WO2020062208A1

WO2020062208A1 - Four-way shuttle-type transportation robot

Info

Publication number: WO2020062208A1
Application number: PCT/CN2018/108953
Authority: WO
Inventors: 许庆波
Original assignee: 上海速锐信息技术有限公司
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-04-02
Also published as: JP7026247B2; JP2021514912A

Abstract

The present invention relates to a four-way shuttle-type transportation robot, comprising a base and locomotion wheels mounted on the base, the transportation robot comprising a movement drive apparatus, a hydraulic directional system, an operation system and a control system, the locomotion wheels comprising a first wheel set and a second wheel set, a first pathway and a second pathway being arranged at different heights and in different directions, at least one of the first wheel set and the second wheel set being configured as a lifting wheel set, the hydraulic directional system comprising a directional drive hydraulic cylinder set, a directional drive mechanism and a hydraulic pumping unit, the directional drive mechanism being connected to directional hydraulic cylinders in the directional drive hydraulic cylinder set, the hydraulic pumping unit providing the directional drive hydraulic cylinder set with power, the directional drive mechanism driving the lifting wheel set to move in the vertical direction according to a command of the control system. The four-way shuttle-type transportation robot has reduced weight and size and a modified structure, significantly increasing the efficiency of storing and retrieving items.

Description

Four-way shuttle-type conveying robot

Technical field

The invention relates to storage management and cargo handling equipment, and more particularly, to a four-way shuttle-type robot.

Background technique

In recent years, with the increase of land cost and labor cost, the concept of intensive storage has attracted more and more attention from logistics companies or e-commerce companies. Automated three-dimensional warehouses have become an indispensable warehousing technology for enterprise logistics and production management due to their high space utilization and strong warehousing capabilities. Their applications in the automotive, chemical, electronics, and tobacco industries have increased year by year. In the next few years, one of the technological development trends of the automated three-dimensional storage system is manifested in high speed, high efficiency, and high density.

However, there are very few handling robots for three-dimensional warehouses on the market. Some existing products have various problems. For example, the handling robots are too heavy, bulky, insufficiently flexible, running poorly, and cargo storage. Low efficiency, insufficient load capacity, insufficient stability, etc.

Handling robots commonly used in three-dimensional warehouses in the prior art include rail roadway stackers and son-mother car systems. The rail roadway stacker is a lifting and stacking device in an automated three-dimensional warehouse. The rail roadway stacker mainly includes a machine body, a loading platform, a horizontal walking mechanism, a lifting mechanism and a fork mechanism, which can be realized through three-axis coordinated movement. Storage of goods. Another commonly used son-mother car system includes a longitudinally-moving shuttle car and a transversely-moving shuttle mother car, and a vertical-moving elevator unit has become a son-mother car system with the shuttle car as its core.

There are many problems with the above two types of handling robots, which cannot meet the flexibility, high efficiency and large load capacity required by current dense storage systems. for example:

A trackway stacker requires a stacker track every 1 or 2 cargo lanes, which is a waste of warehouse space, and the stacker is more difficult to handle for heavy cargo.

The son-mother car system is composed of a shuttle mother car and a shuttle car, which is equivalent to two cars. Therefore, the height of the son-mother car system is relatively high. For a three-dimensional warehouse, the number of layers that can be built will decrease accordingly. The son and mother car system has a son car and a mother car, so the total weight is relatively large. The requirements for shelves are higher, the cost of the shelves is higher, and the son and mother cars want to go to different floors because of the weight. Difficult, it is more difficult to transport to different floors with the weight of the cargo itself. Poor running ability.

Summary of the Invention

In order to solve or alleviate the above problems in the prior art, the present disclosure proposes a traveling wheel and a track traveling system with the traveling wheel.

According to an aspect of the present invention, a four-way shuttle conveying robot is provided. The conveying robot includes a base and a walking wheel installed on the base. The conveying robot includes a driving device for walking, A hydraulic reversing system for changing the direction of travel, an operating system for storing and receiving goods, and a control system; wherein the traveling wheels include a first wheel set for traveling on a first aisle and for driving on a second aisle A second wheel set of which the first wheel set and the second wheel set are at different heights and are used for driving in different directions, and at least one of the first wheel set and the second wheel set is configured to serve as Up and down movable wheel set for reversing; the hydraulic reversing system includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station, the reversing driving mechanism and the reversing driving hydraulic cylinder The hydraulic cylinders in the group are connected, and the hydraulic pumping station provides power for the hydraulic cylinders for the commutation driving, and the commutation driving mechanism drives the liftable wheel assembly in a vertical direction according to an instruction of the control system. move.

In one embodiment of the handling robot according to the present invention, the reversing driving mechanism may be configured to drive each of the traveling wheels in the liftable wheel set to move synchronously in a vertical direction.

In another embodiment of the handling robot according to the present invention, the reversing driving mechanism may also be configured to drive each of the traveling wheels in the liftable wheel set to asynchronously move in a vertical direction.

When the reversing driving mechanism can be configured to drive each traveling wheel in the liftable wheel group to move synchronously in the vertical direction, the reversing driving mechanism may include a hydraulic cylinder in the reversing driving hydraulic cylinder group. A connecting block connected to the cylinder rod, and an axle bearing connected to the connecting block for supporting the liftable wheel set.

According to another aspect of the present invention, in one embodiment of the handling robot, the work system may include a pallet provided on the top of the handling robot for operating a cargo or a tray containing the cargo, and the work system further includes a An operation driving hydraulic cylinder group for driving the pallet to move in a vertical direction, the pallet is connected to a cylinder rod of a hydraulic cylinder in the operation driving hydraulic cylinder group and moves to a position as the cylinder rod moves. . Preferably, the hydraulic cylinders in the operation driving hydraulic cylinder group are connected in series and the respective hydraulic cylinders are configured to be the same.

Preferably, in one embodiment of the handling robot according to the present invention, the operation driving hydraulic cylinder may share a hydraulic power unit with the reversing driving hydraulic cylinder group.

According to another aspect of the present invention, in a handling robot, the first channel may be a main channel, the first group of wheels is a main channel wheel group; the second channel is a sub-channel, and the second wheel group Is a sub-channel wheel set, the main channel and the sub-channel are perpendicular to each other; the traveling driving mechanism includes a power motor and a speed reducer connected to the power motor, and the speed reducer includes two output shafts, and the two The output shafts output power in two vertical directions, and the output power in one direction rotates the main channel wheel shaft of the main channel wheel set through the transmission mechanism; the other direction output power rotates the sub-channel wheel shaft of the sub-channel wheel set through the transmission mechanism. Preferably, the power motor transmits power to the main channel wheel axle and the sub-channel wheel axle through the reducer and then the transmission device, and the driving wheels in the main channel wheel set are directly fixed on the main channel wheel axle, and the sub-channel shaft After obtaining the power, the sprocket chain mechanism is then used to drive the short shaft on which the sub-channel wheels are located, so that the driving wheels in the sub-channel wheels are rotated.

Further preferably, the main channel wheel axle may be configured to be movable between two positions in the vertical direction, and the position of the output shaft for driving the main channel wheel axle in the reducer is fixed and is located between the two main channel wheel axles. The midpoint of the position is above the horizontal position.

According to a preferred embodiment of the handling robot according to the present invention, the running driving mechanism includes a power motor that drives the walking wheels of the handling robot to walk. The power motor is provided with an encoder for recording the angular displacement of the rotation of the motor and the The encoder transmits the recorded angular displacement to the control system; the control system calculates the actual displacement traveled by the walking wheel through the conversion of the angular displacement, and positions the handling robot according to the actual displacement, thereby The moving robot is controlled to move to or stop at a predetermined position. Further preferably, the handling robot may further include a position calibration system including an interrogator arranged on the handling robot and a transponder arranged on the first channel and the second channel. The control system adjusts the position according to the position information fed back by the position calibration system.

By using the four-way shuttle handling robot according to the present disclosure, the beneficial effects obtained are at least: reducing the weight and volume of the robot, improving the structure, improving the running ability, improving the load capacity, and improving the flexibility of the shuttle car; And improve the efficiency of cargo access.

It should be understood that the foregoing general description and the subsequent detailed description are exemplary descriptions and explanations, and should not be used as a limitation on what is claimed in the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the accompanying drawings, further objects, functions and advantages of the present disclosure will be clarified by the following description of the embodiments of the present disclosure, wherein:

1 is a schematic diagram showing a use state of a four-way shuttle handling robot in a first passage and a second passage in a three-dimensional warehouse according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram showing another use state of a four-way shuttle robot in a warehouse according to an embodiment of the present disclosure; FIG.

FIG. 3 is a schematic top view of a travel driving device of a four-way shuttle robot according to an embodiment of the present disclosure; FIG.

4 is a schematic side view of a travel driving device in the four-way shuttle robot shown in FIG. 3;

5 shows a schematic diagram of a sub-channel wheel in the handling robot in FIG. 4;

6A and 6B are schematic diagrams of a main channel wheel of a handling robot, wherein FIG. 6A is a state where the main channel wheel is in a raised position, and FIG. 6B is a state where the main channel wheel is in a dropped position;

FIG. 7 is a schematic diagram of an arrangement manner of a commutation driving hydraulic cylinder group in the handling robot in FIG. 4; FIG.

FIG. 8 illustrates an embodiment of an arrangement of the valves in the reversing driving hydraulic cylinder group in FIG. 7; FIG.

9 illustrates a schematic diagram of a hydraulic reversing system in a four-way shuttle handling robot according to an embodiment of the present disclosure;

FIG. 10 shows a schematic diagram of a reversing mechanism in one embodiment of the handling robot shown in FIG. 4; FIG.

FIG. 11 is an enlarged schematic view of a partial structure in the reversing mechanism shown in FIG. 10; FIG. 12

FIG. 12 is a schematic diagram showing an arrangement of a main axle in a travel driving device in a four-way shuttle conveyance robot in a preferred embodiment according to the present disclosure.

detailed description

The objects and functions of the present disclosure and methods for achieving the objects and functions will be clarified by referring to the exemplary embodiments. However, the present disclosure is not limited to the exemplary embodiments disclosed below; it may be implemented in different forms. The essence of the description is merely to assist those skilled in the relevant art to comprehensively understand the specific details of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

In order to meet the requirements for a very high space utilization rate in a three-dimensional warehouse, high requirements for the efficiency of loading and unloading goods, and high loads for handling goods, the present disclosure proposes a four-way shuttle robot.

FIGS. 1 and 2 are schematic diagrams showing two states of use of a four-way shuttle handling robot (hereinafter referred to as “handling robot”) 100 in a three-dimensional warehouse according to an embodiment of the present disclosure. The handling robot runs on the shelf of the three-dimensional warehouse. The shelves are divided into the main and sub-aisles. The sub-aisles are used to store goods. The main robot and the sub-aisle can enter different sub-aisles through the main aisle. of. The handling robot according to the present disclosure can realize traveling on a rack aisle in a three-dimensional warehouse, reversing a main aisle and a sub aisle, picking and placing goods, and the like. It is shown in FIG. 2 that a handling robot according to the present disclosure can utilize a hoist 200 to reach different heights of cargo levels.

In the handling robot according to the present disclosure, a base and a traveling wheel mounted on the base are included. The handling robot includes a traveling driving device for walking, a hydraulic reversing system for changing the traveling direction, an operating system for storing and storing goods, and a control system. In the handling robot according to the present disclosure, after the above-mentioned travel drive, hydraulic reversing system, operation system, and control system have been improved by the inventor many times, the operation requirements in the three-dimensional warehouse are compared with the existing Different designs of technology.

Hydraulic reversing system

Hereinafter, a hydraulic reversing system in a four-way shuttle robot according to the present disclosure will be described in detail with reference to the accompanying drawings.

In the handling robot according to the present disclosure, the walking wheel includes a first wheel set for traveling on the first passage and a second wheel set for traveling on the second passage. The first and second aisles are usually arranged at different heights and different directions, as described above, so the first and second wheel sets are at different heights and are used to drive in different directions. At least one of the first wheel set and the second wheel set is configured as an up-and-down movable wheel set for reversing. For example, in the embodiment of the carrying robot shown in FIG. 3 to FIG. 12, the walking wheels in the first wheel group are main channel wheels 20 that can walk on the main channel (first channel), and the second channel is a sub-channel. The traveling wheel traveling on the second channel is a sub-channel wheel 30.

The hydraulic reversing system in the handling robot includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station. The first passage and the second passage in the three-dimensional warehouse are arranged in different directions.

For example, in the embodiment of the carrying robot shown in FIG. 3 to FIG. 8, the walking wheels in the first wheel group are main channel wheels 20 that can walk on the main channel (first channel), and the second channel is a sub-channel. The traveling wheel traveling on the second channel is a sub-channel wheel 30.

The hydraulic reversing system includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station.

The reversing driving mechanism is connected with the reversing hydraulic cylinder in the reversing driving hydraulic cylinder group. The hydraulic pump station provides power for the reversing driving hydraulic cylinder group 20, and the reversing driving mechanism drives the liftable wheel group to move in the vertical direction according to the instruction of the control system. In the handling robot shown in FIG. 3, the main aisle wheel set 20 is a liftable wheel set, and the hydraulic pump station may also be another suitable driving device.

In the handling robot according to the present disclosure, the reversing driving mechanism is configured to drive each of the traveling wheels in the liftable wheel set to move synchronously or asynchronously in the vertical direction.

Preferably, the reversing driving mechanism is configured to drive each of the traveling wheels in the liftable wheel group to move synchronously in the vertical direction, so that the conveying robot can smoothly complete the reversing. In addition, when the handling robot is on a track with a certain gradient, each of the walking wheels in the liftable wheel set is configured to be able to move asynchronously, which can eliminate the adverse effect of the track slope on the operation.

As shown in FIGS. 10 and 11, the reversing driving mechanism for driving the traveling wheel to move in the vertical direction includes a connecting block 6-1 connected to a cylinder rod of a hydraulic cylinder in the reversing driving hydraulic cylinder group, and This connecting block is connected to the axle bearing 6-2 for supporting the liftable wheel set. In the structure shown in FIG. 11, 6-3 is a liftable wheel set, and 6-4 is a loose nut.

Preferably, the hydraulic cylinders in the reversing driving hydraulic cylinder group are configured as follows: at least one hydraulic cylinder is configured for each axle of the liftable wheel group; each hydraulic cylinder in the reversing driving hydraulic cylinder group is configured identically and connected in series by pipeline Together.

In order to realize the lifting of the traveling wheels in the liftable wheel group, the cylinder bodies of the hydraulic cylinders in the reversing driving hydraulic cylinder group can be fixed, and the cavity of each hydraulic cylinder can be filled with liquid in advance.

As shown in FIG. 9, when the transport robot needs to switch the walking channel and the walking direction, the valves and pipelines in the reversing driving hydraulic cylinder group are configured as follows: when the cylinder rod is raised, the hydraulic oil at the hydraulic pump outlet is driven from The lower cavity of the first hydraulic cylinder enters, and the hydraulic oil in the upper cavity of the first hydraulic cylinder enters the lower cavity of the next hydraulic cylinder through the pipeline. The hydraulic oil in the upper cavity of the next hydraulic cylinder enters the next through the pipeline. The lower cavity of the hydraulic cylinder is filled with oil until the lower cavity of each hydraulic cylinder is filled, so that each cylinder rod is in a synchronous lifting process; when the cylinder rod is lowered, the hydraulic oil at the hydraulic pump outlet is from the first When the upper cavity of the hydraulic cylinder enters, the hydraulic oil in the lower cavity of the first hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline. The hydraulic oil in the lower cavity of the next hydraulic cylinder enters the next hydraulic cylinder through the pipeline. The upper cavity is filled with oil until the upper cavity of each hydraulic cylinder is filled, so that each cylinder rod is in a synchronous descending process.

When the handling robot is in the position of the first and second aisles and the control system of the handling robot issues a command to change the driving direction, the hydraulic reversing system performs the following operations:

Judging whether the liftable wheel set of the handling robot is in a falling state and is in contact with a driving passage,

If the liftable wheel set is in a dropped position and is in contact with an existing running aisle, the reversing drive mechanism drives each traveling wheel in the liftable wheel set to move up to a raised position in a vertical direction, so that the first wheel set And another wheel group in the second wheel group, which does not act as a liftable wheel group, contacts the new driving passage to complete the commutation.

In another driving state, if the liftable wheel set is in a raised position and is not in contact with the existing running aisle, the reversing drive mechanism drives each walking wheel in the liftable wheel set in a vertical direction. Move down to the drop position and make contact with the new driving aisle, so that the other wheels in the first and second wheels that are not acting as liftable wheels are out of contact with the existing driving aisle and complete the change. to.

Preferably, the first wheel set and the second wheel set are configured such that the running directions of the two wheels are perpendicular to each other. Of course, the walking directions of the wheel sets of the transport robot can be configured according to the actual situation of the track in the three-dimensional warehouse.

Preferably, the first passage and the second passage in the three-dimensional warehouse are arranged at different heights. With this arrangement, it is possible to keep the base of the transport robot fixed during the reversing of the transport robot, and it is not necessary to lift the base or cause vibration of the base during the ascent and descent of the lifting wheel set. Increased cargo stability.

For example, the reversing mode of the transport robot traveling from the X direction to the Y direction (the Y direction is reversed to the X direction) is as follows: the X-direction traveling wheels are retracted to the machine body and leave the track. The running wheels in the Y direction touch the ground and travel.

In the handling robot according to the present disclosure, when the first wheel set is a liftable wheel set, when the handling robot walks on the first passage, the first wheel set is located at a position contacting the first track after being lowered; when When walking on the second channel, the first wheel set is in a raised state.

Preferably, in a specific embodiment of a handling robot with a hydraulic reversing system according to the present disclosure, as in the handling robot shown in FIGS. 3 to 10, the first channel is a main channel and the first group of wheels is The main channel wheel group 20; the second channel is a sub channel, and the second wheel group is a sub channel wheel group 30, and the main channel and the sub channel are perpendicular to each other. The driving driving mechanism of the handling robot includes a power motor and a speed reducer connected to the power motor. The speed reducer includes two output shafts. The two output shafts output power in two vertical directions, and the output power in one direction makes the main channel through the transmission mechanism. The main channel wheel axle 40 of the wheel set 20 rotates; the output power in the other direction causes the sub-channel wheel axle 50 of the sub-channel wheel set 30 to rotate through the transmission mechanism.

The power motor transmits power to the main channel wheel axle 40 and the sub-channel wheel axle 50 through the reducer, and then through the transmission device. The driving wheels in the main channel wheel set are directly fixed to the main channel wheel axle. After the sub-channel wheel axle 50 receives power, it passes through The sprocket chain mechanism is transmitted to the short axis where the sub-channel wheel 30 is located, so that the driving wheels in the sub-channel wheel set are rotated.

Preferably, as shown in FIG. 12, the main channel wheel axle 40 is configured to be movable between two positions in the vertical direction, and the position of the output shaft in the reducer for driving the main channel wheel axle (the right side in the view) (Shown) is fixed and located at a position where the midpoint of the two positions of the main channel wheel shaft 40 is higher than the horizontal position.

In the following, an example of the handling robot 100 shown in FIG. 3 to FIG. 12 is used to further explain the handling robot described above.

As shown in the examples shown in FIG. 3 to FIG. 10, two power sources are provided, one of which is used to drive the handling robot, that is, the power motor 70. This power source may be a DC 48V servo motor, referred to as a travel motor. ; Another power source is used for the two functions of the transfer robot and the pallet lifting to realize the loading and unloading and switching of the driving direction of the main channel and the sub-channel. This power source is used for driving the hydraulic system and can be a DC 48V servo The motor may also be a hydraulic pumping station, or it may be simply a hydraulic motor.

FIG. 7 shows a hydraulic pump 80 as a power source of the hydraulic system, a reversing driving valve block group 81 for reversing driving, and a jacking driving slider group 82 for lifting, that is, the operating system.

The running motor is output in two vertical directions through a speed reducer, and the output power in one direction rotates the wheels in the direction of the main channel through the transmission mechanism. The output power in the other direction causes the wheels in the direction of the sub-channel to rotate through the transmission mechanism. By reversing the sub-aisle wheel or the main-aisle wheel on the shelf track, when the main-aisle wheel is on the track, the handling robot moves along the main aisle, and vice versa.

As shown in FIG. 4, the two shafts output by the running motor are respectively transmitted to the main channel shaft 40 and the sub channel shaft 50 through a sprocket chain mechanism, and the main channel wheel 20 is directly fixed on the main channel shaft. Therefore, the main channel When the shaft rotates, the main channel wheel rotates with it. After the sub-channel shaft obtains power, it can be transmitted to the short shaft where the sub-channel wheel is located through a sprocket chain mechanism, so that the sub-channel wheel 30 can rotate. Preferably, in order to avoid excessive chain sag in the sprocket set, resulting in poor meshing and vibration, a sprocket tensioning device may be provided in the sprocket set to ensure accurate meshing between the chain and the sprocket. For example, as shown in FIG. 4, there are 7 sprocket tensioning devices 55 in the sprocket set to ensure accurate meshing between the chain and the sprocket.

In the handling robot in this example, the hydraulic reversing system includes a hydraulic motor, a hydraulic pump, eight hydraulic cylinders, and hydraulic lines and other auxiliary components. The actuator of this hydraulic system is 8 hydraulic cylinders, divided into two groups, a group of 4 hydraulic cylinders, which can be reversed.

FIG. 7 shows a schematic diagram of an arrangement of the commutation driving hydraulic cylinder group in the handling robot in FIG. 4; FIG. 8 shows a layout of the valves in the commutation driving hydraulic cylinder group in FIG. 7. The examples.

FIG. 9 shows a schematic diagram of a hydraulic reversing system in a four-way shuttle handling robot according to one embodiment of the present disclosure. FIG. 9 is a hydraulic principle diagram of one group of hydraulic cylinders. By opening the corresponding solenoid valve 1.1, 1.7, 1.8, 1.9, 1.10 and 1.6, 1.2, 1.3, 1.4, 1.5 to make the hydraulic oil at the hydraulic pump outlet from the lower cavity of the first hydraulic cylinder, the first hydraulic cylinder The hydraulic oil in the upper cavity enters the lower cavity of the second hydraulic cylinder, the hydraulic oil in the upper cavity of the second hydraulic cylinder enters the lower cavity of the third hydraulic cylinder, and the hydraulic oil in the upper cavity of the third hydraulic cylinder enters the fourth hydraulic pressure. The lower chamber of the cylinder and the hydraulic oil in the upper chamber of the fourth hydraulic cylinder reach the oil inlet of the hydraulic pump, then the hydraulic cylinder rod is in a rising process, otherwise the hydraulic cylinder rod is in a descending process. Because the specifications of a group of hydraulic cylinders are the same, the volume of each cavity is the same. The incompressibility of hydraulic oil is used to keep the same volume of hydraulic pressure into each hydraulic cylinder to maintain synchronization.

The reversing of the sub-channel and the main channel can be achieved by lifting a group of 4 hydraulic cylinder rods, and the reversing of the 4 hydraulic cylinders is fixed. The lower end of the cylinder rod is connected with a connection block by screws, and the main channel shaft is matched with the connection block through bearings. When the cylinder rod drives the connection block to reciprocate up and down, the main channel axis also moves up and down. The main channel wheel and the sub channel wheel are alternately placed on the track to complete the commutation. The main channel and the sub channel are at different heights. The main channel track is lower than the sub channel. When the main channel moves axially, the main channel wheel fixed on the main channel axis leaves the track, and the sub-channel wheel is on the track. At this time, the handling robot is also on the sub-channel. When the main channel moves downward, the main channel wheel returns On the track, the sub-channel wheel leaves the track. When wheels in different directions are on the track, the handling robot moves in different directions.

working system

According to another aspect of the present disclosure, in the handling robot according to the present disclosure, the operating system includes: a pallet provided on the top of the handling robot for operating a cargo or a tray containing the cargo; The operation of the pallet moving in the vertical direction drives the hydraulic cylinder group. The supporting plate is connected with the cylinder rod of the hydraulic cylinder in the driving cylinder group and moves the position according to the movement of the cylinder rod.

The hydraulic cylinders in the operational drive cylinder group are connected in series and the individual hydraulic cylinders are configured to be the same.

Preferably, the operation driving hydraulic cylinder shares a hydraulic power unit with the above-mentioned reversing driving hydraulic cylinder group.

In the handling robot in this example, the hydraulic reversing system includes a hydraulic motor, a hydraulic pump, eight hydraulic cylinders, and hydraulic lines and other auxiliary components. The actuator of this hydraulic system is 8 hydraulic cylinders, which are divided into two groups. One group of 4 hydraulic cylinders is used for direction change, and the other group of hydraulic cylinders is used for operating system.

In the hydraulic cylinder group in the operating system, under the program control of the control system, the corresponding solenoid valve is opened, so that a group of 4 hydraulic cylinder rods are raised or lowered simultaneously. Two pallets can be set, and each two hydraulic cylinder rods are connected to a pallet. The pallets are raised and lowered with the lifting and lowering of the cylinder rods, and the pallets can lift or lower the pallets for storing goods, thereby achieving the purpose of storing and receiving goods.

Referring to FIG. 9, similar to the operation in the aforementioned hydraulic reversing system, by opening the corresponding solenoid valve, the hydraulic oil at the hydraulic pump outlet is entered from the lower cavity of the first hydraulic cylinder, then the first hydraulic cylinder The hydraulic oil in the upper cavity enters the lower cavity of the second hydraulic cylinder, the hydraulic oil in the upper cavity of the second hydraulic cylinder enters the lower cavity of the third hydraulic cylinder, and the hydraulic oil in the upper cavity of the third hydraulic cylinder enters the fourth hydraulic pressure. The lower chamber of the cylinder and the hydraulic oil in the upper chamber of the fourth hydraulic cylinder reach the oil inlet of the hydraulic pump, then the hydraulic cylinder rod is in a rising process, otherwise the hydraulic cylinder rod is in a descending process. Because the specifications of a group of hydraulic cylinders are the same, the volume of each cavity is the same. The incompressibility of hydraulic oil is used to keep the same volume of hydraulic pressure into each hydraulic cylinder to maintain synchronization.

Control System

In the four-way shuttle handling robot according to the present disclosure, a control system is also included. The control system includes a module for controlling the hydraulic reversing system and the operating system as described above, and can also realize the Positioning and position correction.

As described above, the travel driving mechanism of the transfer robot includes a power motor that drives the walking wheels of the transfer robot to travel.

The power motor is further provided with an encoder for recording the angular displacement of the motor rotation, and the encoder transmits the recorded angular displacement to the control system.

The control system calculates the actual displacement amount traveled by the walking wheel through the conversion of the angular displacement amount, and positions the transfer robot according to the actual displacement amount, thereby controlling the transfer robot to move to or stop at a predetermined position.

According to another aspect of the present disclosure, a position calibration system for a four-way shuttle handling robot is also provided. The position calibration system may include an inquiry machine arranged on the handling robot and the first passageway. And the answering machine on the second channel. The control system of the handling robot adjusts the position according to the position information fed back by the position calibration system.

Preferably, the interrogator may be a laser sensor capable of outputting a signal and reading a return signal; the transponder is a positioning card preset with position information.

In the handling robot in the present disclosure, the power motor may be a motor, or any other suitable motor capable of outputting power according to a control instruction.

The four-way shuttle robot in the present disclosure adopts a hydraulic driving method to perform work operations and reversing. Capable of withstanding large loads and speeding up commutation. In addition, the four-way shuttle in the present disclosure is that the handling robot can use a hydraulic system to complete the pallet lifting and reversing functions, without the need to arrange other complicated mechanical structures, so that the overall volume and weight of the shuttle truck are greatly reduced.

With reference to the description and practice of the present disclosure disclosed herein, other embodiments of the present disclosure are easily conceivable and understood by those skilled in the art. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being defined by the claims.

Claims

A four-way shuttle conveying robot, the conveying robot includes a base and a walking wheel mounted on the base, characterized in that the conveying robot includes a driving drive device for walking and a driving direction for changing Hydraulic reversing system, operation system for accessing cargo and control system;

Wherein the walking wheels include a first wheel group for walking on the first channel and a second wheel group for driving on the second channel, the first wheel group and the second wheel group are at different heights and For driving in different directions, at least one of the first wheel set and the second wheel set is configured as a vertically movable wheel set capable of changing directions;

The hydraulic reversing system includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station. The reversing driving mechanism is connected to a reversing hydraulic cylinder in the reversing driving hydraulic cylinder group. The hydraulic pump The station provides power for a reversing driving hydraulic cylinder group, and the reversing driving mechanism drives the liftable wheel group to move in a vertical direction according to an instruction of the control system.
The carrying robot according to claim 1, wherein the reversing driving mechanism is configured to drive each of the traveling wheels in the liftable wheel set to move synchronously in a vertical direction.
The handling robot according to claim 1, wherein the reversing driving mechanism is configured to drive each of the traveling wheels in the liftable wheel set to move asynchronously in a vertical direction.
The handling robot according to claim 2, wherein the reversing driving mechanism comprises a connecting block connected to a cylinder rod of a hydraulic cylinder in the reversing driving hydraulic cylinder group, and a connecting block connected to the connecting block. An axle bearing for supporting the liftable wheel set.
The handling robot according to claim 4, characterized in that the hydraulic cylinders in the reversing driving hydraulic cylinder group are configured: at least one hydraulic cylinder is configured for each axle of the liftable wheel group; the reversing The individual hydraulic cylinders in the drive hydraulic cylinder group are configured identically and are connected in series by piping.
The handling robot according to claim 5, wherein a cylinder block of each hydraulic cylinder in the reversing driving hydraulic cylinder group is fixed, and each cavity of each hydraulic cylinder is filled with a liquid in advance, and the changing The valves and lines in the drive cylinders are configured as:

When the cylinder rod rises, the hydraulic oil at the hydraulic pump outlet enters from the lower cavity of the first hydraulic cylinder, and the hydraulic oil from the upper cavity of the first hydraulic cylinder enters the lower cavity of the next hydraulic cylinder through the pipeline. The hydraulic oil in the upper cavity of one hydraulic cylinder enters into the lower cavity of the next hydraulic cylinder through the pipeline until the lower cavity of each hydraulic cylinder is filled with oil, so that each cylinder rod is in a synchronous lifting process;

When the cylinder rod is lowered, the hydraulic oil at the hydraulic pump oil outlet enters from the upper cavity of the first hydraulic cylinder, and then the hydraulic oil from the lower cavity of the first hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline. The hydraulic oil in the lower cavity of one hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline until the upper cavity of each hydraulic cylinder is filled with oil, so that each cylinder rod is in a synchronous descending process.
The handling robot according to any one of claims 1 to 6, characterized in that when the handling robot is in a position having both a first passage and a second passage, and the control system of the handling robot issues an instruction to change the traveling direction The hydraulic reversing system performs the following operations:

Judging whether the liftable wheel set of the handling robot is in a falling state and is in contact with a driving passage,

If the liftable wheel set is in a dropped position and is in contact with an existing travelling aisle, the reversing drive mechanism drives each traveling wheel in the liftable wheel set to move upward in a vertical direction to a raised position , So that the other wheel group of the first wheel group and the second wheel group that does not act as a liftable wheel group is brought into contact with the new driving passage to complete the commutation;

If the liftable wheel set is in a raised position and is not in contact with an existing running passage, the reversing drive mechanism drives each of the traveling wheels in the liftable set to move downward in a vertical direction. Go to the drop position and make contact with the new driving aisle, so that the other wheel set in the first and second wheel sets that is not acting as a liftable wheel set is out of contact with the existing driving aisle, and the replacement is completed. to.
The handling robot according to claim 7, wherein the first wheel set and the second wheel set are arranged so that their running directions are perpendicular to each other.
The handling robot according to claim 1, wherein the work system includes a pallet provided on the top of the handling robot for operating a cargo or a pallet,

The operating system further includes an operation driving hydraulic cylinder group for driving the pallet to move in a vertical direction,

The pallet is connected to a cylinder rod of a hydraulic cylinder in the operation-driving hydraulic cylinder group and moves a position as the cylinder rod moves.
The handling robot according to claim 9, wherein the hydraulic cylinders in the operation driving hydraulic cylinder group are connected in series and each hydraulic cylinder is configured to be the same.
The handling robot according to claim 10, wherein the operation driving hydraulic cylinder and the reversing driving hydraulic cylinder group share a hydraulic power unit.
The handling robot according to claim 1, wherein the first channel is a main channel, the first group of wheels is a main channel wheel group; the second channel is a sub-channel, and the second wheel group A sub-channel wheel set, the main channel and the sub-channel are perpendicular to each other;

The driving mechanism includes a power motor and a speed reducer connected to the power motor. The speed reducer includes two output shafts. The two output shafts output power in two vertical directions, and the output power in one direction is transmitted by the transmission mechanism. The main channel wheel shaft of the main channel wheel set rotates;

The output power in the other direction causes the sub-channel wheel shaft of the sub-channel wheel set to rotate through the transmission mechanism.
The handling robot according to claim 12, wherein the driving wheels in the main channel wheel set are directly fixed on the main channel wheel shaft, and after the sub channel shaft obtains power, it is transmitted to the sub channel through a sprocket chain mechanism. On the short axis where the channel wheel is located, the driving wheels in the sub-channel wheel set are rotated.
The handling robot according to claim 13, wherein the main channel wheel shaft is configured to be movable between two positions in a vertical direction, and the speed reducer for driving the main channel wheel shaft The position of the output shaft is fixed and is at a position that is higher than the horizontal position at the midpoint of the two positions of the main channel wheel shaft.
The handling robot according to claim 1, wherein the traveling driving mechanism includes a power motor that drives the walking wheels of the handling robot to walk,

The power motor is provided with an encoder for recording the angular displacement of the motor rotation, and the encoder transmits the recorded angular displacement to the control system;

The control system calculates the actual displacement amount traveled by the walking wheel through the conversion of the angular displacement amount, and positions the handling robot according to the actual displacement amount, thereby controlling the handling robot to move to or stop at a predetermined position.
The handling robot according to claim 15, characterized in that the handling robot further comprises a position calibration system, the position calibration system comprising an interrogator arranged on the handling robot and a first passage and For the answering machine on the second channel, the control system adjusts the position according to the position information fed back by the position calibration system.
The handling robot according to claim 16, wherein the interrogator is a laser sensor capable of outputting signals and reading a return signal; and the transponder is a positioning card preset with position information.
The handling robot according to any one of claims 15 to 17, wherein the power motor is a motor.