CN217534106U - Transverse swing rod linkage mechanism for jacking four-way vehicle - Google Patents

Abstract

The utility model discloses a horizontal pendulum rod link gear is used in jacking of quadriversal car, including installing vertical travel drive mechanism and the horizontal pendulum rod link gear in braced frame, wherein: the transverse swing rod linkage mechanism comprises a guide slide rail, a tensioning sliding table, a jacking swing rod and a transmission cross beam; the two guide slide rails are arranged at left and right intervals; the two tensioning sliding tables are arranged on the guide sliding rail in a sliding mode through sliding blocks at two ends respectively, and the outer side wall of each sliding block is hinged to 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 in parallel, a longitudinal guide shaft of the longitudinal walking driving mechanism is sleeved in the through hole at one end of the transmission beam in a sliding mode, and a hollow shaft of the longitudinal walking driving mechanism is sleeved in the threaded hole at the other end of the transmission beam in a threaded mode. The utility model discloses structural design is novel, compact, and the operation is stable, has reduced whole volume, has promoted operational capability and goods access efficiency, both reduce cost, saves space again.

Description

Transverse swing rod linkage mechanism for jacking four-way vehicle

Technical Field

The utility model belongs to the technical field of the intelligent storage, a quadriversal shuttle is related to, especially, relate to a quadriversal car jacking is with horizontal pendulum rod link gear.

Background

With the rapid development of the warehouse logistics industry, the technology of the automatic stereoscopic warehouse is more and more mature, and large, medium and small enterprises start to transform the automatic stereoscopic warehouse, so that more shelves are arranged on the plane of the stereoscopic warehouse, more shelf interlayers are arranged in the height direction, and the space occupied by the loading and unloading channels is reduced to the maximum extent. And the current stereoscopic warehouse entry and exit modes are various, and comprise various storage modes such as a stacker, a shuttle car, a primary and secondary car, a four-way shuttle car and the like. Each warehouse entry and exit form has advantages and disadvantages, so that different stereoscopic warehouses adopt reasonable warehouse entry and exit forms, and the improvement of warehouse entry and exit efficiency and the reduction of cost are greatly influenced.

The four-way shuttle vehicle is used as new automatic storage and transportation equipment to gradually enter the visual field of people, and the four-way shuttle vehicle system is used as the upgrading of the two-way shuttle vehicle technology, so that the four-way driving in the X direction and the Y direction can be realized, and the efficient and flexible operation in a roadway crossing manner can be realized. The four-way shuttle can walk along the rails arranged on the goods shelf, under the condition that reversing is needed, the moving wheels in one direction are lifted, and the wheels in the other direction are in contact with the rails and walk along the rails, 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 the tray or the material box to be transported to other goods positions on the goods shelf or to be delivered out of the warehouse,

the overall layout of the existing four-way shuttle is complex, the size is thick, and the occupied space of a loading channel and a unloading channel is large, so that a greater number of shelf interlayers cannot be arranged in the height direction indirectly, and the space utilization rate of a three-dimensional warehouse is reduced; the cam jacking structure of conventional adoption, there is the cam easy wearing and tearing, the inhomogeneous and transmission inefficiency of follower atress defect, and jacking structure generally need additionally to dispose solitary motor in addition and drive the jacking moreover, has increased manufacturing and purchasing cost.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve and have the problem that jacking structure atress is inhomogeneous and manufacturing cost is high in current quadriversal shuttle occupation space is great, the technique, provide a quadriversal car jacking is with horizontal pendulum rod link gear.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a horizontal pendulum rod link gear is used in jacking of quadriversal car, including installing vertical walking drive mechanism and the horizontal pendulum rod link gear in braced frame, wherein: the transverse swing rod linkage mechanism comprises a guide slide rail, a tensioning sliding table, a jacking swing rod and a transmission cross beam; the two guide slide rails are arranged at left and right intervals; the two tensioning sliding tables are arranged on the guide sliding rail in a sliding mode through sliding blocks at two ends respectively, and the outer side wall of each sliding block is hinged to a jacking cross beam of the swing rod jacking mechanism through a jacking swing rod; the transmission cross beam is arranged at the top of the tensioning sliding table in parallel, the longitudinal guide shaft of the longitudinal walking driving mechanism is sleeved in the through hole at one end of the transmission cross beam in a sliding mode, and the hollow shaft of the longitudinal walking driving mechanism is sleeved in the threaded hole at the other end of the transmission cross beam in a threaded mode.

Furthermore, on the transverse swing rod linkage mechanism for jacking the four-way vehicle, 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

the left side wall and the right side wall of the supporting frame are respectively provided with four square assembly holes for assembling four groups of transverse walking wheels on the transverse walking driving mechanism, and the transverse walking wheels can move up and down in the corresponding square assembly holes.

Furthermore, on the transverse swing rod linkage mechanism for jacking the four-way vehicle, the longitudinal walking driving mechanism comprises a longitudinal transmission shaft, a hollow shaft, a longitudinal driving motor and a longitudinal guide shaft, wherein the longitudinal transmission shaft and the longitudinal guide 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 peripheral walls at two ends of the hollow shaft are respectively provided with a left thread and a right thread.

Further, four-way car jacking on with horizontal pendulum rod link gear, vertical walking drive mechanism still includes first vertical synchronizing wheel, first vertical hold-in range, motor synchronizing wheel and motor drive shaft, wherein:

the first longitudinal synchronous wheel is fixedly sleeved at one end of the longitudinal transmission shaft, is 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 erected at the bottom of the supporting frame through a bearing with a base, 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 synchronizing wheel.

Further, four-way car jacking on with horizontal pendulum rod link gear, vertical walking drive mechanism still includes the vertical synchronizing wheel of second, the vertical hold-in range of second, the vertical synchronizing wheel of third, first vertical walking wheel and the vertical walking wheel of second, wherein:

the two second longitudinal synchronizing wheels are respectively fixedly sleeved at the positions, close to the frame of the supporting frame, of the two ends of the longitudinal transmission shaft and are connected with the two third longitudinal synchronizing wheels through the second longitudinal synchronizing belt;

the third longitudinal synchronizing wheels are arranged in two groups, each group comprises two third longitudinal synchronizing wheels, the third longitudinal synchronizing wheels are respectively and correspondingly connected with the first longitudinal traveling wheels on the supporting frame and are positioned at two sides below the second longitudinal synchronizing wheels;

the first longitudinal walking wheels and the second longitudinal walking wheels are two and are respectively arranged in circular assembling holes of the frame bodies at the left end and the right end of the supporting frame.

Further preferably, on the horizontal pendulum rod link gear is used in jacking of four-way car, vertical walking drive mechanism still includes pinch roller, compresses tightly the regulating plate and compresses tightly the fixed plate, wherein:

the two groups of the pinch rollers are arranged, each group of the pinch rollers is provided with two pinch rollers, the two pinch rollers are respectively correspondingly arranged on the outer side of the second longitudinal synchronous belt and are in interference fit with the second longitudinal synchronous belt, and one pinch roller is arranged on the inner side wall of the supporting frame;

one end of the pressing adjusting plate is connected with the other pressing wheel, the other end of the pressing adjusting plate is connected with the pressing fixing plate through an adjusting bolt, and the pressing fixing plate is fixed on the inner side wall of the supporting frame.

Further, four-way car jacking with horizontal pendulum rod link gear on, horizontal walking drive mechanism includes horizontal transmission shaft, loose gear, horizontal driving motor, horizontal driven shaft and respectively the movable assembly in corresponding square mounting 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 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 walking wheels, and the two groups of first transverse walking wheels and the two groups of second transverse walking wheels on the same side are connected through a second transverse synchronous belt.

Further preferably, on the transverse swing rod linkage mechanism for jacking the four-way vehicle, the transverse walking drive mechanism further comprises a linkage shaft, a first linkage gear and a second linkage gear, wherein:

the linkage shaft and the transverse transmission shaft are arranged in parallel, and two ends of the linkage shaft are erected at the bottom of the supporting frame through a bearing with a seat respectively;

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 is lifted up and down;

the fixed cover of second linkage gear is located the other end of universal driving shaft, it passes through first horizontal synchronous belt connects horizontal driving motor.

Furthermore, on the transverse swing rod linkage mechanism for jacking the four-way vehicle, the swing rod jacking mechanism comprises two groups of jacking cross beams and jacking plates which are respectively arranged at the left and right inner side ends of the supporting frame, wherein:

a transverse transmission shaft and a transverse driven shaft are respectively arranged in through holes at two ends of the jacking cross beam in a penetrating way 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 positioned above the jacking cross beam, two ends of the jacking plate are respectively sleeved on the corresponding first guide columns in a sliding mode, a stop block is arranged on the outer side of each end of the jacking plate, and the stop blocks are fixedly arranged at the tops of the second guide columns.

Further, four-way car jacking with horizontal pendulum rod link gear on, the transmission crossbeam is the type of falling U structure, its middle bottom and below form square passageway between the taut slip table, correspond in the square passageway and wear to be equipped with vertical running gear's motor drive shaft horizontal running gear's first horizontal hold-in range.

Further, on the horizontal pendulum rod link gear is used in jacking of four-way car, horizontal pendulum rod link gear still includes four groups of baffles and reset spring, wherein:

the baffle is correspondingly arranged at the end part of the guide sliding rail, the height of the baffle is greater than that of the guide sliding rail, and the baffle is fixed at the bottom of the support frame through screws;

one end of the reset spring is connected with the baffle, and the other end of the reset spring is connected with the rear end of the corresponding sliding block.

The above technical scheme is adopted in the utility model, compared with prior art, following technological effect has:

(1) The bottom of the supporting frame is provided with a swing rod jacking mechanism and a transverse swing rod linkage mechanism, the lifting of a jacking cross beam on 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, the jacking swing rods at the four corners are symmetrically arranged, the stress is uniform, and the synchronization of jacking cross beams on two sides is ensured;

(2) The transverse swing rod linkage mechanism and the longitudinal walking driving mechanism are combined, and the driving motor on the longitudinal walking driving mechanism is used for synchronously controlling the transverse swing rod linkage mechanism, so that the two tensioning sliding tables are controlled to move in the opposite direction or in the opposite direction, and then the jacking swing rods on the outer sides are used for driving the jacking cross beam to achieve the purpose of lifting;

(3) The transverse swing rod linkage mechanism and the longitudinal walking driving mechanism share one driving motor, the connection relationship between the longitudinal transmission shaft and the hollow shaft is controlled through an electromagnetic clutch, the rotation or stop of the hollow shaft is realized, and then the movement of the front tensioning sliding table and the rear tensioning sliding table is controlled in a threaded telescopic mode, so that the purpose of one machine with multiple controls is realized, one motor is saved, and the purchase cost is reduced;

(4) The transverse transmission shaft and the walking wheel carrier of the transverse swing rod linkage mechanism are arranged on the jacking cross beam and can move up and down along with the jacking cross beam, and the up-and-down movement of a transverse driving shaft on the transverse swing rod linkage mechanism is utilized, so that the power of a transverse driving motor is transmitted to the transverse driving shaft through a linkage shaft and a linkage gear, the separated allocation of the power of the transverse swing rod linkage mechanism is realized by matching with the jacking motion, the shielding of a tensioning sliding table and the transmission cross beam can be avoided ingeniously, the layout of the whole machine is more reasonable, the space utilization rate of a vehicle body is improved, and the thickness of the vehicle body is reduced;

(5) This horizontal pendulum rod link gear is used in jacking of four-way car adopts a drive electricity can be used for controlling jacking and vertical walking respectively, and its structural design is novel, compact, and the operation is stable, has reduced whole volume, has promoted operational capability and goods access efficiency, and both reduce cost saves space again.

Drawings

Fig. 1 is a schematic top view of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 2 is a schematic three-dimensional structure view of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 3 is a schematic view of a partial enlarged structure of a part a of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 4 is a schematic view of a partial enlarged structure of a part B of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 5 is a schematic three-dimensional structure view of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 6 is a schematic view of a partially enlarged structure of a portion C of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 7 is a schematic view of a partially enlarged structure of a portion D of a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 8 is a first schematic view of an assembly structure of a longitudinal travel driving mechanism and a transverse swing link mechanism in the transverse swing link mechanism for jacking the four-way vehicle according to the present invention in a supporting frame;

fig. 9 is a schematic view of an assembly structure of the longitudinal travel driving mechanism and the transverse swing link mechanism in the transverse swing link mechanism for jacking the four-way vehicle in the supporting frame according to the present invention;

fig. 10 is a third schematic view of an assembly structure of the longitudinal travel driving mechanism and the transverse swing link mechanism in the transverse swing link mechanism for jacking the four-way vehicle according to the present invention in the supporting frame;

fig. 11 is a left side view structural diagram of a transverse swing link linkage mechanism in a support frame in the transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 12 is a schematic view of a partial enlarged structure of a portion E of a transverse swing link linkage mechanism assembled in a supporting frame in the transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 13 is a schematic diagram of a right-view structure of a transverse swing link linkage mechanism in a supporting frame in the transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 14 is a schematic view of a partially enlarged structure of a portion F of a transverse swing link linkage mechanism assembled in a supporting frame in the transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 15 is a schematic view of a cross-sectional structure of a transverse swing link linkage mechanism in a supporting frame in a transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 16 is a schematic view of an assembly structure of a longitudinal transmission shaft, an electromagnetic clutch and a hollow shaft in the transverse swing link linkage mechanism for jacking a four-way vehicle according to the present invention;

fig. 17 is a schematic view of a partially enlarged structure of a longitudinal transmission shaft, an electromagnetic clutch and a hollow shaft of a transverse swing link mechanism for jacking a four-way vehicle according to the present invention;

wherein the reference symbols are:

100-support frame, 101-square assembly hole;

200-longitudinal travel driving mechanism, 201-202-hollow shaft, 2021-left thread, 2022-right 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 guide shaft, 211-second longitudinal synchronous belt, 212-third longitudinal synchronous wheel, 213-pressing wheel, 214-pressing adjusting plate, 215-pressing fixing plate, 216-first longitudinal travel wheel, 217-second longitudinal travel wheel;

300-a transverse walking driving mechanism, 301-a transverse transmission shaft, 302-a movable gear, 303-a linkage shaft, 304-a first linkage gear, 305-a second linkage gear, 306-a first transverse synchronous belt, 307-a transverse driving motor, 308-a first transverse walking wheel, 309-a second transverse walking wheel, 310-a second transverse synchronous belt and 311-a transverse driven shaft;

400-a swing rod jacking mechanism, 401-a jacking cross beam, 402-a first guide column, 403-a second guide column, 404-a stop block and 405-a jacking plate;

500-transverse swing rod linkage mechanism, 501-guide slide rail, 502-tensioning sliding table, 503-slide block, 504-reset spring, 505-baffle, 506-jacking swing rod, 507-transmission beam, 508-threaded hole and 509-through hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In some embodiments, as shown in fig. 1, fig. 2, fig. 5 and fig. 8, a transverse swing link mechanism for jacking a four-way vehicle is provided, which mainly comprises a support frame 100, a longitudinal walking driving mechanism 200, a transverse walking driving mechanism 300, a swing link jacking mechanism 400 and a transverse swing link mechanism 500. Through the 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 ascend and descend vertically, so that the linkage of the longitudinal traveling driving mechanism 200 and the transverse swing rod linkage mechanism 500 is realized, the longitudinal traveling driving mechanism 200 can longitudinally travel, and meanwhile, the power driving or disconnection connection relation between the longitudinal traveling driving mechanism 200 and the transverse swing rod linkage mechanism 500 can be controlled.

Specifically, as shown in fig. 2, fig. 3, fig. 5 and fig. 6, the longitudinal travel driving mechanism 200 is used as a longitudinal travel mechanism of the four-direction vehicle, and is used for driving the four-direction vehicle member to travel longitudinally, and mainly includes a longitudinal transmission shaft 201, a hollow shaft 202, a longitudinal driving motor 209 and a longitudinal guide shaft 210.

The longitudinal transmission shaft 201 and the longitudinal guide shaft 210 are respectively arranged at the front end and the rear end of the supporting frame 100 and are respectively used for connecting corresponding longitudinal traveling wheels. And one end of the longitudinal transmission shaft 201 is connected with a longitudinal driving motor 209, the longitudinal transmission shaft 201 is controlled to rotate through the longitudinal driving motor 209, and then longitudinal traveling wheels at two ends are controlled to rotate, so that the purpose of longitudinal traveling is achieved.

The middle part of the longitudinal transmission shaft 201 is coaxially sleeved with a hollow shaft 202, and the hollow shaft 202 and the longitudinal transmission shaft can rotate relatively. 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 action of the electromagnetic clutch 204, that is, the hollow shaft 202 can be synchronously driven to rotate while the longitudinal transmission shaft 201 rotates.

As shown in fig. 16 and 17, the electromagnetic clutch 204 is a commercially available micro electromagnetic clutch, which is an automatic electric appliance operated by electromagnetic attraction force, and the specific structural principle is not described herein again. 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 disposed on the longitudinal transmission shaft 201, the driven wheel 2043 is fixedly disposed 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 the requirement of work, so as to transmit the power of the longitudinal transmission shaft 201 to the hollow shaft 202, control the rotation or stop of the hollow shaft 202, and then realize the control of the transverse swing link linkage mechanism 500.

As shown in fig. 2, 8, 9, 10 and 16, in order to control the relative approaching and separating of the two tightening sliding platforms 502 on the transverse swing link linkage 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 cross beam 507. Specifically, the outer peripheral walls at the two ends of the hollow shaft 202 are respectively provided with a left thread 2021 and a right thread 2022, and the left thread 2021 and the right thread 2022 are respectively matched with the threaded holes 508 on the transmission beams 507 at the two ends, so that the transmission beams 507 at the two ends of the hollow shaft 202 can move in different directions when the hollow shaft 202 rotates.

If the hollow shaft 202 rotates forward, the two transmission beams 507 at the two ends move towards the middle synchronously, the lower end of the jacking swing rod 506 swings inwards to jack, 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 end of the jacking swing rod 506 swings outwards to retract, and the supporting force of the jacking swing rod 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 lateral swing link linkage 500 mainly includes a guide slide 501, a tension slide 502, a jacking swing link 506 and a transmission cross beam 507.

The two guide slide rails 501 are arranged in parallel at intervals from left to right, and are respectively fixedly mounted at the bottom of the support frame 100 by screws. The number of the tensioning sliding tables 502 is two, and the two tensioning sliding tables 502 are slidably disposed on the two guide sliding rails 501 through the sliding blocks 503 at two ends, that is, the two tensioning sliding tables 502 are crosswise disposed at two ends of the two guide sliding rails 501 at 90 ° relative to the two guide sliding rails 501. The two tension sliding tables 502 arranged in front and at the back of the left and right can synchronously move towards the inner side or synchronously move away from the outer side under the action of external force, and the tension sliding tables 502 synchronously approach or move away from each other in the whole view.

As shown in fig. 2, fig. 5, fig. 6, fig. 11, fig. 12, fig. 13, and fig. 14, in order to realize the linkage between the transverse swing link linkage mechanism 500 and the swing link jacking mechanism 400, the outer walls of the front and rear sliders 503 are respectively hinged with the jacking swing links 506 which are oppositely arranged, and one end of each jacking swing link 506 is hinged with the jacking cross beam 401 of the swing link jacking mechanism 400. The jacking swing rod 506 is obliquely arranged, the inclination angle is 30-90 degrees, and the jacking swing rod is specifically determined according to the stress and the jacking distance. Two sets of jacking pendulum rods 506 that arrange relatively in front and back are respectively under two taut slipways 502 drives, and the pivot of connecting jacking crossbeam 401 with its top is the distant point, and the lower extreme inwards moves the in-process, supports the top to arch jacking crossbeam 401 from both sides, realize the purpose of jacking.

The transmission beam 507 is arranged at the top of the tension sliding table 502 in parallel and is fixedly connected with the tension sliding table 502 into an integral structure. Through-hole 509 has been seted up respectively to the one end of transmission crossbeam 507, and threaded hole 508 is seted up to the other end, the one end of transmission crossbeam 507 is established on longitudinal guide shaft 210 through-hole 509 slidable cover, the other end of transmission crossbeam 507 is established on quill shaft 202 through threaded hole 508 screw thread cover, utilizes the rotation effect of quill shaft 202, and the transmission crossbeam 507 that the screw thread cover was established on it can be controlled slides around its length direction carries out, then drives the taut slip table 502 removal of bottom to and the jacking crossbeam 401 with both sides arch up or move down.

In some embodiments, as shown in fig. 1, fig. 2, fig. 8, fig. 9, fig. 11 and fig. 13, four circular mounting holes for mounting four sets of longitudinal road wheels on the longitudinal driving mechanism 200 are respectively formed on the front side wall and the rear side wall of the supporting frame 100, and the longitudinal road wheels are coaxially and rotatably disposed in the circular mounting holes.

Four square assembly holes 101 used 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. The height of the transverse walking wheel is adjustable relative to the height of the longitudinal walking wheel, and the reversing purpose can be realized if the height of the transverse walking wheel higher or lower than the longitudinal walking wheel is adjusted.

The supporting frame 100 is a whole formed by bending metal plates and connecting local reinforcing ribs, the bearing capacity of the whole vehicle is greatly improved, 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 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 the shielding of the transverse swing link linkage mechanism 500.

Specifically, the first longitudinal synchronous pulley 205 is fixedly sleeved at one end of the longitudinal transmission shaft 201, is located at a side position of the electromagnetic clutch 204, and is connected to the motor synchronous pulley 207 through the first longitudinal synchronous pulley 206; the motor transmission shaft 208 is erected at the bottom of the supporting frame 100 through a bearing with a base, 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 synchronizing wheel 207.

In some embodiments, as shown in fig. 2, 3, 9 and 10, in order to fully utilize the internal space of the supporting frame 100, the transverse walking driving mechanism 300 and the transverse swing link linkage mechanism 500 are reasonably arranged, and the longitudinal transmission shaft 201 of the longitudinal walking driving mechanism 200 is designed in a desktop structure.

The longitudinal travel driving mechanism 200 further comprises a second longitudinal synchronizing wheel, a second longitudinal synchronizing belt 211, a third longitudinal synchronizing wheel 212, first longitudinal travel wheels 216 and second longitudinal travel wheels 217, and the power of the longitudinal transmission shaft 201 is respectively transmitted to the two groups of first longitudinal travel wheels 216 through the second longitudinal synchronizing wheel, the second longitudinal synchronizing belt 211 and the third longitudinal synchronizing wheel 212.

Specifically, two second longitudinal synchronizing wheels are respectively fixedly sleeved at positions, close to the frame of the support frame 100, of two ends of the longitudinal transmission shaft 201, and are connected with two third longitudinal synchronizing wheels 212 through the second longitudinal synchronizing belt 211. The third longitudinal synchronizing wheels 212 are provided in two sets, each set being two, and are respectively connected to the first longitudinal traveling wheels 216 on the support frame 100, and located at two sides below the second longitudinal synchronizing wheels. The first longitudinal travelling wheels 216 and the second longitudinal travelling wheels 217 are two and are respectively installed in circular assembling holes of the frame bodies at the left end and the right end of the supporting frame 100.

The two groups of first longitudinal traveling wheels 216 are connected with the upper longitudinal transmission shaft 201 through the third longitudinal synchronizing wheel 212, the second longitudinal synchronizing belt 211 and the second longitudinal synchronizing wheel to stagger the tensioning sliding table 502, the transverse transmission shaft 301 and the transverse driven shaft 304 below, so that the machine body is more reasonable and compact in structural layout.

In some embodiments, as shown in fig. 2, 3, 8, 9 and 10, the longitudinal travel driving mechanism 200 further includes a tension adjusting mechanism for the second longitudinal timing belt 211, which is mainly composed of a pressing wheel 213, a pressing adjusting plate 214 and a pressing fixing plate 215.

The two groups of the pressing wheels 213 are provided, each group of the two pressing wheels is provided at the outer side of the second longitudinal synchronous belt 211 and is in interference fit with the second longitudinal synchronous belt 211, and one pressing wheel 213 is provided at the inner side wall of the supporting frame 100; one end of the pressure adjusting plate 214 is connected to another pressure roller 213, the other end of the pressure adjusting plate 214 is connected to the pressure fixing plate 215 through an adjusting bolt, and the pressure fixing plate 215 is fixed to the inner side wall of the supporting frame 100.

The pressing wheel 213 can be pressed tightly on the second longitudinal synchronous belt 211 under the adjusting action of the pressing adjusting plate 214 to form a tensioning state for the second longitudinal synchronous belt 211; or the pinch roller 213 is moved away from the second longitudinal timing belt 211 to be separated from the second longitudinal timing belt 211, thereby eliminating the tension of the second longitudinal timing belt 211. Compress tightly regulating plate 214 and compress tightly fixed plate 215 and all adopt the L template, and relative arrangement is personally submitted to its side, and adjusting nut and bolt setting are on this relative arrangement's L template, and the regulation mode of adjusting nut and bolt adopts current conventional structure to realize, no longer gives unnecessary details here.

In some embodiments, as shown in fig. 2, 5 and 7, the transverse travel driving mechanism 300 is used as a transverse travel mechanism of the four-way vehicle, and is used for driving the four-way vehicle to travel transversely. The 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, wherein the two groups of first transverse traveling wheels 308 and the two groups of second transverse traveling wheels 309 are movably assembled in corresponding square assembly holes 101 respectively. The transverse driving motor 307 controls the transverse transmission shaft 301 and the movable gear 302 to rotate, and then controls the transverse traveling wheels 308 at two ends of the transverse transmission shaft 301 to rotate, so that the purpose of transverse traveling is achieved.

Two corresponding first transverse traveling wheels 308 are respectively connected to two ends of the transverse transmission shaft 301, the movable gear 302 is sleeved in the middle of the transverse transmission shaft, 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 traveling wheels 309, and two groups of first transverse traveling wheels 308 and two groups of second transverse traveling wheels 309 on the same side 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 transverse travel driving mechanism 300 is a split structure design, so as to fully utilize the vehicle body space and reduce the thickness of the vehicle body. The transverse walking driving mechanism 300 with the separated structure design further comprises a linkage shaft 303, a first linkage gear 304 and a second linkage gear 305, and the power of a transverse driving motor 307 is transmitted to a transverse transmission shaft 301 which moves up and down along with the jacking cross beam 401 through the linkage gear 304 and the second linkage gear 305.

The linkage shaft 303 and the transverse transmission shaft 301 are arranged in parallel, and two ends of the linkage shaft are erected at the bottom of the supporting frame 100 through bearings with seats respectively. The first linkage gear 304 is fixedly sleeved at one end of the linkage shaft 303 and is engaged 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.

When the transverse travel driving mechanism 300 is in a jacking state along with the swing rod jacking 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 linkage gear 304, and the power transmission is disconnected. When the transverse walking driving mechanism 300 is in a descending state along with the swing rod jacking mechanism 400, the jacking reversing is completed, the transverse walking driving mechanism 300 is in a bottom contact state to convert a transverse running state, at the moment, the movable gear 302 on the transverse transmission shaft 301 is in contact engagement with the linkage gear 304, the transverse driving motor 307 is started, the transverse transmission shaft 301 and the first transverse walking wheels 308 at two ends of the transverse transmission shaft can be driven to rotate, and then the transverse walking purpose is realized.

In some embodiments, as shown in fig. 1, 2 and 4, the swing link jacking mechanism 400 mainly includes two sets of jacking beams 401 and jacking plates 405 respectively disposed at the inner ends of the left and right sides of the supporting frame 100, and the jacking beams 401 and the jacking plates 405 can only slide up and down under the limiting action of the guide posts.

Specifically, the transverse transmission shaft 301 and the transverse driven shaft 304 penetrate through holes at two ends of the jacking cross beam 401 through bearings respectively, so that the transverse transmission shaft 301, the transverse driven shaft 304 and the transverse traveling wheels are synchronously driven to ascend and descend in the ascending and descending process of the jacking cross beam 401, and the reversing purpose is achieved. And the both ends of jacking crossbeam 401 slip the cover respectively and locate first guide post 402 and second guide post 403 on, first guide post 402 and second guide post 403 play limiting displacement, prevent that jacking crossbeam 401 from taking place to rock at the jacking in-process, have guaranteed the stability of jacking process.

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 posts 402 in a sliding manner, a stop block 404 is arranged on the outer side of each end of the jacking plate, and the stop blocks 404 are fixedly arranged at the tops of the second guide posts 403. The jacking cross beam 401 drives the jacking plate 405 to jack or descend in the process of ascending and descending.

In some of the embodiments, as shown in fig. 11 and 13, the transmission beam 507 is an inverted U-shaped structure, a square channel is formed between the bottom of the transmission beam and the tensioning sliding table 502 below the transmission beam, the motor transmission shaft 208 of the longitudinal walking driving mechanism 200 and the first transverse synchronous belt 306 of the transverse walking driving mechanism 300 are correspondingly arranged in the square channel in a penetrating manner, so that the shielding of the tensioning sliding table and the transmission beam is avoided ingeniously, 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 embodiments, as shown in fig. 11, 12, 13 and 14, in order to better match the jacking process, the consistency of the two ends of the jacking cross beam 404 in the descending process is ensured, and the sliding blocks at the two ends are required to synchronously retreat. In contrast, the lateral swing link mechanism 500 is further provided with four sets of a stopper 505 and a return spring 504.

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. In the process of descending the jacking cross beam 401, the sliding blocks 503 are automatically pulled back and reset through the reset springs 504 respectively.

In addition, this four-way car horizontal pendulum rod formula jacking switching-over structure still including set up in the microcontroller of braced frame 100 bottom, microcontroller is connected with vertical driving motor 209, horizontal driving motor 307 and electromagnetic clutch 204 electricity respectively, and microcontroller is as the brain of whole car, controls the motion of whole car, can control vertical driving motor 209, horizontal driving motor 307 and electromagnetic clutch 204 operation respectively through microcontroller, controls horizontal walking, the purpose of vertical walking and jacking switching-over respectively, realizes the automated control of four-way car.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," "connecting," and "connecting" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be directly connected, and "upper," "lower," "left," and "right" are only used to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

and finally: the foregoing is illustrative of the preferred embodiments of the present invention, and is not to be construed as limiting the invention, and any modifications, equivalent alterations, improvements and the like made within the spirit and principle of the invention are intended to be included within the scope of the invention.

Claims (10)

1. The utility model provides a jacking of quadriversal car is with horizontal pendulum rod link gear, its characterized in that, is including installing vertical walking drive mechanism (200) and horizontal pendulum rod link gear (500) in braced frame (100), wherein: the transverse swing rod linkage mechanism (500) comprises a guide slide 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 number of the tensioning sliding tables (502) is two, the tensioning sliding tables are respectively arranged on the guide sliding rail (501) in a sliding mode through sliding blocks (503) at two ends, and the outer side wall of each sliding block (503) is hinged to a jacking cross beam (401) of the swing rod jacking mechanism (400) through a jacking swing rod (506); transmission crossbeam (507) parallel arrangement in the top of taut slip table (502), and the sliding sleeve is equipped with in through-hole (509) of its one end vertical guide shaft (210) of vertical travel drive mechanism (200), screw hole (508) internal thread cover of the other end are equipped with hollow shaft (202) of vertical travel drive mechanism (200).

2. The transverse swing rod linkage mechanism for jacking a four-way vehicle according to claim 1, 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 guide shaft (210), the longitudinal transmission shaft (201) and the longitudinal guide 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 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 peripheral walls at two ends of the hollow shaft (202) are respectively provided with a left thread (2021) and a right thread (2022).

3. The transverse swing rod linkage mechanism for jacking a four-way vehicle according to claim 2, wherein the longitudinal travel driving mechanism (200) further comprises a first longitudinal synchronizing wheel (205), a first longitudinal synchronizing belt (206), a motor synchronizing 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), is 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);

motor drive shaft (208) are located through taking the pedestal bearing frame braced frame (100) bottom, and one end is connected vertical driving motor (209), the fixed cover of the other end is equipped with motor synchronizing wheel (207).

4. The transverse swing link linkage mechanism for jacking a four-way vehicle according to claim 2, wherein the longitudinal travel 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 traveling wheel (216) and a second longitudinal traveling wheel (217), wherein:

the two second longitudinal synchronizing 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 are connected with the two third longitudinal synchronizing wheels (212) through the second longitudinal synchronizing belt (211);

the third longitudinal synchronizing wheels (212) are divided into two groups, each group comprises two third longitudinal synchronizing wheels, the two third longitudinal synchronizing wheels are respectively and correspondingly connected with the first longitudinal traveling wheels (216) on the supporting frame (100), and the third longitudinal traveling wheels are positioned at two sides below the second longitudinal synchronizing wheels;

the first longitudinal travelling wheels (216) and the second longitudinal travelling wheels (217) are two and are respectively installed in circular assembly holes of frame bodies at the left end and the right end of the supporting frame (100).

5. The transverse swing rod linkage mechanism for jacking a four-way vehicle according to claim 4, wherein the longitudinal walking driving mechanism (200) further comprises a pressing wheel (213), a pressing adjusting plate (214) and a pressing fixing plate (215), wherein:

the two groups of the pressing wheels (213) are arranged, each group of the two pressing wheels is arranged on the outer side of the second longitudinal synchronous belt (211) correspondingly and is in interference fit with the outer side of the second longitudinal synchronous belt, and one pressing wheel (213) is arranged on the inner side wall of the supporting frame (100);

one end of the pressing adjusting plate (214) is connected with the other 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).

6. The transverse swing rod linkage mechanism for jacking a four-way vehicle according to claim 1, further comprising a transverse walking driving mechanism (300), wherein the transverse walking 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 walking wheels (308) and two groups of second transverse walking wheels (309) which are movably assembled in corresponding square assembly holes (101), respectively, wherein:

two ends of the transverse transmission shaft (301) are respectively connected with two corresponding first transverse traveling wheels (308), the middle 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 walking wheels (309), and two groups of first transverse walking wheels (308) and two groups of second transverse walking wheels (309) on the same side are connected through a second transverse synchronous belt (310).

7. The lateral swing link mechanism for jacking a four-way vehicle according to claim 6, 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) and the transverse transmission shaft (301) are arranged in parallel, and two ends of the linkage shaft are erected at the bottom of the supporting frame (100) through bearings with seats respectively;

the first linkage gear (304) is fixedly sleeved at one end of the linkage shaft (303) and is engaged with or separated from the movable gear (302) which lifts 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).

8. The horizontal swing link gear for jacking a four-way vehicle according to claim 1, wherein the swing link jacking mechanism (400) comprises two sets of jacking beams (401) and jacking plates (405) respectively arranged at left and right inner side ends of the supporting frame (100), wherein:

a transverse transmission shaft (301) and a transverse driven shaft (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, and the stop blocks (404) are fixedly arranged at the tops of the second guide columns (403).

9. The transverse swing rod linkage mechanism for jacking the four-way vehicle according to claim 1, wherein the transmission cross beam (507) is of an inverted U-shaped structure, a square channel is formed between the middle bottom of the transmission cross beam and the tensioning sliding table (502) below the transmission cross beam, and a motor transmission shaft (208) of the longitudinal walking driving mechanism (200) and a first transverse synchronous belt (306) of the transverse walking driving mechanism (300) are correspondingly arranged in the square channel in a penetrating manner.

10. The lateral swing link linkage for jacking a four-way vehicle according to claim 1, wherein said lateral swing link linkage (500) further comprises four sets of a baffle (505) and a return spring (504), wherein:

the baffle (505) is correspondingly arranged at the end part of the guide sliding rail (501), the height of the baffle is greater than that of the guide sliding rail (501), and the baffle is fixed at the bottom of the support frame (100) through screws;

one end of the return spring (504) is connected with the baffle (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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