CN111591659A - Four-way walking trolley - Google Patents
Four-way walking trolley Download PDFInfo
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- CN111591659A CN111591659A CN202010563891.7A CN202010563891A CN111591659A CN 111591659 A CN111591659 A CN 111591659A CN 202010563891 A CN202010563891 A CN 202010563891A CN 111591659 A CN111591659 A CN 111591659A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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Abstract
The invention discloses a four-way walking trolley, which comprises a supporting framework, a walking driving module and a reversing and jacking module, wherein the walking driving module and the reversing and jacking module are arranged on the supporting framework; wherein: the walking driving module comprises a transverse walking wheel assembly, a longitudinal walking wheel assembly, a driving motor and a cross speed reducer connected with the driving motor; the reversing and jacking module comprises a reversing motor, a reversing speed reducer, a reversing shaft, a double-connecting-rod linkage mechanism, a jacking mechanism and a jacking framework; and the second synchronous belt is always in a tensioning state under the action of the first tensioning wheel, the second tensioning wheel or the third tensioning wheel in the process of reciprocating up and down along with the second synchronous driven wheel. The four-way walking trolley reduces the weight and the volume of the robot and improves the operation capacity and the object storing and taking efficiency; the shuttle car realizes the four-way driving function, reduces the cost, saves the space, solves the problem of leakage of a hydraulic device, and improves the flexibility of the shuttle car.
Description
Technical Field
The invention relates to a storage and transportation shuttle vehicle, in particular to a four-way walking trolley.
Background
With the rapid development of the warehouse logistics industry, higher and higher requirements are provided for the utilization rate of the space of the stereoscopic warehouse, more shelves are expected to be arranged on the plane of the stereoscopic warehouse, more shelf interlayers are arranged in the height direction, and the space occupied by the loading and unloading channel is reduced to the maximum extent.
The existing three-dimensional warehouse structure adopts a mode of one loading and unloading roadway and a plurality of storage rack roadways vertically connected with the loading and unloading roadway more, so that the shuttle car is required to be capable of walking in two vertical and horizontal directions which are mutually vertical. In the prior art, a stereoscopic warehouse usually uses a primary-secondary vehicle system, that is, a primary vehicle carries a secondary vehicle to travel in a loading roadway and a unloading roadway, then the secondary vehicle drives out from a direction perpendicular to the traveling direction of the primary vehicle to enter a goods shelf roadway, then returns to the primary vehicle in the original way, and finally is taken away by the primary vehicle. By adopting the mode of combining the two shuttle cars of the primary and secondary cars, the primary and secondary cars occupy a large space, the number of the goods shelves and the interlayers is reduced, the space utilization rate of the three-dimensional warehouse is reduced, and the manufacturing, purchasing and maintaining costs are increased.
The existing shuttle vehicles for intensive warehouse management and shelf transportation in the market are very few, and various problems exist in the existing products, such as overlarge weight, overlarge volume, insufficient flexibility, poor operation capacity, low shelf storing and taking efficiency, insufficient load capacity, insufficient stability, leakage of a hydraulic device and the like.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the defects in the prior art, the four-way walking trolley is small in equipment overall dimension, high in space utilization rate, flexible to use and low in production cost.
The four-way walking trolley provided by the invention uses one set of cross speed reducer, only one set of power device is needed, and the trolley can run in four directions; the trolley is reversed and jacked by using a set of jacking mechanism, so that a set of power device is saved; the single side has 4 wheels and a reinforced support framework, so that the bearing capacity of the trolley is improved; and the optimized synchronous wheel structure ensures that only one set of tensioning wheel structure is adopted in the reversing and jacking processes of the trolley, thereby saving space and reducing cost.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a four-way walking trolley, which comprises a supporting framework, a walking driving module and a reversing and jacking module, wherein the walking driving module and the reversing and jacking module are arranged on the supporting framework; wherein:
the walking driving module comprises a transverse walking wheel assembly, a longitudinal walking wheel assembly, a driving motor and a cross speed reducer connected with the driving motor, the cross speed reducer is in transmission connection with the transverse walking wheel assembly through a first synchronous driving wheel and a first synchronous driven wheel on the cross speed reducer, and the cross speed reducer is in transmission connection with the longitudinal walking wheel assembly through a second synchronous driving wheel on the cross speed reducer through a second synchronous belt and a second synchronous driven wheel; a first tensioning wheel and a second tensioning wheel are arranged below the second synchronous belt, and a third tensioning wheel is arranged above the second synchronous belt;
the reversing and jacking module comprises a reversing motor, a reversing speed reducer, a reversing shaft, a double-connecting-rod linkage mechanism, a jacking mechanism and a jacking framework, wherein the double-connecting-rod linkage mechanism and the jacking mechanism are driven by the reversing motor to drive the jacking framework, the longitudinal walking wheel assembly and the second synchronous driven wheel to reciprocate up and down relative to the supporting framework and the transverse walking wheel assembly; and
the second synchronous belt is always in a tensioning state under the action of the first tensioning wheel, the second tensioning wheel or the third tensioning wheel in the process of reciprocating up and down along with the second synchronous driven wheel.
Furthermore, on the four-way walking trolley, the transverse walking wheel assembly comprises a first driving wheel and a first driven wheel which are distributed on the front side and the rear side of the supporting framework, and the first driving wheel is in transmission connection with the first synchronous driven wheel through a first power distributor and a transverse driving shaft.
Furthermore, on the four-way walking trolley, the longitudinal walking wheel assembly comprises a second driving wheel and a second driven wheel which are distributed on the left side and the right side of the jacking framework, and the second driving wheel is in transmission connection with the second synchronous driven wheel through a second power distributor and a longitudinal driving shaft.
Furthermore, on the four-direction walking trolley, the horizontal height of the second synchronous driving wheel is equal to the horizontal height of the middle point of the up-down moving track of the second synchronous driven wheel.
Further, on the four-way walking trolley, the double-connecting-rod linkage mechanism comprises a connecting rod, and a fisheye joint and a triangular block which are positioned at two ends of the connecting rod, wherein:
two ends of the connecting rod are respectively in adjustable connection with the fisheye joint through threads, and the fisheye joint is hinged with the lower end of the triangular block;
the triangular block at one end is fixedly sleeved on the eccentric support shaft, and the eccentric support shaft is connected with the reversing shaft so as to drive the double-connecting-rod linkage mechanism to swing left and right under the transmission action of the reversing shaft.
Preferably, on the four-way walking trolley, two connecting rods are provided, two ends of each connecting rod are respectively hinged with the corresponding bottom corner positions of the two triangular blocks, one of the connecting rods is hinged with the two triangular blocks at the same side, and the other connecting rod is hinged with the two triangular blocks at the opposite side.
Further, on the four-way walking dolly, climbing mechanism include U type supporting seat and set up in eccentric wheel, jacking bearing and eccentric block on the U type supporting seat, wherein:
the upper ends of the eccentric wheel and the eccentric block are hinged to the U-shaped supporting seat through an eccentric supporting shaft and an eccentric supporting bearing respectively;
the lower ends of the eccentric wheel and the eccentric block are respectively hinged with the jacking bearing, and the jacking framework is erected on the jacking bearing; and
the eccentric wheel is connected with the reversing shaft outside the eccentric supporting shaft through the eccentric supporting shaft so as to drive the jacking bearing and the jacking framework on the jacking bearing to move up and down under the transmission action of the reversing shaft.
Furthermore, on the four-way walking trolley, a plurality of guide pillar fixing plates which are vertically arranged are symmetrically arranged on the left inner side wall and the right inner side wall of the supporting framework respectively, and the guide pillar fixing plates are fixedly connected with the jacking sliding blocks which are correspondingly arranged on the jacking framework.
Further preferably, on the four-way walking trolley, the outer side wall of the jacking framework is provided with a jacking sliding groove, and the jacking sliding block is slidably embedded in the jacking sliding groove.
Furthermore, on the four-way walking trolley, a battery pack and a control module electrically connected with the battery pack are further arranged on the supporting framework, and the control module is respectively and electrically connected with the driving motor and the reversing motor.
By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
(1) the four-way walking trolley reduces the weight and the volume of the robot, improves the running capacity and improves the goods storing and taking efficiency;
(2) a set of cross speed reducer is used, only one set of power device is used, and the four-way driving function of the trolley is realized, so that the cost is reduced, and the space is saved;
(3) the single sides of the transverse walking wheel assembly and the longitudinal walking wheel assembly adopt 4 wheels, and a reinforced supporting framework and a jacking framework are adopted, so that the load-bearing capacity is improved;
(4) the trolley is reversed and jacked by using a set of jacking mechanism, so that a set of power device is saved, the cost is reduced, the space is saved, and the problem of leakage of a hydraulic device is solved;
(5) the running stability and flexibility of the four-way trolley are improved by using the double-connecting-rod linkage mechanism;
(6) the optimized synchronous wheel structure ensures that the trolley only adopts one set of tensioning wheel structure in the reversing and jacking processes, thereby saving the space and reducing the cost.
Drawings
FIG. 1 is a schematic view of the overall structure of a four-way traveling trolley according to the present invention;
FIG. 2 is a schematic structural view of a support frame in the four-way traveling trolley of the invention;
FIG. 3 is a schematic structural diagram of a walking driving module in the four-way walking trolley of the invention;
FIG. 4 is a schematic structural view of a tension roller structure in the four-way traveling trolley of the invention;
FIG. 5 is a schematic top view of the reversing and jacking module of the four-way traveling carriage according to the present invention;
FIG. 6 is a schematic cross-sectional view of a reversing and jacking module in the four-way traveling carriage according to the present invention;
FIG. 7 is a schematic structural view of a dual link linkage mechanism in a four-way traveling cart according to the present invention;
wherein the reference symbols are:
100-supporting framework, 101-guide column fixing plate; 200-a walking driving module, 201-a driving motor, 202-a cross speed reducer, 203-a cross speed reducer supporting seat, 204-a first synchronous driving wheel, 205-a first synchronous belt, 206-a first synchronous driven wheel, 207-a second synchronous driving wheel, 208-a second synchronous belt, 209-a second synchronous driven wheel, 210-a first tension wheel, 211-a second tension wheel, 212-a third tension wheel, 213-a transverse driving shaft, 214-a transverse coupling, 215-a first power distributor, 216-a first driving wheel, 217-a first driven wheel, 218-a longitudinal driving shaft, 219-a longitudinal coupling, 220-a second power distributor, 221-a second driving wheel, 222-a second driven wheel, 300-a reversing and jacking module, 301-reversing motor, 302-reversing reducer, 303-reversing reducer support base, 304-reversing coupling, 305-reversing shaft, 306-double-link linkage mechanism, 307-jacking framework, 308-jacking sliding block, 309-fisheye joint, 310-connecting rod, 311-triangular block, 312-support base, 313-eccentric wheel, 314-jacking shaft, 315-eccentric block, 316-eccentric support shaft, 317-eccentric support bearing, 400-battery pack and 500-control module.
Detailed Description
The present invention will be described in detail and specifically with reference to the following examples to facilitate better understanding of the present invention, but the following examples do not limit the scope of the present invention.
Example 1
Referring to fig. 1 and 2, the embodiment provides a four-way traveling trolley, which can travel in four directions, longitudinally and transversely, and the four-way traveling trolley is adopted to replace the existing primary and secondary train combination system, so that the space utilization rate is improved, and the storage and retrieval efficiency of a goods shelf is also improved; the walking and lifting device comprises a supporting framework 100, a walking driving module 200, a reversing and lifting module 300, a battery pack 400, the battery pack 400 and a shell, wherein six modules are omitted. Wherein, walking drive module 200, switching-over and jacking module 300, group battery 400 and on the supporting framework 100 with group battery 400 all install on the supporting framework 100. The walking driving module 200, the reversing and jacking module 300 in the four-way walking trolley all adopt mechanical structures, the problem that the hydraulic device adopted in the prior art leaks is solved, and the flexibility of the shuttle vehicle is improved.
In this embodiment, the supporting frame 100 is formed by bending a metal plate and locally reinforcing the metal plate to form a whole, so that the bearing capacity of the whole vehicle is greatly improved. The battery pack 400 adopts a lithium ion rechargeable battery, and the battery pack 400 is electrically connected with the control module 500 and is used as a power source to improve the power of the whole vehicle; the control module 5 is used as the brain of the whole vehicle, and the control module 500 is respectively electrically connected with the driving motor 201 on the walking driving module 200 and the reversing motor 301 on the reversing and jacking module 300 to control the motion of the whole vehicle.
Referring to fig. 3 and 4, the walking driving module 200 provided in this embodiment includes a transverse walking wheel assembly, a longitudinal walking wheel assembly, a driving motor 201, and a cross reducer 202 connected to the driving motor 201, wherein the cross reducer 202 is connected to the transverse walking wheel assembly through a first synchronous driving wheel 204 on the cross reducer 202 via a first synchronous belt 205 and a first synchronous driven wheel 206, the cross reducer 202 is mounted on the supporting frame 100 through a cross reducer supporting seat 203, and is connected to the longitudinal walking wheel assembly through a second synchronous driving wheel 207 on the cross reducer via a second synchronous belt 208 and a second synchronous driven wheel 209; and a first tension wheel 210 and a second tension wheel 211 are arranged below the second synchronous belt 208, and a third tension wheel 212 is arranged above the second synchronous belt 208. This four-way walking dolly uses one set of cross reduction gear 202, guarantees that the vertical and horizontal quadriversal of four-way shuttle only needs a power, realizes simultaneously that the dolly moves about freely and quickly four-way, both reduce cost, save space again, greatly reduces the overall dimension of four-way shuttle.
Referring to fig. 4 and 5, the reversing and jacking module 300 provided in this embodiment includes a reversing motor 301, a reversing speed reducer 302, a reversing shaft 305, a double-link linkage mechanism 306, a jacking mechanism, and a jacking framework 307, wherein a loading platform is installed on the jacking framework 307 and used for loading a shelf; the reversing speed reducer 302 is mounted on the supporting framework 100 through a speed reducer supporting seat 303, and the reversing shaft 305 is composed of two parts and connected through a reversing coupling 304. The double-connecting-rod linkage mechanism 306 and the jacking mechanism drive the jacking framework 307, the longitudinal walking wheel assembly and the second synchronous driven wheel 209 to reciprocate up and down relative to the supporting framework 100 and the transverse walking wheel assembly under the driving of the reversing motor 301; the reversing and jacking module 300 uses a set of jacking mechanism, realizes the reversing and jacking of the trolley, saves a set of power device, reduces the cost, saves the space and solves the problem of leakage of a hydraulic device in the prior art; and the use of the double-link linkage 306 improves the flexibility of the shuttle.
As shown in fig. 4, in the process of reciprocating up and down along with the second synchronous driven wheel 209, the second synchronous belt 208 is always in a tensioned state by the first tensioning wheel 210, the second tensioning wheel 211 or the third tensioning wheel 212, and in this embodiment, by optimizing the synchronous wheel structure, only one set of tensioning wheel structure composed of the first tensioning wheel 210, the second tensioning wheel 211 and the third tensioning wheel 212 is adopted in the reversing and jacking process of the cart, so that the space is saved and the cost is reduced.
Example 2
Based on the four-way walking trolley in the embodiment 1, the embodiment provides the tension wheel structure for the four-way walking trolley, and based on the synchronous wheel structure optimized in the embodiment 1, the trolley only adopts one set of tension wheel structure in the reversing and jacking processes, so that the space is saved, and the cost is reduced.
The tension wheel structure provided by this embodiment mainly includes 5 synchronizing wheels, namely, a second synchronizing driving wheel 207, a second synchronizing driven wheel 209, a first tension wheel 210, a second tension wheel 211, and a third tension wheel 212, where the second synchronizing driving wheel 207 is fixed on the driving motor 201, the second synchronizing driven wheel 209 is fixed on the transverse driving shaft 213, the second synchronizing driving wheel 207 and the second synchronizing driven wheel 209 are connected by a second synchronizing belt 208, the first tension wheel 210, the second tension wheel 211 is at a specific position below the second synchronizing belt 208, and the third tension wheel 212 is at a specific position above the second synchronizing belt 208.
In this embodiment, the second synchronous driving wheel 207, the first tension wheel 210, the second tension wheel 211 and the third tension wheel 212 are fixed, the second synchronous driven wheel 209 reciprocates up and down in the vertical direction during operation, and sequentially stays at the walking position, the direction changing position and the goods taking position for 3 positions to work, and the horizontal height of the second synchronous driving wheel 207 is equal to the horizontal height of the middle point of the up-and-down moving track of the second synchronous driven wheel 209, i.e., the second synchronous driving wheel 207 is placed at the middle point of the up-and-down moving track of the second synchronous driven wheel 209.
In this embodiment, the working principle of the second synchronous driven wheel 209 staying at 3 positions of the travel position, the direction changing position and the goods taking position during the vertical reciprocating movement is as follows: when the second synchronous driven wheel 209 is located at the walking position, the second synchronous belt 208 is in contact with the first tension wheel 210, the second tension wheel 211 wraps a specific length and is in contact with the third tension wheel 212, when the second synchronous driven wheel 209 moves from the walking position to the reversing position, the second synchronous belt 208 is in contact with the first tension wheel 210, the second tension wheel 211 and the third tension wheel 212 wrap a specific length, and when the second synchronous driven wheel 209 moves from the reversing position to the goods taking position, the second synchronous belt 208 is in contact with the first tension wheel 210 and the third tension wheel 212 wrap a specific length and is in contact with the second tension wheel 211.
The tension roller structure provided by this embodiment utilizes the specific position relationship among the first tension roller 210, the second tension roller 211, the third tension roller 212, the second synchronous driving roller 207, and the second synchronous driven roller 209 to keep the circumference of the second synchronous belt 208 constant all the time when the second synchronous driving roller 207 is fixed and the second synchronous driven roller 209 reciprocates up and down, thereby completing the transmission of the synchronous rollers. And vice versa.
Example 3
Based on above-mentioned embodiment 1's four-way walking dolly, this embodiment provides a horizontal walking wheel subassembly and vertical walking wheel subassembly that is used for this four-way walking dolly, and horizontal walking wheel subassembly and the unilateral 4 wheels that adopt of vertical walking wheel subassembly to and adopt reinforced support skeleton and jacking skeleton, improved the load-carrying capacity.
Referring to fig. 1 and 3, the transverse road wheel assembly includes a first driving wheel 216 and a first driven wheel 217 distributed on the front and rear sides of the support frame 100, the first driving wheel 216 is in transmission connection with the first synchronous driven wheel 206 through a transverse driving shaft 213 via a first power distributor 215, and the transverse driving shaft 213 is composed of two parts and is connected through a transverse coupling 214.
In this embodiment, the first driving wheel 216 and the first driven wheel 217 are distributed on the front and rear sides of the whole vehicle and fixed on the supporting frame 100, and the driving motor 201 is directly connected to the cross reducer 202 and fixed on the supporting frame 100 through the driving reducer supporting base 203. The 4 guide pillar fixing plates 101 are fixed on the inner side wall of the supporting framework 100 and are symmetrically arranged on the left side and the right side. Two first power dividers 215 are also fixed inside the supporting frame 100, symmetrically arranged at the front and rear sides, and respectively connected with two first driving wheels 206, and the cross speed reducer 202 is respectively connected with a first synchronous driving wheel 204 and a second synchronous driving wheel 207.
In this embodiment, the driving motor 201 is operated, and after the speed is reduced and the torque is increased through the crossed speed reducer 202, the speed and the torque are sequentially transmitted to the transverse driving shaft 213 through the first synchronous driving pulley 204 via the first synchronous belt 205 and the first synchronous driven pulley 206, and then are combined with the transverse coupling 214 and the first power divider 215 to respectively transmit the speed and the torque to the front and rear first driving wheels 216, so as to drive the whole vehicle to move left and right. The first driving wheel 216 not only generates power to drive the shuttle to move, but also plays a role in supporting and guiding; the first driven pulley 217 mainly functions as a support guide.
In the present embodiment, the cross reducer 202 has two output ends, i.e. 2 power transmission paths, which respectively transmit the speed and the torque to the first synchronous driving wheel 204 and the second synchronous driving wheel 207. One path of power is transmitted to the first driving wheel 216 through the first synchronous driving wheel 204 via the first synchronous belt 205, the first synchronous driven wheel 206 and the torque; the other path of power transmits the speed and torque to the second driving wheel 221 through the second synchronous driving wheel 207, the second synchronous belt 208 and the second synchronous driven wheel 209.
Referring to fig. 1 and 5, the longitudinal traveling wheel assembly includes a second driving wheel 221 and a second driven wheel 222 distributed on the left and right sides of the jacking framework 307, the second driving wheel 221 is connected with the second synchronous driven wheel 209 through a longitudinal driving shaft 218 via a second power distributor 220, and the longitudinal driving shaft 218 is composed of two parts and is connected through a longitudinal coupling 219.
In this embodiment, the second driving wheels 221 and the second driven wheels 222 are distributed on the left and right sides of the entire vehicle and fixed to the lifting frame 307. The 4 jacking sliding blocks 308 are respectively connected with the 4 guide pillar fixing plates 101 and the two jacking frameworks 307. The reversing motor 301 is directly connected with the reversing reducer 302 and is fixed on the supporting framework 100 through the reversing reducer supporting seat 303. The jacking bearing 314 is clamped on the jacking framework 307, and the jacking bearing 314 moves up and down to drive the jacking framework 307 and the loading platform on the jacking framework to move up and down.
In this embodiment, the commutation motor 301 is operated, and after the speed is reduced and the torque is increased by the commutation reducer 302, the speed and the torque are transmitted to the double link coupling mechanism 306 through the commutation coupling 304 and the commutation shaft 305. The double-link linkage 306 drives the eccentric wheel 313, the jacking bearing 314, the eccentric block 315 and the eccentric support shaft 316 to rotate around the U-shaped support seat 312 and the eccentric support bearing 317 through the left-right swing of the fisheye joint 309, the connecting rod 310 and the triangular block 311, and the eccentric support bearing 317 supports the rotation of the eccentric support shaft 316.
In conclusion, by adopting the transverse traveling wheel assembly and the longitudinal traveling wheel assembly, 2 driving wheels and 2 driven wheels are arranged in the front direction, the rear direction, the left direction and the right direction of the four-direction shuttle car, so that 4 wheels are arranged on a single side, and the bearing capacity of the whole car is greatly improved under the condition that the bearing capacity of a single wheel is not changed.
Example 4
Referring to fig. 5, fig. 6 and fig. 7, the present embodiment provides a dual-link linkage 306 for a four-way traveling trolley, where the dual-link linkage 306 includes a link 310, and a fisheye joint 309 and a triangular block 311 located at two ends of the link 310, where: two ends of the connecting rod 310 are respectively in threaded adjustable connection with the fisheye joint 309, and the fisheye joint 309 is hinged with the lower end of the triangular block 311; the triangular block 311 at one end is fixedly sleeved on an eccentric support shaft 316, and the eccentric support shaft 316 is connected with the reversing shaft 305 shaft, so that the double-link linkage mechanism 306 is driven to swing left and right under the transmission action of the reversing shaft 305. The embodiment adopts the synchronous transmission structure of the double-connecting-rod linkage structure 306 and the synchronous belt, combines the lifting power of the goods shelf and the reversing power of the four-way shuttle car into a whole, saves the cost, reduces the space and greatly reduces the overall dimension of the four-way shuttle car.
In this embodiment, please refer to fig. 7, two of the connecting rods 310 are provided, two ends of each connecting rod are respectively hinged to the bottom corner positions corresponding to the two triangular blocks 311, one of the connecting rods is hinged to the same side of the two triangular blocks 311, and the other connecting rod is hinged to the opposite side of the two triangular blocks 311. By adopting a set of double-connecting-rod linkage mechanism 306, the second driving wheel 221 and the second driven wheel 222 can move up and down synchronously, and the stability and flexibility of the jacking operation of the four-way walking trolley are improved.
In the present embodiment, please refer to fig. 6 and fig. 7, the lifting mechanism includes a U-shaped supporting seat 312, an eccentric wheel 313 disposed on the U-shaped supporting seat 312, a lifting bearing 314, and an eccentric block 315, wherein: the upper ends of the eccentric wheel 313 and the eccentric block 315 are hinged on the U-shaped supporting seat 312 through an eccentric supporting shaft 316 and an eccentric supporting bearing 317 respectively; the lower ends of the eccentric wheel 313 and the eccentric block 315 are hinged with the jacking bearing 314 respectively, and the jacking framework 307 is erected on the jacking bearing 314; and the eccentric wheel 313 is connected with the reversing shaft 305 outside through the eccentric supporting shaft 316, so as to drive the jacking bearing 314 and the jacking framework 307 on the jacking bearing to move up and down under the transmission action of the reversing shaft 305.
In this embodiment, please refer to fig. 3 and fig. 5, a plurality of guide post fixing plates 101 are symmetrically disposed on left and right inner sidewalls of the supporting framework 100, and the guide post fixing plates 101 are fixedly connected to the jacking sliders 308 correspondingly disposed on the jacking framework 307. The outer side wall of the jacking framework 307 is provided with a jacking sliding groove, and the jacking sliding block 308 is slidably embedded in the jacking sliding groove.
In this embodiment, when the reversing motor 301 rotates forward, the dual-link linkage 306 is driven to move, so that the lifting framework 307, the second driving wheel 221, and the second driven wheel 222 descend along the lifting slider 308, the second driving wheel 221, and the second driven wheel 222 land together, and at this time, the first driving wheel 216, and the first driven wheel 217 are suspended together. The speed and torque of the driving motor 201 are transmitted to 4 second driving wheels 221 through a second synchronous driving wheel 207, a second synchronous belt 208, a second synchronous driven wheel 209, a longitudinal driving shaft 218, a longitudinal coupling device 219 and a second power distributor 220, so as to drive the whole vehicle to move forwards and backwards. The second driving wheel 221 generates power to drive the shuttle car to move and also plays a role in supporting and guiding, and the second driven wheel 222 mainly plays a role in supporting and guiding.
In this embodiment, when the reversing motor 301 rotates reversely, the dual-link linkage 306 is driven to move, so that the lifting framework 307, the second driving wheel 221, and the second driven wheel 222 are lifted along the lifting slider 308, the second driving wheel 221, and the second driven wheel 222 are suspended together, and at this time, the first driving wheel 216, and the first driven wheel 217 are grounded together. The speed and torque of the driving motor 201 are sequentially transmitted to the first driving wheel 216 through the first synchronous driving wheel 204 via the first synchronous belt 205 and the first synchronous driven wheel 206, so as to drive the whole vehicle to move left and right.
In this embodiment, the lifting and reversing of the four-way shuttle vehicle are realized by one reversing motor 301, and the lifting power and the reversing power of the four-way shuttle vehicle are combined into one. The driving motor 201 mainly provides power for four-way movement of the four-way shuttle in longitudinal and transverse directions, and only one set of power is needed for ensuring the movement of the whole shuttle.
In the present embodiment, during the lifting and reversing of the four-way shuttle, the second synchronous driven wheel 209 ascends or descends along with the lifting framework 307. By optimizing the structure of the synchronous wheel, when the jacking framework 307 descends, the second synchronous driven wheel 209 descends along with the jacking, the second synchronous belt 208 is tightened by the first tension wheel 210 and the second tension wheel 211, the speed and the torque are reliably transmitted to the second driving wheel 221, and the front and back movement of the whole vehicle is realized. When the jacking framework 307 ascends, the second synchronous driven wheel 209 follows the ascending, and the second synchronous belt 208 naturally extends and is tightened without additionally adding a tension wheel.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (10)
1. A four-way walking trolley is characterized by comprising a supporting framework (100), and a walking driving module (200) and a reversing and jacking module (300) which are arranged on the supporting framework (100); wherein:
the walking driving module (200) comprises a transverse walking wheel assembly, a longitudinal walking wheel assembly, a driving motor (201) and a cross speed reducer (202) connected with the driving motor (201), the cross speed reducer (202) is in transmission connection with the transverse walking wheel assembly through a first synchronous driving wheel (204) on the cross speed reducer through a first synchronous belt (205) and a first synchronous driven wheel (206), and the cross speed reducer (202) is in transmission connection with the longitudinal walking wheel assembly through a second synchronous driving wheel (207) on the cross speed reducer through a second synchronous belt (208) and a second synchronous driven wheel (209); a first tensioning wheel (210) and a second tensioning wheel (211) are arranged below the second synchronous belt (208), and a third tensioning wheel (212) is arranged above the second synchronous belt;
the reversing and jacking module (300) comprises a reversing motor (301), a reversing speed reducer (302), a reversing shaft (305), a double-connecting-rod linkage mechanism (306), a jacking mechanism and a jacking framework (307), wherein the double-connecting-rod linkage mechanism (306) and the jacking mechanism are driven by the reversing motor (301) to drive the jacking framework (307), the longitudinal walking wheel assembly and the second synchronous driven wheel (209) to move up and down in a reciprocating manner relative to the supporting framework (100) and the transverse walking wheel assembly; and
the second synchronous belt (208) is always in a tensioning state under the action of the first tensioning wheel (210), the second tensioning wheel (211) or the third tensioning wheel (212) in the process of reciprocating up and down along with the second synchronous driven wheel (209).
2. The four-way walking trolley according to claim 1, wherein the transverse walking wheel assembly comprises a first driving wheel (216) and a first driven wheel (217) distributed on the front side and the rear side of the support frame (100), and the first driving wheel (216) is in transmission connection with the first synchronous driven wheel (206) through a transverse driving shaft (213) through a first power divider (215).
3. The four-way walking trolley according to claim 1, wherein the longitudinal walking wheel assembly comprises a second driving wheel (221) and a second driven wheel (222) which are distributed on the left side and the right side of the jacking framework (307), and the second driving wheel (221) is in transmission connection with the second synchronous driven wheel (209) through a longitudinal driving shaft (218) through a second power distributor (220).
4. The four-way walking trolley according to claim 1, wherein the horizontal height of the second synchronous driving wheel (207) is equal to the horizontal height of the middle point of the up-and-down moving track of the second synchronous driven wheel (209).
5. The four-way walking trolley according to claim 1, wherein the two-link linkage mechanism (306) comprises a link (310) and a fisheye joint (309) and a triangular block (311) at both ends of the link (310), wherein:
two ends of the connecting rod (310) are respectively in threaded adjustable connection with the fisheye joint (309), and the fisheye joint (309) is hinged with the lower end of the triangular block (311);
the triangular block (311) at one end is fixedly sleeved on an eccentric support shaft (316), the eccentric support shaft (316) is connected with the reversing shaft (305) in a shaft mode, and the double-connecting-rod linkage mechanism (306) is driven to swing left and right under the transmission effect of the reversing shaft (305).
6. The four-way walking trolley according to claim 5, wherein two connecting rods (310) are provided, and two ends of each connecting rod are respectively hinged to the corresponding bottom corner positions of the two triangular blocks (311), one of the connecting rods is hinged to the same side of the two triangular blocks (311), and the other connecting rod is hinged to the opposite side of the two triangular blocks (311).
7. The four-way walking trolley according to claim 1, wherein the jacking mechanism comprises a U-shaped supporting seat (312) and an eccentric wheel (313), a jacking bearing (314) and an eccentric block (315) arranged on the U-shaped supporting seat (312), wherein:
the upper ends of the eccentric wheel (313) and the eccentric block (315) are respectively hinged on the U-shaped supporting seat (312) through an eccentric supporting shaft (316) and an eccentric supporting bearing (317);
the lower ends of the eccentric wheel (313) and the eccentric block (315) are respectively hinged with the jacking bearing (314), and the jacking framework (307) is erected on the jacking bearing (314); and
the eccentric wheel (313) is connected with the reversing shaft (305) on the outer side of the eccentric wheel through the eccentric supporting shaft (316), so that the jacking bearing (314) and the jacking framework (307) on the jacking bearing are driven to move up and down under the transmission action of the reversing shaft (305).
8. The four-way walking trolley according to claim 1, wherein a plurality of guide post fixing plates (101) are symmetrically arranged on the left and right inner side walls of the supporting framework (100), and the guide post fixing plates (101) are fixedly connected with jacking sliding blocks (308) correspondingly arranged on the jacking framework (307).
9. The four-way walking trolley according to claim 8, wherein the outer side wall of the jacking framework (307) is provided with a jacking sliding groove, and the jacking sliding block (308) is slidably embedded in the jacking sliding groove.
10. The four-way walking trolley according to claim 1, wherein a battery pack (400) and a control module (500) electrically connected with the battery pack (400) are further arranged on the supporting framework (100), and the control module (500) is electrically connected with the driving motor (201) and the reversing motor (301) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010563891.7A CN111591659A (en) | 2020-06-19 | 2020-06-19 | Four-way walking trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010563891.7A CN111591659A (en) | 2020-06-19 | 2020-06-19 | Four-way walking trolley |
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| Publication Number | Publication Date |
|---|---|
| CN111591659A true CN111591659A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010563891.7A Pending CN111591659A (en) | 2020-06-19 | 2020-06-19 | Four-way walking trolley |
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| CN (1) | CN111591659A (en) |
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