车中纵向行走驱动机构300的工作原理为：由纵向电机307通过第二纵向传动带306驱动纵向传动轴305转动，同步带动纵向传动轴305两端的第一纵向主动轮301、第二纵向主动轮302转动，并同步带动支撑框架100上的第一纵向从动轮303和第二纵向从动轮304转动，实现该十六轮四向穿梭车的纵向行走，且在纵向传动轴305上设置有纵向联轴器306。此外，第二纵向传动带306在工作一段时间后重新张紧，可根据皮带轮的松紧情况，采用张紧调节机构700横向移动达到调节的目的。
在一些实施例中，如图4、图7、图8、图9、图10和图11所示，斜拉换向及顶升机构400作为十六轮四向穿梭车上下顶升和换向的执行单元，其包括分别对称布置于支撑框架100前后两侧的顶升横板401和分别设置于顶升横板401两端底部的斜拉顶升滑块402，顶升横板401两端分别开设有用于装配横向传动轴206和横向连接轴209的第一换向装配槽414和第二换向装配槽415；斜拉顶升滑块402上开设有左右贯通的顶升轴孔410和前后贯通的顶升斜孔411，且顶升斜孔411呈倾斜布置；顶升轴孔410内活动设置有滚珠轴套407，滚珠轴套407的前后两侧设置有斜拉顶升轴409，且斜拉顶升轴409活动嵌设于顶升斜孔411 内；两端的斜拉顶升滑块402之间通过活动穿设于滚珠轴套407内的滚珠丝杆403连接，滚珠丝杆403通过链条406传动连接横向电机208。
该该十六轮四向穿梭车中斜拉换向及顶升机构400的工作原理为：由横向电机208通过链条406同步驱动前后两侧的滚珠丝杆403转动，滚珠丝杆403在转动过程中，带动其上的滚珠轴套407及两斜拉顶升轴409分别沿顶升轴孔410和顶升斜孔411进行左右滑动，并同步带动顶升滑块402进行上下移动，继而带动斜拉顶升轴409顶部的顶升横板401及设置于顶升横板401上设置的顶升平台升降，实现小车顶升及换向功能。
在其中的一个实施例中，如图4和图7所示，横向传动轴206和横向连接轴209的两端分别穿过顶升横板401两端的第一换向装配槽414和第二换向装配槽415布置，使得该横向传动轴206和横向连接轴209可随顶升横板401同步进行上下移动，继而带动横向行走驱动机构200有横向主动轮201、第一横向从动轮202、第二横向从动轮203和第三横向从动轮204组成的8个横向车轮相对8个纵向车轮同步上下移动，以脱离地面或接触地面，实现横向行走驱动机构200与纵向行走驱动机构300之间的换向功能。
在其中的一个实施例中，如图7和图9所示，同侧的斜拉顶升滑块402通过滚珠丝杆403联动，且两斜拉顶升滑块402分别设置于滚珠丝杆403两端，滚珠丝杆403中部位置套设有齿轮轴套405，齿轮轴套405通过链条406通过通过十字减速器210连接横向电机208。横向电机208通过十字减速器210减速换向后，通过链条406传动后控制滚珠丝杆403的转矩大小，再通过该滚珠丝杆403带动其两端的斜拉顶升滑块402进行升降，从而控制顶升横板401及设置于顶升横板401上设置的顶升平台升降，实现小车顶升及换向功能。
在一些实施例中，如图5所示，支撑框架100是通过钣金折弯及局部加强筋连成的一个整体，在支撑框架100的前后两侧壁分别开设四个用于装配横向车轮的方形装配孔101，相对应的在支撑框架100的左右两侧壁分别开设四个用于装配纵向车轮的圆形装配孔102。
在其中的一个实施例中，如图5和图7所示，前后两侧的横向主动轮201与穿过第二换向装配槽415、穿过对应方形装配孔101的横向传动轴206轴连接；第一横向从动轮202和第二横向从动轮203的轮轴分别穿过对应的方形装配孔 101连接顶升横板401，第三横向从动轮204与穿过第一换向装配槽414、对应方形装配孔101的横向连接轴209连接。此外，为配合换向及顶升机构400的顶升及换向功能，横向主动轮201、第一横向从动轮202和第二横向从动轮203以及第三横向从动轮204可随顶升横板401在相应的方形装配孔101内进行上下限位升降。
在其中的一个实施例中，如图4、图5和图6所示，第一纵向主动轮301和第二纵向主动轮302的轮轴分别穿过相应的圆形装配孔102连接纵向传动轴305，由纵向传动轴305通过第一纵向传动带308带动第一纵向主动轮301和第二纵向主动轮302同步转动，提高小车的运载能力；此外，该第一纵向主动轮301和第二纵向主动轮302的轮轴分别穿过圆形装配孔102布置，并通过通过第一轴承座105固定连接在支撑框架100的底部，保证了第一纵向主动轮301和第二纵向主动轮302在转动过程中的稳定性。
在其中的一个实施例中，如图3、图4、图5和图6所示，第一纵向从动轮303、第二纵向从动轮304作为从动轮，在支撑框架100的带动的被动运行，主要起到支撑和导向作用，该第一纵向从动轮303、第二纵向从动轮304固定设置在对应的圆形装配孔102内。
在一些实施例中，如图2、图4和图7所示，对该十六轮四向穿梭车的车轮安装结构进行了优化，将第一横向从动轮202作为小车的辅助主动轮，进一步提高了小车的横向抓地和过坎能力。具体地，将横向主动轮201通过第二横向传动带205连接同侧的第一横向从动轮202，及通过第二横向传动带205将横向主动轮201的动力输送给第一横向从动轮202，同步带动第一横向从动轮202转动。
此外，根据实际小车运行需要，还可以通过第二横向传动带205连接同侧的第三横向从动轮204，将第三横向从动轮204为横向主动轮201的联动机构，从而进一步提高了小车的横向行走的稳定性和抓地和过坎能力。
在一些实施例中，如图1和图5所示，为保证纵向行走驱动机构300动力传输的稳定性，该十六轮四向穿梭车中，还包括设置于第一纵向传动带308外侧的张紧调节机构700，通过张紧调节机构700优化了第一纵向传动带308与第一纵向主动轮301、第二纵向主动轮302之间连接，使第一纵向传动带308更方便安装。
在其中的一个实施例中，如图6所示，张紧调节机构700包括贴合于第一纵向传动带308外侧布置的第一张紧轮701和第二张紧轮703，第一张紧轮701通过第一固定板702固定设置于支撑框架100内侧壁，第一张紧轮701固定不动，始终位于第一张紧轮701和纵向传动轴305之间位置，并始终与第一纵向传动带308呈贴合状态；而第二张紧轮703则可以通过调节板704活动设置于支撑框架100内侧壁，及第二张紧轮703在调节板704的调节作用下，可相对第二张紧轮703向纵向传动轴305产生相对位移，压紧贴合于第一纵向传动带308的另一侧端面，对第一纵向传动带308形成张紧状态；或移动第二张紧轮703远离纵向传动轴305，使其与第一纵向传动带308脱离，消除第一纵向传动带308张紧状态。
在其中的一个实施例中，如图6所示，调节板704上水平开设调节方孔705，并通过穿设于调节方孔705内的螺栓活动固定于支撑框架100内侧壁，该调节方孔705在螺栓的作用下起到一定的限位作用，调节方孔705的长度决定了该第二张紧轮703左右可调节的间距，以满足第一纵向传动带308张紧需要。
在其中的一个实施例中，如图6所示，在调节板704的远端通过调节螺母及螺栓与第二固定板706可调节连接，通过调节螺母及螺栓可控制调节板704及其上的第二张紧轮703沿调节方孔705的长度方向进行左右移动，以调节的第一纵向传动带308张紧度，第二固定板706固定于支撑框架100内侧壁。调节板704和第二固定板706均采用L型板，且其侧端面呈相对布置，调节螺母及螺栓设置在该相对布置的L型板上，调节螺母及螺栓的调节方式采用现有常规结构实现，在此不再赘述。
在其中的一个实施例中，如图4、图7、图8和图9所示，斜拉换向及顶升机构400还包括：第二轴承座404，其设置于支撑框架100上，其顶端设置有轴承，以支撑滚珠丝杆403；每侧第二轴承座404至少为两个，分别设置于斜拉顶升滑块402之间和/或的两侧位置，滚珠丝杆403通过轴承设在第二轴承座404上端的安装孔内，滚珠丝杆403的两端伸出斜拉顶升滑块402穿过安装孔内装设的轴承，第二轴承座404起到稳定和支撑滚珠丝杆403的作用，提高了该斜拉换向即顶升组件运行的稳定性。
在其中的一个实施例中，如图4、图7、图9和图11所示，斜拉换向及顶升机构400还包括：顶升螺母408，其固定套设于滚珠轴套407上，且其前后两侧 壁分别与斜拉顶升轴409焊接连接。顶升螺母408采用铜螺母，顶升螺母408固定套设在滚珠轴套407上，传动效率达50％-70％，减少了动能损失。
在其中的一个实施例中，如图8和图9所示，斜拉换向及顶升机构400还包括：限位滑槽412，分别竖向设置于斜拉顶升滑块402的前后两侧壁；限位导柱413，其垂直设置于支撑框架100上，且与限位滑槽412滑块连接，用于限制斜拉顶升滑块402水平移动，同时起到垂直导向作用。防止斜拉顶升滑块402在滚珠轴套307移动的过程中因受到水平方向的抽拉力而产生移动，从而将斜拉顶升滑块402受到的水平拉力通过顶升斜孔411转换为垂直方向的抽拉力，继而实现斜拉顶升滑块402沿限位导柱413进行上下移动。
在其中的一个实施例中，如图4和图7所示，为保证换向及顶升机构400在顶升及换向过程中的稳定性，在顶升横板401通过其两端开设的导向滑槽416上下滑动连接支撑框架100四角位置的顶升导柱103，顶升横板401的两端在升降过程中可沿顶升导柱103滑动，避免了顶升横板401在顶升过程中左右晃动的缺陷；且顶升导柱103的上下两端分别通过导柱固定板104固定连接支撑框架100，上下两端设置的导柱固定板104同时对顶升横板401的升降起到限位作用。
在其中的一个实施例中，如图11所示，可根据实现需求，针对不同使用工况，设计不同的顶升斜孔411倾斜角。顶升斜孔411的倾斜角度为5-85°；优选地，顶升斜孔411的倾斜角度为15-75°；优选地，顶升斜孔342的倾斜角度为25-65°；进一步优选地，顶升斜孔411的倾斜角度为30-65°；较为优选地，顶升斜孔411的倾斜角度为35-65°；更为优选地，顶升斜孔411的倾斜角度为40-45°。
在其中的一个实施例中，如图9和图11所示，顶升轴孔410与顶升斜孔411相连通，其形状均采用弧形槽孔的结构设计。且顶升轴孔410的垂直高度等于顶升斜孔411的垂直高度，以满足顶升滑块在上下移动的过程中，同步满足滚珠丝杆403在顶升轴孔410内以及斜拉顶升轴409在顶升斜孔411内的上下移动行程。
本发明提供的斜拉顶升换向式十六轮四向穿梭车，采用每侧8个车轮，形成16轮双向行走小车的结构设计，大大提高小车的载重能力和过坎能力；且采用斜拉换向及顶升机构，利用斜拉顶升滑块与斜拉顶升轴滚动线接触，传动效率高，压力角无变化，顶升滑块两侧的顶升斜孔对称布置，受力均匀，其设计新颖，结构紧凑，运行稳定，体积小，载重大，减少了机械机构的维护、保养次数，工作 效率高，使用寿命长。该斜拉顶升换向式十六轮四向穿梭车的结构设计紧凑，既降低成本，又节省空间；且减小了小车整体重量和体积，提升运行能力和货物存取效率。
以上对本发明的具体实施例进行了详细描述，但其只是作为范例，本发明并不限制于以上描述的具体实施例。对于本领域技术人员而言，任何对本发明进行的等同修改和替代也都在本发明的范畴之中。因此，在不脱离本发明的精神和范围下所作的均等变换和修改，都应涵盖在本发明的范围内。

Claims (10)

  1. 一种斜拉顶升换向式十六轮四向穿梭车，其特征在于，包括支撑框架(100)和装设于所述支撑框架(100)上的横向行走驱动机构(200)、纵向行走驱动机构(300)和斜拉换向及顶升机构(400)，其中：
    所述横向行走驱动机构(200)包括分别对称布置于所述支撑框架(100)前后两侧的横向主动轮(201)、第一横向从动轮(202)、第二横向从动轮(203)和第三横向从动轮(204)，两所述横向主动轮(201)分别设置于横向传动轴(206)两端，两所述第三横向从动轮(204)分别设置于横向连接轴(209)两端，且所述横向传动轴(206)通过第一横向传动带(207)传动连接横向电机(208)；
    所述纵向行走驱动机构(300)包括分别对称布置于所述支撑框架(100)左右两侧的第一纵向主动轮(301)、第二纵向主动轮(302)、第一纵向从动轮(303)和第二纵向从动轮(304)，两侧的所述第一纵向主动轮(301)和第二纵向主动轮(302)分别通过第一纵向传动带(308)连接纵向传动轴(305)，且所述纵向传动轴(305)通过第二纵向传动带(306)传动连接纵向电机(307)；以及
    所述斜拉换向及顶升机构(400)包括分别对称布置于所述支撑框架(100)前后两侧的顶升横板(401)和分别设置于所述顶升横板(401)两端底部的斜拉顶升滑块(402)，所述顶升横板(401)两端分别开设有用于装配所述横向传动轴(206)和横向连接轴(209)的第一换向装配槽(414)和第二换向装配槽(415)；所述斜拉顶升滑块(402)上开设有左右贯通的顶升轴孔(410)和前后贯通的顶升斜孔(411)，且所述顶升斜孔(411)呈倾斜布置；所述顶升轴孔(410)内活动设置有滚珠轴套(407)，所述滚珠轴套(407)的前后两侧设置有斜拉顶升轴(409)，且所述斜拉顶升轴(409)活动嵌设于所述顶升斜孔(411)内；两端的所述斜拉顶升滑块(402)之间通过活动穿设于滚珠轴套(407)内的滚珠丝杆(403)连接，所述滚珠丝杆(403)通过链条(406)传动连接所述横向电机(208)。
  2. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述支撑框架(100)的前后两侧壁分别开设四个方形装配孔(101)，所述支撑框架(100)的左右两侧壁分别开设四个圆形装配孔(102)，其中：
    所述横向主动轮(201)与穿过所述第二换向装配槽(413)、对应所述方形 装配孔(101)的所述横向传动轴(206)连接，所述第一横向从动轮(202)和第二横向从动轮(203)的轮轴分别穿过对应的所述方形装配孔(101)连接所述顶升横板(401)，所述第三横向从动轮(204)与穿过所述第一换向装配槽(412)、对应所述方形装配孔(101)的横向连接轴(209)连接；
    所述第一纵向主动轮(301)和第二纵向主动轮(302)的轮轴分别穿过所述圆形装配孔(102)通过第一轴承座(105)连接所述支撑框架(100)底部，所述第一纵向从动轮(303)、第二纵向从动轮(304)设置于对应的所述圆形装配孔(102)内。
  3. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述横向主动轮(201)通过第二横向传动带(205)连接同侧的所述第一横向从动轮(202)；和/或通过第二横向传动带(205)连接同侧的所述第三横向从动轮(204)。
  4. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，还包括设置于所述第一纵向传动带(308)外侧的张紧调节机构(700)，其中：
    所述张紧调节机构(700)包括贴合于所述第一纵向传动带(308)外侧布置的第一张紧轮(701)和第二张紧轮(703)，所述第一张紧轮(701)通过第一固定板(702)固定设置于所述支撑框架(100)内侧壁，所述第二张紧轮(703)通过调节板(704)活动设置于所述支撑框架(100)内侧壁。
  5. 根据权利要求4所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述调节板(704)上水平开设调节方孔(705)，并通过穿设于所述调节方孔(705)内的螺栓活动固定于所述支撑框架(100)内侧壁，且其一端通过调节螺母及螺栓与固定于所述支撑框架(100)内侧壁的第二固定板(706)可调节连接。
  6. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述斜拉换向及顶升机构(400)还包括：
    第二轴承座(404)，其设置于所述支撑框架(100)上，其顶端设置有轴承， 以支撑所述滚珠丝杆(403)；
    顶升螺母(408)，其固定套设于所述滚珠轴套(407)上，且其前后两侧壁分别与所述斜拉顶升轴(409)焊接连接。
  7. 根据权利要求6所述的十六轮四向穿梭车，其特征在于，所述斜拉换向及顶升机构(400)还包括：
    限位滑槽(412)，分别竖向设置于所述斜拉顶升滑块(402)的前后两侧壁；
    限位导柱(413)，其垂直设置于所述支撑框架(100)上，且与所述限位滑槽(412)滑块连接。
  8. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述顶升横板(401)通过其两端开设的导向滑槽(416)上下滑动连接所述支撑框架(100)四角位置的顶升导柱(103)。
  9. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述顶升斜孔(411)的倾斜角度为5-85°，且其垂直高度等于所述顶升轴孔(410)的垂直高度。
  10. 根据权利要求1所述的斜拉顶升换向式十六轮四向穿梭车，其特征在于，所述横向电机(208)通过十字减速器(210)分别传动连接所述第一横向传动带(207)和所述链条(406)。
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