CN218950236U

CN218950236U - Rail guided vehicle for carrying spool at high speed

Info

Publication number: CN218950236U
Application number: CN202222202292.XU
Authority: CN
Inventors: 洪新东; 邹湘衡; 粟维; 孙轶颖; 廖浪亦
Original assignee: Changsha Hengkai Intelligent Technology Co ltd
Current assignee: Changsha Hengkai Intelligent Technology Co ltd
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2023-05-02
Anticipated expiration: 2032-08-22

Abstract

The utility model provides a rail guided vehicle for carrying spool at high speed, which comprises a frame, a walking frame, a lifting mechanism, a telescopic fork, a gripper and a control device, wherein spool buffer areas are arranged at two ends of the walking frame, the walking frame horizontally moves along the track, the frame comprises two upright posts, a cross beam, two chains A and a chain driving assembly, the two chains A are respectively arranged on the two upright posts, the lifting mechanism is arranged between the two upright posts, the end part of the chain A is connected with the lifting mechanism, the telescopic fork is arranged below the lifting mechanism, the rotary assembly of the lifting mechanism drives the telescopic fork to do rotary motion, the gripper is arranged at the bottom of the telescopic fork, and the telescopic fork stretches to drive the gripper to synchronously stretch. The welding wire spool is conveyed by controlling the movement of the walking frame, the lifting mechanism, the telescopic fork and the grippers through the control device, the welding wire spool is high in automation degree and convenient to use, and the production efficiency and the production safety are improved under the condition of reducing the labor intensity of workers.

Description

Rail guided vehicle for carrying spool at high speed

Technical Field

The utility model relates to a rail guided vehicle for carrying spool wheels at high speed, and belongs to the technical field of intelligent logistics.

Background

In the welding wire industry operation process, spool wheels with various specifications are used as main carriers of welding wires, the weight of the spool wheels is from hundreds of kilograms to several tons, in a traditional industrial production line, the spool wheels of the welding wires are conveyed in the production line by manually controlling crown blocks, and in the operation process, the labor intensity of workers is high, the production efficiency is low, and the hidden danger of safety accidents caused by the rollover of the spool wheels exists.

Accordingly, the inventors have proposed the present application to solve the above-described problems.

Disclosure of Invention

The utility model aims to provide a rail guided vehicle for carrying a spool at a high speed, so as to solve the problems of high labor intensity, low production efficiency and potential safety hazard of workers under the condition of manually conveying the spool in the welding wire industry in the background technology.

In order to solve the technical problems, the technical scheme of the utility model is as follows:

the utility model provides a rail guided vehicle for carrying spool at high speed, which comprises a walking frame, a lifting mechanism, a telescopic fork, a gripper and a control device, wherein the walking frame, the lifting mechanism, the telescopic fork and the gripper are all electrically connected with the control device;

the walking frame comprises a walking frame main body and two walking underframes, the two walking underframes are symmetrically and fixedly arranged at two ends of the walking frame main body, spool buffer areas are arranged at two ends of the upper surface of the walking frame main body, walking wheels and a walking frame driving assembly are arranged on the two walking underframes, and the walking frame driving assembly drives the walking frame to horizontally move along a track;

the frame comprises two upright posts, a cross beam, two chains A and a chain driving assembly, wherein the two upright posts are fixedly arranged on a walking frame, the two ends of the cross beam are respectively and fixedly arranged at the top ends of the two upright posts, the chain driving assembly is arranged at the top of the cross beam, chain wheels are respectively arranged at the two ends of an output shaft of the chain driving assembly, the two chain wheels are respectively connected with the two ends of the top of the cross beam through supporting seats, the two chains A are respectively arranged on the two upright posts, and the two chains A are meshed with the corresponding chain wheels;

the lifting mechanism is arranged between the two upright posts, the end parts of the two chains A are connected with the lifting mechanism, and the chain A is driven by the chain driving assembly to drive the lifting mechanism to move up and down;

the telescopic fork is fixedly arranged below the lifting mechanism, the handle is fixedly arranged at the bottom of the telescopic fork, and the telescopic fork stretches to drive the handle to stretch synchronously.

Preferably, the lifting mechanism comprises a cage top frame, two lifting cargo cages and a rotation assembly, wherein the rotation assembly is arranged on the cage top frame, and the two lifting cargo cages are respectively arranged at two ends of the cage top frame.

Preferably, the lifting mechanism further comprises a lifting mechanism sensor A arranged above the lifting structure at the upper part of the upright post and a lifting mechanism sensor B arranged below the lifting structure at the lower part of the upright post.

Preferably, the rotary assembly comprises a rotary driving assembly arranged in the middle of the cage top frame, a rotary lifting appliance which is arranged below the rotary driving assembly and matched with a rotary driving assembly gear, and a rotary sensor arranged on the cage top frame.

Preferably, the side surfaces of the two lifting cages, which are close to the upright posts, are provided with a plurality of groups of leaning wheels, one side of each upright post is provided with a leaning wheel guide groove, and the leaning wheels are movably clamped in the leaning wheel guide grooves and used for guiding the lifting cages to move up and down.

Preferably, the telescopic fork comprises two groups of fork components which are horizontally arranged, a universal joint, a fork driving component and a fork sensor which is arranged on the fork components, wherein the tops of the two groups of fork components are respectively provided with a driving shaft, two ends of the universal joint are respectively connected with one driving shaft, and the other end of any driving shaft is connected with the fork driving component.

Preferably, the fork subassembly includes last fork, well fork and the lower fork that from the top down set gradually, fork subassembly both sides all are provided with chain B, the drive shaft sets up in last fork upper portion, the top of going up the fork and the bottom fixed connection of gyration hoist, well fork upper surface is provided with the rack, the gear of drive shaft meshes with the rack of well fork, the both ends of going up the fork all are provided with leading wheel A, the internal surface of well fork both sides is provided with guide slot A, leading wheel A activity card is established and is used for guiding the fork to remove in the guide slot A, lower fork both ends all are provided with leading wheel B, the surface of well fork both sides is provided with guide slot B, leading wheel B activity card is established and is used for guiding the fork to remove in the guide slot B, the both sides of well fork all are provided with chain guide wheel, the surface of going up fork both sides all is provided with the chain guide slot, the internal surface of lower fork both sides all is provided with chain guide slot, chain B's one end and last fork fixed connection, chain B's the other end and chain guide wheel are connected and after extending to lower fork and lower fork fixed connection, chain B activity card is established in the chain guide slot.

The walking frame driving assembly, the chain driving assembly, the lifting mechanism sensor A, the lifting mechanism sensor B, the rotary driving assembly, the rotary sensor, the fork driving assembly and the fork sensor are all electrically connected with the control device.

Compared with the prior art, the utility model has the following beneficial effects:

1. the welding wire spool is conveyed by controlling the movement of the walking frame, the lifting mechanism, the telescopic fork and the gripper through the control device, has high automation degree, is convenient to use and high in operability, and improves the production efficiency and the production safety under the condition of reducing the labor intensity.

2. According to the utility model, the two spool buffer areas are arranged, so that the high-speed orderly feeding and discharging of the welding wire spool is realized under the cooperation of the telescopic fork and the rotary assembly, and the production efficiency is further improved.

3. According to the utility model, the grabbing of the long-distance I-shaped wheel is realized through the movement of the middle fork and the lower fork of the telescopic fork.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic structural view of a frame of the present utility model.

Fig. 3 is a schematic structural view of the walking frame of the present utility model.

Fig. 4 is a schematic structural view of the lifting mechanism of the present utility model.

Fig. 5 is a schematic structural view of the telescopic fork of the present utility model.

FIG. 6 is a schematic view of a fork assembly according to the present utility model

Reference numerals: the walking frame 1, the frame 2, the lifting mechanism 3, the telescopic fork 4, the gripper 5, the walking frame body 11, the walking chassis 12, the spool buffer 13, the walking wheel 14, the walking frame driving component 15, the upright 21, the beam 22, the chain A23, the chain driving component 24, the chain wheel 25, the cage top frame 31, the lifting basket 32, the lifting mechanism sensor A33, the lifting mechanism sensor B34, the rotary driving component 35, the rotary lifting appliance 36, the rotary sensor 37, the leaning wheel 38, the fork component 41, the universal joint 42, the fork driving component 43, the fork sensor 44, the driving shaft 45, the upper fork 411, the middle fork 412, the lower fork 413, the chain B414, the rack 415, the guide wheel A416, the guide wheel B417 and the chain guide wheel 418.

Detailed Description

The present utility model will be described in detail with reference to examples. It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

Referring to fig. 1 to 3, the present utility model provides a rail guided vehicle for high-speed transporting a spool, which is characterized by comprising a walking frame 1, a frame 2, a lifting mechanism 3, a telescopic fork 4, a gripper 5 and a control device, wherein the walking frame 1, the frame 2, the lifting mechanism 3, the telescopic fork 4 and the gripper 5 are all electrically connected with the control device, and the control device controls the movement of the walking frame 1, the lifting mechanism 3, the telescopic fork 4 and the gripper 5;

the walking frame 1 comprises a walking frame main body 11 and two walking underframes 12, the two walking underframes 12 are symmetrically and fixedly arranged at two ends of the walking frame main body 11, I-shaped wheel buffer areas 13 are respectively arranged at two ends of the upper surface of the walking frame main body 11, two I-shaped wheels can be stored at the same time, feeding and discharging of the I-shaped wheels can be carried out at the same time, the production efficiency is improved, walking wheels 14 and a walking frame driving assembly 15 are respectively arranged at the two walking underframes 12, and the walking frame driving assembly 15 drives the walking frame 1 to horizontally move along a track;

the frame 2 comprises two upright posts 21, a cross beam 22, two chains A23 and a chain driving assembly 24, wherein the two upright posts 21 are fixedly arranged on the walking frame 1, two ends of the cross beam 22 are respectively and fixedly arranged at the top ends of the two upright posts 21, the chain driving assembly 24 is arranged at the top of the cross beam 22, chain wheels 25 are respectively arranged at two ends of an output shaft of the chain driving assembly 24, the two chain wheels 25 are respectively connected with two ends of the top of the cross beam 22 through supports, the two chains A23 are respectively arranged on the two upright posts 21, and the two chains A23 are respectively meshed with the corresponding chain wheels 25;

the lifting mechanism 3 is arranged between the two upright posts 21, the end parts of the two chains A23 are connected with the lifting mechanism 3, and the chain A is driven by the chain driving assembly 24 to drive the lifting mechanism 3 to move up and down;

the telescopic fork 4 is fixedly arranged below the lifting mechanism 3, the gripper 5 is fixedly arranged at the bottom of the telescopic fork 4, and the telescopic fork 4 stretches out and draws back to drive the gripper 5 to stretch out and draw back synchronously.

Specifically, as shown in fig. 4, the lifting mechanism 3 includes a cage top frame 31, two lifting cages 32 and a revolving assembly, the revolving assembly is disposed on the cage top frame 31, the two lifting cages 32 are disposed at two ends of the cage top frame 31, chain connectors are disposed on upper portions of the two lifting cages 32, chain connectors are disposed on lower portions of the two lifting cages 32, and ends of the two chains a23 are connected with the chain connectors.

Preferably, the lifting mechanism 3 further comprises a lifting mechanism sensor a33 installed above the lifting structure 3 at the upper part of the upright 21 and a lifting mechanism sensor B34 installed below the lifting structure 3 at the lower part of the upright 21, wherein the lifting mechanism sensor a33 is used for detecting whether the lifting mechanism 3 is lifted in place, and the lifting mechanism sensor B34 is used for detecting whether the lifting mechanism 3 is lowered in place.

Preferably, the rotary assembly comprises a rotary driving assembly 35 arranged in the middle of the cage top frame 31, a rotary lifting appliance 36 positioned below the rotary driving assembly 35 and matched with the rotary driving assembly 35 in a gear mode, and a rotary sensor 37 arranged on the cage top frame 31, wherein the rotary sensor 37 is used for detecting whether the telescopic fork 4 rotates in place, and the rotary driving assembly 35 drives the rotary lifting appliance 36 to drive the telescopic fork 4 to rotate.

Preferably, a plurality of groups of leaning wheels 38 are arranged on the sides, close to the upright posts 21, of the lifting cargo cages 32, leaning wheel guide grooves are arranged on the opposite sides of the two upright posts 21, and the leaning wheels 38 are movably clamped in the leaning wheel guide grooves and used for guiding the lifting cargo cages 32 to move up and down.

Preferably, as shown in fig. 5, the telescopic fork 4 includes two sets of fork assemblies 41, a universal joint 42, a fork driving assembly 43 and a fork sensor 44 disposed on the fork assemblies 41, where the fork sensor 44 detects whether the telescopic fork 4 is telescopic in place, the tops of the two sets of fork assemblies 41 are respectively provided with a driving shaft 45, two ends of the universal joint 42 are respectively connected with one driving shaft 45, the other end of any driving shaft 45 is connected with the fork driving assembly 43, and the universal joint 42 transmits the power of the fork driving assembly 43 to the other set of fork assemblies 41 to realize synchronous telescopic of the two sets of fork assemblies 41.

Preferably, as shown in fig. 6, the fork assembly 41 includes an upper fork 411, a middle fork 412 and a lower fork 413 sequentially arranged from top to bottom, two sides of the fork assembly 41 are respectively provided with a chain B414, a driving shaft 45 is arranged at the upper part of the upper fork 411, the top of the upper fork 411 is fixedly connected with the bottom of the revolving sling 36, the revolving sling 36 rotates to drive the fork assembly 41 to synchronously rotate, the upper surface of the middle fork 412 is provided with a rack 415, a gear of the driving shaft 45 is meshed with the rack 415 of the middle fork 412, two ends of the upper fork 411 are respectively provided with a guide wheel a416, the inner surfaces of two sides of the middle fork 412 are respectively provided with a guide groove a, the guide wheels a416 are movably clamped in the guide grooves a for guiding the middle fork 412, the middle fork 412 moves under the driving of the fork driving assembly 43, two ends of the lower fork 413 are respectively provided with a guide wheel B417, two sides of the middle fork 412 are respectively provided with a guide groove B, the guide wheels 418 are respectively arranged at two sides of the guide wheels B417 movably clamped in the guide grooves B for guiding the lower fork 413, the two sides of the lower fork 412 are respectively arranged at two sides of the guide grooves B, the two sides of the upper fork 411 are respectively, the guide grooves B are respectively, the inner surfaces of the guide wheels B are respectively arranged at two sides of the lower fork 411 are respectively, the guide grooves B are respectively connected with the guide grooves B, the guide wheels B are respectively, the lower end of the guide wheels B are respectively, and the guide wheels B are respectively connected with the guide grooves B, and the lower chain 414, and the guide wheels are respectively, and the two lower chain guide wheels are fixedly connected with the lower chain guide grooves, and the chain and the guide groove and the lower chain and the guide chain 412 are respectively.

Specifically, the carriage drive unit 15, the chain drive unit 24, the elevating mechanism sensor a33, the elevating mechanism sensor B34, the swing drive unit 35, the swing sensor 36, the fork drive unit 43, and the fork sensor 44 are all electrically connected to a control device, the control device receives information from the elevating mechanism sensor a33, the elevating mechanism sensor B34, the swing sensor 36, and the fork sensor 44, and the control device controls the movement of the carriage drive unit 15, the chain drive unit, the swing drive unit 35, and the fork drive unit 43 based on the received information.

The full spool clamps and stores the spool buffer area: after the rail guided vehicle receives the carrying signal, the walking frame driving component 15 drives the rail guided vehicle to walk to the material frame, the revolving component starts to work, the revolving driving component 35 drives the revolving lifting appliance 36 to rotate to the 90 DEG position, the revolving sensor 37 detects that the revolving lifting appliance 36 revolves in place, the telescopic fork 4 stretches to the clamping position under the driving of the fork driving component 43, the fork sensor 44 detects that the telescopic fork 4 stretches in place, the fork driving component 43 stops driving, the telescopic fork 4 stops stretching, the chain driving component 24 drives the chain A23 to drive the lifting mechanism 3 to descend, the lifting mechanism sensor B34 detects that the lifting mechanism 3 descends to the clamping position, the chain driving component 24 stops driving, the lifting mechanism 3 stops descending, the gripper 5 starts to clamp the work, and the gripper 5 finishes clamping the full I-shaped wheel, the chain drive assembly 24 drives the chain A to drive the lifting mechanism 3 to ascend, the lifting mechanism sensor A34 detects that the lifting mechanism 3 ascends to a safe position, the chain drive assembly 24 stops driving, the lifting mechanism 3 stops ascending, the fork drive assembly 43 drives the telescopic fork 4 to shrink, the fork sensor 44 detects that the telescopic fork 4 is shrunk in place, the fork drive assembly 43 stops driving, the telescopic fork 4 stops shrinking, the slewing assembly starts working, the slewing drive assembly 35 drives the slewing lifting appliance 36 to rotate to a 0 DEG position, the slewing sensor 37 detects that the slewing lifting appliance 36 is slewing in place, the lifting mechanism 3 descends under the driving of the chain drive assembly 24, the lifting mechanism sensor B34 detects that the lifting mechanism 3 descends to the safe position, the chain drive assembly 24 stops driving, the lifting mechanism 3 stops descending, and then the telescopic fork 4 stretches under the driving of the fork drive assembly 43, the gripper 5 places the full spool in the spool buffer 13, and then the chain driving assembly 24 drives the chain A23 to drive the lifting mechanism 3 to lift to the safe position.

The spool buffer area is clamped and accessed by the empty spool: the working machine table sends a blanking signal, the traveling frame driving assembly 15 drives the rail guided vehicle to travel, the rail guided vehicle travels to the blanking position of the machine table, then the rotary assembly, the telescopic fork 4, the lifting mechanism 3 and the gripper 5 execute the same action as that of clamping and storing the full spool into the spool buffer zone, the empty spool is stored into the other spool buffer zone 13, and then the chain driving assembly 24 drives the chain A23 to drive the lifting mechanism 3 to ascend to the safe position.

Full material spool is put into the board: the fork driving assembly 43 drives the telescopic fork 4 to move to the position above the spool buffer area 13 where the full spool is placed, the chain driving assembly 24 drives the chain A23 to drive the lifting mechanism 3 to descend, the gripper 5 clamps the full spool after the lifting mechanism sensor B34 detects that the lifting mechanism 3 descends to the position, the chain driving assembly 24 drives the chain A23 to drive the lifting mechanism 3 to ascend, the lifting mechanism sensor A33 detects that the lifting mechanism 3 ascends to the position, the slewing driving assembly 35 drives the slewing lifting tool 36 to rotate to the position of 90 degrees, the slewing sensor 37 detects that the slewing lifting tool 36 is slewing to the position, the telescopic fork 4 stretches under the driving of the fork driving assembly 43, the chain A23 drives the lifting mechanism 3 to descend after the lifting mechanism sensor B34 detects that the lifting mechanism 3 descends to the position, the gripper 5 drives the full spool to place, then the chain driving assembly 24 drives the chain A23 to drive the lifting mechanism 3 to ascend to the safety position, the slewing lifting tool 36 is retracted, and the telescopic fork 4 is driven to the telescopic fork 4 to the position of 0 degree, so that the telescopic fork 4 is retracted, and the telescopic fork 4 is driven to the telescopic rail is retracted to the position, and the telescopic fork 4 is driven to the telescopic rail to the position of 0.

Empty material spool puts into work or material rest: the fork driving component 43 drives the telescopic fork 4 to move above the spool buffer area 13 for placing the empty spool, then the turning component, the telescopic fork 4, the lifting mechanism 3 and the grippers 5 execute the same action as that of placing the full spool into the machine platform, the empty spool is placed into the material rack, then the chain driving component 24 drives the chain A23 to drive the lifting mechanism 3 to rise to the safe position, and the turning driving component 35 drives the turning lifting tool 36 to rotate to the 0-degree position.

The control device controls the walking frame 1, the lifting mechanism 3, the telescopic fork 4 and the gripper 5 to realize the movement.

The foregoing is a further detailed description of the utility model in connection with specific preferred embodiments, and is not intended to limit the practice of the utility model to such description. It will be apparent to those skilled in the art that several simple deductions and substitutions can be made without departing from the spirit of the utility model, and these are considered to be within the scope of the utility model.

Claims

1. The rail guided vehicle for carrying the spool at a high speed is characterized by comprising a walking frame (1), a frame (2), a lifting mechanism (3), a telescopic fork (4), a gripper (5) and a control device, wherein the walking frame (1), the frame (2), the lifting mechanism (3), the telescopic fork (4) and the gripper (5) are electrically connected with the control device;

the walking frame (1) comprises a walking frame main body (11) and two walking underframes (12), the two walking underframes (12) are symmetrically and fixedly arranged at two ends of the walking frame main body (11), I-shaped wheel buffer areas (13) are arranged at two ends of the upper surface of the walking frame main body (11), walking wheels (14) and a walking frame driving assembly (15) are arranged on the two walking underframes (12), and the walking frame driving assembly (15) drives the walking frame (1) to horizontally move along a track;

the frame (2) comprises two upright posts (21), a cross beam (22), two chains A (23) and a chain driving assembly (24), wherein the two upright posts (21) are fixedly arranged on the walking frame (1), two ends of the cross beam (22) are respectively fixedly arranged at the top ends of the two upright posts (21), the chain driving assembly (24) is arranged at the top of the cross beam (22), chain wheels (25) are respectively arranged at two ends of an output shaft of the chain driving assembly (24), the two chain wheels (25) are respectively connected with two ends of the top of the cross beam (22) through supports, the two chains A (23) are respectively arranged on the two upright posts (21), and the two chains A (23) are meshed with the corresponding chain wheels (25);

the lifting mechanism (3) is arranged between the two upright posts (21), the end parts of the two chains A (23) are connected with the lifting mechanism (3), and the chain A is driven by the chain driving assembly (24) to drive the lifting mechanism (3) to move up and down;

the telescopic fork (4) is fixedly arranged below the lifting mechanism (3), the gripper (5) is fixedly arranged at the bottom of the telescopic fork (4), and the telescopic fork (4) stretches out and draws back to drive the gripper (5) to stretch out and draw back synchronously.

2. The rail guided vehicle for high-speed transporting the spool according to claim 1, wherein the lifting mechanism (3) comprises a cage top frame (31), two lifting cages (32) and a turning assembly, the turning assembly is arranged on the cage top frame (31), and the two lifting cages (32) are respectively arranged at two ends of the cage top frame (31).

3. The rail guided vehicle for high-speed carrier spool according to claim 2, characterized in that the lifting mechanism (3) further comprises a lifting mechanism sensor a (33) mounted above the lifting mechanism (3) at the upper part of the upright (21) and a lifting mechanism sensor B (34) mounted below the lifting mechanism (3) at the lower part of the upright (21).

4. A rail guided vehicle for high-speed handling spool according to claim 3, characterized in that the swivel assembly comprises a swivel drive assembly (35) provided in the middle of the cage top frame (31), a swivel sling (36) under the swivel drive assembly (35) in gear engagement with the swivel drive assembly (35), and a swivel sensor (37) mounted on the cage top frame (31).

5. The guided vehicle with rails for carrying spool wheels at high speed according to claim 4, wherein a plurality of groups of leaning wheels (38) are arranged on the sides, close to the upright posts (21), of the two lifting cages (32), and leaning wheel guide grooves are arranged on the opposite sides of the two upright posts (21), and the leaning wheels (38) are movably clamped in the leaning wheel guide grooves and used for guiding the lifting cages (32) to move up and down.

6. The rail guided vehicle for high-speed transporting the spool according to claim 5, wherein the telescopic fork (4) comprises two groups of fork assemblies (41) which are horizontally arranged, a universal joint (42), a fork driving assembly (43) and a fork sensor (44) which is arranged on the fork assemblies (41), the tops of the two groups of fork assemblies (41) are respectively provided with a driving shaft (45), two ends of the universal joint (42) are respectively connected with one driving shaft (45), and the other end of any driving shaft (45) is connected with the fork driving assembly (43).

7. The guided vehicle with rail for high-speed transporting spool according to claim 6, wherein the fork assembly (41) comprises an upper fork (411), a middle fork (412) and a lower fork (413) which are sequentially arranged from top to bottom, chains B (414) are arranged on two sides of the fork assembly (41), a driving shaft (45) is arranged on the upper part of the upper fork (411), the top of the upper fork (411) is fixedly connected with the bottom of the rotary lifting appliance (36), a rack (415) is arranged on the upper surface of the middle fork (412), a gear of the driving shaft (45) is meshed with the rack (415) of the middle fork (412), guide wheels A (416) are arranged on two ends of the upper fork (411), the inner surfaces of two sides of the middle fork (412) are provided with guide grooves A, guide wheels A (416) are movably clamped in the guide grooves A and used for guiding the middle fork (412) to move, two ends of the lower fork (413) are provided with guide wheels B (417), the outer surfaces of two sides of the middle fork (412) are provided with guide grooves B, the guide wheels B (417) are movably clamped in the guide grooves B and used for guiding the lower fork (413) to move, two sides of the middle fork (412) are provided with chain guide wheels (418), the outer surfaces of two sides of the upper fork (411) are provided with chain guide grooves, the inner surfaces of two sides of the lower fork (413) are provided with chain guide grooves, one end of a chain B (414) is fixedly connected with the upper fork (411), the other end of the chain B (414) is connected with the chain guide wheel (418) and then extends to the lower fork (413) to be fixedly connected with the lower fork (413), and the chain B (414) is movably clamped in the chain guide groove.

8. The guided vehicle with rail for high-speed carrier spool according to claim 7, wherein the carriage drive assembly (15), the chain drive assembly (24), the lift mechanism sensor a (33), the lift mechanism sensor B (34), the swing drive assembly (35), the swing sensor (36), the fork drive assembly (43) and the fork sensor (44) are electrically connected to the control device.