CN108163483B - End space rotary motion system - Google Patents

Abstract

The invention provides an end space rotary motion system, which comprises two sets of rotary motion devices and a driving mechanism, wherein the two sets of rotary motion devices and the driving mechanism are arranged in a mirror symmetry mode, each set of rotary motion device comprises a mounting frame, a rotary track, a transmission mechanism and a pair of pulley devices, and the rotary track is provided with a roller channel consisting of a splicing channel, a release channel and a channel changing channel; the transmission mechanism comprises a pair of shifting forks with shifting fork sliding grooves; the trolley device has a trolley seat, a lane-changing roller, a rack-and-pinion drive and a latch driven by the rack-and-pinion drive, which latch is moved from an inwardly retracted release position to an outwardly projecting insertion position or from the outwardly projecting insertion position to an inwardly retracted release position when the lane-changing roller is moved from the release channel to the insertion channel or from the insertion channel to the release channel via the lane-changing channel, thereby inserting or releasing a cargo box to be transported. The invention has higher turnover efficiency in a narrow space.

Description

End space rotary motion system

Technical Field

The invention relates to the technical field of rails, in particular to an end space rotary motion system for converting linear motion into end rotary motion.

Background

Currently, power rollers are typically mounted in tracks in rail wagons to convert the linear motion of the article into circular motion and change the direction of motion of the article by 180 °. However, this revolution technique using a power drum has the following drawbacks: 1) The installation space is large, and the installation space is not suitable for the interior of a railway locomotive carriage; 2) The number of motors required is large, the cost is high, and the reliability is low.

Disclosure of Invention

For this purpose, it would be advantageous to provide an end space rotary motion system that converts a turn-around box from linear motion to circular motion in a small space and changes the direction of the linear motion of the driven turn-around box by 180 °.

To achieve the above object, the present invention provides an end space slewing motion system comprising:

two sets of return motion devices, the mirror symmetry is arranged about this two sets of return motion devices, and every set of return motion device includes:

a mounting frame fixedly mounted in the end space;

the rotary rail is arranged on the mounting frame, the rotary rail is provided with straight-line section rails which are positioned on two sides in parallel, an outer end arc-shaped section rail and an inner end arc-shaped section rail which are respectively positioned on two ends, an inserting groove is arranged on the outer end arc-shaped section rail, a release groove is arranged on the inner end arc-shaped section rail, a lane changing groove is arranged on the straight-line section rail, lane changing grooves on the straight-line section rails on two sides are arranged in a left-right mirror symmetry manner, wherein the inserting groove and the release groove are arranged on the straight-line section rail in an extending manner and are respectively communicated with the lane changing grooves on the straight-line section rails on two sides, and the inserting groove, the release groove and the lane changing grooves form roller grooves;

a transmission mechanism which is arranged on the installation frame, the transmission mechanism comprises a driving wheel driven wheel and a pair of forks fixed on the driven wheel and having fork slide grooves;

a pair of pulley devices, each pulley device is provided with a pulley seat, a rail guide roller, a driving guide roller and an automatic splicing mechanism, wherein the rail guide rollers are arranged in pairs and are used for being slidably clamped on a revolving rail, the driving guide rollers are slidably arranged in a shifting fork sliding groove of a corresponding shifting fork so as to drive the pulley devices to move along the revolving rail under the driving of the shifting fork, the automatic plugging mechanism is provided with a lane changing roller, a gear rack transmission structure and a plug pin, wherein the lane changing roller is slidably arranged on the roller channel, the gear rack transmission structure is connected with the lane changing roller in a transmission way, and the plug pin is driven by the gear rack transmission structure, and when the lane changing roller moves from the release channel to the plugging channel or from the plugging channel to the release channel through the lane changing channel, the plug pin moves from an inward retracted release position to an outward extended plugging position or from an outward extended plugging position to an inward retracted release position;

the driving mechanism comprises a servo motor and a driving shaft driven by the servo motor, wherein the upper end and the lower end of the driving shaft are respectively connected with driving wheels of two sets of back motion devices in a driving mode to drive the transmission mechanism to rotate.

In the invention, the rotary track comprises two straight-line section tracks and two arc section tracks, and the rotary track is provided with a roller channel consisting of an inserting channel, a releasing channel and a channel changing channel, and the channel changing roller can drive the bolt to switch between an inserting position and a releasing position when sliding along the roller channel, so that the bolt arranged on a pulley device sliding along the rotary track can be matched with an inserting hole on a container moving along a straight line, the container is driven to move along the track of the rotary track from the straight line to realize the change of the moving direction of the container and the acceleration function (the servo motor is driven to realize the interference with a rear container); when the bolt drives the container to move from the straight-line section track to the far-end of the arc section track along the longitudinal axis of the rotary track, the pulley device accelerates, and when the bolt drives the container to move from the arc section track to the straight-line section track on the other side, the pulley device starts to decelerate under the drive of the servo motor until the speed is the same as and opposite to that of the container when the container moves linearly, so that the movement of the container is changed into reverse movement; since a pair of pulley means is provided in each of the rotary motion devices, therefore, when a first container is decelerated on the straight track on the other side by the latch of one of the trolley means in preparation for releasing the container, the latch on the other (i.e. opposite) carrier device can be just matched with the jack of the next container to enter the rotary motion track, the operation efficiency of the container is greatly improved; because the whole rotary motion system comprises an upper set of rotary motion device and a lower set of rotary motion device, a container can be matched with a bolt above the container body and a bolt below the container body at the same time, and the operation process is quite stable; moreover, through the structure, the pulley device on the rotary motion device can move along the forward and reverse directions of the rotary track under the action of the servo motor of the driving mechanism.

Further, two roller fixing plates are pivotally mounted on the saddle, the two roller fixing plates being connected together at outer ends thereof via tension springs, and a pair of rail guide rollers are mounted on each roller fixing plate.

In view of the fact that the rail is usually formed by stretch bending of an aluminum profile, dimensional change can be generated at the radian, therefore, the two roller fixing plates are connected together through the tension springs, and the center distance of the two rail guide rollers on each roller fixing plate along the section of the rail profile can be adjusted through the tension of the tension springs, so that the rail guide rollers are always matched with the rail, and are in a state of clamping the rail.

Still further, each of the pulley devices has two automatic plugging mechanisms, each of the automatic plugging mechanisms includes a frame located on the pulley seat, the rack-and-pinion transmission structure includes a driving rack slidably mounted on the frame, a gear rotatably mounted on the frame and engaged with the driving rack, and a driven rack formed on one end of the latch in an axial direction and engaged with the gear, wherein the latch is vertically mounted with the driving rack and arranged to be vertically movable relative to the pulley seat between a plugging position and a releasing position, and a lane-changing roller is fixed on one end of the driving rack, so that when the lane-changing roller is moved via the lane-changing groove, the lane-changing roller drives the driving rack, and thus the gear and the driven rack, to move, finally, the latch is moved up and down.

Still further, above-mentioned frame and coaster seat integrated into one piece to be provided with the rack spout that supplies the drive rack to slide along it on the frame.

Still further, the driving rack comprises a rack body, a sliding part which is positioned at one side of the rack body and is suitable for sliding in the rack sliding groove, and a gear meshing part which is positioned at the other side of the rack body, and the lane changing roller is arranged at one end of the rack body.

Still further, the other end of the latch is configured as a mating end for mating into a receptacle provided on a cargo box requiring a pivoting motion within the end space.

Still further, be provided with the through-hole on the above-mentioned saddle, the bolt passes this through-hole setting, still is provided with the stopper on the one end of bolt to prevent that the bolt from following this through-hole in grafting position and coming off.

Further, the transmission mechanism is a synchronous pulley transmission mechanism, the driving wheel is a small synchronous pulley, the driven wheel is a large synchronous pulley, and the transmission mechanism further comprises the synchronous pulley and a tensioning wheel.

Still further, the large synchronous pulley has a stator and a rotor, the stator is fixedly mounted on the mounting frame, the rotor and the driving wheel are in transmission connection through a synchronous belt, and a pair of shifting forks are radially and symmetrically fixed on the rotor.

Further, the transmission mechanism is a gear transmission mechanism, the driving wheel is a pinion, and the driven wheel is a bull gear.

These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

Drawings

The structure of the invention, as well as further objects and advantages thereof, will be better understood by reference to the following description taken in conjunction with the accompanying drawings in which like reference numerals identify like elements:

FIG. 1 is a schematic perspective view of an end space rotary motion system according to one embodiment of the present invention;

FIG. 2 is a schematic perspective view of a set of return motion devices disposed thereon in the end space rotary motion system of FIG. 1;

FIG. 3 is a perspective view of the sled assembly of the rotary motion device of FIG. 2;

FIG. 4 is a view similar to FIG. 3 with the housing of one of the automatic plugging mechanisms removed for clarity of illustration of the internal structure of the automatic plugging mechanism of the sled apparatus;

FIG. 5 is a view of the use of the sled apparatus of FIG. 3 showing two lane-changing rollers of the automatic grafting mechanism positioned one in the release channel of the swing track (i.e., in the pre-lane-changing release position) and the other in the grafting channel of the swing track (i.e., in the post-lane-changing grafting position);

FIG. 6 is a left side view of FIG. 1, clearly showing two pins of the automatic plugging mechanism in one plugging position and the other in a release position;

fig. 7 is a front end view of fig. 5, clearly showing the engagement of the track guide roller with the side boss of the swing track and the engagement of the lane-changing roller with the lane-changing groove on the swing track.

Reference numerals illustrate:

1. driving mechanism of rotary motion device 3

10. Side of saddle 11

13. Another side 19 through hole

20. Roller fixing plate 30 tension spring

40. Automatic inserting mechanism for rail guide roller 50

51. Rack 53 drives rack

52. Rack body of rack chute 530

532. Sliding portion 534 gear engagement portion

55. Lane changing roller 57 gear

58. Driven rack 59 bolt

595. Linear bearing with limiting block 597

60. Driving guide roller

100. Mounting frame 200 swivel rail

201. Straight-line segment track of boss 202

203. Inner end arc section track 204 release channel

205. Variable channel 206 plug-in channel

207. Transmission mechanism for outer end arc section track 300

301. Servo motor 302 drive shaft

303. Driving wheel 305 driven wheel

307. Synchronous belt 309 tensioning wheel

310. Shifting fork 311 shifting fork sliding groove

400. Pulley device

Detailed Description

Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1, the end space rotary motion system according to one embodiment of the present invention includes two sets of rotary motion devices 1 and a driving mechanism 3, wherein the two sets of rotary motion devices 1 are arranged in mirror symmetry up and down, and the driving mechanism 3 includes a servo motor 301 and a driving shaft 302 driven by the servo motor 301.

As shown in fig. 2, each set of the return movement devices 1 includes a mounting frame 100, a swing rail 200, a transmission mechanism 300, and a pair of pulley devices 400. The mounting frame 100 is fixedly mounted in an end space, which in this embodiment may be a space at both ends of the track box; the rotary rail 200 is arranged on the mounting frame 100, and is provided with straight-line section rails 202 which are arranged on two sides in parallel, an outer end arc-shaped section rail 207 and an inner end arc-shaped section rail 203 which are respectively arranged on two ends of the straight-line section rails 202, an inserting groove 206 is arranged on the outer end arc-shaped section rail 207, a release groove 204 is arranged on the inner end arc-shaped section rail 203, a variable channel 205 is arranged on the straight-line section rails 202, wherein the inserting groove 206 and the release groove 204 are arranged on the straight-line section rails 202 in an extending manner and are respectively communicated with the variable channel 205 of the straight-line section rails 202 on two sides, and the inserting groove 206, the release groove 204 and the variable channel 205 form a roller channel; the transmission mechanism 300 is mounted on the mounting frame 100 and is configured as a synchronous pulley transmission mechanism including a driving pulley 303, a driven pulley 305, and a pair of forks 310 fixed to the driven pulley 305 and each having a fork chute 311. The two lane-change grooves 205 on the two-sided straight-line section track 202 are arranged in a left-right mirror symmetry.

As further shown in fig. 2, the transmission mechanism 300 is a synchronous pulley transmission mechanism, wherein the driving pulley 303 is a small synchronous pulley, the driven pulley 305 is a large synchronous pulley, and the transmission mechanism 300 may further include a tensioning pulley 309. Further, the large synchronous pulley, i.e., the driven pulley 305 has a stator and a rotor, the stator is fixedly mounted on the mounting frame 100, the rotor and the small synchronous pulley, i.e., the driven pulley 305 are in driving connection through the synchronous belt 307, and two shift forks 310 are radially symmetrically fixed on the rotor. It should be understood that the transmission mechanism 300 may also be a gear transmission mechanism, in which a pinion constitutes a driving wheel, a bull gear engaged with the pinion constitutes a driven wheel, and a fork is mounted on the bull gear.

As shown in fig. 3 and 4, the pulley device 400 has a pulley seat 10, two roller fixing plates 20 are pivotally mounted on the pulley seat 10, the two roller fixing plates 20 are connected together at outer ends via a tension spring 30, and a pair of rail guide rollers 40 are mounted on each roller fixing plate 20; the saddle 10 is further provided with two automatic plugging mechanisms 50, each automatic plugging mechanism 50 comprises a frame 51, a driving rack 53 slidably arranged on the frame 51, a lane changing roller 55 fixed on one end of the driving rack 53, a gear 57 rotatably arranged on the frame 51 and meshed with the driving rack 53 for transmission, and a latch 59 provided with a driven rack 58 meshed with the gear 57 for transmission. The driving rack 53, the gear 57, and the driven rack 58 form a rack-and-pinion transmission structure, and therefore, the lane changing roller 55 can drive the rack-and-pinion transmission structure when driven by the transmission mechanism 300, and the rack-and-pinion transmission structure drives the latch 59.

As shown in fig. 4 and referring to fig. 5 and 6, the latch 59 is mounted perpendicular to the drive rack 53 and is arranged to be movable vertically relative to the saddle 10 between an outwardly projecting, latched position (see the upper latch position in fig. 6) and an inwardly retracted, released position (see the lower latch position in fig. 6), and the track roller 55 is arranged to be movable along a roller channel on the swing track 200 and to be track-changing upon encountering a track-changing channel 205 of the roller channel to thereby drive the rack and pinion transmission mechanism, i.e. drive rack 53 and thus gear 57 and follower rack 58, upon track-changing movement of the track roller 55 such that the latch 59 is switched between the latched position and the released position. Specifically, when lane-changing roller 55 moves from release channel 204 to mating channel 206 or from mating channel 206 to release channel 204 via lane-changing channel 205, latch 59 moves from the inwardly retracted release position to the outwardly extended mating position or from the outwardly extended mating position to the inwardly retracted release position;

as shown in fig. 7, the rail guide roller 40 is a polyurethane concave wheel, and the swing rail 200 is provided with a boss 201 on a side surface, and the polyurethane concave wheel is slidably connected with the boss 201. Further, a boss 201 for sandwiching the swing rail is provided on the rail guide roller 40 with a rolling bearing (not shown).

As shown in fig. 3 and 4, the frame 51 is integrally formed with the pulley base 10, and a rack chute 52 along which a driving rack 53 slides is provided on the frame 51. The driving rack 53 includes a rack body 530, a sliding portion 532 located at one side of the rack body 530 and adapted to slide along the rack chute 52, and a gear engaging portion 534 located at the other side of the rack body 530 and engaged with the gear 57, and the lane change roller 55 is mounted on one end of the rack body 530. The latch 59 includes a rack end axially formed with the driven rack 58 and a mating end adapted to mate with a receptacle in the swing track 200 for an article to be transported, such as a container (not shown). As shown in fig. 4, the saddle 10 is provided with a through hole 19, the latch 59 is disposed through the through hole 19, and a stopper 595 is disposed on the latch 59 to prevent the latch 59 from falling off the through hole 19 at the plugging position, and the stopper 59 is disposed on the rack end of the latch 59 and is not interfered with the driven rack 58 at different positions. In addition, the two automatic plugging mechanisms 50 are respectively located at the outer sides of the two roller fixing plates 20, that is, the two roller fixing plates 20 are located at the inner sides of the saddle 10, and the two automatic plugging mechanisms 50 are respectively located at two sides, so that the object to be transported can be firmly plugged and combined by the automatic plugging mechanisms 50 to complete the transportation.

As shown in fig. 7, and referring to fig. 1, 3 and 4, the pulley device 400 further includes a driving guide roller 60 mounted on one side 11 of the saddle 10, and the roller fixing plate 20 and the automatic insertion mechanism 50 are located on the other side 13 of the saddle 10, the driving guide roller 60 being adapted to be slidably coupled with a fork chute 311 on a fork 310 of a transmission mechanism 300 for driving the pulley device 400, and to be linearly reciprocated along the fork chute 311, so that the pulley device 400 can be driven to travel along the swing rail 200. The drive guide roller 60 and the lane change roller 55 are polyurethane wheels which enhance the service life of these rollers.

In addition, as shown in fig. 7, in the present embodiment, the automatic plugging mechanism 50 further includes a linear bearing 597 mounted on the saddle 10, and the plug 59 is installed through the linear bearing 597 and is in clearance fit with the linear bearing 597 so that the plug can reciprocate up and down in the linear bearing 597.

It should be understood that, with the above-described configuration of the present embodiment, the pulley device 400 on the upper and lower sets of the back motion devices 1 can move in the forward and reverse directions along the rotation track 200 under the action of the servo motor 301 of the driving mechanism 3, for example: it is possible to change whether the moving direction of the pulley means 400 moves clockwise along the swing rail 200 or counterclockwise along the swing rail 200 by changing the rotating direction of the servo motor 301. The servo motor 301 can rotate along one direction all the time, so that the pulley devices 400 move along one direction all the time on the revolving track 200, and the two pulley devices 400 on each set of the back-moving device 1 transfer containers in turn; the servo motor 301 may also be arranged to rotate forward and backward for a while, so that the trolley 400 also moves clockwise for a while on the swing rail 200 and counterclockwise for a while, so that one trolley 400 on each set of return motion devices 1 follows the outer arc-shaped section rail 207 from the straight section rail 202 on one side to turn the container over the straight section rail 202 on the other side.

The operation of the entire end space rotary motion system is described below with reference to fig. 1 to 7:

the driving mechanism 3 is started, the servo motor 301 drives the driving shaft 302 to operate, the driving shaft 302 drives the driving wheel 303 of the transmission mechanism 300 to rotate, the synchronous belt 307 is driven to further drive the driven wheel 305 to rotate, the shifting fork 310 rotates along with the driven wheel 305, and the shifting fork sliding groove 311 on the shifting fork 310 is in sliding engagement with the driving guide roller 60 on the pulley device 400, so that the driving guide roller 60 is driven to further drive the whole pulley device 400 to move along the rotary track 200 when the shifting fork 310 rotates.

When the trolley 400 slides from the inner arcuate segment rail 203 of the swing rail 200 to the side linear segment rail 202, the cargo box in the rail wagon is transported along a linear motion system (not shown) in the wagon, and when the lane-changing rollers 55 on the trolley 400 begin to enter the lane-changing grooves 205 from the release channels 204 on the linear segment rail 202, the pins 59 on the trolley 400 are aligned with the receptacles on the cargo box transported along the line, and as the lane-changing rollers 55 move along the lane-changing grooves 205, the pins 59 continue to extend outwardly into the receptacles of the cargo box. The lane-changing roller 55 then enters the mating channel 206 from the lane-changing channel 205, and then enters the outer arcuate segment 207 from the straight segment 202, the container is moved from the straight track 202 to the outer arcuate track 207 by engagement of the pins 59 on corresponding trolley means 400 on the upper and lower rotary motion means with the receptacles on the container. The lane-change roller 55 then enters the straight section 202 on the other side of the swing rail 200 and then passes from the insertion slot 206 through the lane-change slot 205 on the straight section 202 into the release slot 204 where the latch 59 retracts inward into the release position out of engagement with the receptacle on the cargo box which may be turned 180 degrees into the other side of the truck's carriage's linear motion system. The goods loading/unloading doors are arranged on the two sides of the goods loading/unloading carriage, so that the goods box in the goods loading carriage can be conveniently circulated.

Since the pulley devices 400 are arranged in pairs in the rotary motion device, when two bolts 59 of one pulley device 400 enter a matching state with the jack of the container and drive the container to move, namely, the two bolts 59 of the pulley device 400 enter a plugging position; at the same time, the latch 59 on the other carriage device 400 on the other side of the swing rail 200 is brought into a disengaged condition with the receptacle of the other container, i.e., the latch 59 of the other carriage device 400 is in its released position. In this way, the end space rotary motion system can drive the two containers to run simultaneously, the working efficiency is improved.

In particular to the pulley device 400, when the pulley device slides on the straight-line section track 202 and is about to enter the lane-changing groove 205 from the release channel 204, the lane-changing roller 55 of one of the automatic plugging mechanisms 50 on the pulley device 400 enters the lane-changing groove 205 from the release channel 204, as shown in fig. 5, under the limitation of the lane-changing groove 205, the limited lane-changing roller 55 drives the driving rack 53 to start sliding outwards (left side in fig. 5), so as to drive the gear 57 to rotate anticlockwise, and further drive the driven rack 58 on the plug 59 to extend outwards (vertically downwards in fig. 4), and when the lane-changing roller 55 enters the plugging channel 206 from the lane-changing groove 205, the upper plug 59 in fig. 6 enters its plugging position, in which the plug 59 is in plugging engagement with the jack on the container; next, as the trolley device 400 continues to travel on the swivel rail 200, the lane-changing roller 55 of the other automatic plugging mechanism 50 on the trolley device 400 also enters the lane-changing groove 205 from the release groove 204 and thus the plugging groove 206, so that the plug 59 thereon also enters the plugging position from the release position, which is shown in fig. 6 in the release position which has not yet entered the plugging position. When both pins 59 on the carriage assembly 400 are in the engaged position, they drive the container along the swing track and further forward until it enters the lane change groove 205 on the other side straight track 202. On the side straight track 202, the two latches are successively disengaged from mating engagement with receptacles on the container and successively brought into the release position. The operation of the pulley means 400 is thus cycled.

In addition, it should be noted that, when the pulley device 400 travels along the two arc-shaped sections of the revolving track 200, the tension spring 30 is connected to the outer ends of the two roller fixing plates 20, so that the distance between the pair of track guide rollers 40 on each roller fixing plate 20 can be effectively ensured, and the track guide rollers 40 are prevented from being too far away from or approaching to each other, thereby ensuring the clamping force of the track guide rollers 40 on the revolving track 200. In addition, the two roller fixing plates 20, that is, the two rows of rail guide rollers 40 are provided, so that the running of the pulley device 400 along the revolving rail 200 can be effectively ensured, and the occurrence of derailment and the like can be avoided. In addition, the two automatic plugging mechanisms 50 are provided in the present embodiment to ensure a more stable plugging engagement with the case. It should be understood that it is also possible to provide only one roller fixing plate plus two rail guide rollers thereon, while ensuring that the transfer case can be docked, although the automatic docking mechanism 50 may be provided with only one.

While the technical content and features of the present invention have been disclosed above, it will be understood that various changes and modifications to the above-described structure, including combinations of technical features individually disclosed or claimed herein, and other combinations of these features as apparent to those skilled in the art may be made under the inventive concept of the present invention. Such variations and/or combinations fall within the technical field to which the invention relates and fall within the scope of the claims of the invention.

Claims (10)

1. An end space slewing motion system comprising:

two sets of return motion devices, the mirror symmetry is arranged about this two sets of return motion devices, and every set of return motion device includes:

a mounting frame fixedly mounted in the end space;

the rotary rail is arranged on the mounting frame, the rotary rail is provided with straight-line section rails which are positioned on two sides in parallel, an outer end arc-shaped section rail and an inner end arc-shaped section rail which are respectively positioned on two ends, an inserting groove is arranged on the outer end arc-shaped section rail, a release groove is arranged on the inner end arc-shaped section rail, a lane changing groove is arranged on the straight-line section rail, lane changing grooves on the straight-line section rails on two sides are arranged in a left-right mirror symmetry manner, wherein the inserting groove and the release groove are arranged on the straight-line section rail in an extending manner and are respectively communicated with the lane changing grooves on the straight-line section rails on two sides, and the inserting groove, the release groove and the lane changing grooves form roller grooves;

the transmission mechanism is arranged on the mounting frame and comprises a driving wheel, a driven wheel and a pair of shifting forks which are fixed on the driven wheel and provided with shifting fork sliding grooves;

a pair of pulley devices, each pulley device having a pulley seat, and a rail guide roller, a driving guide roller and an automatic plugging mechanism mounted on the pulley seat, the rail guide rollers being arranged in pairs and adapted to be slidably clamped on a revolving rail, the driving guide rollers being slidably mounted in fork runners of respective forks so as to be capable of driving the pulley devices to move along the revolving rail under the driving of the forks, the automatic plugging mechanism having a lane changing roller slidably mounted on the roller channel, a rack and pinion transmission structure in driving connection with the lane changing roller, and a latch driven by the rack and pinion transmission structure, wherein the latch moves from an inwardly retracted release position to an outwardly extended plugging position or from an outwardly extended plugging position to an inwardly retracted release position when the lane changing roller moves from the release channel to the plugging channel or from the plugging channel to the release channel via the lane changing channel;

the driving mechanism comprises a servo motor and a driving shaft driven by the servo motor, wherein the upper end and the lower end of the driving shaft are respectively connected with driving wheels of two sets of back motion devices in a driving mode to drive the transmission mechanism to rotate.

2. The end space slewing motion system according to claim 1, wherein two roller fixing plates are pivotally mounted on the saddle, the two roller fixing plates being connected together at outer ends thereof via tension springs, each roller fixing plate being provided with a pair of the rail guide rollers.

3. The end space slewing motion system of claim 1, wherein each of said pulley means has two of said automatic plugging mechanisms, each of said automatic plugging mechanisms includes a frame on said pulley seat, said rack and pinion transmission structure includes a drive rack slidably mounted on the frame, a gear rotatably mounted on the frame and in meshing engagement with the drive rack, and a driven rack axially formed on one end of said pin and in meshing engagement with the gear, wherein said pin is mounted perpendicularly to the drive rack and is arranged to be vertically movable relative to said pulley seat between said plugging position and said releasing position, and said lane-changing roller is fixed to one end of the drive rack, such that when said lane-changing roller is moved through said lane-changing channel, said lane-changing roller drives the drive rack, and thereby the gear and driven rack, to finally move said pin up and down.

4. An end space swivelling movement system as claimed in claim 3, wherein the frame is integrally formed with the carriage base and the frame is provided with a rack runner along which the drive rack slides.

5. The end space rotary motion system according to claim 4, wherein the driving rack comprises a rack body, a sliding part positioned at one side of the rack body and adapted to slide in the rack chute, and a gear engaging part positioned at the other side of the rack body, and the lane-changing roller is mounted on one end of the rack body.

6. The end space rotary motion system according to claim 3 wherein the other end of the latch is configured as a mating end.

7. An end space swivelling movement system as claimed in claim 3, wherein the saddle is provided with a through hole through which the bolt is provided, and a stop is provided at the one end of the bolt to prevent the bolt from falling out of the through hole in the plugging position.

8. The end space slewing motion system of claim 1, wherein the transmission is a synchronous pulley transmission, the drive pulley is a small synchronous pulley, the driven pulley is a large synchronous pulley, and the transmission further comprises a synchronous belt and a tensioner.

9. The end space rotary motion system according to claim 8, wherein the large synchronous pulley has a stator and a rotor, the stator is fixedly mounted on the mounting frame, the rotor and the driving wheel are in driving connection through the synchronous belt, and the pair of shift forks are radially symmetrically fixed on the rotor.

10. The end space slewing motion system of claim 1 wherein the transmission is a gear transmission, the drive wheel is a pinion, and the driven wheel is a bull gear.