CN223002111U

CN223002111U - Shuttle running gear

Info

Publication number: CN223002111U
Application number: CN202322191726.5U
Authority: CN
Inventors: 陈小二; 王营; 李海涛; 盛杨; 陈登虎; 张秋萍; 马海龙
Original assignee: Qingdao Yingzhi Technology Co ltd
Current assignee: Qingdao Yingzhi Technology Co ltd
Priority date: 2023-08-15
Filing date: 2023-08-15
Publication date: 2025-06-20
Anticipated expiration: 2033-08-15

Abstract

The utility model provides a shuttle running gear, characterized by includes the walking frame, the front and back both sides of walking frame rotate respectively and install a plurality of main rail wheel, the left and right sides of walking frame is respectively slidable mounting in the board of lifting, rotate and install a plurality of main rail wheel in the board of lifting outside, rotate the inboard of walking frame and install the transmission shaft, be fixed mounting on every transmission shaft has a bevel gear group, the bevel gear group include initiative bevel gear and driven bevel gear, initiative bevel gear fixed mounting is in the transmission shaft and leans on intermediate position department, driven bevel gear fixed mounting is on the main rail gear of centre on the main rail gear group, initiative bevel gear and driven bevel gear intermesh, the drive of the main rail wheel of machine and the drive of erecting rail wheel are realized by a walking speed reducer, and then the machine walks on different tracks, the novel horizontal transmission shaft that makes main rail wheel and sub rail wheel synchronous walking has been cancelled, thereby can greatly reduced the car height.

Description

Shuttle running gear

Technical Field

The invention 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, such as a shuttle running solution introduced in patent CN 212173417U, is presented on the market, 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 in the intensive intelligent warehouse, goods space is narrow and small, the inner space is limited, and the shuttle introduced by patent CN 212173417U adopts a 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 invention provides a method for reducing the height of a vehicle body, so that the height and the storage position 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 invention 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 utility model

Aiming at the technical problems, the invention provides a traveling device of a shuttle car, which is characterized in that a traveling speed reducer is used for driving a main rail wheel and a vertical rail wheel of a machine so as to realize that the machine travels on different rails, and a transverse transmission shaft for synchronously traveling the main rail wheel and a sub rail wheel is omitted, so that the height of the car body can be greatly reduced.

The technical scheme includes that 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; the transmission shaft is rotatably arranged on the inner side of the travelling frame, a bevel gear set is fixedly arranged on each transmission shaft, the bevel gear set comprises a driving bevel gear and a driven bevel gear, the driving bevel gear is fixedly arranged at the position, close to the middle, of the transmission shaft, the driven bevel gear is fixedly arranged on a middle main rail gear on the main rail gear set, the driving bevel gear and the driven bevel gear are meshed with each other, the bevel gear set is connected with the transmission shaft and the main rail gear set, the main rail gear set is arranged on the inner side of the travelling frame and comprises eleven main rail gears, a plurality of main rail gears are sequentially meshed into a row, the main rail gears on the front side and the rear side of the travelling frame are fixedly connected with the main rail gears in the main rail gear set through shafts, the first main rail gear, the third main rail gear, the ninth main rail gear and the eleventh main rail gear are fixedly connected with the driven bevel gear of the bevel gear set respectively, and the two transmission shafts are connected through a power distribution belt;

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

Preferably, a lifting device is also included.

The lifting device is a first lifting mechanism, the first lifting mechanism is fixedly arranged on a walking frame, the first lifting mechanism comprises a lifting supporting plate, a lifting motor, a lifting transmission box assembly and a lifting shaft, the lifting supporting plate is fixedly connected with the walking frame through screws, the lifting motor is fixedly arranged on an inner side plate of the walking frame, the motor is fixedly connected with an input shaft of the lifting transmission box assembly through a coupler, the lifting transmission box assembly is fixedly arranged on the lifting supporting plate, 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 lifting mechanism further comprises an eccentric wheel driving shaft and an eccentric wheel mechanism, wherein the eccentric wheel mechanism is fixedly arranged on the synchronous wheel of the second lifting mechanism through the eccentric wheel driving shaft.

Preferably, the eccentric wheel mechanism comprises an eccentric disc, inside which the eccentric shaft is arranged.

Preferably, the telescopic universal joint comprises telescopic sleeves, prismatic columns are slidably arranged between the two telescopic sleeves, springs A are respectively arranged at two ends of each prismatic column, the springs A generate elasticity, and universal blocks are arranged at the outer side ends of the telescopic sleeves and are used for being connected with 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.

The vertical rail connecting seat comprises a sliding rail, a groove is formed in the upper side face of the sliding rail, a mounting seat is arranged below the sliding rail, a vertical rail wheel is mounted in the mounting seat, a spring B is arranged on the sliding rail, the other end of the spring B is connected with a walking frame, a driving wheel is rotatably mounted in the sliding rail and connected with a driving shaft through a synchronous belt, the driving wheel is in contact with the vertical rail wheel, and the driving 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, the end part of a piston rod of the driving electric cylinder is fixedly connected with the clamping plate, and the driving electric cylinder is clamped in a groove of the sliding rail.

Compared with the prior art, the invention has the beneficial effects that:

1. The invention 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 invention drives the transmission shafts on the left side and the right side to rotate through flexible layout of the chains.

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

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

6. The invention 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 invention 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 structural view of the whole structure and its cross section of the present invention.

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

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

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 invention.

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

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 invention.

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

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

Fig. 9 is a schematic overall structure of a third embodiment of the present invention.

Fig. 10 is a schematic structural view of a first lifting mechanism of the present invention.

FIG. 11 is a schematic view of the internal structure of the lift transmission assembly of the present invention.

The reference numerals comprise a 1-walking frame, a 2-lifting plate, a 3-main rail wheel, a 4-vertical rail wheel, a 5-transmission shaft, a 6-bevel gear set, a 7-main rail gear set, an 8-power distribution belt, a 9-walking speed reducer, a 10-telescopic universal joint, a 101-telescopic sleeve, a 102-prismatic column, a 103-spring A, a 104-universal block, a 11-second lifting mechanism, a 12-vertical rail gear, a 13-vertical rail connecting seat, a 131-sliding rail, a 132-driving shaft, a 133-spring B, a 134-driving wheel, a 14-eccentric wheel driving shaft, a 15-eccentric wheel mechanism, a 151-eccentric wheel disc, a 152-eccentric shaft, a 16-driving electric cylinder, a 17-clamping plate, a 18-first lifting mechanism, a 181-lifting supporting plate, a 182-lifting motor, a 183-lifting transmission box assembly and a 184-lifting shaft.

Detailed Description

The technical scheme of the invention 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 invention, but the present invention 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 invention, so that the invention is not limited to the specific embodiments disclosed below.

It is noted that in this document, relational terms such as "a" and "a" or "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.

Example 1

Referring to a traveling device of a shuttle shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, the traveling device is characterized by comprising a traveling frame 1, a plurality of main rail gears 3, lifting plates 2, a plurality of main rail gears 3, a transmission shaft 5, a bevel gear set 6, a driving bevel gear and a driven bevel gear, wherein the plurality of main rail gears 3 are respectively and slidingly arranged on the left side and the right side of the traveling frame 1, the plurality of main rail gears 3 are respectively and rotatably arranged on the outer side of the lifting plates 2, the transmission shaft 5 is rotatably arranged on the inner side of the traveling frame 1, the bevel gear set 6 comprises a driving bevel gear and a driven bevel gear which are fixedly arranged on the transmission shaft 5 at a position close to the middle, the driven bevel gear is fixedly arranged on a main rail gear in the middle of the main rail gear set 7, the driving bevel gear and the driven bevel gear are meshed with each other, the bevel gear set 6 is connected with the transmission shaft 5 and the main rail gear set 7, the main rail gears 7 are respectively arranged on the inner side of the traveling frame 1, the main rail gears 7 are respectively meshed with the front side and the back side of the main frame 1, the front side of the main frame 1 and the back side of the main rail 1 are fixedly connected with the first side of the main rail gears 3 and the second side of the main rail 1 through the transmission shaft 8, and the first side of the power transmission shaft and the third side of the transmission shaft is fixedly connected with the driven bevel gear set 8;

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

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

In an alternative implementation manner of the embodiment of the invention, as shown in fig. 1, 2 and 3, the power distribution belt 8 may be a synchronous wheel and a synchronous belt, the synchronous wheel is rotatably mounted on a supporting plate at the inner side of the travelling frame 1, the synchronous belt is also provided with the synchronous wheels on the transmission shaft 5, the synchronous belt is mounted on a plurality of synchronous wheels, the synchronous belt is used for transmitting power and connecting two transmission shafts 5, an output shaft of the travelling speed reducer 9 is fixedly connected with the synchronous wheel rotatably mounted on a supporting plate at the inner side of the travelling frame 1, the travelling speed reducer 9 is fixedly mounted on the supporting plate at the inner side of the travelling frame 1, a motor shaft of the travelling speed reducer 9 is connected with the 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, the power distribution belt 8 is driven to rotate through the travelling speed reducer 9, the two transmission shafts 5 are driven to rotate through the telescopic joint 10 to drive the main rail 3 at the outer side of the lifting plate 2, and simultaneously the transmission shaft 5 rotates to drive the main rail 7 to rotate to drive the main rail 1 to rotate to move forward and drive the machine to move.

In an alternative implementation manner of the embodiment of the present invention, 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 invention, 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 the rail, the present invention further includes an eccentric driving shaft 14 and an eccentric mechanism 15, where the eccentric mechanism 15 is fixedly installed on the synchronizing wheel of the second lifting mechanism 11 through the eccentric driving shaft 14.

In an alternative implementation of the embodiment of the present invention, as shown in fig. 9 and 10, the eccentric wheel mechanism 15 includes an eccentric wheel disc 151, and an eccentric shaft 152 is disposed on the eccentric wheel disc 151, where 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 eccentric shaft 152 to drive the lifting plate 2 to move downward through the rotation of the eccentric wheel disc 151, so that the main rail wheel 3 mounted on the lifting plate 2 contacts the guide rail.

In an alternative implementation manner of the embodiment of the present invention, as shown in fig. 9 and 10, when the height difference between the two guide rails is large, 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 rotates through the eccentric wheel disc 151 to drive the eccentric shaft 152 to rotate by a large angle;

When the height difference of the two guide rails is smaller, 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 eccentric shaft 152 to rotate by a smaller angle through the rotation of the eccentric wheel disc 151;

The sliding distance of the lifting plate 2 is automatically adjusted through the steps.

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

In an alternative implementation manner of the embodiment of the invention, as shown in fig. 6, the vertical rail gear 12 is further included, the vertical rail gear 12 is rotatably installed in a round hole on the side surface of the travelling frame 1, the vertical rail gear 12 is meshed with a main rail gear on the main rail gear set 7, the vertical rail gear 12 is connected with the driving shaft 132 through the 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 connected with universal blocks 104 on two ends of the telescopic universal joint 10 in a rotating manner.

In an alternative implementation manner of the embodiment of the invention, as shown in fig. 6, 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, a vertical rail wheel 4 is arranged in the mounting seat, a spring B133 is arranged on the sliding rail 131, the other end of the spring B133 is connected with the walking frame 1, the spring B133 is used for overcoming a gap between connecting pieces, specifically, the spring B133 generates elasticity 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 arranged in the sliding rail 131, the driving wheel 134 is connected with a driving shaft 132 through a synchronous belt, the driving wheel 134 contacts the vertical rail wheel 4, and the driving wheel 4 is used for driving the vertical rail wheel 4 to rotate.

In an alternative implementation manner of the embodiment of the invention, 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, the end part of a piston rod of the driving electric cylinder is fixedly connected with a clamping plate 17, the driving electric cylinder 16 is clamped in a groove of a sliding rail 131, specifically, the driving shaft 132 drives a vertical rail gear 12 through a main rail gear set 7 and then drives a driving shaft 132 through a telescopic universal joint 10, the driving shaft 132 drives a driving wheel 134 to rotate, and the driving wheel 134 drives the vertical rail wheel 4 to rotate and further drives the machine to move up and down.

The working principle is that 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, 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 contact the track, and then the walking speed reducer 9 drives the power distribution belt 8 to drive the transmission shaft 5 to drive the telescopic universal joint 10 through the transmission shaft 5 to drive the main rail wheels 3 arranged on the lifting plate 2 to rotate to drive the whole machine 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.

Example two

In an alternative implementation manner of the embodiment of the present invention, the second lifting mechanism 11, the eccentric wheel driving shaft 14 and the eccentric wheel mechanism 15 may be replaced by electric cylinders, the end parts of the piston rods of the electric cylinders are fixedly connected with the lifting plate 2, the bottoms of the cylinder bodies are fixedly connected with the travelling frame 1, and the electric cylinders work to drive the lifting plate 2 to move up and down so as to adjust the main rail 3 mounted on the lifting plate 2 to contact with the sub-rails.

Example III

The lifting device shown in fig. 9, 10 and 11 is a first lifting mechanism 18, the first lifting mechanism 18 is fixedly arranged on the travelling frame 1, the first lifting mechanism 18 comprises a lifting supporting plate 181, a lifting motor 182, a lifting transmission box assembly 183 and a lifting shaft 184, the lifting supporting plate 181 is fixedly connected with the travelling 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 supporting plate 181, the lifting shaft 184 is arranged on the lifting transmission box assembly 183, the lifting transmission box assembly 183 is driven to work through the lifting motor 182 so as to drive the lifting shaft 184 to rotate, the lifting transmission box assembly 183 is slidably arranged in a 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 the output shaft of the lifting motor 182 through the coupler, the large gear is meshed with the small gear below the eccentric shaft of the eccentric wheel, the eccentric shaft is driven to drive the eccentric wheel 184 to rotate around the eccentric wheel 2 through the eccentric shaft 184, and the eccentric wheel is driven to rotate around the eccentric wheel 2.

Claims

1. A shuttle running gear is characterized by comprising a running frame (1), wherein a plurality of main rail wheels (3) are respectively and rotatably arranged on the front side and the rear side of the running frame (1), lifting plates (2) are respectively and slidably arranged on the left side and the right side of the running frame (1), a plurality of main rail wheels (3) are rotatably arranged on the outer side of the lifting plates (2), a transmission shaft (5) is rotatably arranged on the inner side of the running frame (1), a bevel gear group (6) is fixedly arranged on the upper surface of each transmission shaft (5), the bevel gear group (6) comprises a driving bevel gear and a driven bevel gear, the driving bevel gear is fixedly arranged on the transmission shaft (5) near the middle position, the driven bevel gear is fixedly arranged on a main rail gear in the middle of the main rail gear set (7), the bevel gear group (6) is connected with the transmission shaft (5) and the main rail gear set (7), the main rail (7) is arranged on the inner side of the running frame (1), the main rail gear set (7) comprises eleven main rail gears, a plurality of main rail gears are sequentially meshed with one main rail (3) and nine main rail gears are fixedly connected with the front side and nine main rail gears (3) of the running frame respectively, the seventh main rail gear is fixedly connected with a driven bevel gear of the bevel gear set (6), the two transmission shafts (5) are connected through a power distribution belt (8), and the power distribution belt (8) is arranged on a supporting plate at the inner side of the travelling frame (1);

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

The device further comprises a lifting device, wherein the lifting device is a second lifting mechanism (11), the second lifting mechanism (11) comprises a driving motor, synchronous wheels and synchronous belts, a plurality of synchronous wheels are connected through the synchronous belts, the driving motor is arranged on one synchronous wheel, the second lifting mechanism (11) further comprises an eccentric wheel driving shaft (14) and an eccentric wheel mechanism (15), the eccentric wheel mechanism (15) is fixedly arranged on the synchronous wheels of the second lifting mechanism (11) through the eccentric wheel driving shaft (14), the eccentric wheel mechanism (15) comprises an eccentric wheel disc (151), and an eccentric shaft (152) is arranged in the eccentric wheel disc (151);

When the height difference of the two guide rails is large, the driving motor of the second lifting mechanism (11) drives the eccentric wheel driving shaft (14) to drive the eccentric wheel mechanism (15) to rotate, the eccentric wheel mechanism (15) drives the eccentric shaft (152) to drive the lifting plate (2) to move downwards through the rotation of the eccentric wheel disc (151), so that the main rail (3) arranged on the lifting plate (2) is contacted with the guide rails, when the height difference of the two guide rails is large, the driving motor of the second lifting mechanism (11) drives the eccentric wheel driving shaft (14) to drive the eccentric wheel mechanism (15) to rotate, the eccentric wheel mechanism (15) drives the eccentric shaft (152) to rotate by a large angle through the rotation of the eccentric wheel disc (151), and when the height difference of the two guide rails is small, the driving motor of the second lifting mechanism (11) drives the eccentric wheel driving shaft (14) to drive the eccentric wheel mechanism (15) to rotate, and the eccentric wheel mechanism (15) is driven to rotate by a small angle through the rotation of the eccentric wheel disc (151).

2. The traveling device of the shuttle car, which is disclosed in claim 1, is characterized in that the lifting device is a first lifting mechanism (18), the first lifting mechanism (18) is fixedly arranged on the traveling frame (1), the first lifting mechanism (18) comprises a lifting supporting plate (181), a lifting motor (182), a lifting transmission box assembly (183) and a lifting shaft (184), the lifting supporting plate (181) is fixedly connected with the traveling frame (1) through screws, the lifting motor (182) is fixedly arranged on the inner side plate of the traveling 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 supporting plate (181), and the lifting shaft (184) is arranged on the lifting transmission box assembly (183).

3. 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 arranged between the two telescopic sleeves (101), two springs A (103) are respectively arranged at two ends of the prismatic column (102), the springs A (103) generate elastic force, universal blocks (104) are arranged at the outer ends of the telescopic sleeves (101), and the universal blocks (104) are used for being connected with a transmission shaft (5).

4. 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).

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

6. 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 on the inner side of the running frame (1), the end part of a piston rod of the driving electric cylinder is fixedly connected with the clamping plate (17), and the driving electric cylinder (16) is clamped in a groove of the sliding rail (131).