CN114906530B - Longitudinal linkage type reversing jacking mechanism of four-way vehicle - Google Patents
Longitudinal linkage type reversing jacking mechanism of four-way vehicle Download PDFInfo
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- CN114906530B CN114906530B CN202210616105.4A CN202210616105A CN114906530B CN 114906530 B CN114906530 B CN 114906530B CN 202210616105 A CN202210616105 A CN 202210616105A CN 114906530 B CN114906530 B CN 114906530B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses a longitudinal linkage reversing jacking mechanism of a four-way vehicle, which comprises a supporting frame, a longitudinal traveling driving mechanism, a transverse traveling driving mechanism, a swinging rod jacking mechanism and a transverse swinging rod linkage mechanism, wherein the longitudinal traveling driving mechanism comprises a longitudinal transmission shaft, a hollow shaft, a longitudinal driving motor and a longitudinal guide shaft, the middle part of the longitudinal transmission shaft is coaxially sleeved with the hollow shaft, and the outer peripheral walls at two ends of the hollow shaft are respectively provided with left threads and right threads; the transverse swing rod linkage mechanism comprises a guide sliding rail, a tensioning sliding table, a jacking swing rod and a transmission cross beam; the sliding block of the tensioning sliding table is hinged with a jacking cross beam of the swing rod jacking mechanism through a jacking swing rod; the transmission beam is arranged at the top of the tensioning sliding table, a longitudinal guide shaft is sleeved in a through hole at one end of the transmission beam in a sliding manner, and a hollow shaft is sleeved in a threaded hole at the other end of the transmission beam in a threaded manner. The invention has novel and compact structural design, stable operation, reduced overall volume, improved operation capacity and cargo access efficiency, reduced cost and saved space.
Description
Technical Field
The invention belongs to the technical field of intelligent storage, relates to a four-way shuttle vehicle, and particularly relates to a longitudinal linkage type reversing jacking mechanism of the four-way vehicle.
Background
Along with the rapid development of warehouse logistics industry, the automatic stereoscopic warehouse technology is more and more mature, and large, medium and small enterprises begin to carry out automatic stereoscopic warehouse transformation so as to arrange more shelves on a stereoscopic warehouse plane, and arrange more shelf interlayer in the height direction, thereby maximally reducing the space occupied by a goods feeding channel and a goods discharging channel. In addition, the existing stereoscopic warehouse has various warehouse-in and warehouse-out modes, including various storage modes such as a stacker, a shuttle, a primary-secondary vehicle, a four-way shuttle and the like. Each warehouse-in and warehouse-out mode has advantages and disadvantages, so that different stereoscopic warehouses adopt reasonable warehouse-in and warehouse-out modes, and the improvement of warehouse-in and warehouse-out efficiency and the reduction of cost are greatly influenced.
The four-way shuttle is used as new automatic storage and transportation equipment to gradually enter the field of vision of people, and the four-way shuttle system is used as the upgrade of the two-way shuttle technology, so that four-way running in the X and Y directions can be realized, and the high-efficiency and flexible operation can be realized across roadways. The four-way shuttle can walk along the track arranged on the goods shelf, under the condition that reversing is needed, the movable wheel in one direction is lifted, and the wheel in the other direction is contacted with the track and walks along the track, so that the reversing walking function is realized. The top of the four-way shuttle is provided with a jacking mechanism which can jack up and convey the tray or the feed box to other goods places on the goods shelf or to be delivered out of the warehouse,
the whole machine layout of the existing four-way shuttle is complex, the size is thicker, the occupied space of the goods feeding and discharging channels is larger, a larger number of goods shelf interlayer cannot be arranged in the height direction indirectly, and the space utilization rate of the three-dimensional warehouse is reduced; the cam jacking structure adopted conventionally has the defects of easy abrasion of the cam, uneven stress of the driven piece and low transmission efficiency, and the jacking structure is generally required to be additionally provided with a separate motor for driving and jacking, so that the manufacturing and purchasing cost is increased.
Disclosure of Invention
The invention provides a longitudinal linkage type reversing jacking mechanism of a four-way shuttle car, which aims to solve the problems of large occupied space, uneven stress of the jacking structure and high production cost in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a longitudinal linkage reversing lifting mechanism of a four-way vehicle, which comprises a supporting frame, a longitudinal traveling driving mechanism, a transverse traveling driving mechanism, a swinging rod lifting mechanism and a transverse swinging rod linkage mechanism, wherein:
the longitudinal walking driving mechanism comprises a longitudinal transmission shaft, a hollow shaft, a longitudinal driving motor and a longitudinal guiding shaft, wherein the longitudinal transmission shaft and the longitudinal guiding shaft are respectively arranged at the front end and the rear end of the supporting frame, and one end of the longitudinal transmission shaft is connected with the longitudinal driving motor; the middle part of the longitudinal transmission shaft is coaxially sleeved with a hollow shaft through a bearing and an electromagnetic clutch, and the outer peripheral walls at two ends of the hollow shaft are respectively provided with left threads and right threads;
the transverse swing rod linkage mechanism comprises a guide sliding rail, a tensioning sliding table, a jacking swing rod and a transmission cross beam; the number of the guide sliding rails is two, and the guide sliding rails are arranged at left and right intervals; the two tensioning sliding tables are respectively arranged on the guide sliding rail in a sliding way through sliding blocks at two ends, and the outer side walls of the sliding blocks are hinged with a jacking cross beam of the swing rod jacking mechanism through jacking swing rods; the transmission beam is arranged at the top of the tensioning sliding table in parallel, the longitudinal guide shaft is sleeved in the through hole at one end of the transmission beam in a sliding manner, and the hollow shaft is sleeved in the threaded hole at the other end of the transmission beam in a threaded manner.
Further, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, four circular assembly holes for assembling four groups of longitudinal travelling wheels on the longitudinal travelling driving mechanism are respectively formed in the front side wall and the rear side wall of the supporting frame, and the longitudinal travelling wheels are coaxially and rotatably arranged in the circular assembly holes; and
four square assembly holes for assembling four groups of transverse travelling wheels on the transverse travelling driving mechanism are respectively formed in the left side wall and the right side wall of the supporting frame, and the transverse travelling wheels can move up and down in the corresponding square assembly holes.
Further, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, the longitudinal walking driving mechanism further comprises a first longitudinal synchronous wheel, a first longitudinal synchronous belt, a motor synchronous wheel and a motor transmission shaft, wherein:
the first longitudinal synchronous wheel is fixedly sleeved at one end of the longitudinal transmission shaft and positioned at one side of the electromagnetic clutch, and is connected with the motor synchronous wheel through the first longitudinal synchronous belt;
the motor transmission shaft is arranged at the bottom of the supporting frame through a bearing bracket with a seat, one end of the motor transmission shaft is connected with the longitudinal driving motor, and the other end of the motor transmission shaft is fixedly sleeved with the motor synchronous wheel.
Further, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, the longitudinal traveling driving mechanism further comprises a second longitudinal synchronous wheel, a second longitudinal synchronous belt, a third longitudinal synchronous wheel, a first longitudinal traveling wheel and a second longitudinal traveling wheel, wherein:
the two second longitudinal synchronous wheels are respectively fixedly sleeved at the two ends of the longitudinal transmission shaft and close to the frame of the supporting frame, and are connected with the two third longitudinal synchronous wheels through the second longitudinal synchronous belt;
the number of the third longitudinal synchronous wheels is two, each group is two, and the third longitudinal synchronous wheels are respectively and correspondingly connected with the first longitudinal travelling wheels on the supporting frame and are positioned at two sides below the second longitudinal synchronous wheels;
the first longitudinal traveling wheels and the second longitudinal traveling wheels are respectively arranged in round assembly holes of the frame bodies at the left end and the right end of the supporting frame.
Further preferably, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, the longitudinal traveling driving mechanism further comprises a compression wheel, a compression adjusting plate and a compression fixing plate, wherein:
the two groups of the pressing wheels are respectively arranged on the outer side of the second longitudinal synchronous belt in an interference fit manner, and one pressing wheel is arranged on the inner side wall of the supporting frame;
one end of the compaction adjusting plate is connected with the other compaction wheel, the other end of the compaction adjusting plate is connected with the compaction fixing plate through an adjusting bolt, and the compaction fixing plate is fixed on the inner side wall of the supporting frame.
Further, on the vertical coordinated type reversing jacking mechanism of four-way car, horizontal walking actuating mechanism includes horizontal transmission shaft, movable gear, horizontal driving motor, horizontal driven shaft and respectively movable assembly in corresponding square assembly hole two sets of first horizontal walking wheels, two sets of second horizontal walking wheels, wherein:
two ends of the transverse transmission shaft are respectively connected with two corresponding first transverse traveling wheels, the middle part of the transverse transmission shaft is sleeved with the movable gear, and the movable gear is connected with the transverse driving motor through a first transverse synchronous belt;
two ends of the transverse driven shaft are respectively connected with two corresponding second transverse travelling wheels, and the two groups of the first transverse travelling wheels on the same side and the two groups of the second transverse travelling wheels are connected through a second transverse synchronous belt.
Further preferably, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, the transverse traveling driving mechanism further comprises a linkage shaft, a first linkage gear and a second linkage gear, wherein:
the linkage shaft is arranged in parallel with the transverse transmission shaft, and two ends of the linkage shaft are respectively arranged at the bottom of the supporting frame through bearing frames with seats;
the first linkage gear is fixedly sleeved at one end of the linkage shaft and is meshed with or separated from the movable gear which moves up and down in a lifting manner;
the second linkage gear is fixedly sleeved at the other end of the linkage shaft and is connected with the transverse driving motor through the first transverse synchronous belt.
Further, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, the swing rod jacking mechanism comprises two groups of jacking cross beams and jacking plates which are respectively arranged at the left inner side end and the right inner side end of the supporting frame, wherein:
the through holes at two ends of the jacking cross beam are respectively penetrated with a transverse transmission shaft and a transverse driven shaft through bearings, and two ends of the jacking cross beam are respectively sleeved on the first guide column and the second guide column in a sliding way;
the jacking plate is located above the jacking cross beam, two ends of the jacking plate are respectively sleeved on the corresponding first guide posts in a sliding mode, a stop block is arranged on the outer side of each end portion of the jacking plate, and the stop block is fixedly arranged at the top of each second guide post.
Further, on the longitudinal linkage type reversing jacking mechanism of the four-way vehicle, the transmission beam is of an inverted U-shaped structure, a square channel is formed between the middle bottom and the tensioning sliding table below, and a motor transmission shaft of the longitudinal traveling driving mechanism and a first transverse synchronous belt of the transverse traveling driving mechanism are correspondingly arranged in the square channel in a penetrating mode.
Further, on the four-way vehicle longitudinal linkage type reversing jacking mechanism, the transverse swing rod linkage mechanism further comprises four groups of baffles and reset springs, wherein:
the baffle is correspondingly arranged at the end part of the guide sliding rail, the height of the baffle is larger than that of the guide sliding rail, and the baffle is fixed at the bottom of the supporting frame through screws;
one end of the return spring is connected with the baffle plate, and the other end of the return spring is connected with the rear end of the corresponding sliding block.
Compared with the prior art, the invention has the following technical effects:
(1) The bottom of the supporting frame is provided with a swing rod jacking mechanism and a transverse swing rod linkage mechanism, and the lifting of the lifting cross beam of the swing rod jacking mechanism is controlled by controlling the movement of two tensioning sliding tables which are oppositely arranged on the transverse swing rod linkage mechanism, so that the lifting swing rods at four corners are symmetrically arranged, the stress is uniform, and the jacking synchronism of the lifting cross beams at two sides is ensured;
(2) The transverse swing rod linkage mechanism is synchronously controlled by a driving motor on the longitudinal traveling driving mechanism through combining the transverse swing rod linkage mechanism and the longitudinal traveling driving mechanism, so that the two tensioning sliding tables are controlled to move in opposite directions or back to back, and then the outer jacking swing rod is used for driving the jacking cross beam, so that the purpose of lifting is realized;
(3) The transverse swing rod linkage mechanism and the longitudinal traveling driving mechanism share one driving motor, the connection relation between the longitudinal transmission shaft and the hollow shaft is controlled through the electromagnetic clutch, the rotation or stop of the hollow shaft is realized, then the movement of the front tensioning sliding table and the rear tensioning sliding table is controlled in a threaded telescopic mode, the aim of one machine for multiple control is realized, one motor is saved, and the purchasing cost is reduced;
(4) The transverse transmission shaft and the travelling wheels of the transverse swing rod linkage mechanism are erected on the jacking cross beam and can move up and down along with the jacking cross beam, and the power of the transverse driving motor is transmitted to the transverse driving shaft through the linkage shaft and the linkage gear by utilizing the up-down movement of the transverse driving shaft on the transverse swing rod linkage mechanism, so that the split distribution of the power of the transverse swing rod linkage mechanism is realized by matching with the jacking movement, the shielding of the tensioning sliding table and the transmission cross beam can be skillfully avoided, the overall layout of the whole machine is more reasonable, the space utilization rate of the car body is improved, and the thickness of the machine body is reduced;
(5) The four-way vehicle longitudinal linkage type reversing jacking mechanism adopts one driving motor to control jacking and longitudinal walking respectively, is novel and compact in structural design, stable in operation, reduces the whole volume, improves the operation capacity and the goods storage and taking efficiency, reduces the cost and saves the space.
Drawings
FIG. 1 is a schematic top view of a four-way vehicle longitudinal linkage reversing jack mechanism of the present invention;
fig. 2 is a schematic diagram of a three-dimensional structure of a longitudinal linkage reversing jack mechanism of a four-way vehicle;
FIG. 3 is a schematic view of a part A of a longitudinal linkage reversing and jacking mechanism of a four-way vehicle in a partially enlarged structure;
FIG. 4 is a schematic view of a part B of a longitudinal linkage type reversing jacking mechanism of a four-way vehicle in a partially enlarged structure;
fig. 5 is a schematic diagram of a three-dimensional structure of a longitudinal linkage reversing jack mechanism of a four-way vehicle;
FIG. 6 is a schematic view of a part C of a longitudinal linkage reversing and jacking mechanism of a four-way vehicle in a partially enlarged structure;
fig. 7 is a schematic diagram of a partial enlarged structure of a D part in a longitudinal linkage type reversing jacking mechanism of a four-way vehicle according to the present invention;
fig. 8 is a schematic diagram of an assembly structure of a longitudinal traveling driving mechanism and a transverse swing link linkage mechanism in a supporting frame in a longitudinal linkage reversing jacking mechanism of a four-way vehicle;
fig. 9 is a schematic diagram II of an assembly structure of a longitudinal traveling driving mechanism and a transverse swing link linkage mechanism in a supporting frame in a longitudinal linkage reversing jacking mechanism of a four-way vehicle;
fig. 10 is a schematic diagram III of an assembly structure of a longitudinal traveling driving mechanism and a transverse swing link linkage mechanism in a supporting frame in a longitudinal linkage reversing jacking mechanism of a four-way vehicle;
FIG. 11 is a schematic diagram of a left-hand view of a transverse swing link linkage mechanism in a support frame in a four-way vehicle longitudinal linkage reversing jacking mechanism;
FIG. 12 is a schematic view of a partially enlarged structure of an E portion of a horizontal swing link linkage mechanism assembled in a supporting frame in a four-way vehicle longitudinal linkage type reversing jacking mechanism;
FIG. 13 is a schematic diagram of a right-side view of a transverse swing link linkage mechanism in a support frame in a four-way vehicle longitudinal linkage reversing jacking mechanism;
fig. 14 is a schematic diagram of a partially enlarged structure of an F portion of a horizontal swing link linkage mechanism assembled in a supporting frame in a four-way vehicle longitudinal linkage type reversing jacking mechanism according to the present invention;
FIG. 15 is a schematic cross-sectional view of a transverse pendulum linkage mechanism in a support frame in a four-way vehicle longitudinal linkage reversing jacking mechanism;
FIG. 16 is a schematic view of an assembly structure of a longitudinal drive shaft, an electromagnetic clutch and a hollow shaft in a longitudinal linkage type reversing jacking mechanism of a four-way vehicle;
FIG. 17 is a schematic view of a partially enlarged structure of a longitudinal drive shaft, an electromagnetic clutch and a hollow shaft in a longitudinal linkage type reversing jacking mechanism of a four-way vehicle;
wherein, each reference sign is:
100-supporting frames, 101-square assembly holes;
200-longitudinal walking driving mechanism, 201-longitudinal transmission shaft, 202-hollow shaft, 2021-left screw thread, 2022-right screw thread, 203-bearing, 204-electromagnetic clutch, 205-first longitudinal synchronous wheel, 206-first longitudinal synchronous belt, 207-motor synchronous wheel, 208-motor transmission shaft, 209-longitudinal driving motor, 210-longitudinal guiding shaft, 211-second longitudinal synchronous belt, 212-third longitudinal synchronous wheel, 213-compression wheel, 214-compression adjusting plate, 215-compression fixing plate, 216-first longitudinal walking wheel, 217-second longitudinal walking wheel;
300-transverse traveling driving mechanism, 301-transverse transmission shaft, 302-movable gear, 303-linkage shaft, 304-first linkage gear, 305-second linkage gear, 306-first transverse synchronous belt, 307-transverse driving motor, 308-first transverse traveling wheel, 309-second transverse traveling wheel, 310-second transverse synchronous belt, 311-transverse driven shaft;
400-a swing rod lifting mechanism, 401-a lifting cross beam, 402-a first guide column, 403-a second guide column, 404-a stop block and 405-a lifting plate;
500-transverse swing rod linkage mechanism, 501-guide slide rail, 502-tensioning slide table, 503-slide block, 504-reset spring, 505-baffle, 506-lifting swing rod, 507-transmission beam, 508-threaded hole, 509-through hole.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In some embodiments, as shown in fig. 1, 2, 5 and 8, a four-way vehicle longitudinal linkage type reversing jacking mechanism is provided, which mainly comprises a supporting frame 100, a longitudinal traveling driving mechanism 200, a transverse traveling driving mechanism 300, a swing rod jacking mechanism 400 and a transverse swing rod linkage mechanism 500. Through ingenious structural design of the longitudinal traveling driving mechanism 200 and the transverse swing rod linkage mechanism 500, the transverse traveling driving mechanism 300 and the swing rod jacking mechanism 400 are synchronously driven to lift up and down, so that linkage of the longitudinal traveling driving mechanism 200 and the transverse swing rod linkage mechanism 500 is realized, and not only can longitudinal traveling of the longitudinal traveling driving mechanism 200 be realized, but also the connection relation of power driving or disconnection between the longitudinal traveling driving mechanism 200 and the transverse swing rod linkage mechanism 500 can be controlled.
Specifically, as shown in fig. 2, 3, 5 and 6, the longitudinal traveling driving mechanism 200 is used as a longitudinal traveling mechanism of the four-way vehicle and is used for driving the four-way vehicle to travel longitudinally, and mainly comprises a longitudinal transmission shaft 201, a hollow shaft 202, a longitudinal driving motor 209 and a longitudinal guiding shaft 210.
The longitudinal transmission shaft 201 and the longitudinal guide shaft 210 are respectively disposed at the front and rear ends of the support frame 100, and are respectively used for connecting with corresponding longitudinal travelling wheels. And one end of the longitudinal transmission shaft 201 is connected with a longitudinal driving motor 209, and the longitudinal driving motor 209 controls the rotation of the longitudinal transmission shaft 201, and then controls the rotation of the longitudinal travelling wheels at the two ends, so as to achieve the purpose of longitudinal travelling.
The middle part of the longitudinal transmission shaft 201 is coaxially sleeved with a hollow shaft 202, and the hollow shaft 202 and the hollow shaft can rotate relatively. And one end of the hollow shaft 202 is connected with one end of the longitudinal transmission shaft 201 through a bearing 203, the other end of the hollow shaft 202 is connected with the other end of the longitudinal transmission shaft 201 through an electromagnetic clutch 204, and the power of the longitudinal transmission shaft 201 can be transmitted to the hollow shaft 202 through the separation and connection functions of the electromagnetic clutch 204, that is, the longitudinal transmission shaft 201 can rotate while synchronously driving the hollow shaft 202 to rotate.
As shown in fig. 16 and 17, the electromagnetic clutch 204 is a commercially available miniature electromagnetic clutch, which is an automatic electrical apparatus operated by the attraction force of an electromagnet, and the specific structural principle is not described herein. The electromagnetic clutch 204 includes a rotating wheel 2041, an electromagnetic pressure plate 2042 and a driven wheel 2043, wherein the rotating wheel 2043 is fixedly arranged on the longitudinal transmission shaft 201, the driven wheel 2043 is fixedly arranged at one end of the hollow shaft 202, and the rotating wheel 2041 and the driven wheel 2043 are separated or combined through the electromagnetic pressure plate 2042 according to working requirements, so that power of the longitudinal transmission shaft 201 is transmitted to the hollow shaft 202, rotation or stop of the hollow shaft 202 is controlled, and then control of the transverse swing link mechanism 500 is realized.
As shown in fig. 2, 8, 9, 10 and 16, in order to control the relative approaching or separating of the two tensioning sliding tables 502 on the transverse swing link linkage mechanism 500, the hollow shaft 202 is configured as a threaded telescopic rod, and is in threaded fit with a threaded hole 508 on the transmission beam 507. Specifically, left threads 2021 and right threads 2022 are respectively disposed on outer peripheral walls of two ends of the hollow shaft 202, and the left threads 2021 and the right threads 2022 are respectively matched with threaded holes 508 on the transmission beams 507 of two ends, so that the transmission beams 507 of two ends on the hollow shaft 202 can move in opposite directions when the hollow shaft 202 rotates.
If the hollow shaft 202 rotates forward, the two transmission beams 507 at the two ends synchronously move to the middle, the lower end of the jacking swing rod 506 swings inwards to turn up, and the jacking beam 401 is jacked up through the jacking swing rod 506; for another example, when the hollow shaft 202 rotates reversely, the two transmission beams 507 at the two ends move to the two sides synchronously, the lower ends of the jacking swing rods 506 swing outwards and retract, and the supporting force of the jacking swing rods 506 on the jacking beam 401 is removed, so that the jacking beam 401 descends.
As shown in fig. 2, 8, 9, 10, 11, 13 and 15, the horizontal swing link linkage 500 mainly includes a guide slide rail 501, a tensioning slide table 502, a lifting swing link 506 and a transmission beam 507.
The two guide sliding rails 501 are arranged in parallel and at intervals, and are respectively and fixedly arranged at the bottom of the supporting frame 100 by bolts. The two tensioning sliding tables 502 are respectively arranged on the two guide sliding rails 501 in a sliding manner through sliding blocks 503 at two ends, that is, the two tensioning sliding tables 502 are arranged at two ends of the two guide sliding rails 501 in a 90-degree crossed manner relative to the two guide sliding rails 501. The two tensioning sliding tables 502 arranged left and right in front and back can synchronously move towards the inner side or synchronously move away from the outer side under the action of external force, and the tensioning sliding tables 502 synchronously approach or synchronously separate from each other in the whole.
As shown in fig. 2, 5, 6, 11, 12, 13 and 14, in order to realize the linkage between the horizontal swing link linkage mechanism 500 and the swing link lifting mechanism 400, the outer walls of the front and rear sliders 503 are respectively hinged with lifting swing links 506 arranged oppositely, and one end of each lifting swing link 506 is hinged with a lifting beam 401 of the swing link lifting mechanism 400. The lifting swing rods 506 are obliquely arranged, and the inclination angle is 30-90 degrees, and is specifically determined according to the stress and the lifting distance. The front and rear sets of opposite jacking swing rods 506 are driven by the two tensioning sliding tables 502 respectively, the top ends of the jacking swing rods are connected with the rotating shafts of the jacking cross beams 401 to serve as far points, and the top ends of the jacking swing rods are supported in the process that the lower ends of the jacking swing rods move inwards, so that the jacking cross beams 401 are arched from two sides, and the jacking purpose is achieved.
The transmission beam 507 is arranged at the top of the tensioning sliding table 502 in parallel and is fixedly connected with the tensioning sliding table 502 into an integrated structure. Through holes 509 are respectively formed in one end of the transmission beam 507, threaded holes 508 are formed in the other end of the transmission beam 507, one end of the transmission beam 507 is slidably sleeved on the longitudinal guide shaft 210 through the through holes 509, the other end of the transmission beam 507 is threadedly sleeved on the hollow shaft 202 through the threaded holes 508, the transmission beam 507 sleeved on the transmission beam can be controlled to slide back and forth along the length direction of the transmission beam by utilizing the rotation effect of the hollow shaft 202, and then the tensioning sliding table 502 at the bottom is driven to move, and the jacking beams 401 at two sides are arched or downwards moved.
In some embodiments, as shown in fig. 1, 2, 8, 9, 11 and 13, the front and rear side walls of the support frame 100 are respectively provided with four circular assembly holes for assembling four sets of longitudinal traveling wheels on the longitudinal traveling driving mechanism 200, and the longitudinal traveling wheels are coaxially and rotatably disposed in the circular assembly holes.
Four square assembly holes 101 for assembling four groups of transverse traveling wheels on the transverse traveling driving mechanism 300 are respectively formed in the left and right side walls of the supporting frame 100, and the transverse traveling wheels can move up and down in the corresponding square assembly holes 101. The height of the transverse travelling wheel is adjustable relative to the height of the longitudinal travelling wheel, for example, the reversing purpose can be realized by adjusting the height of the longitudinal travelling wheel higher or lower than the transverse travelling wheel.
The supporting frame 100 is a whole body formed by bending metal plates and connecting local reinforcing ribs, so that the bearing capacity of the whole vehicle is greatly improved, and a battery pack is also arranged in the supporting frame 100 and used as a power source to improve the power of the whole vehicle, and the battery pack can adopt a lithium ion rechargeable battery, a storage battery or any other energy storage battery to supply power for each functional power supply of the trolley.
In some embodiments, as shown in fig. 2, 5 and 6, the longitudinal walking driving mechanism 200 further includes a first longitudinal synchronizing wheel 205, a first longitudinal synchronizing belt 206, a motor synchronizing wheel 207 and a motor transmission shaft 208, the motor transmission shaft 208 is installed at a middle position of the supporting frame 100, and the power is transmitted to the longitudinal transmission shaft 201 by the first longitudinal synchronizing wheel 205, the first longitudinal synchronizing belt 206 and the motor synchronizing wheel 207 avoiding shielding of the transverse swing link mechanism 500.
Specifically, the first longitudinal synchronous wheel 205 is fixedly sleeved at one end of the longitudinal transmission shaft 201 and is located at one side of the electromagnetic clutch 204, and is connected to the motor synchronous wheel 207 through the first longitudinal synchronous belt 206; the motor transmission shaft 208 is arranged at the bottom of the supporting frame 100 through a bearing bracket with a seat, one end of the motor transmission shaft is connected with the longitudinal driving motor 209, and the other end of the motor transmission shaft is fixedly sleeved with the motor synchronous wheel 207.
In some embodiments, as shown in fig. 2, 3, 9 and 10, in order to fully utilize the internal space of the support frame 100, the transverse traveling driving mechanism 300 and the transverse swing link linkage mechanism 500 are reasonably arranged, and the longitudinal transmission shaft 201 of the longitudinal traveling driving mechanism 200 is designed in an upper table type structure.
The longitudinal running driving mechanism 200 further includes a second longitudinal synchronizing wheel, a second longitudinal synchronizing belt 211, a third longitudinal synchronizing wheel 212, a first longitudinal running wheel 216 and a second longitudinal running wheel 217, and the power of the longitudinal transmission shaft 201 is respectively transmitted to the two groups of first longitudinal running wheels 216 through the second longitudinal synchronizing wheel, the second longitudinal synchronizing belt 211 and the third longitudinal synchronizing wheel 212.
Specifically, the two second longitudinal synchronous wheels are respectively and fixedly sleeved at the two ends of the longitudinal transmission shaft 201 near the frame of the support frame 100, and are connected with the two third longitudinal synchronous wheels 212 through the second longitudinal synchronous belt 211. The number of the third longitudinal synchronizing wheels 212 is two, and each group is correspondingly connected with the first longitudinal traveling wheels 216 on the supporting frame 100 and is located at two sides below the second longitudinal synchronizing wheels. The first longitudinal traveling wheels 216 and the second longitudinal traveling wheels 217 are respectively installed in the circular assembly holes of the frame bodies at the left end and the right end of the supporting frame 100.
The two groups of first longitudinal travelling wheels 216 are connected with the upper longitudinal transmission shaft 201 through the third longitudinal synchronous wheel 212, the second longitudinal synchronous belt 211 and the second longitudinal synchronous wheel so as to stagger the lower tensioning sliding table 502, the transverse transmission shaft 301 and the transverse driven shaft 311, so that the machine body structure layout is more reasonable and compact.
In some of these embodiments, as shown in fig. 2, 3, 8, 9 and 10, the longitudinal traveling driving mechanism 200 further includes a tension adjustment mechanism for the second longitudinal timing belt 211, which is mainly composed of a pinch roller 213, a pinch adjustment plate 214 and a pinch fixing plate 215.
The two pressing wheels 213 are respectively disposed on the outer side of the second longitudinal synchronous belt 211 and in interference fit therewith, and one pressing wheel 213 is disposed on the inner side wall of the supporting frame 100; one end of the pressing adjusting plate 214 is connected with another pressing wheel 213, the other end of the pressing adjusting plate 214 is connected with the pressing fixing plate 215 through an adjusting bolt, and the pressing fixing plate 215 is fixed on the inner side wall of the supporting frame 100.
The pressing wheel 213 can be pressed and attached to the second longitudinal synchronous belt 211 under the adjustment action of the pressing adjustment plate 214, so as to form a tensioning state for the second longitudinal synchronous belt 211; or the pinch roller 213 is moved away from the second longitudinal synchronous belt 211 so as to be separated from the second longitudinal synchronous belt 211, thereby eliminating the tension state of the second longitudinal synchronous belt 211. The compressing adjusting plate 214 and the compressing fixing plate 215 are all L-shaped plates, and the side end faces thereof are oppositely arranged, adjusting nuts and bolts are arranged on the oppositely arranged L-shaped plates, and the adjusting mode of the adjusting nuts and bolts is realized by adopting the conventional structure, and the detailed description is omitted.
In some embodiments, as shown in fig. 2, 5 and 7, the transverse traveling driving mechanism 300 is used as a transverse traveling mechanism of the four-way vehicle and is used for driving the four-way vehicle to travel transversely. The transverse driving device mainly comprises a transverse transmission shaft 301, a movable gear 302, a transverse driving motor 307, a transverse driven shaft 311, two groups of first transverse traveling wheels 308 and two groups of second transverse traveling wheels 309 which are respectively and movably assembled in corresponding square assembly holes 101. The transverse driving motor 307 controls the transverse transmission shaft 301 and the movable gear 302 to rotate, and then controls the first transverse travelling wheels 308 at the two ends of the transverse transmission shaft 301 to rotate, so that the purpose of transverse travelling is realized.
Two ends of the transverse transmission shaft 301 are respectively connected with two corresponding first transverse travelling wheels 308, the middle part of the transverse transmission shaft is sleeved with the movable gear 302, and the movable gear 302 is connected with the transverse driving motor 307 through a first transverse synchronous belt 306. Two ends of the transverse driven shaft 311 are respectively connected with two corresponding second transverse travelling wheels 309, and two groups of the first transverse travelling wheels 308 on the same side and two groups of the second transverse travelling wheels 309 are connected through a second transverse synchronous belt 310.
In some embodiments, as shown in fig. 2, 5 and 7, the power transmission structure of the lateral traveling driving mechanism 300 adopts a split structure design, so as to fully utilize the space of the vehicle body and reduce the thickness of the vehicle body. The split-type transverse traveling driving mechanism 300 further comprises a linkage shaft 303, a first linkage gear 304 and a second linkage gear 305, and the power of the transverse driving motor 307 is transmitted to the transverse transmission shaft 301 which moves up and down along with the lifting beam 401 through the first linkage gear 304 and the second linkage gear 305.
The linkage shaft 303 is arranged parallel to the transverse transmission shaft 301, and two ends of the linkage shaft are respectively arranged at the bottom of the supporting frame 100 through bearing frames with seats. The first linkage gear 304 is fixedly sleeved at one end of the linkage shaft 303, and is meshed with or separated from the movable gear 302 which moves up and down in a lifting manner; the second linkage gear 305 is fixedly sleeved at the other end of the linkage shaft 303, and is connected to the transverse driving motor 307 through the first transverse synchronous belt 306.
When the transverse traveling driving mechanism 300 is in a lifting state along with the swing rod lifting mechanism 400, the transverse driving motor 307 stops running, at the moment, the movable gear 302 on the transverse transmission shaft 301 is separated from the first linkage gear 304, and the power transmission is disconnected. When the horizontal traveling driving mechanism 300 is in a descending state along with the swing rod jacking mechanism 400, jacking reversing is completed, the horizontal traveling driving mechanism 300 is bottomed to switch to a horizontal running state, at the moment, a movable gear 302 on a horizontal transmission shaft 301 is in contact engagement with a first linkage gear 304, a horizontal driving motor 307 is started, the horizontal transmission shaft 301 and first horizontal traveling wheels 308 at two ends of the horizontal transmission shaft can be driven to rotate, and then the purpose of horizontal traveling is achieved.
In some embodiments, as shown in fig. 1, 2 and 4, the swing-bar lifting mechanism 400 mainly includes two groups of lifting beams 401 and lifting plates 405 respectively disposed at the left and right inner ends of the supporting frame 100, where the lifting beams 401 and the lifting plates 405 can only slide up and down under the limit action of the guide posts.
Specifically, the through holes at two ends of the jacking beam 401 are respectively penetrated with the transverse transmission shaft 301 and the transverse driven shaft 311 through bearings, so that the transverse transmission shaft 301, the transverse driven shaft 311 and the transverse travelling wheels are synchronously driven to lift up and down in the process of lifting the jacking beam 401, thereby realizing the purpose of reversing. And the two ends of the jacking beam 401 are respectively sleeved on the first guide column 402 and the second guide column 403 in a sliding manner, the first guide column 402 and the second guide column 403 play a limiting role, the jacking beam 401 is prevented from shaking in the jacking process, and the stability of the jacking process is ensured.
The jacking plate 405 is located above the jacking beam 401, two ends of the jacking plate are respectively slidably sleeved on the corresponding first guide posts 402, a stop block 404 is arranged on the outer side of each end, and the stop block 404 is fixedly arranged on the top of the second guide post 403. The lifting beam 401 drives the lifting plate 405 to lift or descend in the process of lifting up and down.
In some embodiments, as shown in fig. 11 and fig. 13, the transmission beam 507 has an inverted U-shaped structure, a square channel is formed between the middle bottom of the transmission beam 507 and the tensioning sliding table 502 below, and the square channel is correspondingly provided with the motor transmission shaft 208 of the longitudinal traveling driving mechanism 200 and the first transverse synchronous belt 306 of the transverse traveling driving mechanism 300 in a penetrating manner, so that shielding of the tensioning sliding table and the transmission beam is skillfully avoided, the overall layout is more reasonable, the space utilization rate of the vehicle body is improved, and the thickness of the vehicle body is reduced.
In some of these embodiments, as shown in fig. 11, 12, 13 and 14, to better match the lifting process, the consistency of the two ends of the lifting beam 404 during the lowering process is guaranteed, and the sliders at the two ends are required to retract synchronously. In this regard, four sets of baffles 505 and return springs 504 are also provided on the lateral swing link linkage 500.
Specifically, the baffle 505 is correspondingly disposed at an end of the guide rail 501, and has a height greater than that of the guide rail 501, and is fixed to the bottom of the support frame 100 by screws. One end of the return spring 504 is connected to the baffle 505, and the other end is connected to the rear end of the corresponding slider 503. During the descending process of the lifting beam 401, the sliding blocks 503 are automatically pulled back to reset through the reset springs 504 respectively.
In addition, the four-way vehicle transverse swinging rod type jacking reversing structure further comprises a microcontroller arranged at the bottom of the supporting frame 100, the microcontroller is respectively electrically connected with the longitudinal driving motor 209, the transverse driving motor 307 and the electromagnetic clutch 204, the microcontroller is used as a brain of the whole vehicle to control the movement of the whole vehicle, the microcontroller can respectively control the longitudinal driving motor 209, the transverse driving motor 307 and the electromagnetic clutch 204 to operate, and the purposes of transverse walking, longitudinal walking and jacking reversing are respectively controlled, so that the automatic control of the four-way vehicle is realized.
The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;
secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;
finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The utility model provides a four-way car vertical linkage formula switching-over climbing mechanism which characterized in that, includes braced frame (100), vertical walking actuating mechanism (200), horizontal walking actuating mechanism (300), pendulum rod climbing mechanism (400) and horizontal pendulum rod link gear (500), wherein:
the longitudinal walking driving mechanism (200) comprises a longitudinal transmission shaft (201), a hollow shaft (202), a longitudinal driving motor (209) and a longitudinal guiding shaft (210), wherein the longitudinal transmission shaft (201) and the longitudinal guiding shaft (210) are respectively arranged at the front end and the rear end of the supporting frame (100), and one end of the longitudinal transmission shaft (201) is connected with the longitudinal driving motor (209); the middle part of the longitudinal transmission shaft (201) is coaxially sleeved with a hollow shaft (202) through a bearing (203) and an electromagnetic clutch (204), and the outer peripheral walls of the two ends of the hollow shaft (202) are respectively provided with left threads (2021) and right threads (2022);
the longitudinal walking driving mechanism (200) further comprises a second longitudinal synchronous wheel, a second longitudinal synchronous belt (211), a third longitudinal synchronous wheel (212), a first longitudinal walking wheel (216), a second longitudinal walking wheel (217), a pressing wheel (213), a pressing adjusting plate (214) and a pressing fixing plate (215), wherein: the two groups of pressing wheels (213) are respectively arranged on the outer side of the second longitudinal synchronous belt (211) in an interference fit manner, and one pressing wheel (213) is arranged on the inner side wall of the supporting frame (100); one end of the compaction adjusting plate (214) is connected with the other compaction wheel (213), the other end of the compaction adjusting plate (214) is connected with the compaction fixing plate (215) through an adjusting bolt, and the compaction fixing plate (215) is fixed on the inner side wall of the supporting frame (100);
the transverse swing rod linkage mechanism (500) comprises a guide sliding rail (501), a tensioning sliding table (502), a jacking swing rod (506) and a transmission cross beam (507); the number of the guide sliding rails (501) is two, and the guide sliding rails are arranged at left and right intervals; the two tensioning sliding tables (502) are respectively arranged on the guide sliding rail (501) in a sliding manner through sliding blocks (503) at two ends, and the outer side walls of the sliding blocks (503) are hinged with a jacking cross beam (401) of the swing rod jacking mechanism (400) through jacking swing rods (506); the transmission beam (507) is arranged at the top of the tensioning sliding table (502) in parallel, the longitudinal guide shaft (210) is sleeved in a sliding manner in a through hole (509) at one end of the transmission beam, and the hollow shaft (202) is sleeved in a threaded hole (508) at the other end of the transmission beam.
2. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein four circular assembly holes for assembling four groups of longitudinal travelling wheels on the longitudinal travelling driving mechanism (200) are respectively formed in the front side wall and the rear side wall of the supporting frame (100), and the longitudinal travelling wheels are coaxially and rotatably arranged in the circular assembly holes; and
four square assembly holes (101) for assembling four groups of transverse travelling wheels on the transverse travelling driving mechanism (300) are respectively formed in the left side wall and the right side wall of the supporting frame (100), and the transverse travelling wheels can move up and down in the corresponding square assembly holes (101).
3. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein the longitudinal traveling driving mechanism (200) further comprises a first longitudinal synchronous wheel (205), a first longitudinal synchronous belt (206), a motor synchronous wheel (207) and a motor transmission shaft (208), wherein:
the first longitudinal synchronous wheel (205) is fixedly sleeved at one end of the longitudinal transmission shaft (201) and positioned at one side of the electromagnetic clutch (204), and is connected with the motor synchronous wheel (207) through the first longitudinal synchronous belt (206);
the motor transmission shaft (208) is arranged at the bottom of the supporting frame (100) through a bearing bracket with a seat, one end of the motor transmission shaft is connected with the longitudinal driving motor (209), and the other end of the motor transmission shaft is fixedly sleeved with the motor synchronous wheel (207).
4. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein the number of the second longitudinal synchronous wheels is two, the two second longitudinal synchronous wheels are respectively fixedly sleeved at the positions, close to the frame of the supporting frame (100), of the two ends of the longitudinal transmission shaft (201), and the two second longitudinal synchronous wheels are connected with the two third longitudinal synchronous wheels (212) through the second longitudinal synchronous belt (211);
the number of the third longitudinal synchronous wheels (212) is two, each group is respectively and correspondingly connected with the first longitudinal travelling wheels (216) on the supporting frame (100), and the third longitudinal synchronous wheels are positioned at two sides below the second longitudinal synchronous wheels;
the two first longitudinal travelling wheels (216) and the two second longitudinal travelling wheels (217) are respectively arranged in circular assembly holes of the frame bodies at the left end and the right end of the supporting frame (100).
5. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein the transverse traveling driving mechanism (300) comprises a transverse transmission shaft (301), a movable gear (302), a transverse driving motor (307), a transverse driven shaft (311) and two groups of first transverse traveling wheels (308) and two groups of second transverse traveling wheels (309) which are respectively movably assembled in corresponding square assembly holes (101), wherein:
two ends of the transverse transmission shaft (301) are respectively connected with two corresponding first transverse travelling wheels (308), the middle part of the transverse transmission shaft is sleeved with the movable gear (302), and the movable gear (302) is connected with the transverse driving motor (307) through a first transverse synchronous belt (306);
two ends of the transverse driven shaft (311) are respectively connected with two corresponding second transverse travelling wheels (309), and the two groups of the first transverse travelling wheels (308) on the same side and the two groups of the second transverse travelling wheels (309) are connected through a second transverse synchronous belt (310).
6. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 5, wherein the lateral travel driving mechanism (300) further comprises a linkage shaft (303), a first linkage gear (304) and a second linkage gear (305), wherein:
the linkage shaft (303) is arranged in parallel with the transverse transmission shaft (301), and two ends of the linkage shaft are respectively arranged at the bottom of the supporting frame (100) through bearing frames with seats;
the first linkage gear (304) is fixedly sleeved at one end of the linkage shaft (303) and is meshed with or separated from the movable gear (302) which is lifted up and down;
the second linkage gear (305) is fixedly sleeved at the other end of the linkage shaft (303), and is connected with the transverse driving motor (307) through the first transverse synchronous belt (306).
7. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein the swing rod jacking mechanism (400) comprises two groups of jacking beams (401) and jacking plates (405) respectively arranged at the left and right inner side ends of the supporting frame (100), wherein:
transverse transmission shafts (301) and transverse driven shafts (311) are respectively arranged in through holes at two ends of the jacking cross beam (401) in a penetrating manner through bearings, and two ends of the jacking cross beam are respectively sleeved on the first guide column (402) and the second guide column (403) in a sliding manner;
the jacking plate (405) is located above the jacking cross beam (401), two ends of the jacking plate are respectively sleeved on the corresponding first guide columns (402) in a sliding mode, a stop block (404) is arranged on the outer side of each end portion of the jacking plate, and the stop block (404) is fixedly arranged at the top of each second guide column (403).
8. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein the transmission beam (507) is of an inverted-U-shaped structure, a square channel is formed between the middle bottom of the transmission beam and the tensioning sliding table (502) below the transmission beam, and a motor transmission shaft (208) of the longitudinal traveling driving mechanism (200) and a first transverse synchronous belt (306) of the transverse traveling driving mechanism (300) are correspondingly arranged in the square channel in a penetrating manner.
9. The four-way vehicle longitudinal linkage type reversing jacking mechanism according to claim 1, wherein the transverse swing link linkage mechanism (500) further comprises four groups of baffles (505) and return springs (504), wherein:
the baffle plate (505) is correspondingly arranged at the end part of the guide sliding rail (501), the height of the baffle plate is larger than that of the guide sliding rail (501), and the baffle plate is fixed at the bottom of the supporting frame (100) through screws;
one end of the return spring (504) is connected with the baffle plate (505), and the other end of the return spring is connected with the rear end of the corresponding sliding block (503).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210616105.4A CN114906530B (en) | 2022-05-31 | 2022-05-31 | Longitudinal linkage type reversing jacking mechanism of four-way vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210616105.4A CN114906530B (en) | 2022-05-31 | 2022-05-31 | Longitudinal linkage type reversing jacking mechanism of four-way vehicle |
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| CN114906530B true CN114906530B (en) | 2023-08-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112079030A (en) * | 2020-09-15 | 2020-12-15 | 隆链智能科技（上海）有限公司 | Transverse electromagnetic linkage type sixteen-wheel four-way shuttle |
| CN112093350A (en) * | 2020-09-15 | 2020-12-18 | 隆链智能科技（上海）有限公司 | Sixteen-wheel four-way shuttle |
| CN113753464A (en) * | 2021-09-13 | 2021-12-07 | 劢微机器人科技(深圳)有限公司 | Jacking and reversing integrated shuttle |
| CN114426166A (en) * | 2021-03-10 | 2022-05-03 | 苏州德力智慧物流科技有限公司 | Four-way traveling shuttle and automatic storage device |
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2022
- 2022-05-31 CN CN202210616105.4A patent/CN114906530B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112079030A (en) * | 2020-09-15 | 2020-12-15 | 隆链智能科技（上海）有限公司 | Transverse electromagnetic linkage type sixteen-wheel four-way shuttle |
| CN112093350A (en) * | 2020-09-15 | 2020-12-18 | 隆链智能科技（上海）有限公司 | Sixteen-wheel four-way shuttle |
| CN114426166A (en) * | 2021-03-10 | 2022-05-03 | 苏州德力智慧物流科技有限公司 | Four-way traveling shuttle and automatic storage device |
| CN113753464A (en) * | 2021-09-13 | 2021-12-07 | 劢微机器人科技(深圳)有限公司 | Jacking and reversing integrated shuttle |
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