CN112938272A - Four-direction vehicle walking reversing mechanism - Google Patents
Four-direction vehicle walking reversing mechanism Download PDFInfo
- Publication number
- CN112938272A CN112938272A CN201911266000.5A CN201911266000A CN112938272A CN 112938272 A CN112938272 A CN 112938272A CN 201911266000 A CN201911266000 A CN 201911266000A CN 112938272 A CN112938272 A CN 112938272A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- shaft
- eccentric sleeve
- chain wheel
- reversing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the field of warehouse logistics, in particular to a four-way vehicle traveling reversing mechanism which comprises a power coupling device and an eccentric mechanism, wherein a first bevel gear in the power coupling device is driven to rotate through any transverse traveling shaft, the transverse traveling shaft transmits torque through a first transmission assembly, a second bevel gear is meshed with the first bevel gear, a third bevel gear is coaxially connected with the second bevel gear, the fourth bevel gear is meshed with the third bevel gear, any longitudinal traveling shaft is driven to rotate through a fourth bevel gear, the fourth bevel gear transmits torque through a second transmission assembly, the eccentric mechanism comprises an eccentric sleeve and an eccentric sleeve driving mechanism, each transverse traveling shaft is provided with a rotatable eccentric sleeve, a rack is supported through each eccentric sleeve, and any eccentric sleeve is driven to rotate through the eccentric sleeve driving mechanism. The invention couples two walking systems with relative motion, and realizes the driving of the two walking systems by one power source.
Description
Technical Field
The invention relates to the field of storage logistics, in particular to a four-way vehicle walking reversing mechanism.
Background
Along with the wide application of the automatic warehouse logistics system, logistics equipment tends to be diversified, for example, a shuttle car capable of walking in four directions on a goods shelf rail is born, the four-direction shuttle car is generally provided with two walking systems with mutually vertical walking directions on a rail plane, the two walking systems can be respectively contacted with the rail through the mutual switching of the two walking systems in the height direction, and then the four-direction walking of the shuttle car is realized. In the four-way shuttle vehicle on the market at present, the two-way walking drive mainly adopts a double-motor mode, namely two motors are respectively arranged in two axial directions to drive, so that the manufacturing cost of the shuttle vehicle is undoubtedly increased, and great challenge is also caused to the space arrangement of a vehicle body.
Disclosure of Invention
The invention aims to provide a four-way vehicle walking reversing mechanism, which couples two walking systems with relative motion and realizes the driving of the two walking systems by using one power source.
The purpose of the invention is realized by the following technical scheme:
a four-way vehicle traveling reversing mechanism comprises a transverse traveling system and a longitudinal traveling system, wherein the transverse traveling system is provided with a transverse traveling shaft and a shell, the longitudinal traveling system is provided with a longitudinal traveling shaft and a rack and comprises a power coupling device and an eccentric mechanism, the power coupling device comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first transmission assembly and a second transmission assembly, the first bevel gear is driven to rotate by any transverse traveling shaft, the transverse traveling shaft transmits torque by the first transmission assembly, the second bevel gear is meshed with the first bevel gear, the third bevel gear is coaxially connected with the second bevel gear, the fourth bevel gear is meshed with the third bevel gear, any longitudinal traveling shaft is driven to rotate by the fourth bevel gear, the fourth bevel gear transmits torque by the second transmission assembly, and the eccentric mechanism comprises an eccentric sleeve and an eccentric sleeve driving mechanism, each transverse walking shaft is provided with a rotatable eccentric sleeve, the rack is supported by each eccentric sleeve, and any eccentric sleeve is driven to rotate by an eccentric sleeve driving mechanism.
The eccentric sleeve driving mechanism comprises a reversing motor and a reversing transmission assembly, any eccentric sleeve is driven to rotate by the reversing motor, and the reversing motor transmits torque by the reversing transmission assembly.
The reversing transmission assembly comprises a driving chain wheel, a driven chain wheel and a power chain, the driving chain wheel is sleeved on an output shaft of the reversing motor, the driven chain wheel is coaxially connected with the corresponding eccentric sleeve, and the driving chain wheel is connected with the driven chain wheel through the power chain.
The eccentric sleeve is mounted on the corresponding transverse traveling shaft through a flange sleeve, the flange sleeve is mounted on the transverse traveling shaft through a bearing support sleeve, the eccentric sleeve is fixedly connected with the flange sleeve, and the driven sprocket is mounted on the corresponding flange sleeve.
The first transmission assembly comprises a transmission chain wheel, a driving chain wheel and a transmission chain, wherein the transmission chain wheel is sleeved at the end part of the corresponding transverse walking shaft, the driving chain wheel is coaxially connected with the first bevel gear, and the transmission chain wheel is connected with the driving chain wheel through the transmission chain.
The second transmission assembly comprises a first gear and a second gear which are meshed with each other, wherein the first gear is coaxially connected with the fourth bevel gear, and the second gear is coaxially connected with the corresponding longitudinal travelling shaft.
The second bevel gear and the third bevel gear are sleeved on a connecting shaft, the lower end of the connecting shaft is installed on the bottom surface of the shell, and the upper end of the connecting shaft is inserted into the third bevel gear and is in sliding connection with the third bevel gear.
A guide shaft parallel to the connecting shaft is arranged between the rack and the bottom surface of the shell, the lower end of the guide shaft is fixedly arranged on the bottom surface of the shell, and a guide sleeve arranged on the rack is sleeved at the upper end of the guide shaft.
The third bevel gear and the fourth bevel gear are both mounted on the rack, the third bevel gear is provided with an inner spline hole, and the upper end of the connecting shaft is connected with the inner spline hole of the third bevel gear in an inserting mode.
The invention has the advantages and positive effects that:
1. the invention couples two traveling systems which have relative motion to realize the driving of the two traveling systems by using one power source, wherein the invention realizes the lifting of a frame in a longitudinal traveling system by driving an eccentric sleeve to rotate by using a reversing motor, further realizes the switching contact between the traveling wheels in different traveling systems and a track to achieve the reversing purpose, and the power coupling device realizes the reversing coupling during the switching to ensure the power driving in different directions.
2. The invention has compact integral structure, can be installed in a modularization way, has good universality, can be expanded and used in the similar equipment, has high transmission precision and high efficiency, and can reduce the manufacturing cost of the equipment compared with the prior art that two power sources respectively drive the traveling systems in different directions.
Drawings
Figure 1 is a top view of a shuttle vehicle embodying the present invention,
figure 2 is a cross-sectional view a-a of figure 1,
figure 3 is an enlarged view at B in figure 2,
figure 4 is a schematic structural view of the power coupling device of figure 1,
fig. 5 is an enlarged view of fig. 4 at C.
The device comprises a transverse traveling system 1, a shell 11, a transverse traveling wheel 12, a transverse traveling shaft 13, a driven sprocket 14, a flange sleeve 15, an eccentric sleeve 16, a power chain 17, a transmission sprocket 18, a transmission chain 19, a longitudinal traveling system 2, a longitudinal traveling wheel 21, a frame 22, a longitudinal traveling shaft 23, a power coupling device 3, a driving sprocket 301, a first bevel gear 302, a second bevel gear 303, a connecting shaft 304, a lower mounting plate 305, a third bevel gear 306, a fourth bevel gear 307, a first gear 308, a second gear 309, an upper mounting plate 310, a guide shaft 311, a traveling motor 4, a reversing motor 5, a first transmission assembly 6 and a second transmission assembly 7.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the four-way shuttle includes a transverse traveling system 1 and a longitudinal traveling system 2, wherein the transverse traveling system 1 includes a housing 11, transverse traveling shafts 13 and transverse traveling wheels 12, the two transverse traveling shafts 13 penetrate through the housing 11, the transverse traveling wheels 12 are disposed at two ends of each transverse traveling shaft 13, the longitudinal traveling system 2 includes a frame 22, a longitudinal traveling shaft 23 and longitudinal traveling wheels 21, the frame 22 is liftably mounted on the housing 11, the two longitudinal traveling shafts 23 penetrate through the housing 11, two ends of each longitudinal traveling shaft 23 are mounted on the frame 22 and are lifted by the frame 22, the longitudinal traveling wheels 21 are disposed at two ends of each longitudinal traveling shaft 23, the two transverse traveling shafts 13 and the two longitudinal traveling shafts 23 are arranged in a grid shape, a traveling motor 4 is disposed in the housing 11, any transverse traveling shaft 13 is driven to rotate by the traveling motor 4, and the walking motor 4 transmits torque through a chain wheel and chain assembly. The above-described structure is well known in the art.
As shown in fig. 1 to 5, the present invention further comprises a power coupling device 3 and an eccentric mechanism in addition to the transverse traveling system 1 and the longitudinal traveling system 2, as shown in fig. 4 to 5, wherein the power coupling device 3 comprises a first bevel gear 302, a second bevel gear 303, a third bevel gear 306, a fourth bevel gear 307, a first transmission assembly 6 and a second transmission assembly 7, wherein the first bevel gear 302 is driven to rotate by the transverse traveling shaft 13, the transverse traveling shaft 13 transmits torque by the first transmission assembly 6, the second bevel gear 303 is engaged with the first bevel gear 302, the third bevel gear 306 is coaxially connected with the second bevel gear 303, the fourth bevel gear 307 is engaged with the third bevel gear 306, the longitudinal traveling shaft 23 in the longitudinal traveling system 2 is driven to rotate by the fourth bevel gear 307, and the fourth bevel gear 307 transmits torque by the second transmission assembly 7. As shown in fig. 2 to 3, the eccentric mechanism includes an eccentric sleeve 16 and an eccentric sleeve driving mechanism, the two transverse traveling shafts 13 are provided with rotatable eccentric sleeves 16 near the longitudinal traveling wheels 21, each eccentric sleeve 16 is fixedly connected with the frame 22 and supports the frame 22, and one of the eccentric sleeves 16 is driven to rotate by the eccentric sleeve driving mechanism to drive the frame 22 to integrally lift.
As shown in fig. 1 to 3, the eccentric sleeve driving mechanism includes a reversing motor 5 and a reversing transmission assembly, and the reversing motor 5 drives any eccentric sleeve 16 to rotate by transmitting torque through the reversing transmission assembly. In this embodiment, the reversing transmission assembly is a sprocket chain assembly, and includes a driving sprocket, a driven sprocket 14 and a power chain 17, wherein the driving sprocket is sleeved on an output shaft of the reversing motor 5, as shown in fig. 3 to 4, the driven sprocket 14 is coaxially connected with a corresponding eccentric sleeve 16, and the driving sprocket and the driven sprocket 14 are connected through the power chain 17.
As shown in fig. 2 to 3, the eccentric sleeve 16 is mounted on the corresponding transverse traveling shaft 13 through a flange sleeve 15, the flange sleeve 15 is mounted on the transverse traveling shaft 13 through a bearing support, the eccentric sleeve 16 is fixedly connected with the flange sleeve 15, and the driven sprocket 14 in the eccentric sleeve driving mechanism is mounted on the corresponding flange sleeve 15.
As shown in fig. 3 to 4, in this embodiment, the first transmission assembly 6 in the power coupling device 3 is a sprocket chain assembly, and includes a transmission sprocket 18, a driving sprocket 301 and a transmission chain 19, wherein the transmission sprocket 18 is sleeved on the end portion of the corresponding transverse traveling shaft 13, the driving sprocket 301 is coaxially connected to the first bevel gear 302, and the transmission sprocket 18 and the driving sprocket 301 are connected through the transmission chain 19.
As shown in fig. 4, in the present embodiment, the second transmission assembly 7 in the power coupling device 3 is a gear transmission assembly, which includes a first gear 308 and a second gear 309 engaged with each other, wherein the first gear 308 is coaxially connected with a fourth bevel gear 307, and the second gear 309 is coaxially connected with the corresponding longitudinal traveling shaft 23.
As shown in fig. 4 to 5, the second bevel gear 303 and the third bevel gear 306 are sleeved on a connecting shaft 304, the second bevel gear 303 is axially positioned at the lower portion of the connecting shaft 304, a lower mounting plate 305 is arranged on the bottom surface inside the housing 11, an upper mounting plate 310 is arranged on the frame 22, the lower end of the connecting shaft 304 is mounted on the lower mounting plate 305, the upper end of the connecting shaft 304 is mounted on the upper mounting plate 310, a guide shaft 311 parallel to the connecting shaft 304 is further arranged between the upper mounting plate 310 and the lower mounting plate 305, the lower end of the guide shaft 311 is fixedly mounted on the lower mounting plate 305, a guide sleeve is arranged on the upper mounting plate 310 and sleeved on the guide shaft 311, the same guide structure is also arranged at the other end of the frame 22 and the housing 11, and when the frame 22 ascends and descends, the guide sleeve slides along the guide shaft. As shown in fig. 5, the third bevel gear 306 is provided with an internal spline hole, the upper end of the connecting shaft 304 is inserted into the internal spline hole of the third bevel gear 306, the third bevel gear 306 can relatively slide along the axial direction of the connecting shaft 304, the third bevel gear 306 and the fourth bevel gear 307 are both mounted on the upper mounting plate 310 and always keep a meshed state, and the third bevel gear 306 can relatively slide along the axial direction of the connecting shaft 304, so that the two gear trains can have longitudinal relative sliding freedom, and meanwhile, torque can be continuously transmitted.
The traveling motor 4, the reversing motor 5, the power coupling device 3 and a control system of the vehicle body are all installed in the shell 11, the traveling motor 4 drives the transverse traveling wheels 12 to serve as driving wheels, the rest transverse traveling wheels 12 serve as driven wheels, the reversing rear traveling motor 4 also drives the longitudinal traveling wheels 21 through the power coupling device 3, and the rest longitudinal traveling wheels 21 serve as driven wheels.
The working principle of the invention is as follows:
when the invention works, the walking motor 4 drives one of the transverse walking shafts 13 to rotate, and the transverse walking wheels 12 drive the vehicle body to move transversely, at the moment, the rack 22 is in a rising state, only the transverse walking wheels 12 are in contact with the track, the longitudinal walking wheels 21 at two ends of the longitudinal walking shaft 23 are separated from the track, when the direction needs to be changed, as shown in figure 3, the eccentric sleeve driving mechanism drives any eccentric sleeve 16 to rotate, as the rack 22 is supported by the eccentric sleeves 16 at each corner end, the whole height adjustment of the rack 22 can be realized by the rotation of the eccentric sleeves 16, the longitudinal walking shaft 23 descends along with the rack 22 and enables the longitudinal walking wheels 21 to be in contact with the track, and simultaneously, the transverse walking wheels 12 rise and are separated from the track, at the moment, the transverse walking shaft 13 is still in a rotating state, and the transverse walking shaft 13 can pass through the first transmission assembly 6, the first bevel gear, The fourth bevel gear 307 and the second transmission assembly 7 transmit torque in turn to drive the longitudinal travelling shaft 23 to rotate, and further drive the longitudinal travelling wheel 21 to rotate so as to realize longitudinal travelling.
Claims (9)
1. The utility model provides a four-way car reversing mechanism that walks, includes horizontal traveling system and vertical traveling system, and horizontal traveling system is equipped with horizontal walking axle and casing, and vertical traveling system is equipped with vertical walking axle and frame, its characterized in that: the power coupling device (3) comprises a first bevel gear (302), a second bevel gear (303), a third bevel gear (306), a fourth bevel gear (307), a first transmission component (6) and a second transmission component (7), wherein the first bevel gear (302) is driven to rotate by any transverse walking shaft (13), the transverse walking shaft (13) transmits torque by the first transmission component (6), the second bevel gear (303) is meshed with the first bevel gear (302), the third bevel gear (306) is coaxially connected with the second bevel gear (303), the fourth bevel gear (307) is meshed with the third bevel gear (306), any longitudinal walking shaft (23) is driven to rotate by the fourth bevel gear (307), the fourth bevel gear (307) transmits torque by the second transmission component (7), and the eccentric mechanism comprises an eccentric sleeve (16) and an eccentric sleeve driving mechanism, each transverse walking shaft (13) is provided with a rotatable eccentric sleeve (16), the frame (22) is supported by each eccentric sleeve (16), and any eccentric sleeve (16) is driven to rotate by an eccentric sleeve driving mechanism.
2. The four-way vehicle traveling reversing mechanism according to claim 1, characterized in that: the eccentric sleeve driving mechanism comprises a reversing motor (5) and a reversing transmission assembly, any eccentric sleeve (16) is driven to rotate by the reversing motor (5), and the reversing motor (5) transmits torque by the reversing transmission assembly.
3. The four-way vehicle traveling reversing mechanism according to claim 2, characterized in that: the reversing transmission assembly comprises a driving chain wheel, a driven chain wheel (14) and a power chain (17), the driving chain wheel is sleeved on an output shaft of the reversing motor (5), the driven chain wheel (14) is coaxially connected with a corresponding eccentric sleeve (16), and the driving chain wheel is connected with the driven chain wheel (14) through the power chain (17).
4. The four-way vehicle traveling reversing mechanism according to claim 3, characterized in that: the eccentric sleeve (16) is mounted on the corresponding transverse traveling shaft (13) through a flange sleeve (15), the flange sleeve (15) is sleeved on the transverse traveling shaft (13) through a bearing support, the eccentric sleeve (16) is fixedly connected with the flange sleeve (15), and the driven chain wheel (14) is mounted on the corresponding flange sleeve (15).
5. The four-way vehicle traveling reversing mechanism according to claim 1, characterized in that: the first transmission assembly (6) comprises a transmission chain wheel (18), a driving chain wheel (301) and a transmission chain (19), wherein the transmission chain wheel (18) is sleeved at the end part of the corresponding transverse walking shaft (13), the driving chain wheel (301) is coaxially connected with the first bevel gear (302), and the transmission chain wheel (18) is connected with the driving chain wheel (301) through the transmission chain (19).
6. The four-way vehicle traveling reversing mechanism according to claim 1, characterized in that: the second transmission assembly (7) comprises a first gear (308) and a second gear (309) which are meshed with each other, wherein the first gear (308) is coaxially connected with a fourth bevel gear (307), and the second gear (309) is coaxially connected with a corresponding longitudinal walking shaft (23).
7. The four-way vehicle traveling reversing mechanism according to claim 1, characterized in that: the second bevel gear (303) and the third bevel gear (306) are sleeved on a connecting shaft (304), the lower end of the connecting shaft (304) is installed on the bottom surface of the shell (11), and the upper end of the connecting shaft is inserted into the third bevel gear (306) and is in sliding connection with the third bevel gear (306).
8. The four-way vehicle traveling reversing mechanism according to claim 7, characterized in that: a guide shaft (311) parallel to the connecting shaft (304) is arranged between the rack (22) and the bottom surface of the shell (11), the lower end of the guide shaft (311) is fixedly arranged on the bottom surface of the shell (11), and a guide sleeve is arranged on the rack (22) and sleeved at the upper end of the guide shaft (311).
9. The four-way vehicle traveling reversing mechanism according to claim 7, characterized in that: the third bevel gear (306) and the fourth bevel gear (307) are both mounted on the rack (22), the third bevel gear (306) is provided with an inner spline hole, and the upper end of the connecting shaft (304) is inserted into the inner spline hole of the third bevel gear (306).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911266000.5A CN112938272A (en) | 2019-12-11 | 2019-12-11 | Four-direction vehicle walking reversing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911266000.5A CN112938272A (en) | 2019-12-11 | 2019-12-11 | Four-direction vehicle walking reversing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112938272A true CN112938272A (en) | 2021-06-11 |
Family
ID=76226408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911266000.5A Pending CN112938272A (en) | 2019-12-11 | 2019-12-11 | Four-direction vehicle walking reversing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112938272A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202988038U (en) * | 2012-12-28 | 2013-06-12 | 昆山光腾智能机械有限公司 | Automatic track exchanging type shuttle |
| CN203997824U (en) * | 2014-08-08 | 2014-12-10 | 镇江中化聚氨酯工业设备有限公司 | A kind of synchronous transmission device of laminating conveyor |
| CN107902312A (en) * | 2017-12-08 | 2018-04-13 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN207810393U (en) * | 2017-12-08 | 2018-09-04 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN108584259A (en) * | 2018-02-02 | 2018-09-28 | 尊道（上海）自动化设备有限公司 | Four-way walking promotes the track travel vehicle that warehouse trucks are carried in logistics |
| CN108906918A (en) * | 2018-06-28 | 2018-11-30 | 嘉兴市集珵机械有限公司 | The two-way straightening machine of single power source driving |
| WO2018234216A1 (en) * | 2017-06-21 | 2018-12-27 | Swisslog-Accalon Ab | A transport cart of a storage and retrieval system and a lifting arrangement for such a transport cart |
| CN208666169U (en) * | 2018-07-11 | 2019-03-29 | 浙江世仓智能仓储设备有限公司 | Shuttle elevating mechanism |
| CN110356756A (en) * | 2019-06-15 | 2019-10-22 | 昆明鼎承科技有限公司 | A kind of power coupling transmission device |
-
2019
- 2019-12-11 CN CN201911266000.5A patent/CN112938272A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202988038U (en) * | 2012-12-28 | 2013-06-12 | 昆山光腾智能机械有限公司 | Automatic track exchanging type shuttle |
| CN203997824U (en) * | 2014-08-08 | 2014-12-10 | 镇江中化聚氨酯工业设备有限公司 | A kind of synchronous transmission device of laminating conveyor |
| WO2018234216A1 (en) * | 2017-06-21 | 2018-12-27 | Swisslog-Accalon Ab | A transport cart of a storage and retrieval system and a lifting arrangement for such a transport cart |
| CN107902312A (en) * | 2017-12-08 | 2018-04-13 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN207810393U (en) * | 2017-12-08 | 2018-09-04 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN108584259A (en) * | 2018-02-02 | 2018-09-28 | 尊道（上海）自动化设备有限公司 | Four-way walking promotes the track travel vehicle that warehouse trucks are carried in logistics |
| CN108906918A (en) * | 2018-06-28 | 2018-11-30 | 嘉兴市集珵机械有限公司 | The two-way straightening machine of single power source driving |
| CN208666169U (en) * | 2018-07-11 | 2019-03-29 | 浙江世仓智能仓储设备有限公司 | Shuttle elevating mechanism |
| CN110356756A (en) * | 2019-06-15 | 2019-10-22 | 昆明鼎承科技有限公司 | A kind of power coupling transmission device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112429112B (en) | Wheel-foot power switching device based on wheel-walking robot | |
| CN216784578U (en) | Four-direction vehicle jacking reversing transmission mechanism | |
| CN114435821B (en) | Four-way transmission mechanism | |
| CN214987889U (en) | Heavy-load four-way shuttle | |
| CN111409993A (en) | A switching-over climbing mechanism for transfer robot | |
| CN108944325B (en) | Lifting type Mecanum wheel driving assembly | |
| CN112660679B (en) | Chassis of storage logistics vehicle, storage logistics vehicle and storage logistics system | |
| CN112938272A (en) | Four-direction vehicle walking reversing mechanism | |
| CN210309814U (en) | Self-adaptive damping device for driving wheel of load-carrying locomotive | |
| CN218931639U (en) | Single-motor walking four-way shuttle | |
| CN219192400U (en) | Four-way transport vehicle | |
| CN115339829A (en) | Direct-drive walking type four-way shuttle | |
| CN212557875U (en) | Modular lifting type track carrier | |
| CN211895919U (en) | Trade power station system walking transport mechanism | |
| CN210709091U (en) | Travelling mechanism for four-way shuttle | |
| CN218507486U (en) | Positioning and adjusting mechanism for main rail wheel of four-way shuttle | |
| CN221643423U (en) | Four-way carrier applied to intelligent stereoscopic warehouse | |
| CN219117068U (en) | Lifting and jacking interlocking device of shuttle | |
| CN116853986B (en) | Industrial transport vehicle capable of omnidirectionally driving | |
| CN219585757U (en) | Jacking type mobile robot | |
| CN220053784U (en) | Gear box driven four-way shuttle | |
| CN220842665U (en) | Steering device and trolley changing vehicle | |
| CN219927514U (en) | Movable trolley replacing vehicle | |
| CN216188596U (en) | Four-way vehicle | |
| CN218663565U (en) | Four-way vehicle based on frame transmission integration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210611 |
|
| RJ01 | Rejection of invention patent application after publication |