CN215709475U

CN215709475U - Carrier and carrier system

Info

Publication number: CN215709475U
Application number: CN202121940590.8U
Authority: CN
Inventors: 关利东
Original assignee: Kuangshitu Suzhou Intelligent Equipment Co ltd
Current assignee: Kuangshitu Suzhou Intelligent Equipment Co ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-02-01
Anticipated expiration: 2031-08-18
Also published as: JP2023541238A; WO2023020157A1

Abstract

The present disclosure provides a carrier and a carrier system. Wherein, the carrier includes: a frame; the travelling mechanism comprises a transverse travelling wheel and a longitudinal travelling wheel; the walking transmission assembly comprises a transverse transmission assembly and a longitudinal transmission assembly which are arranged on the frame, the transverse transmission assembly is connected with the transverse walking wheel, the longitudinal transmission assembly is connected with the longitudinal walking wheel, and the transverse transmission assembly and the longitudinal transmission assembly are arranged on the periphery of the frame; and the walking driving mechanism is connected with the walking transmission assembly and drives the walking transmission assembly to drive the transverse walking wheels and the longitudinal walking wheels to rotate. The carrier walking transmission assembly occupies less space of the frame and provides more space for other devices.

Description

Carrier and carrier system

Technical Field

The present invention relates generally to the field of logistics, and more particularly to a cart and a cart system.

Background

At present, the carrier is widely popularized and applied in the processes of factory, e-commerce storage, workshop article and material handling. The transportation vehicle is required in the links of material transportation, storage, delivery, loading and unloading, etc.

The carrier drives the walking wheel to walk through the drive mechanism who sets up on the frame, however the carrier drive mechanism among the correlation technique occupies the frame space great, is unfavorable for the piling up of other devices.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems in the prior art, the present invention provides a cart, comprising: a frame; the travelling mechanism comprises a transverse travelling wheel and a longitudinal travelling wheel; the walking transmission assembly comprises a transverse transmission assembly and a longitudinal transmission assembly, the transverse transmission assembly and the longitudinal transmission assembly are arranged on the frame, the transverse transmission assembly is connected with the transverse walking wheel, the longitudinal transmission assembly is connected with the longitudinal walking wheel, and the transverse transmission assembly and the longitudinal transmission assembly are arranged on the periphery of the frame; the walking driving mechanism is connected with the walking transmission assembly and drives the walking transmission assembly to drive the transverse walking wheels and the longitudinal walking wheels to rotate; the carrier moves along the transverse direction through the transverse travelling wheels under the condition that the longitudinal travelling wheels are separated from the running surface; or, under the state that the transverse travelling wheels are separated from the running surface, the transport vehicle moves along the longitudinal direction through the longitudinal travelling wheels.

In some embodiments, the longitudinal road wheels are disposed on a side portion of the frame; the longitudinal transmission assembly comprises: the longitudinal driving wheel is connected with the walking driving mechanism; the longitudinal driven wheel is connected with the longitudinal travelling wheel; and the longitudinal transmission part is connected with the longitudinal driving wheel and the longitudinal driven wheel.

In some embodiments, the longitudinal drive wheel and the longitudinal driven wheel are both sprockets, and the longitudinal transmission is a chain; or the longitudinal driving wheel and the longitudinal driven wheel are belt wheels, and the longitudinal transmission part is a belt.

In some embodiments, the longitudinal road wheels comprise a plurality of first longitudinal road wheels and a plurality of second longitudinal road wheels, the first longitudinal road wheels and the second longitudinal road wheels are respectively arranged on two sides of the frame in the transverse direction; the longitudinal transmission assemblies are provided with two groups, namely a first longitudinal transmission assembly and a second longitudinal transmission assembly, wherein the first longitudinal travelling wheels are connected through the first longitudinal transmission assembly, and the second longitudinal travelling wheels are connected through the second longitudinal transmission assembly; the walking transmission assembly further comprises a longitudinal connecting shaft connected with the walking driving mechanism, and the longitudinal connecting shaft is connected with the first longitudinal transmission assembly and the second longitudinal transmission assembly.

In some embodiments, the transverse drive assembly comprises: the universal transmission shaft is connected with the driving walking mechanism and comprises a transmission part and swinging parts respectively and movably arranged at two ends of the transmission part, and the swinging parts are provided with the transverse walking wheels; and under the state that the transverse travelling wheels are separated from the driving surface, the transverse travelling wheels and the swinging part swing and tilt relative to the transmission part.

In some embodiments, the transmission part is a transverse fixed shaft, and the transverse fixed shaft is connected with the walking driving mechanism; the swing portion is flexible universal joint, flexible universal joint sets up respectively the both ends of horizontal fixed axle, wherein, flexible universal joint's input shaft with horizontal fixed axle is connected, flexible universal joint's output shaft with horizontal walking wheel is connected.

In some embodiments, the walking drive assembly further comprises: the transverse driving wheel is connected with the walking driving mechanism; and the transverse driven wheel is arranged on the universal transmission shaft and is connected with the transverse driving wheel.

In some embodiments, the transverse driving wheel is a transverse driving sprocket, the transverse driven wheel is a transverse driven sprocket, and the transverse driving sprocket and the transverse driven sprocket are connected through a chain; or the transverse driving wheel is a transverse driving belt pulley, the transverse driven wheel is a transverse driven belt pulley, and the transverse driving belt pulley and the transverse driven belt pulley are connected through a belt; or the transverse driving wheel is a transverse driving gear, the transverse driven wheel is a transverse driven gear, and the transverse driving gear is meshed with the transverse driven gear.

In some embodiments, the universal transmission shafts are provided with two, namely a first universal transmission shaft and a second universal transmission shaft, which are respectively arranged on two sides of the frame in the transverse direction; the walking transmission assembly further comprises: a first transfer wheel connected with the transverse driving wheel; the second transfer wheel is connected with the first transfer wheel; the second transverse driven wheel is connected with the second universal transmission shaft; and the transverse connecting piece is connected with the second transfer wheel and the second transverse driven wheel.

In some embodiments, the travel drive mechanism comprises: a traveling motor; the walking speed reducer comprises a walking input end, a longitudinal output end and a transverse output end, the walking input end is connected with an output shaft of the walking motor, the longitudinal output end is connected with the longitudinal connecting shaft, and the transverse output end is connected with the transverse transmission assembly.

In some embodiments, the truck further includes a partition plate forming an accommodation space with the side plate on the peripheral side of the frame, the accommodation space being configured to accommodate the lateral transmission assembly and the longitudinal transmission assembly.

In some embodiments, further comprising: and the jacking reversing mechanism is connected with the transverse travelling wheels and drives the transverse travelling wheels to lift so as to separate or support the transverse travelling wheels on the running surface.

In some embodiments, the lift out switch mechanism comprises: the lifting frame is connected with the transverse travelling wheel; at least one crank mechanism connected with the lifting frame; and the reversing driving mechanism is connected with the crank mechanism and drives the crank mechanism to swing so that the lifting frame drives the transverse walking wheel to lift.

In some embodiments, the lifting frame is provided with a through hole; the crank mechanism includes: the driving connecting part of the first crank is connected with the driving mechanism; and the swinging shaft is fixed on the swinging part of the first crank, and the swinging shaft penetrates through the through hole to support the lifting frame.

In some embodiments, the crank mechanism further comprises: and one end part of the second crank is fixed on the swinging shaft, and the other end part of the second crank is rotatably arranged on the frame.

In some embodiments, the lift out diverter mechanism further comprises: the reversing driving mechanism comprises a reversing driving component, a reversing driving component and a reversing driving component, wherein the reversing driving component comprises a first synchronous gear mechanism, the first synchronous gear mechanism comprises a reversing input end, a first reversing output end and a second reversing output end, and the reversing input end is connected with an output shaft of the reversing driving mechanism; the crank mechanism comprises a first crank mechanism and a second crank mechanism, the first crank mechanism and the second crank mechanism are respectively connected with the lifting frame and respectively connected with the first reversing output end and the second reversing output end.

In some embodiments, the lifting frame comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frame are respectively arranged at two lateral sides of the vehicle frame; the first synchronous gear mechanism comprises a third reversing output end; the reversing transmission assembly further comprises: the second synchronous gear mechanism comprises a reversing connection end, a fourth reversing output end and a fifth reversing output end; one end of the reversing connecting shaft is connected with the third reversing output end, and the other end of the reversing connecting shaft is connected with the reversing connecting end; the crank mechanism comprises a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively connected with the second lifting frame and respectively connected with the fourth reversing output end and the fifth reversing output end, and the first crank mechanism and the second crank mechanism are respectively connected with the first lifting frame and respectively connected with the first reversing output end and the second reversing output end.

In some embodiments, the lift out diverter mechanism further comprises: at least one first guide mechanism, the first guide mechanism comprising: the first guide shaft is vertically arranged on the frame; and the sliding seat is arranged on the first guide shaft in a sliding manner and is fixedly connected with the lifting frame.

In some embodiments, the cart further comprises: the lifting plate is used for directly or indirectly bearing the articles to be carried; the second guiding mechanism is arranged on the lifting plate and is in sliding connection with the lifting frame.

In some embodiments, the lifting frame comprises a frame body and support frames arranged at two ends of the frame body, the transverse driving wheel is arranged in the support frames, and the support frames are provided with guide holes; the second guide mechanism comprises a guide shaft, one end of the second guide mechanism is connected with the lifting plate, and the other end of the second guide mechanism extends into the guide hole.

The disclosed embodiment also provides a carrier system, including: the transporting vehicle as in any one of the above embodiments, and the transverse rail and the longitudinal rail; the longitudinal walking wheels walk on the longitudinal rails, and the transverse walking wheels walk on the transverse rails.

The carrier that this disclosure provided through horizontal transmission subassembly with vertical transmission subassembly setting in the same one side of frame, can reduce the occupation to the frame space, provides more spaces for piling up of other devices.

Drawings

The above and other objects, features and advantages of embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the utility model are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

fig. 1 is a schematic view illustrating an internal structure of a truck according to an embodiment of the present invention;

FIG. 2 illustrates a top interior view of a cart provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of a truck according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a crank mechanism provided in an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of a truck according to an embodiment of the present invention;

FIG. 6 is a cross-sectional view of a portion of a truck according to an embodiment of the present invention;

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Detailed Description

The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the utility model, and are not intended to limit the scope of the utility model in any way.

It should be noted that although the expressions "first", "second", etc. are used herein to describe different modules, steps, data, etc. of the embodiments of the present invention, the expressions "first", "second", etc. are merely used to distinguish between different modules, steps, data, etc. and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," and the like are fully interchangeable.

It should be noted that although expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are used herein to describe different directions or sides of embodiments of the utility model, the expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are merely for distinguishing between different directions or sides, and do not denote a particular outside or inside. Indeed, the terms "front," "back," "left," "right," "top," "bottom," "outer," "inner," and the like may, in some instances, be used interchangeably at all.

With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, Global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) the AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of labor;

2) the manual efficiency is improved through a software system such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation and research optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.

As shown in fig. 1-2, a cart 100 according to an embodiment of the present invention includes a frame 10, a traveling mechanism 20, a traveling transmission assembly 30, and a traveling driving mechanism 40.

The frame 10 serves as a body of the truck 100 for supporting various components. The frame 10 may be rectangular as a whole, and includes a chassis 11, a side plate 12 surrounding the periphery of the chassis 11 and extending upward, and an upper cover plate, where the chassis 11, the side plate 12, and the upper cover plate together enclose an accommodating space for accommodating each component. The side plate 12 may be provided with a charging port through which a data line passes, an inductor port through which a sensor is exposed to the outside of the frame 10, an indicator light port through which an indicator light is exposed to the outside of the frame 10, and the like.

The traveling mechanism 20 is used to drive the truck 100 to travel along a predetermined route. The truck 100 according to the embodiment of the present disclosure may be a four-way traveling truck, that is, the truck 100 may travel forward and backward along a lateral direction (x direction in the drawing) and forward and backward along a longitudinal direction (y direction in the drawing), so as to improve the traveling flexibility of the truck 100 and adapt to a complex work environment.

It should be noted that, for the convenience of distinguishing the traveling direction of the truck 100, the transverse direction (x direction in the drawings) and the longitudinal direction (y direction in the drawings) mentioned in the embodiments of the present disclosure refer to the traveling direction of the truck 100, and in some cases, may be completely interchanged.

The running gear 20 includes a transverse running wheel 21 and a longitudinal running wheel 22. The transverse road wheels 21 can drive the truck 100 to move back and forth along the x direction on the running surface. The longitudinal road wheels 22 can drive the truck 100 to move back and forth along the y direction on the running surface. The running surface may be a flat ground surface or a track surface. When the driving surface is a track surface, the longitudinal road wheels 22 may travel along a first track surface (e.g., a main tunnel), which may extend along the y-direction (longitudinal direction), and the transverse road wheels 21 may travel along a second track surface (e.g., a sub-tunnel), which may extend along the x-direction (transverse direction). In other words, the truck 100 of the disclosed embodiment may be a track-guided truck or a trackless truck.

In a state where the longitudinal road wheels 22 are separated from the running surface, the lateral road wheels 21 are positioned on the running surface, and the carrier 100 is moved on the running surface in the lateral direction by the lateral road wheels 21. In a state where the lateral road wheels 21 are separated from the running surface, the longitudinal road wheels 22 are located on the running surface, and the carrier 100 is moved on the running surface in the longitudinal direction by the longitudinal road wheels 22.

When the truck 100 requires reversing travel, for example, the truck 100 requires switching from lateral travel to longitudinal travel to disengage the lateral road wheels 21 from the driving surface on which the longitudinal road wheels 22 are located so that the truck 100 travels in the longitudinal direction via the longitudinal road wheels 22. When the truck 100 needs to be converted from the longitudinal traveling direction to the lateral traveling direction, the longitudinal road wheels 22 may be separated from the driving surface on which the lateral road wheels 21 are located so that the truck 100 travels in the lateral direction by the lateral road wheels 21.

The walking transmission assembly 30 includes a transverse transmission assembly 31 and a longitudinal transmission assembly 32 disposed on the frame 10. The transverse transmission component 31 is connected with the transverse travelling wheel 21 and drives the transverse travelling wheel 21 to rotate. The longitudinal transmission assembly 32 is connected with the longitudinal road wheels 22 to drive the longitudinal road wheels 22 to rotate. Wherein, the transverse transmission assembly 31 and the longitudinal transmission assembly 32 are located adjacent to the peripheral side of the frame 10.

As shown in fig. 1, a partition 13 may be disposed on the chassis 11 of the frame 10, the partition 13 extends toward the y direction, and the partition 13 and the side plate 12 form an accommodating space near the side plate 12 for accommodating the transverse transmission assembly 31 and the longitudinal transmission assembly 32.

The transverse transmission assembly 31 may be arranged along the y direction, and the two ends of the transverse transmission assembly are respectively connected with the transverse road wheels 21. The longitudinal drive assembly 32 is also arranged along the y-direction with the longitudinal road wheels 22 attached to the sides thereof.

As shown in fig. 1, two partition plates 13 may be provided, and the two partition plates 13 are disposed to face each other, and form a first accommodation space and a second accommodation space with the opposite side plates on the peripheral side of the frame 10, respectively. The transverse transmission assemblies 31 and the longitudinal transmission assemblies 32 may be respectively provided in two sets, and the two sets of transverse transmission assemblies 31 and the longitudinal transmission assemblies 32 are respectively provided on opposite sides of the frame 10. For example, one set of the transverse transmission assembly 31 and the longitudinal transmission assembly 32 is located in the first accommodating space on one side of the frame 10, that is, one set of the transverse transmission assembly 31 and the longitudinal transmission assembly 32 are located on the same side of the frame 10; another set of transverse transmission assembly 31 and longitudinal transmission assembly 32 is located in the second receiving space on the other side of frame 10, i.e. another set of transverse transmission assembly 31 and longitudinal transmission assembly 32 is located on the other side of frame 10. Therefore, the arrangement can reduce the space occupation of the vehicle frame 10 and provide more space for other devices. The walking transmission assembly 30 is connected with the walking driving mechanism 40, and the walking driving mechanism 40 drives the walking transmission assembly 30 to drive the transverse walking wheels 21 and the longitudinal walking wheels 22 to rotate. The travel drive mechanism 40 may also be disposed on the frame 10 adjacent to one of the sets of transverse transmission assemblies 31 and longitudinal transmission assemblies 32. According to the carrier 100 of the embodiment of the present disclosure, the lateral transmission assembly 31 connected to the lateral road wheel 21 and the longitudinal transmission assembly 32 connected to the longitudinal road wheel 22 are disposed on the periphery side adjacent to the frame 10, so that the occupation of the middle space of the frame 10 can be reduced, and more space can be provided for other devices. Under the condition that the required space of the components on the frame 10 is the same, the whole size of the frame 10 can be reduced, and the carrier 100 is more miniaturized, so that the passing efficiency of the carrier 100 can be improved in a narrow storage environment, and the storage position of the unit volume of the three-dimensional warehouse can also be increased.

In some embodiments, the longitudinal road wheels 22 are disposed on the frame 10, for example, the longitudinal road wheels 22 are rotatably disposed on the side plates 12 of the frame 10 to move the frame 10 in the longitudinal direction.

As shown in fig. 1, the above-mentioned longitudinal transmission assembly 32 may include a longitudinal driving wheel 321, a longitudinal driven wheel 322 and a longitudinal transmission member 323.

The longitudinal driving wheel 321 is connected to the traveling driving mechanism 40. The longitudinal driven wheel 322 is connected with the longitudinal road wheel 22, and the longitudinal transmission member 323 is connected with the longitudinal driving wheel 321 and the longitudinal driven wheel 322. The longitudinal driving wheel 321, the longitudinal driven wheel 322 and the longitudinal transmission member 323 are all located in the accommodating space formed by the partition plate 13 and the side plate 12 of the frame 10 to prevent oil stains from flowing out or impurities from entering. The longitudinal driving pulley 321 and the longitudinal driven pulley 322 may be positioned on the same line in the y direction. The traveling driving mechanism 40 drives the longitudinal driving wheel 321 to rotate, and the longitudinal driving wheel 321 drives the longitudinal driven wheel 322 to rotate through the longitudinal transmission member 323, so as to drive the longitudinal traveling wheel 22 to rotate.

The longitudinal road wheels 22 can be provided in a plurality of numbers, the longitudinal road wheels 22 can be divided into a plurality of groups, for example, two groups, each group includes two longitudinal road wheels 22, and the two groups of longitudinal road wheels 22 are arranged at intervals along the y direction at the outer side of the side plate 12 of the frame 10, each longitudinal road wheel 22 is provided with a longitudinal driven wheel 322 positioned at the inner side of the side plate 12, the longitudinal driven wheels 322 are connected through a longitudinal transmission member 323, and the longitudinal transmission member 323 is connected with the longitudinal driving wheel 321. The traveling driving mechanism 40 drives the longitudinal driving wheel 321 to rotate and drives the plurality of longitudinal driven wheels 322 to rotate through the longitudinal transmission member 323, thereby driving the plurality of longitudinal traveling wheels 22 to rotate.

In one example, the longitudinal driving wheel 321 and the longitudinal driven wheel 322 are both sprockets, i.e. driving sprocket and driven sprocket, and the longitudinal transmission member 323 is a chain, which can be wound around the driving sprocket and the driven sprocket, respectively. Namely, the plurality of longitudinal traveling wheels are in transmission connection through chains. One or more tension wheel assemblies may be further disposed on the side plates 12 of the frame 10 to tension the sprockets to ensure smooth transmission and reduce the return clearance.

In another example, the longitudinal driving wheel 321 and the longitudinal driven wheel 322 are both pulleys, and the longitudinal transmission member 323 is a belt. Namely, the plurality of longitudinal road wheels 22 are connected with each other by a belt drive.

As shown in fig. 2, the longitudinal road wheels 22 include a plurality of first longitudinal road wheels 22a and a plurality of second longitudinal road wheels 22b, and the first longitudinal road wheels 22a and the second longitudinal road wheels 22b are respectively disposed on two sides of the frame 10 in the transverse direction. The longitudinal transmission assemblies 32 are provided with two groups, namely a first longitudinal transmission assembly 32a and a second longitudinal transmission assembly 32b, wherein the plurality of first longitudinal traveling wheels 22a are connected through the first longitudinal transmission assembly 32a, and the plurality of second longitudinal traveling wheels 22b are connected through the second longitudinal transmission assembly 32 b. The walking transmission assembly 30 further comprises a longitudinal connecting shaft 35 connected with the walking driving mechanism 40, and the longitudinal connecting shaft 35 is connected with the first longitudinal transmission assembly 32a and the second longitudinal transmission assembly 32 b.

The traveling driving mechanism 40 drives the longitudinal connecting shaft 35 to rotate, so as to drive the first longitudinal transmission assembly 32a and the second longitudinal transmission assembly 32b to drive the plurality of first longitudinal traveling wheels 22a and the plurality of second longitudinal traveling wheels 22b to rotate. The plurality of longitudinal road wheels 22 of the truck 100 are all driving wheels, so that the traveling power and the transportation performance can be improved.

As an example, the first longitudinal road wheels 22a may be provided in four, two in one set, each set being provided on the left (x-negative direction side) peripheral side plate 12a of the vehicle frame 10 and being provided at intervals along the y-direction of the vehicle frame 10. The second longitudinal road wheels 22b may be provided in four, two in one set, each set being provided on the right (x-positive direction side) side plate 12b of the frame 10 and being provided at intervals along the y-direction of the frame 10. A longitudinal driven wheel 322 is mounted on each first longitudinal road wheel 22a, and a plurality of longitudinal driven wheels 322 and the longitudinal driving wheel 321 can be in a horizontal line and are connected through a longitudinal transmission member 323. Wherein, the longitudinal driving wheel of the first longitudinal transmission assembly 32a is connected with the longitudinal driving wheel of the second longitudinal transmission assembly 32b through the connecting shaft 35.

In some embodiments, the transverse drive assembly 31 comprises a universal drive shaft. The universal transmission shaft is connected with the walking driving mechanism 40, and the two ends of the universal transmission shaft are respectively provided with a transverse walking wheel 21. The universal drive shaft is arranged along the y-direction of the frame 10. For example, the universal drive shaft is a telescopic universal joint.

The universal transmission shaft comprises a transmission part and swing parts respectively movably arranged at two ends of the transmission part, and transverse traveling wheels 21 are arranged on the swing parts. Under the state that the transverse walking wheels 21 are separated from the running surface, the transverse walking wheels 21 and the swinging parts swing relative to the transmission part of the universal transmission shaft to generate angular displacement and tilt; in the state where the longitudinal road wheels 22 are disengaged from the running surface, the transverse road wheels 21 fall back to the running surface.

When the truck 100 needs to change from the transverse direction to the longitudinal direction, for example, the truck 100 needs to change from the transverse direction to the longitudinal direction, the transverse traveling wheel 21 swings upward relative to the transmission part of the universal transmission shaft along with the swinging part to generate an angular displacement and tilt, and is separated from the driving surface, the transmission part of the universal transmission shaft only rotates and does not move upward along with the transverse traveling wheel 21, and the longitudinal traveling wheel 22 is located on the driving surface, so that the truck 100 travels along the longitudinal direction through the longitudinal traveling wheel 22.

When the truck 100 needs to be switched from the longitudinal traveling direction to the lateral traveling direction, the swing portion descends relative to the transmission portion, so that the lateral traveling wheels 21 fall back to be in contact with the traveling surface, the transmission portion of the universal transmission shaft does not descend along with the lateral traveling wheels 21, the longitudinal traveling wheels 22 are separated from the traveling surface, and the truck 100 travels in the lateral direction through the lateral traveling wheels 21.

That is, during the ascending or descending process of the transverse road wheels 21, the transmission part of the universal transmission shaft does not ascend or descend along with the transverse road wheels 21 and the longitudinal road wheels 22.

In the carrier 100 according to the embodiment of the present disclosure, when reversing, the swing portions at both ends of the universal drive shaft are tilted with respect to the swing portion in a small space in the height direction. Therefore, the carrier 100 can be thinner, the passing performance of the carrier 100 in the three-dimensional storage can be improved, the reduction of the inter-shelf distance is facilitated, and the warehouse space utilization rate is improved.

The universal drive shaft may include a transverse fixed shaft 311 and a pair of telescopic universal joints 312. The transverse fixing shaft 311 serves as the transmission part to rotate, so as to transmit torque to the telescopic universal joint 312. The pair of telescopic direction links 312 serve as the swing portions and are swingable up and down with respect to the horizontal fixed shaft 311 while following the rotation of the horizontal fixed shaft 311. Specifically, the input shafts of the pair of telescopic direction sections 312 are connected to the two ends of the fixed shaft 311 in the y direction, respectively, and the output shafts of the pair of telescopic direction sections 312 are connected to the transverse road wheels 21, respectively.

The walking driving mechanism 40 drives the transverse fixed shaft 311 to rotate, and drives the telescopic universal joints 312 at the two ends to rotate, thereby driving the transverse walking wheel 21 to rotate. When the truck 100 is reversed, for example, when the truck 100 needs to be switched from the transverse traveling direction to the longitudinal traveling direction, the transverse traveling wheels 21 can be separated from the traveling surface, at this time, the transverse fixing shaft 311 has no displacement relative to the height direction of the frame 10, the telescopic universal joint 312 extends and swings relative to the transverse fixing shaft 311 to generate an angular displacement and tilt, and the longitudinal traveling wheels 22 are positioned on the traveling surface so that the truck 100 travels along the longitudinal direction through the longitudinal traveling wheels 22. When the truck 100 needs to be converted from the longitudinal traveling direction to the transverse traveling direction, the longitudinal road wheels 22 can be separated from the driving surface, and the transverse road wheels 21 retract along with the telescopic universal joints 312 and swing back to the driving surface relative to the transverse fixing shaft 311, so that the truck 100 travels in the transverse direction through the transverse road wheels 21.

According to the carrier 100 provided by the embodiment of the disclosure, by arranging the telescopic universal joint 312, when the transverse traveling wheel 21 ascends or descends in the reversing process, the transverse traveling wheel does not interfere with the transverse fixing shaft, the deformation of the universal transmission shaft is prevented, and the service performance is ensured.

In some embodiments, the travel drive assembly 30 further includes a lateral drive wheel 331 and a lateral driven wheel 332. The transverse driving wheel 331 is connected to the traveling driving mechanism 40, and the transverse driven wheel 332 is attached to the universal drive shaft and connected to the transverse driving wheel 331.

The walking driving mechanism 40 drives the transverse driving wheel 331 to rotate, and drives the transverse driven wheel 332 to rotate, so as to drive the universal transmission shaft to rotate.

In one example, the transverse drive wheel 331 is a transverse drive sprocket and the transverse driven wheel 332 is a transverse driven sprocket, and the transverse drive sprocket and the transverse driven sprocket are connected by a chain. That is, the lateral driving pulley 331 and the lateral driven pulley 332 are linked by chain transmission.

In another example, the transverse driving pulley 331 is a transverse driving pulley, the transverse driven pulley 332 is a transverse driven pulley, and the transverse driving pulley and the first transverse driven pulley are connected by a belt.

In yet another example, the transverse drive wheel 331 is a transverse drive gear and the transverse driven wheel 332 is a transverse driven gear, the transverse drive gear being in meshing engagement with the transverse driven gear. The universal transmission shaft rotates in a gear transmission mode, and compared with a chain transmission mode, the universal transmission shaft is high in transmission precision and low in transmission noise.

In one embodiment, two universal shafts are provided, namely, a first universal shaft and a second universal shaft, and the first universal shaft 311 and the second universal shaft 311 are respectively provided on two sides of the frame 10 in the transverse direction. The travel drive assembly 30 further includes a first transfer wheel 341, a second transfer wheel 342, a second laterally driven wheel 344, and a lateral link 343. Wherein the first transfer wheel 341 is connected with the transverse driving wheel 331; the second transfer wheel 342 is connected to the first transfer wheel 341, the second transverse driven wheel 344 is connected to the second universal shaft, and the transverse connecting member 343 is connected to the second transfer wheel 342 and the second transverse driven wheel 344.

The traveling driving mechanism 40 drives the transverse driving wheel 331 to rotate, so as to drive the first transverse driven wheel 332 and the first transfer wheel 341 to rotate, the first transverse driven wheel 332 drives the first universal transmission shaft and the transverse traveling wheel connected with the first universal transmission shaft to rotate, meanwhile, the second transfer wheel 342 rotates along with the first transfer wheel 341, and the second transfer wheel 342 drives the second transverse driven wheel on the second universal transmission shaft to rotate through the transverse connecting piece 343, so as to drive the second universal transmission shaft and the transverse traveling wheel on the second universal transmission shaft to rotate.

In one example, the transverse driving wheel 331, the first transverse driven wheel 332, and the first transfer wheel 341 may be gears, the second transfer wheel 342 and the second transverse driven wheel 344 may be sprockets, and the transverse connection 343 may be a chain. The rotation of the first universal shaft and the second universal shaft is realized in a mode of matching the gear assembly with the chain, and the plurality of transverse traveling wheels 21 have driving force, so that the carrying performance of the carrying vehicle 100 is improved.

In some embodiments, the travel drive mechanism 40 includes: the walking driving mechanism 40 may include a walking motor 41 and a walking reducer 42, and the walking reducer 42 includes a walking input end, a longitudinal walking output end and a transverse walking output end, wherein the walking input end is connected to an output shaft of the walking motor, the longitudinal walking output end is connected to the longitudinal transmission assembly 32, and the transverse walking output end is connected to the transverse transmission assembly 31. Specifically, the longitudinal travel output end is connected to the aforementioned longitudinal connecting shaft 35, the longitudinal connecting shaft 35 penetrates through the longitudinal travel output end, and the transverse travel output end is connected to the transverse driving wheel 331. The rotation of the walking motor 41 drives the longitudinal walking output end of the walking reducer 42 to drive the longitudinal connecting shaft 35 to rotate, so as to drive the longitudinal walking wheels 22 on both sides of the frame 10 to rotate, and at the same time, the transverse walking output end drives the transverse driving wheel 331 to rotate, so as to drive the universal shaft and the transverse walking wheels 21 to rotate.

In some embodiments, as shown in fig. 1 to 3, the transportation vehicle 100 further includes a lifting reversing mechanism connected to the lateral road wheels 21 for driving the lateral road wheels 21 to lift or lower so that the lateral road wheels 21 are separated from or abut against the driving surface.

The lift reversing mechanism may include a crane 51, at least one crank mechanism 52, and a reversing drive motor 54. Further, the jacking reversing mechanism can also comprise a reversing transmission assembly.

The crane 51 is provided on the vehicle body frame 10, is vertically movable with respect to the vehicle body frame 10, and interferes with the vehicle body frame 10 in the lateral direction (x direction in the drawing) or the longitudinal direction (y direction in the drawing) without generating a relative displacement. The lifting frame 51 is connected with the transverse road wheels 21. At least one crank mechanism 52 is connected to the crane 51. The reversing driving mechanism is connected with the crank mechanism 52 and drives the crank mechanism 52 to swing so that the lifting frame 51 drives the transverse travelling wheel 21 to lift.

The reversing drive mechanism includes a reversing drive motor 54 secured to the frame 10, for example to the chassis 11. The crank mechanism 52 is connected to the crane 51. The reversing transmission component is connected with an output shaft of a reversing driving motor 54 and the crank mechanism 52; the reversing driving motor 54 is used for driving the crank mechanism 52 to swing and driving the lifting frame 51 to lift so as to enable the transverse travelling wheel 21 to be separated from or abut against a travelling surface.

The reversing drive motor 54 rotates and drives the crank mechanism 52 to swing from the lowest position to the highest position through the reversing transmission assembly to drive the lifting frame 1 to lift, the transverse walking wheel 21 follows the lifting frame 51 to lift the transverse walking wheel 21 together to follow the swinging shaft to generate angular displacement and tilt relative to the fixed shaft of the universal transmission shaft, the transverse walking wheel is separated from a running surface, and the carrier 100 moves longitudinally through the longitudinal walking wheel 22. When the reversing driving motor 54 rotates and drives the crank mechanism 52 to swing from the highest position to the lowest position through the reversing transmission assembly, the lifting frame 51 is driven to descend, the transverse walking wheel 21 descends along with the lifting frame 51, the transverse walking wheel 21 falls back to be abutted against a running surface, the frame 10 is jacked up, the longitudinal walking wheel 22 is separated from the running surface, and at the moment, the carrier 100 transversely moves through the transverse walking wheel 21. Meanwhile, the lifting frame 51 can directly or indirectly bear the object to be carried, and the crank mechanism 52 can lift the object and simultaneously realize the reversing operation of the carrier 100 in the process of swinging from the lowest position to the highest position.

In addition, when the reversing drive motor 51 rotates and drives the crank mechanism 52 to be located at the middle position between the highest position and the lowest position through the reversing transmission assembly, the transverse road wheels 21 do not contact with the running surface, and at the moment, the longitudinal road wheels 22 contact with the running surface, and the carrier 100 is supported by the longitudinal road wheels 22. The crank mechanism 52 drives the lifting frame 51 to lift in the swinging process between the highest position and the middle position, the lifting operation of the object to be carried is realized under the condition of no reversing, the flexibility of the carrier 100 can be increased, and the requirements of different working conditions can be met.

In some embodiments, as shown in fig. 3 and 4, the crane 51 is provided with a through hole. The crank mechanism 52 includes a first crank 5211 and a swinging shaft 5221. The first crank 5211 comprises a driving connection portion 5211-1 and a swinging portion 5211-2, wherein the driving connection portion 5211-1 is used for connecting the reversing driving motor 51 to transmit power, and the swinging portion 5211-2 is used for fixing the swinging shaft 5221 to transmit power to the swinging shaft 5221 to swing. Specifically, one end of the first crank 5211 is drivingly connected to the output shaft of the reversing drive motor 54 through a reversing drive assembly. The swing shaft 5221 is fixed to the other end portion of the first crank 5211, and the swing shaft 5221 passes through the through hole to support the crane 51.

One end of the first crank 5211 is fixed to the output end of the reversing transmission assembly, and the reversing driving motor 54 rotates to drive the first crank 5211 to rotate around the rotation center thereof through the reversing transmission assembly. The swinging shaft 5221 is fixed to the other end portion of the first crank 5211, is offset from the center of rotation of the first crank 5211, and extends in a direction perpendicular to the first crank 5211. The swing shaft 5221 passes through the through hole, and the lifting frame 51 abuts against the swing shaft 5221. The reversing driving motor 54 rotates to drive the first crank 5211 to rotate, and the swinging shaft 5221 swings around the rotation center of the first crank 5211, wherein the swinging shaft 5221 has a highest position, a lowest position and a middle position during the swinging process. When the swing shaft 5221 swings from the lowest position to the highest position, the lifting frame 51 and the transverse road wheels 21 lift along the swing shaft 5221, so that the transverse road wheels 21 are separated from the driving surface, and the transport vehicle 100 moves transversely through the longitudinal road wheels 22. When the swinging shaft 5221 swings from the highest position to the lowest position, the lifting frame 51 descends along with the swinging shaft 5221, so that the transverse travelling wheels 21 are abutted against the running surface, the frame 10 is jacked up, the longitudinal travelling wheels 22 are separated from the running surface, and the carrier 100 transversely moves through the transverse travelling wheels 21.

The lifting frame 51 is driven to lift by the swinging of the first crank 5211 and the swinging shaft 5221 so as to lift the object and change the direction of the truck 100, and the first crank 5211 and the swinging shaft 5221 have compact structure and small occupied space, so that the layout of each part of the truck 100 is facilitated.

In some embodiments, the swing shaft 5221 is provided with a bearing 5231 thereon, and the bearing 5231 is in contact with the crane 51. The bearing 5231 is fixedly sleeved on the swing shaft 5221, is positioned in the through hole of the lifting frame 51 and abuts against the lifting frame 51. In the process that the first crank 5211 drives the swing shaft 5221 to swing, the bearing 5231 and the through hole of the lifting frame 51 generate rotation friction, and compared with the direct sliding friction between the swing shaft 5221 and the lifting frame 51, the friction force can be reduced, the risk of excessive friction damage is reduced, and the transmission reliability is improved.

In some embodiments, the crank mechanism 52 further includes a second crank 5241. One end of the second crank 5241 is fixed to the swing shaft 5221, and the other end is rotatably fixed to the frame 10. The second crank 5241 may have the same structure as the first crank 5211, and the swing shaft 5221 may have one end fixed to the first crank 5211 and the other end fixed to the second crank 5241. A connecting shaft, such as a crank connecting shaft 5251, extends at the end of the second crank 5241 remote from the swing shaft 5221 in a direction perpendicular to the second crank 5241, and the crank connecting shaft 5251 may be rotatably provided to the frame 10 by a crank bearing.

The second crank 5241 is rotatably disposed on the frame 10, and during the swinging of the swinging shaft 5221, the first crank 5211 and the second crank 5241 form a stable support for the two ends of the swinging shaft 5221, thereby effectively avoiding the swinging shaft 5221 from vibrating during the swinging process, and making the lifting frame 51 more stable during the lifting process.

In some embodiments, the through-hole of the crane 51 may extend in a racetrack shape along a longitudinal direction (y-direction) of the crane 51, the longitudinal direction of the crane 51 also being the extending direction of the crane 51. In the process of swinging the swinging shaft 5221, the runway-shaped through hole can provide an avoidance space in the longitudinal direction for the swinging shaft 5221, and the U-shaped structure of the runway is matched with the appearance of the swinging shaft 5221, so that the interference of the swinging shaft 5221 and the lifting frame 51 in the longitudinal direction can be reduced, the swinging amplitude of the lifting frame 51 is reduced, and the stability of the lifted articles is improved.

In some embodiments, the reversing drive assembly includes a first synchronizing gear mechanism 55, the first synchronizing gear mechanism 55 includes a reversing input, a first reversing output, and a second reversing output, the reversing input is connected to the output of the reversing drive motor 54, and the reversing drive motor 54 rotates to drive the first reversing output and the second reversing output to rotate synchronously.

The crank mechanism 52 includes a first crank mechanism and a second crank mechanism, which are respectively connected to the crane 51 and the first and second reversing outputs. The lifting frame 51 is provided with two through holes which are arranged at intervals along the longitudinal direction. The crank of the first crank mechanism and the crank of the second crank mechanism are respectively connected with the first reversing output end and the second reversing output end, and the swinging shaft of the first crank mechanism and the swinging shaft of the second crank mechanism respectively penetrate through the two through holes of the lifting frame 51 to jointly support the lifting frame 51.

The reversing driving motor 54 rotates to drive the first reversing output end and the second reversing output end to synchronously rotate, so that the two crank mechanisms 52 are driven to synchronously drive the lifting frame 51 to lift, reversing and lifting are realized, reversing is more reliable, and lifting is more stable. In addition, the crank mechanism 52 synchronously drives the lifting frame 51 to lift through the matching of the reversing driving motor 54 and the first synchronous gear mechanism, so that the occupied space is reduced, the control is convenient, and the cost is reduced.

In some embodiments, the crane 51 may be provided with two, respectively a first crane and a second crane. Wherein, the first crane and the second crane are respectively arranged at the two transverse sides of the frame 10. The first synchronous gear mechanism 55 further includes a third direction-changing output end, and the direction-changing driving motor 54 rotates to drive the first direction-changing output end, the second direction-changing output end, and the third direction-changing output end to rotate synchronously.

The reversing gear assembly also includes a second synchromesh gear mechanism 57 and a reversing connecting shaft 56. The second synchronizing gear mechanism 57 may be adjacent to the second elevation frame, and the first synchronizing gear mechanism 55 may be adjacent to the first elevation frame. The second synchronizing gear mechanism 57 may include a commutation link, a fourth commutation output, and a fifth commutation output. One end of the reversing connection shaft 56 is connected to the third reversing output end, and the other end passes through the first transfer wheel 341 and the second transfer wheel 342 (as shown in fig. 6), and is connected to the reversing connection end. The first transfer wheel 341 and the second transfer wheel 342 are connected by a hollow shaft, and the reversing connection shaft 56 has an avoidance gap with the first transfer wheel 341, the second transfer wheel 342 and the hollow shaft to prevent interference therebetween. The rotation of the commutation drive motor 54 drives the first commutation output, the second commutation output and the third commutation output to rotate synchronously, and the rotation of the third commutation output drives the commutation connecting shaft 56 to rotate, thereby driving the fourth commutation output and the fifth commutation output of the second synchronizing gear mechanism 57 to rotate synchronously.

The crank mechanism 52 further includes a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively connected to the second crane and the fourth reversing output terminal and the fifth reversing output terminal, and the first crank mechanism and the second crank mechanism are respectively connected to the first crane and the second reversing output terminal.

The reversing driving motor 54 rotates to drive the first reversing output end, the second reversing output end and the third reversing output end to synchronously rotate, the third reversing output end rotates to drive the reversing connecting shaft 56 to synchronously rotate, so that the fourth reversing output end and the fifth reversing output end of the second synchronous gear mechanism 57 are driven to synchronously rotate, the first crank mechanism, the second crank mechanism, the third crank mechanism and the fourth crank mechanism synchronously swing together, and the first lifting frame and the second lifting frame are driven to synchronously lift. The two lifting frames are driven to synchronously lift through the reversing driving motor 54, so that the space is saved, the control is convenient, and the lifting is stable.

In some embodiments, the first synchronous gear mechanism 55 includes a first gear box and a first gear set disposed in the first gear box. The second synchromesh gear mechanism 57 includes a second gear box and a second gear set provided in the second gear box. The reversing transmission assembly adopts a synchronous gear mechanism, and the synchronous gear is sealed in the gear box, so that the oil leakage phenomenon can be effectively avoided, and the safety is ensured. The synchronous gear mechanism is modularized to form a whole, and the assembling and the maintenance are convenient.

The lifting mode of the lifting frame 51 driven by the reversing driving mechanism is not limited to the crank mechanism, in some embodiments, the reversing driving mechanism may include a screw-nut pair (not shown in the figure) and a reversing driving motor, the screw is vertically arranged on the frame 10, the nut is in threaded connection with the screw, the lifting frame 51 is fixed on the nut, the reversing driving motor is arranged on the frame and is in transmission connection with the screw, the driving screw rotates to drive the nut and the lifting frame 51 to lift, so that the transverse walking wheel 21 is separated from or supported against the running surface. The lifting frame 51 is lifted through the matching of the screw rod and the screw nut pair, the stress is more uniform, and the lifting is more stable.

In other embodiments, the reversing drive mechanism includes a cam (not shown) and a reversing drive motor. The cam is abutted against the bottom of the lifting frame 51 and is used for supporting the lifting frame 51. The cam has a curved profile with different heights at different points of the curved profile. When the reversing driving mechanism drives the cam to rotate, the position of a contact point of the lifting frame 51 against the cam profile changes, so that the lifting frame 51 is lifted. The lifting frame 51 is driven to lift through the rotation of the cam, so that the transverse walking wheel 21 is separated from or propped against a running surface, and the load capacity of the lifting frame 51 can be improved.

In still other embodiments, the reversing drive mechanism comprises: gears, racks and a reversing drive motor (not shown). The reversing driving motor is arranged on the frame 10 and is in transmission connection with the gear, and the gear can be arranged on an output shaft of the reversing driving motor. The rack is vertically arranged on the frame 10 and connected with the lifting frame 51, and the gear is meshed with the rack. The reversing driving motor rotates to drive the gear to rotate, so as to drive the rack to lift, and the rack drives the lifting frame 51 to lift, so that the transverse walking wheel 21 is separated from or abuts against a running surface.

In still other embodiments, the reversing driving mechanism may further include an air cylinder or a hydraulic cylinder disposed on the frame, and the telescopic end of the air cylinder or the hydraulic cylinder is connected to the lifting frame 51 to drive the lifting frame 51 to lift, so that the transverse road wheel 21 is disengaged from or abutted against the driving surface. The lifting frame 51 is driven to lift through the air cylinder or the hydraulic cylinder, so that the lifting of the articles is more accurate.

In some embodiments, as shown in fig. 1 and 3, the cart 100 includes at least one first guide mechanism 60, which guides the lifting frame 51 to lift and lower, and prevents the lifting frame 51 from swinging and being damaged due to vibration. The first guide mechanism 60 may include a guide shaft and a sliding seat. The guide shaft is vertically provided to the frame 10. The sliding seat is slidably arranged on the guide shaft and is fixedly connected with the lifting frame 51. The lifting frame 51 is fixedly connected with the sliding seat through bolts, and in the lifting process of the lifting frame 51, the sliding seat is lifted along a vertical direction guide shaft to limit the lifting frame 51 to swing, so that the lifting frame 51 is lifted vertically. The lifting frame 51 can be lifted and lowered more stably through the first guide mechanism 60.

In one embodiment, the end of the crane 51 is provided with a support frame 53, and the transverse road wheels 21 are positioned in the support frame 53.

A second guide mechanism 70 is further provided between the lifting plate 80 and the lifting frame 51 to guide the lifting of the lifting plate 80. As shown in fig. 5, a guide hole 531 may be provided on the support frame 53, and the second guide mechanism 70 may be a guide shaft having one end connected to the lifting plate 80 and the other end extending into the guide hole 531.

The lifting plate 80 extends in the longitudinal direction, and both ends thereof are respectively provided on the lifting reversing mechanisms in the longitudinal direction. Both ends of the lifting plate 80 are connected to the support frame 53 through guide shafts, respectively. The supporting frame 53 goes up and down along with the lifting frame 51, and in the lifting process, the supporting frame 53 abuts against the bottom of the lifting plate 80 and drives the lifting plate 80 to go up and down, and the guide shaft slides up and down in the guide hole 531 and is matched with the guide hole 531 through the guide shaft so as to play a role in guiding the lifting plate 80.

The embodiment of the present disclosure further provides a cart system, which includes a cart 100, a transverse rail and a longitudinal rail. The truck 100 is a truck as mentioned in any of the above embodiments. The transverse traveling wheels 21 of the truck 100 travel on the longitudinal rails, and the longitudinal traveling wheels 22 of the truck 100 travel on the transverse rails. In a state where the lateral traveling wheels 21 are separated from the traveling surface, the carrier 100 is moved in the lateral direction by the longitudinal traveling wheels 22. In a state where the longitudinal traveling wheels 22 are disengaged from the running surface, the truck 100 is moved in the longitudinal direction by the lateral traveling wheels 21. The carrier 100 moves along different directions in an alternating mode of the longitudinal travelling wheels 22 and the transverse travelling wheels 21, so that reversing operation is realized, and the transportation flexibility is greatly improved.

The foregoing description of the implementation of the utility model has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the utility model to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the utility model. The embodiments were chosen and described in order to explain the principles of the utility model and its practical application to enable one skilled in the art to utilize the utility model in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims

1. A cart, comprising:

a frame;

the travelling mechanism comprises a transverse travelling wheel and a longitudinal travelling wheel;

the walking transmission assembly comprises a transverse transmission assembly and a longitudinal transmission assembly, the transverse transmission assembly and the longitudinal transmission assembly are arranged on the frame, the transverse transmission assembly is connected with the transverse walking wheel, the longitudinal transmission assembly is connected with the longitudinal walking wheel, and the transverse transmission assembly and the longitudinal transmission assembly are arranged on the periphery of the frame; and

and the walking driving mechanism is connected with the walking transmission assembly and drives the walking transmission assembly to drive the transverse walking wheels and the longitudinal walking wheels to rotate.

2. The cart according to claim 1, wherein,

the longitudinal travelling wheels are arranged on the side parts of the frame;

the longitudinal transmission assembly comprises:

the longitudinal driving wheel is connected with the walking driving mechanism;

the longitudinal driven wheel is connected with the longitudinal travelling wheel;

and the longitudinal transmission part is connected with the longitudinal driving wheel and the longitudinal driven wheel.

3. The cart according to claim 2, wherein,

the longitudinal driving wheel and the longitudinal driven wheel are chain wheels, and the longitudinal transmission part is a chain; alternatively, the first and second electrodes may be,

the longitudinal driving wheel and the longitudinal driven wheel are belt wheels, and the longitudinal transmission part is a belt.

4. The cart according to claim 1, wherein,

the longitudinal travelling wheels comprise a plurality of first longitudinal travelling wheels and a plurality of second longitudinal travelling wheels, and the first longitudinal travelling wheels and the second longitudinal travelling wheels are respectively arranged on two sides of the frame in the transverse direction;

the longitudinal transmission assemblies are provided with two groups, namely a first longitudinal transmission assembly and a second longitudinal transmission assembly, wherein the first longitudinal travelling wheels are connected through the first longitudinal transmission assembly, and the second longitudinal travelling wheels are connected through the second longitudinal transmission assembly;

the walking transmission assembly further comprises a longitudinal connecting shaft connected with the walking driving mechanism, and the longitudinal connecting shaft is connected with the first longitudinal transmission assembly and the second longitudinal transmission assembly.

5. The cart of any one of claims 1-4,

the transverse transmission assembly comprises:

the universal transmission shaft is connected with the driving walking mechanism and comprises a transmission part and swinging parts respectively and movably arranged at two ends of the transmission part, and the swinging parts are connected with the transverse walking wheels;

and under the state that the transverse travelling wheels are separated from the driving surface, the transverse travelling wheels and the swinging part swing and tilt relative to the transmission part.

6. The cart according to claim 5, wherein,

the transmission part is a transverse fixed shaft, and the transverse fixed shaft is connected with the driving travelling mechanism;

the swing portion is flexible universal joint, flexible universal joint sets up respectively the both ends of horizontal fixed axle, wherein, flexible universal joint's input shaft with horizontal fixed axle is connected, flexible universal joint's output shaft with horizontal walking wheel is connected.

7. The cart according to claim 5, wherein,

the walking transmission assembly further comprises:

the transverse driving wheel is connected with the walking driving mechanism;

and the transverse driven wheel is arranged on the universal transmission shaft and is connected with the transverse driving wheel.

8. The cart according to claim 7, wherein,

the transverse driving wheel is a transverse driving chain wheel, the transverse driven wheel is a transverse driven chain wheel, and the transverse driving chain wheel is connected with the transverse driven chain wheel through a chain; alternatively, the first and second electrodes may be,

the transverse driving wheel is a transverse driving belt pulley, the transverse driven wheel is a transverse driven belt pulley, and the transverse driving belt pulley and the transverse driven belt pulley are connected through a belt; alternatively, the first and second electrodes may be,

the transverse driving wheel is a transverse driving gear, the transverse driven wheel is a transverse driven gear, and the transverse driving gear is meshed with the transverse driven gear.

9. The cart according to claim 7, wherein,

the two universal transmission shafts are respectively a first universal transmission shaft and a second universal transmission shaft, and the first universal transmission shaft and the second universal transmission shaft are respectively arranged on two sides of the frame in the transverse direction;

the walking transmission assembly further comprises:

a first transfer wheel connected with the transverse driving wheel;

the second transfer wheel is connected with the first transfer wheel;

the second transverse driven wheel is connected with the second universal transmission shaft;

and the transverse connecting piece is connected with the second transfer wheel and the second transverse driven wheel.

10. The cart according to claim 4 or 9,

the travel drive mechanism includes:

a traveling motor;

the walking speed reducer comprises a walking input end, a longitudinal output end and a transverse output end, the walking input end is connected with an output shaft of the walking motor, the longitudinal output end is connected with the longitudinal connecting shaft, and the transverse output end is connected with the transverse transmission assembly.

11. The cart of claim 1, further comprising:

the baffle, the baffle with the frame the curb plate of week side forms accommodation space, accommodation space is used for holding horizontal transmission subassembly reaches vertical transmission subassembly.

12. The cart of claim 5, further comprising:

the jacking reversing mechanism is connected with the transverse travelling wheels and drives the transverse travelling wheels to lift so as to enable the transverse travelling wheels to be separated from or abut against the travelling surface;

the carrier moves longitudinally through the longitudinal travelling wheels under the condition that the transverse travelling wheels are separated from a running surface; alternatively, the first and second electrodes may be,

and under the state that the transverse travelling wheels abut against the running surface, the carrier moves transversely through the transverse travelling wheels.

13. The cart according to claim 12, wherein,

the jacking reversing mechanism comprises:

the lifting frame is connected with the transverse travelling wheel;

at least one crank mechanism connected with the lifting frame;

and the reversing driving mechanism is connected with the crank mechanism and drives the crank mechanism to swing so that the lifting frame drives the transverse walking wheel to lift.

14. The cart according to claim 13, wherein,

the lifting frame is provided with a through hole;

the crank mechanism includes:

the driving connecting part of the first crank is connected with the driving mechanism;

and the swinging shaft is fixed on the swinging part of the first crank, and the swinging shaft penetrates through the through hole to support the lifting frame.

15. The cart of claim 14, wherein,

the crank mechanism further includes:

and one end part of the second crank is fixed on the swinging shaft, and the other end part of the second crank is rotatably arranged on the frame.

16. The cart according to claim 13, wherein,

the jacking reversing mechanism further comprises:

the reversing driving mechanism comprises a reversing driving component, a reversing driving component and a reversing driving component, wherein the reversing driving component comprises a first synchronous gear mechanism, the first synchronous gear mechanism comprises a reversing input end, a first reversing output end and a second reversing output end, and the reversing input end is connected with an output shaft of the reversing driving mechanism;

the crank mechanism comprises a first crank mechanism and a second crank mechanism, the first crank mechanism and the second crank mechanism are respectively connected with the lifting frame and respectively connected with the first reversing output end and the second reversing output end.

17. The cart of claim 16, wherein,

the lifting frame comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frame are respectively arranged at the two transverse sides of the frame;

the first synchronous gear mechanism comprises a third reversing output end;

the reversing transmission assembly further comprises:

the second synchronous gear mechanism comprises a reversing connection end, a fourth reversing output end and a fifth reversing output end;

one end of the reversing connecting shaft is connected with the third reversing output end, and the other end of the reversing connecting shaft is connected with the reversing connecting end;

the crank mechanism comprises a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively connected with the second lifting frame and respectively connected with the fourth reversing output end and the fifth reversing output end, and the first crank mechanism and the second crank mechanism are respectively connected with the first lifting frame and respectively connected with the first reversing output end and the second reversing output end.

18. The cart of claim 13, wherein said lift-off diverter mechanism further comprises:

at least one first guide mechanism, the first guide mechanism comprising:

the first guide shaft is vertically arranged on the frame;

and the sliding seat is arranged on the first guide shaft in a sliding manner and is fixedly connected with the lifting frame.

19. The cart of claim 13, wherein said cart further comprises:

the lifting plate is used for directly or indirectly bearing the articles to be carried;

the second guiding mechanism is arranged on the lifting plate and is in sliding connection with the lifting frame.

20. The cart of claim 19, wherein,

the lifting frame comprises a frame body and support frames arranged at two ends of the frame body, the transverse driving wheel is arranged in the support frames, and guide holes are formed in the support frames;

the second guide mechanism comprises a guide shaft, one end of the second guide mechanism is connected with the lifting plate, and the other end of the second guide mechanism extends into the guide hole.

21. A cart system, comprising:

the cart of any one of claims 1 to 19;

a transverse rail and a longitudinal rail;

the longitudinal travelling wheels of the transport vehicle travel on the longitudinal rails, and the transverse travelling wheels of the transport vehicle travel on the transverse rails.