CN220431169U - Shuttle running gear - Google Patents

Abstract

The utility model provides a shuttle traveling device which comprises a traveling frame, wherein a plurality of main rail wheels are respectively rotatably arranged on the front side and the rear side of the traveling frame; lifting plates are respectively and slidably arranged at the left side and the right side of the walking frame; a plurality of main rail wheels are rotatably arranged on the outer side of the lifting plate; a transmission shaft is rotatably arranged on the inner side of the walking frame; two bevel gear sets are fixedly arranged on the transmission shaft; the bevel gear set is connected with the transmission shaft and the main rail gear set, two main rail gear sets are arranged on one side of the travelling frame, and main rail wheels on the front side and the rear side of the travelling frame are fixedly connected with main rail gears in the main rail gear sets through shafts; according to the utility model, the driving of the main rail wheel and the vertical rail wheel of the machine is realized by one walking speed reducer, so that the machine can walk on different rails; the utility model cancels the transverse transmission shaft which enables the main rail wheel and the sub rail wheel to synchronously travel, thereby greatly reducing the height of the vehicle body.

Description

Shuttle running gear

Technical Field

The utility model relates to the field of shuttles, in particular to a shuttle traveling device.

Background

In recent years, with the development of economy, logistics storage gradually goes to mechanical intelligence. The demand of unmanned intelligent warehouse lets intelligent warehouse's handling equipment rapidly towards the intelligent development of specialized miniaturization.

The four-way shuttle is a necessary device for intensive multilayer unmanned warehouse storage. The shuttle car in the current industry mainly adopts chain and gear drive.

Both of these solutions are painful to the customer and manufacturer because of the high maintenance costs in use and the high manufacturing costs.

In order to solve the problems of the two solutions, a device for realizing driving mainly by a chain is presented on the market, for example, a shuttle running solution introduced in patent CN 212173417U, most of the solutions adopt a chain, the chain transmission has a certain flexibility, and meanwhile, the solution also has the defects of itself. Because the intensive intelligent warehouse is narrow in cargo space and limited in inner space, the shuttle introduced by the patent CN 212173417U adopts the special customized double-output traveling speed reducer, so that the inner space of the vehicle body becomes very compact, the layout is greatly influenced, and the manufacturing cost of the customized speed reducer is greatly increased.

The shuttle of this kind of structure has to adopt gear and a longer transmission shaft when using chain drive, and the existence of transmission shaft lets the overall arrangement of automobile body main structure receive the influence, and the automobile body total height can't reduce, and rigidity greatly reduced to can produce great deformation when making the automobile body walk with a burden, influence the equipment life-span.

In order to solve the problems, the utility model provides a method capable of reducing the height of a vehicle body, so that the height and the length of a warehouse can be reduced, and the manufacturing cost of a goods shelf and a rail can be greatly reduced.

The traveling scheme adopted by the utility model can be realized by using the universal small speed reducer, so that the manufacturing cost of the shuttle is reduced, and the service life is prolonged (the universal speed reducer has more reliable quality).

Disclosure of Invention

Aiming at the technical problems, the utility model provides a shuttle traveling device, wherein a traveling speed reducer is used for driving a main rail wheel and a vertical rail wheel of a machine, so that the machine can travel on different rails; the utility model cancels the transverse transmission shaft which enables the main rail wheel and the sub rail wheel to synchronously travel, thereby greatly reducing the height of the vehicle body.

The technical scheme adopted by the utility model is as follows: the shuttle traveling device is characterized by comprising a traveling frame, wherein a plurality of main rail wheels are respectively rotatably arranged on the front side and the rear side of the traveling frame; lifting plates are respectively and slidably arranged at the left side and the right side of the walking frame; a plurality of main rail wheels are rotatably arranged on the outer side of the lifting plate; a transmission shaft is rotatably arranged on the inner side of the walking frame; two bevel gear groups are fixedly arranged on each transmission shaft, each bevel gear group comprises a driving bevel gear and a driven bevel gear, the driving bevel gears are fixedly arranged on the transmission shafts, the driven bevel gears are fixedly arranged on a main rail gear on the main rail gear set, and the driving bevel gears and the driven bevel gears are meshed with each other; the bevel gear sets are connected with the transmission shaft and the main rail gear sets, two main rail gear sets are arranged on one side of the travelling frame, each bevel gear set comprises four main rail gears, the four main rail gears are sequentially meshed to form linear arrangement, each bevel gear set is counted from the middle to the two sides, and the second bevel gear set and the fourth bevel gear set are fixedly connected with the main rail gears respectively; each bevel gear group is counted from the middle to two sides, and the first bevel gear group is fixedly connected with a driven bevel gear of the bevel gear group;

the two transmission shafts are connected through a power distribution belt; the power distribution belt is arranged on the supporting plate on the inner side of the walking frame;

a walking speed reducer is fixedly arranged on a supporting plate at the inner side of the walking frame, and a motor shaft of the walking speed reducer is connected with a power distribution belt; the transmission shaft is connected with the main rail wheel at the outer side of the lifting plate through a telescopic universal joint.

Preferably, a lifting device is also included.

Preferably, the lifting device is a first lifting mechanism, and the first lifting mechanism is fixedly arranged on the walking frame; the first lifting mechanism comprises a lifting bracket, a lifting motor, a lifting transmission box assembly and a lifting shaft, and the lifting bracket is fixedly connected with the walking frame through screws; the lifting motor is fixedly arranged on the inner side plate of the walking frame, the motor is fixedly connected with the input shaft of the lifting transmission box assembly through a coupler, the lifting transmission box assembly is fixedly arranged on the lifting bracket, and the lifting shaft is arranged on the lifting transmission box assembly.

Preferably, the lifting device is a second lifting mechanism, the second lifting mechanism comprises a driving motor, synchronous wheels and synchronous belts, the synchronous wheels are connected through the synchronous belts, and the driving motor is arranged on one synchronous wheel.

Preferably, the device further comprises an eccentric wheel driving shaft and an eccentric wheel mechanism; the eccentric wheel mechanism is fixedly arranged on the synchronous wheel of the second lifting mechanism through an eccentric wheel driving shaft.

Preferably, the eccentric wheel mechanism comprises an eccentric wheel disc, an electric cylinder is arranged in the eccentric wheel disc, a pushing block is fixedly arranged at the end part of a piston rod of the electric cylinder, a connecting shell is slidably arranged in a chute of the eccentric wheel disc, and an eccentric shaft is fixedly arranged on the side surface of the connecting shell; a lower pressing plate is slidably arranged in the connecting shell, a spring is arranged between the lower pressing plate and the connecting shell, and the spring enables the lower pressing plate to move upwards; the limiting rod is slidably arranged in a groove below the eccentric shaft, a spring is arranged between the limiting rod and the eccentric shaft, and the spring enables the limiting rod to move downwards; the limiting rod is connected in the connecting shell through a rope, and the eccentric shaft is slidably arranged in the groove of the lifting plate.

Preferably, the telescopic universal joint comprises telescopic sleeves, a prismatic column is slidably arranged between the two telescopic sleeves, two ends of the prismatic column are respectively provided with a spring A, and the springs A generate elasticity; and the outer side end of the telescopic sleeve is provided with a universal block which is used for connecting a transmission shaft.

Preferably, the travelling frame further comprises a vertical rail gear which is rotatably arranged in a round hole on the side face of the travelling frame, the vertical rail gear is meshed with a main rail gear on the main rail gear set, and the vertical rail gear is connected with the driving shaft through a telescopic universal joint.

Preferably, the vertical rail connecting seat comprises a sliding rail, a groove is formed in the upper side surface of the sliding rail, a mounting seat is arranged below the sliding rail, and a vertical rail wheel is mounted in the mounting seat; a spring B is arranged on the sliding rail, and the other end of the spring B is connected with the walking frame; a driving wheel is rotatably arranged in the sliding rail and is connected with the driving shaft through a synchronous belt; the driving wheel is contacted with the vertical rail wheel; is used for driving the vertical rail wheel to rotate.

Preferably, the walking device also comprises a driving electric cylinder, wherein the bottom of the cylinder body of the driving electric cylinder is fixedly arranged on the inner side of the walking frame, and the end part of a piston rod of the driving electric cylinder is fixedly connected with the clamping plate; the driving cylinder is clamped in the groove of the sliding rail.

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

1. the utility model realizes the driving of the main rail wheel and the vertical rail wheel of the machine by one walking speed reducer, thereby realizing the walking of the machine on different rails.

2. The utility model drives the transmission shafts on the left side and the right side to rotate through flexible layout of the chains.

3. The utility model uses the transmission shaft to drive the bevel gear to transmit power to the gear boxes of the sub-rail wheels on the four corners, and drives the sub-rail wheels to walk

4. The utility model cancels the transverse transmission shaft which enables the main rail wheel and the sub rail wheel to synchronously travel, thereby greatly reducing the height of the vehicle body.

5. The utility model reduces chain transmission, so that walking is more stable, and the appointed warehouse position can be reached quickly and accurately.

6. The utility model realizes the adjustment of the positions of the main rail wheel and the vertical rail wheel on the lifting plate through the arrangement of the telescopic universal joint, thereby maintaining the power transmission.

7. The utility model further realizes that the main rail wheel is suitable for main rails and sub rails with different height differences through the arrangement of the eccentric wheel mechanism.

Drawings

Fig. 1 is a schematic diagram of the whole structure and its cross section.

Fig. 2 is a schematic view of a first angle structure of a partial structure of the present utility model.

Fig. 3 is a schematic view of a second angle structure of the partial structure of the present utility model.

Fig. 4 is a schematic view of a first angle structure of the lifting plate, the telescopic sleeve and the telescopic universal joint of the present utility model.

Fig. 5 is a second angular configuration of the lift plate, telescoping sleeve and telescoping universal joint of the present utility model.

Fig. 6 is a schematic view of the telescopic universal joint, the vertical rail connecting seat and the vertical rail gear structure of the present utility model.

Fig. 7 is a schematic structural view of the telescopic universal joint of the present utility model.

Fig. 8 is a schematic structural view of the eccentric drive shaft and eccentric mechanism of the present utility model.

Fig. 9 is a schematic structural view of the eccentric mechanism of the present utility model.

Fig. 10 is a partial structural schematic view of the eccentric mechanism of the present utility model.

Fig. 11 is a schematic overall structure of a second embodiment of the present utility model.

Fig. 12 is a schematic structural view of a first lifting mechanism of the present utility model.

FIG. 13 is a schematic view of the internal structure of the lifting gear box assembly of the present utility model.

Reference numerals: 1-a walking frame; 2-lifting plates; 3-a main rail wheel; 4-vertical rail wheels; 5-a transmission shaft; 6-bevel gear set; 7-a main rail gearset; 8-a power distribution belt; 9-a walking speed reducer; 10-telescopic universal joints; 101-a telescopic sleeve; 102-prismatic columns; 103-spring a; 104-universal blocks; 11-a second lifting mechanism; 12-vertical rail gear; 13-a vertical rail connecting seat; 131-sliding rail; 132-a drive shaft; 133-spring B; 134-a drive wheel; 14-eccentric drive shaft; 15-an eccentric wheel mechanism; 151-eccentric wheel disc; 152-electric cylinder; 153-push block; 154-lower press plate; 155-a limit rod; 156-eccentric shaft; 157-a connection housing; 16-driving an electric cylinder; 17-clamping plates; 18-a first lifting mechanism; 181-lifting tolban; 182-lifting a motor; 183-lifting a transmission case assembly; 184-lifting shaft.

Detailed Description

The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be embodied in many other forms than described herein, and persons skilled in the art will be able to make similar modifications without departing from the spirit of the utility model, so that the utility model is not limited to the specific embodiments disclosed below.

It should be noted that in this document, relational terms such as "… … a" and "… … B" or "… … a" and "… … B" and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities or operations.

In a first embodiment of the present utility model,

referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, a shuttle running device is characterized by comprising a running frame 1, wherein a plurality of main rail wheels 3 are rotatably installed on the front side and the rear side of the running frame 1 respectively; lifting plates 2 are respectively and slidably arranged on the left side and the right side of the walking frame 1; a plurality of main rail wheels 3 are rotatably arranged on the outer side of the lifting plate 2; a transmission shaft 5 is rotatably arranged on the inner side of the walking frame 1; two bevel gear sets 6 are fixedly arranged on each transmission shaft 5, each bevel gear set 6 comprises a driving bevel gear and a driven bevel gear, the driving bevel gears are fixedly arranged on the transmission shafts 5, the driven bevel gears are fixedly arranged on a main rail gear set 7, and the driving bevel gears and the driven bevel gears are meshed with each other; the bevel gear sets 6 are connected with the transmission shaft 5 and the main rail gear sets 7, two groups of main rail gear sets 7 are arranged on one side of the travelling frame 1, each group of bevel gears 6 comprises four main rail gears, the four main rail gears are sequentially meshed to form a linear arrangement, each group of bevel gears 6 is counted from the middle to two sides, and the second bevel gear set and the fourth bevel gear set are fixedly connected with the main rail gears respectively; each bevel gear group 6 is counted from the middle to two sides, and the first bevel gear group is fixedly connected with a driven bevel gear of the bevel gear group 6; the two transmission shafts 5 are connected through a power distribution belt 8; the power distribution belt 8 is arranged on a supporting plate on the inner side of the travelling frame 1;

a walking speed reducer 9 is fixedly arranged on a supporting plate at the inner side of the walking frame 1, and a motor shaft of the walking speed reducer 9 is connected with a power distribution belt 8; the transmission shaft 5 is connected with the main rail wheel 3 at the outer side of the lifting plate 2 through a telescopic universal joint 10.

In an alternative implementation of the embodiment of the present utility model, as shown in fig. 1, 2 and 3, the two transmission shafts 5 are connected by a power distribution belt 8; the power distribution belt 8 is arranged on a supporting plate on the inner side of the travelling frame 1; the power distribution belt 8 can be a chain and a chain wheel, the chain wheel is rotatably arranged on a supporting plate at the inner side of the walking frame 1, the chain wheel is also arranged on the transmission shaft 5, and the chain is arranged on a plurality of chain wheels; the chain is used for transmitting power and connecting the two transmission shafts 5; the output shaft of the walking speed reducer 9 is fixedly connected with a chain wheel which is rotatably arranged on a supporting plate on the inner side of the walking frame 1.

In an alternative implementation manner of the embodiment of the present utility model, as shown in fig. 1, 2 and 3, the power distribution belt 8 may be a synchronizing wheel and a synchronizing belt, the synchronizing wheel is rotatably mounted on a supporting plate on the inner side of the walking frame 1, the synchronizing wheel is also arranged on the transmission shaft 5, and the synchronizing belt is mounted on a plurality of synchronizing wheels; the synchronous belt is used for transmitting power and connecting the two transmission shafts 5; the output shaft of the walking speed reducer 9 is fixedly connected with a synchronous wheel rotatably arranged on a supporting plate on the inner side of the walking frame 1; a walking speed reducer 9 is fixedly arranged on a supporting plate at the inner side of the walking frame 1, and a motor shaft of the walking speed reducer 9 is connected with a power distribution belt 8; the transmission shaft 5 is connected with the main rail wheel 3 at the outer side of the lifting plate 2 through a telescopic universal joint 10; specifically, the walking speed reducer 9 works to drive the power distribution belt 8 to further drive the two transmission shafts 5 to rotate, and the two transmission shafts 5 drive the main rail wheel 3 on the outer side of the lifting plate 2 to rotate through the telescopic universal joint 10; simultaneously, the transmission shaft 5 rotates to drive the main rail gear set 7 to rotate so as to drive the main rail wheels 3 on the front side and the rear side of the travelling frame 1 to rotate so as to drive the machine to move.

In an alternative implementation manner of the embodiment of the present utility model, as shown in fig. 4, the lifting device is a second lifting mechanism 11, in order to drive the lifting plate 2 to move up and down, and further drive the main rail wheel 3 on the lifting plate 2 to contact with the track, the second lifting mechanism 11 further includes a second lifting mechanism 11, where the second lifting mechanism 11 includes a driving motor, a synchronous wheel and a synchronous belt, and the plurality of synchronous wheels are connected by the synchronous belt, and a driving motor is installed on one of the synchronous wheels.

In an alternative implementation of the embodiment of the present utility model, as shown in fig. 8, 9 and 10, in order to drive the lifting plate 2 to move up and down, and further drive the main rail wheel 3 on the lifting plate 2 to contact with the rail, the present utility model further includes an eccentric driving shaft 14 and an eccentric mechanism 15; the eccentric mechanism 15 is fixedly mounted on the synchronizing wheel of the second lifting mechanism 11 via an eccentric drive shaft 14.

In an alternative implementation of the embodiment of the present utility model, as shown in fig. 9 and 10, the eccentric wheel mechanism 15 includes an eccentric wheel disc 151, an electric cylinder 152 is disposed in the eccentric wheel disc 151, a pushing block 153 is fixedly mounted at the end of a piston rod of the electric cylinder 152, a connecting shell 157 is slidably mounted in a chute of the eccentric wheel disc 151, and an eccentric shaft 156 is fixedly mounted at the side surface of the connecting shell 157; a lower pressing plate 154 is slidably installed in the connection housing 157, a spring is installed between the lower pressing plate 154 and the connection housing 157, and the spring moves the lower pressing plate 154 upward; the limiting rod 155 is slidably arranged in a groove below the eccentric shaft 156, a spring is arranged between the limiting rod 155 and the eccentric shaft 156, and the spring enables the limiting rod 155 to move downwards; the limiting rod 155 is connected in the connecting shell 157 through a rope, and the eccentric shaft 156 is slidably arranged in the groove of the lifting plate 2, as shown in fig. 9; specifically, when the machine needs to change the track, according to different height differences of the main track and the sub track, when the height difference of the two guide rails is larger, the electric cylinder 152 works to drive the pushing block 153 to move, when the electric cylinder 152 stretches, the electric cylinder 152 drives the pushing block 153, the pushing block 153 moves to compress the lower pressing plate 154 close to the eccentric shaft 156, the lower pressing plate 154 moves downwards to drive a wire connected to the limiting rod 155 to further pull the limiting rod 155 upwards, the specific structure schematic diagram is shown in fig. 10, the limiting rod 155 is further pulled to be separated from a round hole below the eccentric wheel disc 151, then the electric cylinder 152 continues to stretch to drive the pushing block 153, one end of the pushing block 153 close to the eccentric shaft 156 contacts the connecting shell 157, then the connecting shell 157 and the eccentric shaft 156 are pushed to move to a proper position, then the electric cylinder 152 is retracted for a small distance, the pressed lower pressing plate 154 is further driven to rebound under the action of a spring, and the limiting rod 155 is further driven to be clamped into the round hole of the eccentric wheel disc 151, and further the eccentric shaft 156 is clamped; at this time, the driving motor of the second lifting mechanism 11 drives the eccentric wheel driving shaft 14 to further drive the eccentric wheel mechanism 15 to rotate, and the eccentric wheel mechanism 15 drives the lifting plate 2 to move downwards through the rotation of the eccentric shaft 156, so that the main rail wheel 3 mounted on the lifting plate 2 is contacted with the guide rail.

In an alternative implementation manner of the embodiment of the utility model, as shown in fig. 9 and 10, when the height difference between the two guide rails is large, when the electric cylinder 152 is contracted, the electric cylinder 152 drives the pushing block 153, the pushing block 153 moves and compresses the lower pressing plate 154 far away from the eccentric shaft 156, the lower pressing plate 154 moves down to drive the wire connected to the limiting rod 155 so as to pull the limiting rod 155 upwards, the specific structure schematic diagram is shown as the telescopic universal joint 10, the limiting rod 155 is pulled to be separated from the round hole below the eccentric wheel disc 151, then the electric cylinder 152 continues to retract to drive the pushing block 153, one end of the pushing block 153 far away from the eccentric shaft 156 contacts the connecting shell 157, so as to drive the connecting shell 157 and the eccentric shaft 156 to move to a proper position, then the electric cylinder 152 stretches a small distance, so as to drive the pushing block 153 to retract, at this time, the pressed lower pressing plate 154 rebounds under the action of the spring, and the limiting rod 155 moves under the action of the spring force, so as to clamp the limiting rod 155 into the round hole below the eccentric wheel disc 151, so as to clamp the eccentric shaft 156; at this time, the driving motor of the second lifting mechanism 11 drives the eccentric wheel driving shaft 14 to further drive the eccentric wheel mechanism 15 to rotate, and the eccentric wheel mechanism 15 drives the lifting plate 2 to move downwards through the rotation of the eccentric shaft 156, so that the main rail wheel 3 arranged on the lifting plate 2 is contacted with the guide rail;

through the steps, the position of the eccentric shaft 156 is automatically adjusted, the distance between the eccentric shaft 156 and the center of the eccentric wheel disc 151 is adjusted, and the sliding distance of the lifting plate 2 is adjusted in multiple distances.

In an alternative implementation manner of the embodiment of the present utility model, as shown in fig. 7, in order to ensure power transmission, the telescopic universal joint 10 includes a telescopic sleeve 101, a prismatic column 102 is slidably installed between the two telescopic sleeves 101, and two springs a103 are respectively disposed at two ends of the prismatic column 102, where the springs a103 generate elastic force; the outer side end of the telescopic sleeve 101 is provided with a universal block 104, and the universal block 104 is used for connecting a transmission shaft 5; the group of telescopic universal joints 10 are arranged between the transmission shaft 5 and the vertical rail wheel 4, and the other group of telescopic universal joints 10 are arranged between the vertical rail gear 12 and the driving shaft 132; the telescopic universal joint 10 is used for converting power; when the main rail wheel 3 and the vertical rail wheel 4 on the left side and the right side of the travelling frame 1 move up and down, the travelling frame is adjusted by moving away or approaching the two telescopic sleeves 101 of the telescopic universal joint 10.

In an alternative implementation of the embodiment of the present utility model, as shown in fig. 6, the present utility model further includes a vertical rail gear 12, the vertical rail gear 12 is rotatably installed in a circular hole on the side surface of the travelling carriage 1, the vertical rail gear 12 is meshed with a main rail gear on the main rail gear set 7, and the vertical rail gear 12 is connected with a driving shaft 132 through a telescopic universal joint 10; specifically, one end of the vertical rail gear 12 and one end of the vertical rail connecting seat 13 are respectively and rotatably connected with the universal blocks 104 at two ends of the telescopic universal joint 10.

In an alternative implementation manner of the embodiment of the present utility model, as shown in fig. 6, the vertical rail connecting seat 13 includes a sliding rail 131, a groove is formed on the upper side surface of the sliding rail 131, a mounting seat is disposed below the sliding rail 131, and a vertical rail wheel 4 is installed in the mounting seat; a spring B133 is arranged on the sliding rail 131, and the other end of the spring B133 is connected with the walking frame 1; the spring B133 is used for overcoming the gap between the connecting pieces, in particular, the spring B133 generates elastic force and is used for assisting in pushing the vertical rail wheel 4 so that the vertical rail wheel 4 contacts the vertical rail; a driving wheel 134 is rotatably installed in the sliding rail 131, and the driving wheel 134 is connected with the driving shaft 132 through a synchronous belt; the driving wheel 134 is in contact with the rail wheel 4; for driving the rail wheel 4 in rotation.

In an alternative implementation manner of the embodiment of the utility model, as shown in fig. 3, the device further comprises a driving electric cylinder 16, wherein the bottom of the cylinder body of the driving electric cylinder 16 is fixedly arranged on the inner side of the walking frame 1, and the end part of a piston rod of the driving electric cylinder is fixedly connected with a clamping plate 17; the driving cylinder 16 is clamped in the groove of the sliding rail 131; specifically, the main rail gear set 7 drives the vertical rail gear 12 and then drives the driving shaft 132 through the telescopic universal joint 10, the driving shaft 132 drives the driving wheel 134 to rotate, and the driving wheel 134 drives the vertical rail wheel 4 to rotate and then drives the machine to move up and down.

Working principle: when the machine works, the walking speed reducer 9 works to drive the power distribution belt 8 to drive the transmission shaft 5 to rotate, the transmission shaft 5 drives the main rail gear set 7 through the bevel gear set 6 to drive the main rail wheels 3 on the front side and the rear side of the walking frame 1 to rotate to drive the whole machine to move, and when the machine needs to change a track, the motor on the second lifting mechanism 11 drives the second lifting mechanism 11 to drive the eccentric wheel driving shaft 14 to drive the eccentric wheel mechanism 15 to drive the whole lifting plate 2 to drive the main rail wheels 3 arranged on the lifting plate 2 to move downwards so that the main rail wheels 3 are contacted with the track; then the walking speed reducer 9 drives the driving transmission shaft 5 of the power distribution belt 8, and the telescopic universal joint 10 is driven by the transmission shaft 5 so as to drive the main rail wheel 3 arranged on the lifting plate 2 to rotate, so that the whole machine is driven to move;

when the machine is required to vertically go up and down, the clamping plate 17 is contracted to drive the driving cylinder 16 to drive the vertical rail connecting seat 13 to move outwards to drive the vertical rail wheel 4 to contact the vertical rail, and the main rail gear set 7 drives the vertical rail gear 12 to drive the driving shaft 132 to drive the driving wheel 134 to drive the vertical rail wheel 4 to rotate, so that the whole machine is driven to move up and down.

In a second embodiment of the present utility model,

referring to fig. 11, 12 and 13, the lifting device is a first lifting mechanism 18, and the first lifting mechanism 18 is fixedly mounted on the travelling frame 1; the first lifting mechanism 18 comprises a lifting bracket 181, a lifting motor 182, a lifting transmission box assembly 183 and a lifting shaft 184, wherein the lifting bracket 181 is fixedly connected with the walking frame 1 through screws; the lifting motor 182 is fixedly arranged on the inner side plate of the travelling frame 1, the motor is fixedly connected with an input shaft of the lifting transmission box assembly 183 through a coupler, the lifting transmission box assembly 183 is fixedly arranged on the lifting support shift 181, the lifting shaft 184 is arranged on the lifting transmission box assembly 183, and the lifting motor 182 works to drive the lifting transmission box assembly 183 to work internally so as to drive the lifting shaft 184 to rotate; the lifting shaft 184 is slidably mounted in the groove of the lifting plate 2, so as to drive the lifting plate 2 to move upwards; specifically, a large gear is arranged in the lifting transmission box assembly 183 and is fixedly connected with an output shaft of the lifting motor 182 through a coupler; the large gear is meshed with a small gear below the eccentric wheel, and an eccentric shaft on the eccentric wheel is fixedly connected with a lifting shaft 184; the lifting motor 182 drives the large gear to drive the eccentric wheel to rotate, and then drives the lifting shaft 184 to rotate around the center of the eccentric wheel, so that the lifting shaft 184 rotates around the center of the eccentric wheel, and then drives the lifting plate 2 to move up and down.

Claims (10)

1. The shuttle traveling device is characterized by comprising a traveling frame (1), wherein a plurality of main rail wheels (3) are respectively rotatably arranged on the front side and the rear side of the traveling frame (1); lifting plates (2) are respectively and slidably arranged at the left side and the right side of the walking frame (1); a plurality of main rail wheels (3) are rotatably arranged on the outer side of the lifting plate (2); a transmission shaft (5) is rotatably arranged on the inner side of the walking frame (1); two bevel gear groups (6) are fixedly arranged on each transmission shaft (5), each bevel gear group (6) comprises a driving bevel gear and a driven bevel gear, the driving bevel gears are fixedly arranged on the transmission shafts (5), the driven bevel gears are fixedly arranged on a main rail gear group (7), and the driving bevel gears and the driven bevel gears are meshed with each other; the bevel gear sets (6) are connected with the transmission shaft (5) and the main rail gear sets (7), two groups of main rail gear sets (7) are arranged on one side of the travelling frame (1), each group of bevel gear sets (6) comprises four main rail gears, the four main rail gears are sequentially meshed to form linear arrangement, each group of bevel gear sets (6) is counted from the middle to the two sides, and the second and the fourth bevel gear sets are fixedly connected with the main rail gears respectively; each bevel gear group (6) is counted from the middle to two sides, and the first bevel gear group is fixedly connected with a driven bevel gear of the bevel gear group (6); the two transmission shafts (5) are connected through a power distribution belt (8); the power distribution belt (8) is arranged on a supporting plate at the inner side of the travelling frame (1);

a walking speed reducer (9) is fixedly arranged on a supporting plate at the inner side of the walking frame (1), and a motor shaft of the walking speed reducer (9) is connected with a power distribution belt (8); the transmission shaft (5) is connected with the main rail wheel (3) at the outer side of the lifting plate (2) through a telescopic universal joint (10).

2. The shuttle running gear of claim 1, further comprising a lifting device.

3. The shuttle running gear according to claim 2, characterized in that the lifting device is a first lifting mechanism (18), the first lifting mechanism (18) is fixedly arranged on the running frame (1); the first lifting mechanism (18) comprises a lifting bracket (181), a lifting motor (182), a lifting transmission box assembly (183) and a lifting shaft (184), wherein the lifting bracket (181) is fixedly connected with the walking frame (1) through screws; the lifting motor (182) is fixedly arranged on the inner side plate of the travelling frame (1), the motor is fixedly connected with the input shaft of the lifting transmission box assembly (183) through a coupler, the lifting transmission box assembly (183) is fixedly arranged on the lifting bracket (181), and the lifting shaft (184) is arranged on the lifting transmission box assembly (183).

4. The shuttle running gear according to claim 2, wherein the lifting device is a second lifting mechanism (11), the second lifting mechanism (11) comprises a driving motor, synchronous wheels and a synchronous belt, the synchronous wheels are connected through the synchronous belt, and the driving motor is installed on one of the synchronous wheels.

5. The shuttle running gear of claim 4, further comprising an eccentric drive shaft (14) and an eccentric mechanism (15); the eccentric wheel mechanism (15) is fixedly arranged on the synchronous wheel of the second lifting mechanism (11) through an eccentric wheel driving shaft (14).

6. The shuttle running gear according to claim 5, wherein the eccentric wheel mechanism (15) comprises an eccentric wheel disc (151), an electric cylinder (152) is arranged in the eccentric wheel disc (151), a pushing block (153) is fixedly arranged at the end part of a piston rod of the electric cylinder (152), a connecting shell (157) is slidably arranged in a sliding groove of the eccentric wheel disc (151), and an eccentric shaft (156) is fixedly arranged at the side surface of the connecting shell (157); a lower pressing plate (154) is slidably arranged in the connecting shell (157), a spring is arranged between the lower pressing plate (154) and the connecting shell (157), and the spring enables the lower pressing plate (154) to move upwards; the limiting rod (155) is slidably arranged in a groove below the eccentric shaft (156), a spring is arranged between the limiting rod (155) and the eccentric shaft (156), and the spring enables the limiting rod (155) to move downwards; the limiting rod (155) is connected in the connecting shell (157) through a rope, and the eccentric shaft (156) is slidably arranged in the groove of the lifting plate (2).

7. The traveling device of the shuttle vehicle according to claim 1, wherein the telescopic universal joint (10) comprises telescopic sleeves (101), a prismatic column (102) is slidably installed between the two telescopic sleeves (101), two ends of the prismatic column (102) are respectively provided with a spring a (103), and the springs a (103) generate elastic force; the outer side end of the telescopic sleeve (101) is provided with a universal block (104), and the universal block (104) is used for being connected with the transmission shaft (5).

8. The shuttle running gear according to claim 1, further comprising a vertical rail gear (12), wherein the vertical rail gear (12) is rotatably installed in a round hole on the side surface of the running frame (1), the vertical rail gear (12) is meshed with a main rail gear on the main rail gear set (7), and the vertical rail gear (12) is connected with the driving shaft (132) through a telescopic universal joint (10).

9. The shuttle running gear according to claim 1, characterized in that the vertical rail connecting seat (13) comprises a sliding rail (131), a groove is arranged on the upper side surface of the sliding rail (131), a mounting seat is arranged below the sliding rail (131), and a vertical rail wheel (4) is arranged in the mounting seat; a spring B (133) is arranged on the sliding rail (131), and the other end of the spring B (133) is connected with the travelling frame (1); a driving wheel (134) is rotatably arranged in the sliding rail (131), and the driving wheel (134) is connected with the driving shaft (132) through a synchronous belt; the driving wheel (134) is contacted with the vertical rail wheel (4); is used for driving the vertical rail wheel (4) to rotate.

10. The shuttle running gear according to claim 1, further comprising a driving electric cylinder (16), wherein the bottom of the cylinder body of the driving electric cylinder (16) is fixedly arranged at the inner side of the running frame (1), and the end part of a piston rod of the driving electric cylinder is fixedly connected with the clamping plate (17); the driving cylinder (16) is clamped in the groove of the sliding rail (131).