WO2022057814A1 - Transverse electromagnetic linkage-type sixteen-wheel four-way rail guided vehicle - Google Patents

Abstract

A transverse electromagnetic linkage-type sixteen-wheel four-way rail guided vehicle, comprising a supporting frame (100), a transverse traveling driving mechanism (200), a longitudinal traveling driving mechanism (300) and clutch-type jacking and reversing mechanisms (400). The transverse traveling driving mechanism (200) comprises a first transverse driving wheel (201), a first transverse driven wheel (202), a second transverse driven wheel (203) and a second transverse driving wheel (204). The longitudinal traveling driving mechanism (300) comprises a first longitudinal driving wheel (301), a second longitudinal driving wheel (302), a first longitudinal driven wheel (303) and a second longitudinal driven wheel (304). Each of the clutch-type jacking and reversing mechanisms (400) comprises transverse top plates (401), longitudinal top plates (402), obliquely pulled jacking sliders (403) and electromagnetic clutches (404), wherein the obliquely pulled jacking sliders (403) are separated from or combined with a transverse transmission shaft (206) and a transverse connecting shaft (209) by means of the electromagnetic clutches (404). The transverse electromagnetic linkage-type sixteen-wheel four-way rail guided vehicle uses a sixteen-wheel structural design, thereby improving the loading capability and the ridge-passing capability of the vehicle; and the jacking and reversing mechanisms and the transverse traveling driving mechanism share one driving electric motor, such that the structural design is new and compact, the cost is reduced, and space is saved.

Description

A transverse electromagnetic linkage type sixteen-wheel four-way shuttle technical field

The invention relates to a shuttle vehicle, in particular to a transverse electromagnetic linkage type sixteen-wheel four-direction shuttle vehicle.

Background technique

With the rapid development of warehousing and logistics industry, higher and higher requirements are put forward for the utilization rate of three-dimensional warehouse space. The space occupied by the incoming and outgoing aisles.

The current three-dimensional warehouse structure more adopts the mode of one loading and unloading lane and multiple storage rack lanes vertically connected to it, which requires that the shuttle car must be able to travel in two mutually perpendicular directions, vertical and horizontal. In the prior art, the three-dimensional warehouse usually uses a sub-mother car system, that is, the main car carries the sub-cars and walks in the incoming and unloading aisles, and then the sub-cars drive out in a direction perpendicular to the direction of the mother car, enter the racking aisle, and then Back on the original road to the mother car, and finally taken away by the mother car.

The existing combination of two shuttles of the sub-mother car mostly adopts a two-way 8-wheel structure design, which has low cargo carrying capacity, weak ability to pass sills, and high failure rate, which can no longer meet the increasingly busy warehousing and logistics needs; and its general The cam jacking structure has the defects of easy wear of the cam, uneven force on the follower and low transmission efficiency; in addition, the existing shuttle car not only occupies a considerable space by itself, but also reduces the number of shelves and partitions. It reduces the space utilization of the three-dimensional library and increases the manufacturing, procurement and maintenance costs.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is: aiming at the above-mentioned defects in the prior art, a transverse electromagnetic linkage type sixteen-wheel four-direction shuttle is proposed.

To achieve the above object, the present invention adopts the following technical solutions:

The invention provides a transverse electromagnetic linkage type sixteen-wheel four-way shuttle, which is characterized in that it includes a support frame and a lateral travel drive mechanism, a longitudinal travel drive mechanism and a clutch type jacking and reversing mechanism installed on the support frame ,in:

The lateral travel drive mechanism includes a first lateral driving wheel, a first lateral driven wheel, a second lateral driven wheel and a second lateral driving wheel, which are symmetrically arranged on the front and rear sides of the support frame, respectively. The wheels are respectively arranged at both ends of the transverse drive shaft, and the two second transverse driving wheels are respectively arranged at both ends of the transverse connection shaft. The synchronous belt is connected in a drive, and the transverse drive shaft is connected with the transverse motor through the first transverse drive belt;

The longitudinal travel drive mechanism includes a first longitudinal driving wheel, a second longitudinal driving wheel, a first longitudinal driven wheel and a second longitudinal driven wheel symmetrically arranged on the left and right sides of the support frame, the first longitudinal driving wheel , the second longitudinal driving wheel, the first longitudinal driven wheel and the second longitudinal driven wheel are sequentially arranged on the longitudinal top plate, and the first longitudinal driving wheel and the second longitudinal driving wheel on the same side are connected to the longitudinal transmission shaft through the first longitudinal transmission belt , and the longitudinal transmission shaft is connected to the longitudinal motor through the second longitudinal transmission belt; and

The clutch-type jacking and reversing mechanism includes a horizontal top plate arranged on the front and rear sides of the support frame, a longitudinal top plate on the left and right sides, an inclined-pull jacking slider and an electromagnetic clutch respectively arranged on both ends of the horizontal top plate, The lateral top plate and the longitudinal top plate are integrally welded and formed; the inclined-pulling jacking block is provided with a jacking shaft hole that penetrates from left to right and an inclined jacking hole that penetrates through the front and rear, and the inclined jacking hole is arranged obliquely ; A ball bushing is movably arranged in the jacking shaft hole, and two sides of the ball bushing are provided with an inclined-pulling jacking shaft, and the inclined-pulling jacking shaft is movably embedded in the jacking inclined hole , the ball bushing is movably sleeved on the ball lifting shaft; the ball lifting shaft is a hollow structure and is correspondingly sleeved on the lateral transmission shaft and the lateral connecting shaft, and the left and right sides of the The ball jacking shaft is separated or combined with the transverse transmission shaft and the transverse connection shaft respectively through an electromagnetic clutch.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the front and rear side walls of the support frame are respectively provided with four circular assembly holes, and the left and right side walls of the support frame are respectively provided with four circular assembly holes. square mounting holes, where:

The first transverse driving wheel and the second transverse driving wheel are respectively connected with the transverse transmission shaft and the transverse connection shaft passing through the corresponding jacking shaft hole and the circular assembly hole, the first transverse driven wheel and the first transverse driving wheel The axles of the two lateral driven wheels respectively pass through the corresponding circular mounting holes to connect to the support frame;

The axles of the first longitudinal driving wheel, the second longitudinal driving wheel, the first longitudinal driven wheel, and the second longitudinal driven wheel are respectively assembled on the longitudinal transverse plate through the square mounting holes.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the first lateral driving wheel is connected to the first lateral driven wheel on the same side through a second lateral transmission belt; and/or the first lateral driving wheel is connected. The two transverse driving pulleys are connected to the second transverse driven pulleys on the same side through a second transverse transmission belt.

Further, on the transverse electromagnetic linkage type sixteen-wheel four-way shuttle, it also includes a tensioning adjustment mechanism arranged on the outside of the first longitudinal transmission belt, wherein: the tensioning adjustment mechanism includes a A first tensioning wheel and a second tensioning wheel are arranged outside the first longitudinal transmission belt, the first tensioning wheel is fixedly arranged on the inner side wall of the support frame through a first fixing plate, and the second The wheel is movably arranged on the inner side wall of the support frame through the adjusting plate.

Further preferably, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the adjusting plate is provided with an adjusting square hole horizontally, and is movably fixed to the The inner side wall of the support frame is adjustable and connected to the second fixing plate fixed to the inner side wall of the support frame through adjusting nuts and bolts at one end.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the lateral travel drive mechanism further includes:

The bearing seat is arranged on the support frame, and a bearing is arranged at the top end to support the transverse transmission shaft and the transverse connection shaft.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the electromagnetic clutch includes a rotating wheel, an electromagnetic pressure plate and a driven wheel, wherein the rotating wheel is fixedly arranged on the lateral transmission shaft and On the transverse connection shaft, the driven wheel is fixedly arranged on the ball lifting shaft, and the rotating wheel and the driven wheel are separated or combined by an electromagnetic pressure plate.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the clutch-type jacking and reversing mechanism further includes:

The jacking nut is fixedly sleeved on the ball bearing sleeve, and the front and rear side walls of the jacking nut are respectively welded and connected with the inclined-pull jacking shaft.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the lateral top plate is slidably connected to the jacking guide posts at the four corners of the support frame through guide chutes opened at both ends of the lateral top plate.

Further, on the lateral electromagnetic linkage type sixteen-wheel four-way shuttle, the inclination angle of the jacking inclined hole is 5-85°, and the vertical height thereof is equal to the vertical height of the jacking shaft hole.

The present invention adopts the above-mentioned technical scheme, compared with the prior art, has the following technical effects:

(1) The use of 8 horizontal wheels and 8 vertical wheels and a reinforced support frame improves the load capacity; and optimizes the installation position of each wheel, so that the trolley has a better ability to pass sills;

(2) In order to match the 16 wheels, the wheel transmission mechanism is optimized. By moving the position of the longitudinal transmission shaft up and increasing the diameter of the longitudinal wheels, the trolley has a better bearing capacity;

(3) The clutch-type jacking reversing mechanism and the horizontal and vertical traveling drive mechanism are linked and controlled, sharing a drive motor, and the structure design is novel. Compared with the existing jacking and reversing mechanism, one motor is saved, and the production cost is greatly reduced;

(4) The clutch-type jacking reversing mechanism adopts the inclined-pulling jacking block to contact the rolling line of the inclined-pulling jacking shaft, with high transmission efficiency and no change in the pressure angle. The jacking inclined holes on both sides of the jacking block are symmetrically arranged. Uniform force; its novel design, compact structure, stable operation, small size, heavy load, reduce the maintenance and maintenance times of the mechanical mechanism, high work efficiency and long service life;

(5) The transmission structure in which the ball jacking shaft and the ball bushing are matched, the transmission efficiency is 50%-70%, and the ball bushing and the jacking shaft are directly connected by the jacking nut, which reduces the kinetic energy loss;

(6) The sixteen-wheel four-way shuttle has a compact structure design, which not only reduces the cost, but also saves space; it also reduces the overall weight and volume of the trolley, and improves the running capacity and the efficiency of cargo storage.

Description of drawings

1 is a schematic top view of a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

Figure 2 is a schematic front view of the structure of a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

3 is a schematic side view of the structure of a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

4 is a schematic three-dimensional structure diagram of a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

5 is a schematic structural diagram of a support frame in a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

6 is a schematic diagram of the overall structure of a tensioning adjusting mechanism in a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

7 is a schematic diagram of the overall structure of a clutch type jacking and reversing mechanism in a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

8 is a cross-sectional structural schematic diagram of a clutch type jacking and reversing mechanism in a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

9 is a schematic structural diagram of an inclined-pull jacking slider in a transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to the present invention;

Figure 10 is a cross-sectional structural schematic diagram of a ball jacking shaft and a ball bushing in a transverse electromagnetic linkage type sixteen-wheel four-way shuttle of the present invention;

Among them, each reference sign is:

100-support frame, 101-circular assembly hole, 102-square assembly hole, 103-lifting guide post, 104-guide post fixing plate;

200-transverse driving mechanism, 201-first transverse driving wheel, 202-first transverse driven wheel, 203-second transverse driven wheel, 204-second transverse driving wheel, 205-second transverse transmission belt, 206-transverse transmission Shaft, 207-first transverse transmission belt, 208-transverse motor, 209-transverse connecting shaft, 210-bearing seat;

300-longitudinal travel drive mechanism, 301-first longitudinal driving wheel, 302-first longitudinal driven wheel, 303-second longitudinal driven wheel, 304-second longitudinal driving wheel, 305-longitudinal transmission shaft, 306-second longitudinal Transmission belt, 307-longitudinal motor, 308-first longitudinal transmission belt;

400-Clutch jacking reversing mechanism, 401-Transverse top plate, 402-Longitudinal top plate, 403-Cable-pull jacking slider, 404-Electromagnetic clutch, 405-First synchronizing wheel, 406-Second synchronizing wheel, 407- Lifting timing belt, 408-Third tensioning pulley, 409-Ball lifting shaft, 410- Lifting shaft hole, 411- Lifting inclined hole, 412-Guide chute, 413-Ball bushing, 414-Jumping Nut, 415-cable-pulled jacking shaft, 416-rotating wheel, 417-electromagnetic pressure plate, 418-driven wheel;

500-battery pack; 600-controller; 700-tensioning adjustment mechanism, 701-first tensioning wheel, 702-first fixing plate, 703-second tensioning wheel, 704-adjusting plate, 705-adjusting square hole , 706-Second fixed plate.

detailed description

The present invention will be described in detail and concretely below through specific embodiments, so as to make the present invention better understood, but the following embodiments do not limit the scope of the present invention.

In some embodiments, as shown in FIG. 1 , a sixteen-wheel four-way shuttle is provided, which includes a support frame 100 , a lateral travel drive mechanism 200 , a longitudinal travel drive mechanism 300 , and a clutch top mounted on the support frame 100 . The lifting and reversing mechanism 400 , the battery pack 500 and the controller 600 .

In one of the embodiments, the support frame 100 is formed by bending sheet metal and partially reinforced as a whole, which greatly improves the carrying capacity of the vehicle; the battery pack 500 is used as a power source to improve the power of the vehicle, and the battery pack 500 can use lithium-ion rechargeable batteries, accumulators or any other energy storage batteries to supply power for each function of the car; the controller 600 acts as the brain of the whole vehicle and controls the movement of the whole vehicle. The transverse motor 208 of the drive mechanism 200 and the longitudinal motor 308 of the longitudinal travel drive mechanism 300 are controlled by the controller 600 to control the trolley to travel flexibly radially longitudinally or laterally, and the trolley can be lifted and reversed through the clutch-type jacking and reversing mechanism 400 , and the longitudinal motor 308 realizes linkage with the clutch type jacking and reversing mechanism 400 through the electromagnetic clutch 404, saving one motor.

In some embodiments, as shown in FIG. 2 and FIG. 4 , the lateral travel drive mechanism 200 is used as an execution unit for lateral movement of the sixteen-wheel four-way shuttle, which includes first laterals symmetrically arranged on the front and rear sides of the support frame 100 respectively. The driving wheel 201, the first lateral driven wheel 202, the second lateral driven wheel 203 and the second lateral driving wheel 204, wherein the first lateral driving wheel 201, the first lateral driven wheel 202, the second lateral driven wheel 203 and the second lateral driving wheel 201 Two lateral driving wheels 204 are arranged on the front and rear sides of the support frame 100 to form a one-way 8-wheeled vehicle body structure, which improves the load capacity and the ability of the trolley to travel laterally.

In one embodiment, as shown in FIG. 2 and FIG. 4 , two first lateral driving wheels 201 are respectively disposed at both ends of the lateral drive shaft 206 , and the first lateral drive wheels 201 at both ends can be driven to rotate by the lateral drive shaft 206 . and two second transverse driving wheels 204 are respectively arranged on both ends of the transverse connecting shaft 209, under the drive of the jacking synchronous belt 407, the second transverse driving wheels 204 at both ends can be driven to rotate by the transverse connecting shaft 209; synchronization ensures that both sides The first lateral driving wheel 201 and the second lateral driving wheel 204 run synchronously to improve the running stability of the trolley. And the transverse transmission shaft 206 is connected to the transverse motor 208 through the first transverse transmission belt 207, and the transverse transmission shaft 206 is driven to rotate by the transverse motor 208 through the first transverse transmission belt 207, and the transverse motor 208 adopts a servo drive motor.

The working principle of the lateral travel drive mechanism 200 in the sixteen-wheel four-way shuttle is as follows: the lateral drive shaft 206 is driven to rotate by the lateral motor 208 through the first lateral drive belt 207 , and the lateral connection shaft is synchronously driven by the jacking synchronous belt 407 209 rotates, and then keeps the first transverse driving wheel 201 at both ends of the transverse transmission shaft 206 and the second transverse driving wheel 204 at both ends of the transverse connecting shaft 209 to rotate synchronously, and synchronously drives the first transverse driven wheel 202 and the second transverse driving wheel 202 on the support frame 100. The lateral driven wheel 203 rotates to realize the lateral running of the sixteen-wheel four-way shuttle.

In some embodiments, as shown in FIG. 3 and FIG. 4 , the longitudinal travel drive mechanism 300 is used as an execution unit for lateral movement of a sixteen-wheel four-way shuttle, which includes a first symmetrical arrangement on the left and right sides of the support frame 100 . Longitudinal driving wheel 301, first longitudinal driven wheel 302, second longitudinal driven wheel 303 and second longitudinal driving wheel 304, wherein the first longitudinal driving wheel 301, the first longitudinal driven wheel 302, the second longitudinal driven wheel 303 and the second longitudinal driving wheel 301 There are two longitudinal driving wheels 304, which are symmetrically arranged on both sides of the support frame 100 to form a one-way 8-wheeled vehicle body structure, which improves the load capacity and the ability of the trolley to travel longitudinally.

In one of the embodiments, as shown in FIG. 3 and FIG. 4 , the first longitudinal driving wheel 301 and the second longitudinal driving wheel 304 on both sides are used as driving wheels, respectively connected to the longitudinal transmission shaft 305 , and the longitudinal transmission shaft 305 The longitudinal motor 308 is driven and connected through the second longitudinal transmission belt 306, and the longitudinal transmission shaft 305 is driven to rotate by the longitudinal motor 308 through the second longitudinal transmission belt 307 respectively. The longitudinal motor 308 adopts a servo drive motor.

In one of the embodiments, in order to match 16 wheels, the transmission mechanism of the longitudinal wheels is optimized, and the position of the longitudinal transmission shaft 305 is moved up, located above the transverse top plate 401, and arranged in a staggered manner, so that the longitudinal transmission shaft 305, the first longitudinal transmission shaft 305 and the first longitudinal The assembly structure of the driving wheel 301 and the second longitudinal driving wheel 302 forms a triangular structure on its side. On the one hand, a longitudinal transmission shaft 305 is used to synchronously drive the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 to rotate at the same time. The longitudinal transmission shaft 305 arranged to be lifted can be well staggered from the clutch-type jacking and reversing mechanism 400 arranged below it, which makes the design of the trolley more compact and reasonable, and saves space.

In one embodiment, in order to make the trolley have better bearing capacity and to facilitate the realization of the reversing function of the clutch-type jacking and reversing mechanism 400, compared with the 8 transverse wheels used by the transverse travel drive mechanism 200, the longitudinal The 8 longitudinal wheels used on the travel drive mechanism 300 all use longitudinal wheels with larger diameters. Specifically, the diameters of the transverse driving wheel 201 , the first transverse driven wheel 202 , the second transverse driven wheel 203 and the third transverse driven wheel 204 are slightly smaller than the diameters of the first longitudinal driving wheel 301 , the first longitudinal driven wheel 302 , the second longitudinal driven wheel 302 , and the second longitudinal driven wheel 301 . The diameter ratio of the driving wheel 303 and the second longitudinal driving wheel 304 is 1:1.1-1:1.3, preferably, the diameter ratio is 1:1.2.

The working principle of the longitudinal travel drive mechanism 300 in the sixteen-wheel four-way shuttle is as follows: the longitudinal motor 308 drives the front and rear longitudinal transmission shafts 305 through the chain 307 to rotate, and synchronously drives the first longitudinal transmission shafts 305 at both ends of the front and rear longitudinal transmission shafts 305. The driving wheel 301 and the second longitudinal driving wheel 304 rotate, and synchronously drive the first longitudinal driven wheel 302 and the second longitudinal driven wheel 303 on the support frame 100 to rotate, realizing the longitudinal running of the sixteen-wheel four-way shuttle.

The working principle of the longitudinal driving mechanism 300 in the sixteen-wheel four-way shuttle is as follows: the longitudinal motor 307 drives the longitudinal transmission shaft 305 to rotate through the second longitudinal transmission belt 306, and simultaneously drives the first longitudinal driving wheels 301 at both ends of the longitudinal transmission shaft 305. , The second longitudinal driving wheel 302 rotates, and synchronously drives the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 on the support frame 100 to rotate, so as to realize the longitudinal travel of the sixteen-wheel four-way shuttle. In addition, in the longitudinal travel drive mechanism 300, since the first longitudinal driving wheel 301, the second longitudinal driving wheel 302, the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 are arranged on the longitudinal top plate 402, the clutch type top During the lifting process of the lifting and reversing mechanism 400, the lifting slider 403 moves up and down. At this time, the position of the first longitudinal driving wheel 301 and the second longitudinal driving wheel 302 relative to the longitudinal transmission shaft 305 is displaced, and the first longitudinal transmission belt 308 There is a problem of repeated tension or slack during the lifting process. For this, on the side of the first longitudinal driving pulley 301 and the second longitudinal driving pulley 302, according to the tightness of the pulley, the tension adjustment mechanism 700 is used to move laterally to adjust the first longitudinal direction. The purpose of the belt 308 being elastic.

In some embodiments, as shown in FIG. 1 , FIG. 4 , FIG. 7 , FIG. 8 , FIG. 9 and FIG. 10 , the clutch-type jacking and reversing mechanism 400 is used as a mechanism for jacking up and down and reversing the sixteen-wheel four-way shuttle. The execution unit includes a horizontal top plate 401 arranged on the front and rear sides of the support frame 100, a vertical top plate 402 on the left and right sides, an inclined-pull jacking slider 403 and an electromagnetic clutch 404 respectively arranged on both ends of the horizontal top plate 401, and the horizontal top plate 401 It is integrally welded with the longitudinal top plate 402; the inclined-pull jacking block 403 is provided with a jacking shaft hole 410 penetrating left and right and a jacking inclined hole 411 passing through the front and rear, and the jacking inclined hole 411 is arranged obliquely; the jacking shaft hole A ball bushing 413 is movably arranged in the 410, two sides of the ball bushing 413 are provided with an inclined-pull jacking shaft 415, and the inclined-pulling jacking shaft 415 is movably embedded in the jacking inclined hole 411, and the ball bushing 413 is a movable sleeve It is arranged on the ball lifting shaft 409; the ball lifting shaft 409 is a hollow structure and is correspondingly sleeved on the transverse transmission shaft 206 and the transverse connecting shaft 209, and the ball lifting shafts 409 on the left and right sides are respectively connected with the transverse shaft through the electromagnetic clutch 404. The drive shaft 206 and the transverse connecting shaft 209 are separated or combined. That is, the clutch-type jacking and reversing mechanism 400 is also driven by the transverse motor 208, and shares a motor with the transverse traveling driving mechanism 200. Compared with the existing jacking and reversing mechanism, one motor is saved, and the production cost is greatly reduced.

The working principle of the clutch-type jacking and reversing mechanism 400 in the sixteen-wheel four-way shuttle is as follows: the horizontal motor 208 drives the horizontal drive shaft 206 to rotate through the first horizontal drive belt 207, and then drives the horizontal connecting shaft synchronously through the jacking synchronous belt. 209 rotates; synchronously controls the transverse drive shaft 206, the transverse connection shaft 209 and the corresponding ball lift shaft 409 to be separated or connected through the electromagnetic clutches 404 arranged at the four corners, thereby controlling the ball lift shaft 409 to rotate; the ball lift shaft During the rotation process of the 409, the ball bushing 413 and the two inclined jacking shafts 415 are driven to slide left and right along the jacking shaft hole 410 and the jacking inclined hole 411 respectively, and synchronously drive the jacking slider 402 to move up and down. , and then drive the jacking cross plate 401 on the top of the inclined-pull jacking shaft 415 and the jacking platform arranged on the jacking cross plate 401 to lift and lower, so as to realize the function of car jacking and reversing.

In one embodiment, as shown in FIG. 4 and FIG. 7 , the first longitudinal driving wheel 301 , the second longitudinal driving wheel 302 , the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 are sequentially arranged on the longitudinal top plate 402 The vertical top plate 402 moves up and down synchronously with the lifting cross plate 401, and then drives the vertical travel drive mechanism 300 to be driven by the first longitudinal driving wheel 301, the second longitudinal driving wheel 302, the first longitudinal driven wheel 303 and the second longitudinal driving wheel 300. The 8 transverse wheels formed by the driven wheels 304 move up and down synchronously relative to the 8 longitudinal wheels on the transverse travel drive mechanism 200 to separate from the ground or contact the ground, so as to realize the reversing function between the longitudinal travel drive mechanism 300 and the transverse travel drive mechanism 200 .

In one of the embodiments, as shown in FIGS. 7 and 9 , the two inclined-pulling jacking blocks 403 on the left and the same side are linked by the transverse transmission shaft 206 and the transverse connecting shaft 209 respectively, and the two inclined-pulling jacking blocks 403 are respectively linked. The sliders 403 are respectively disposed on both ends of the transverse transmission shaft 206 and the transverse connection shaft 209 through the ball lift shaft 409 , and bearings are provided between the ball lift shaft 409 and the transverse transmission shaft 206 and the transverse connection shaft 209 . The transverse motor 208 controls the torque of the transverse transmission shaft 206 after being driven by the first transverse transmission belt 207 , and then drives the transverse connection shaft 209 to rotate synchronously through the jacking synchronous belt 407 . The electromagnetic clutches 404 provided at both ends of the transverse transmission shaft 206 and the transverse connection shaft 209 drive the inclined-pull jacking block 403 on one side to move up and down, so as to control the jacking cross plate 401 and the jacks disposed on the jacking cross plate 401 . The lifting platform is lifted and lowered to realize the functions of car jacking and reversing.

In one of the embodiments, as shown in FIG. 1 and FIG. 4 , the lateral drive shaft 206 and the lateral connection shaft 209 on the same side are linked by a jack-up synchronous belt 407 , and a first synchronization is provided at both ends of the lateral drive shaft 206 . wheel 405, and a second synchronizing wheel 406 is provided at both ends of the transverse connection shaft 209, and the two ends of the jacking synchronous belt 407 are respectively connected to the first synchronizing wheel 405 and the second synchronizing wheel 406. 405 , the second synchronizing wheel 406 and the jacking synchronous belt 407 realize the synchronous lateral walking and jacking action of the lateral transmission shaft 206 and the lateral connecting shaft 209 .

In one of the embodiments, as shown in FIG. 1 and FIG. 4 , in order to ensure the stability of the jacking and reversing actions, it is necessary to ensure the stability of the transmission between the transverse transmission shaft 206 and the transverse connecting shaft 209 . The two ends of the timing belt 407 are respectively provided with third tensioning pulleys 408 at the positions close to the first timing wheel 405 and the second timing wheel 406 . The position of the tensioning pulley 407 plays a tensioning role, and the two ends of the third tensioning pulley 408 are fixedly installed on the bottom of the support frame 100 through the fixing plate.

In some embodiments, as shown in FIG. 5 , the support frame 100 is formed by bending sheet metal and partially reinforced to form a whole, and four front and rear side walls of the support frame 100 are respectively provided for assembling transverse wheels. For the circular mounting holes 101 , four square mounting holes 102 for mounting longitudinal wheels are respectively opened on the left and right side walls of the support frame 100 .

In one of the embodiments, as shown in FIG. 2 , FIG. 4 and FIG. 7 , the first transverse driving wheel 201 and the second transverse driving wheel 204 on the front and rear sides are respectively connected to the circular The transverse drive shaft 206 of the mounting hole 101 is connected with the transverse connection shaft 209, and the axles of the first transverse driven wheel 202 and the second transverse driven wheel 203 pass through the corresponding circular mounting holes 101 respectively to connect to the support frame 100; The first transverse driving wheel 201 and the second transverse driving wheel 204 are driving wheels, and the first transverse driving wheel 202 and the second transverse driving wheel 203 in the middle are passive wheels, which improve the carrying and overpassing ability of the trolley.

In one of the embodiments, as shown in Figures 3, 4, 5 and 7, a first longitudinal driving wheel 301, a second longitudinal driving wheel 302, a first longitudinal driven wheel 303, and a second longitudinal driving wheel The axles of 304 are respectively assembled on the longitudinal transverse plate 402 through the square assembly holes 102 . In addition, in order to cooperate with the jacking and reversing functions of the clutch-type jacking and reversing mechanism 400, the first longitudinal driving wheel 301, the second longitudinal driving wheel 302, the first longitudinal driven wheel 303, and the second longitudinal driven wheel 304 can follow the longitudinal direction. The top plate 402 is vertically limited and lifted within the corresponding square mounting hole 102 .

In one of the embodiments, as shown in FIG. 3 , FIG. 4 and FIG. 5 , the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 are driven as driven wheels, and are driven by the support frame 100 to passively run, mainly to play the role of The support function is greatly improved, and the ability to pass the sill is greatly improved, and the first longitudinal driven wheel 303 and the second longitudinal driven wheel 304 are arranged through the corresponding square mounting holes 102 .

In some embodiments, as shown in FIG. 2 , FIG. 4 and FIG. 6 , the wheel mounting structure of the sixteen-wheel four-way shuttle is optimized, and the first lateral driven wheel 202 is used as the auxiliary driving wheel of the trolley, and further Improve the lateral grip and over-the-sill ability of the trolley. Specifically, the first transverse driving pulley 201 is connected to the first transverse driven pulley 202 on the same side through the second transverse transmission belt 205 , and the power of the second transverse driving pulley 204 is transmitted to the second transverse driven pulley through the second transverse transmission belt 205 203, synchronously driving the second lateral driven wheel 203 to rotate.

In addition, according to the actual operation requirements of the trolley, the first transverse driving wheel 201 can also be connected to the second transverse driven wheel 203 on the same side through the second transverse transmission belt 205, and the second transverse driven wheel 203 can be the linkage of the first transverse driving wheel 201. mechanism, thereby further improving the stability of the trolley's lateral walking and the ability to grip the ground and pass over sills.

In one of the embodiments, as shown in FIG. 4 and FIG. 8 , the lateral travel drive mechanism 200 further includes: a bearing seat 210, which is arranged on the support frame 100, and a bearing is arranged at the top end to support the longitudinal transmission shaft 305; There are at least two bearing seats 210 on each side, which are respectively disposed on the transverse drive shaft 206 and the transverse connection shaft 209 between the two electromagnetic clutches 404 on the same side. In the mounting hole of the horizontal drive shaft 206 and the two ends of the horizontal connecting shaft 209 are arranged through the ball jacking shaft 409, the bearing seat 210 plays the role of stabilizing and supporting the horizontal drive shaft 206 and the horizontal connecting shaft 209, which improves the tilt Pulling reversing is the stability of the operation of the jacking assembly.

In some embodiments, as shown in FIG. 1 and FIG. 10 , in order to ensure the stability of the power transmission of the longitudinal travel drive mechanism 300 , the sixteen-wheel four-way shuttle further includes a tensioner disposed outside the first longitudinal transmission belt 308 . The tension adjustment mechanism 700 optimizes the connection between the first longitudinal drive belt 308 and the first longitudinal drive pulley 301 and the second longitudinal drive pulley 302 through the tension adjustment mechanism 700 , making the first longitudinal drive belt 308 more convenient to install.

In one of the embodiments, the tensioning mechanism 700 includes a first tensioning pulley 701 and a second tensioning pulley 703 disposed on the outside of the first longitudinal transmission belt 308 , and the first tensioning pulley 701 passes through the first fixing plate 702 is fixedly arranged on the inner side wall of the support frame 100, the first tensioning wheel 701 is fixed and is always located between the first tensioning wheel 701 and the longitudinal transmission shaft 305, and is always in a fit state with the first longitudinal transmission belt 308; The second tensioning wheel 703 can be movably disposed on the inner side wall of the support frame 100 through the adjusting plate 704 , and under the adjusting action of the adjusting plate 704 , the second tensioning wheel 703 can move toward the longitudinal transmission shaft relative to the second tensioning wheel 703 305 produces relative displacement, presses against the other side end face of the first longitudinal transmission belt 308, and forms a tensioned state for the first longitudinal transmission belt 308; A longitudinal drive belt 308 is disengaged, removing the tension of the first longitudinal drive belt 308 .

In one embodiment, as shown in FIG. 10 , an adjusting square hole 705 is horizontally opened on the adjusting plate 704 , and is movably fixed to the inner side wall of the support frame 100 by bolts passing through the adjusting square hole 705 . The 705 plays a certain limiting role under the action of the bolt, and the length of the adjusting square hole 705 determines the left and right adjustable spacing of the second tensioning pulley 703 to meet the tensioning requirement of the first longitudinal transmission belt 308 .

In one of the embodiments, as shown in FIG. 10 , the distal end of the adjustment plate 704 is adjusted and connected to the second fixing plate 706 through adjustment nuts and bolts, and the adjustment plate 704 and the above-mentioned adjustment plate 704 can be controlled through adjustment nuts and bolts. The second tensioning wheel 703 moves left and right along the length direction of the adjusting square hole 705 to adjust the tension of the first longitudinal transmission belt 308 , and the second fixing plate 706 is fixed to the inner side wall of the support frame 100 . The adjusting plate 704 and the second fixing plate 706 are both L-shaped plates, and their side end faces are arranged oppositely. The adjusting nuts and bolts are arranged on the oppositely arranged L-shaped plates, and the adjustment methods of the adjusting nuts and bolts adopt the existing conventional structure. The implementation is not repeated here.

In one embodiment, as shown in FIG. 7 , the electromagnetic clutch 404 adopts a commercially available miniature electromagnetic clutch, which is an automatic electrical appliance operated by the suction force of an electromagnet, and the specific structural principle is not repeated here. The electromagnetic clutch 404 includes a rotating wheel 416, an electromagnetic pressure plate 417 and a driven wheel 418, wherein the rotating wheel 416 is fixedly arranged on the transverse transmission shaft 206 and the transverse connecting shaft 209, and the driven wheel 418 is fixedly arranged on the ball lifting shaft 409, According to the needs of the work, the rotating wheel 416 and the driven wheel 418 are separated or combined by the electromagnetic pressure plate 417, so as to transmit the power of one transverse drive shaft 206 and transverse connection shaft 209 to the corresponding ball lift shaft 409, so as to control the ball lift The rotation or stop of the lift shaft 409 then realizes the jacking control of the inclined-pull jacking block 403 .

The clutch-type jacking and reversing mechanism 400 in which the inclined-pull jacking slider 403 is linked with the electromagnetic clutch 404 has a novel structure and design, and realizes the sharing of a drive motor for lateral walking and jacking and reversing, which can be automatically controlled by the electromagnetic clutch 404 The jacking action of the inclined-pull jacking slider 403 . In addition, it should be noted that since the clutch-type jacking and reversing mechanism 400 shares a drive motor with the lateral traveling drive mechanism 200, the lateral traveling driving mechanism 200 of the clutch-type jacking and reversing mechanism 400 is also in the process of jacking and reversing. Therefore, during the radial jacking and reversing, the transverse motor 208 needs to be slowly run at a low speed until the longitudinal wheel group completely touches the ground or leaves the ground, so as to ensure the stability of the trolley during the jacking and reversing process.

In one embodiment, as shown in FIG. 8 and FIG. 10 , the clutch type jacking and reversing mechanism 400 further includes: a jacking nut 414 , which is fixedly sleeved on the ball bushing 413 , and whose front and rear side walls are They are respectively welded and connected with the inclined-pull jacking shaft 415 . The jacking nut 414 adopts a copper nut, and the jacking nut 414 is fixedly sleeved on the ball bushing 413, and the transmission efficiency reaches 50%-70%, which reduces the kinetic energy loss.

In one of the embodiments, as shown in FIG. 9 , different inclination angles of the lifting inclined holes 411 can be designed according to the implementation requirements and for different working conditions. The inclination angle of the jacking inclined hole 411 is 5-85°; preferably, the inclination angle of the jacking inclined hole 411 is 15-75°; preferably, the inclination angle of the jacking inclined hole 342 is 25-65°; further preferably Preferably, the inclination angle of the jacking inclined hole 411 is 30-65°; more preferably, the inclination angle of the jacking inclined hole 411 is 35-65°; more preferably, the inclination angle of the jacking inclined hole 411 is 40-65° 45°.

In one of the embodiments, as shown in FIG. 9 , the jacking shaft hole 410 is communicated with the jacking inclined hole 411 , and the shapes of the jacking shaft holes 410 are all designed with arc-shaped slot holes. And the vertical height of the jacking shaft hole 410 is equal to the vertical height of the jacking inclined hole 411 , so as to satisfy the requirement that the horizontal drive shaft 206 and the horizontal connecting shaft 209 are synchronously within the jacking shaft hole 410 during the upward and downward movement of the jacking block. And the relative up and down movement of the inclined-pull jacking shaft 415 in the jacking inclined hole 411 .

In one embodiment, as shown in FIG. 7 , in order to ensure the stability of the reversing and jacking mechanism 400 during the jacking and reversing process, the jacking beam 401 passes through guide chute 412 opened at both ends of the jacking beam 401 . The jacking guide columns 103 at the four corners of the support frame 100 are connected by sliding up and down, and both ends of the jacking beam 401 can slide along the jacking guide columns 103 during the lifting process, avoiding the defect of the jacking beam 401 shaking left and right during the jacking process. And the upper and lower ends of the lifting guide column 103 are respectively fixed and connected to the support frame 100 through the guide column fixing plate 104.

The cable-pulling jacking reversing type sixteen-wheel four-way shuttle provided by the present invention adopts 8 wheels on each side to form a structure design of a 16-wheel two-way traveling trolley, which greatly improves the load capacity and sill-crossing ability of the trolley; The lifting reversing mechanism and the horizontal and vertical traveling driving mechanism are controlled by linkage, sharing a driving motor, and the structure design is novel. Compared with the existing jacking and reversing mechanism, it saves one motor and greatly reduces the production cost; and the clutch-type jacking and reversing is adopted. The mechanism uses the inclined-pulling jacking block to contact the rolling line of the inclined-pulling jacking shaft, with high transmission efficiency and no change in the pressure angle. The lifting inclined holes on both sides of the jacking block are symmetrically arranged, and the force is uniform. It has compact structure, stable operation, small volume and heavy load, which reduces the maintenance and maintenance times of the mechanical mechanism, and has high working efficiency and long service life. The cable-pulling jacking reversing type sixteen-wheel four-way shuttle has a compact structure design, which not only reduces costs, but also saves space; it also reduces the overall weight and volume of the trolley, and improves the running capacity and cargo storage efficiency.

The specific embodiments of the present invention have been described above in detail, but they are only used as examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to the present invention are also within the scope of the present invention. Therefore, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be included within the scope of the present invention.

Claims (10)

1. A transverse electromagnetic linkage type sixteen-wheel four-way shuttle, characterized in that it comprises a support frame (100), a lateral travel drive mechanism (200) and a longitudinal travel drive mechanism (300) mounted on the support frame (100). ) and a clutch type jacking reversing mechanism (400), wherein:

   The lateral travel drive mechanism (200) includes a first lateral driving wheel (201), a first lateral driven wheel (202), and a second lateral driven wheel (203) symmetrically arranged on the front and rear sides of the support frame (100), respectively ) and a second transverse driving wheel (204), the two first transverse driving wheels (201) are respectively arranged at both ends of the transverse transmission shaft (206), and the two second transverse driving wheels (204) are respectively arranged at the transverse connection Both ends of the shaft (209), the two ends of the transverse transmission shaft (206) and the two ends of the transverse connection shaft (209) are respectively connected by a jack-up timing belt (407), and the transverse transmission shaft (206) drive and connect the transverse motor (208) through the first transverse transmission belt (207);

   The longitudinal travel drive mechanism (300) includes a first longitudinal driving wheel (301), a second longitudinal driving wheel (302), and a first longitudinal driven wheel (303) symmetrically arranged on the left and right sides of the support frame (100), respectively ) and a second longitudinal driven wheel (304), the first longitudinal driving wheel (301), the second longitudinal driving wheel (302), the first longitudinal driven wheel (303) and the second longitudinal driven wheel (304) are arranged in sequence On the longitudinal top plate (402), the first longitudinal driving wheel (301) and the second longitudinal driving wheel (302) on the same side are connected to the longitudinal transmission shaft (305) through the first longitudinal transmission belt (308), and the longitudinal The transmission shaft (305) is drivingly connected to the longitudinal motor (307) through the second longitudinal transmission belt (306); and

   The clutch-type jacking and reversing mechanism (400) includes a lateral top plate (401) arranged on the front and rear sides of the support frame (100), respectively, and a longitudinal top plate (402) on the left and right sides, respectively disposed on the lateral top plate (401) The inclined-pulling jacking block (403) and the electromagnetic clutch (404) at both ends, the lateral top plate (401) and the longitudinal top plate (402) are integrally welded and formed; the inclined-pulling jacking block (403) ) is provided with a lifting shaft hole (410) passing through left and right and a lifting inclined hole (411) passing through the front and rear, and the lifting inclined hole (411) is arranged obliquely; the lifting shaft hole (410) Ball bushings (413) are movably arranged, two sides of the ball bushings (413) are provided with inclined-pulling jacking shafts (415), and the inclined-pulling jacking shafts (415) are movably embedded in the tops In the lift hole (411), the ball bushing (413) is movably sleeved on the ball lift shaft (409); the ball lift shaft (409) is a hollow structure and is correspondingly sleeved on the lateral transmission On the shaft (206) and the transverse connection shaft (209), the ball lift shafts (409) on the left and right sides are respectively connected with the transverse transmission shaft (206) and the transverse transmission shaft (409) through electromagnetic clutches (404). Shafts (209) are separated or joined.
2. The transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, characterized in that, four circular assembly holes (101) are respectively formed on the front and rear two side walls of the support frame (100), and the support frame (100) The left and right side walls of the frame (100) are respectively provided with four square mounting holes (102), wherein:

   The first transverse driving wheel (201) and the second transverse driving wheel (204) are respectively connected with the transverse transmission shaft (206) passing through the corresponding jacking shaft hole (410) and the circular assembly hole (101) connected with the transverse connecting shaft (209), the axles of the first transverse driven wheel (202) and the second transverse driven wheel (203) pass through the corresponding circular mounting holes (101) to connect to the supporting frame ( 100);

   The axles of the first longitudinal driving wheel (301), the second longitudinal driving wheel (302), the first longitudinal driven wheel (303), and the second longitudinal driven wheel (304) respectively pass through the square assembly hole (102) Assembled on the longitudinal transverse plate (402).
3. The lateral electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, wherein the first lateral driving wheel (201) is connected to the first lateral drive on the same side through a second lateral transmission belt (205). The driven pulley (202); and/or the second lateral driving pulley (204) is connected to the second lateral driven pulley (203) on the same side through a second lateral transmission belt (205).
4. The transverse electromagnetic linkage type sixteen-wheel four-direction shuttle vehicle according to claim 1, further comprising a tension adjustment mechanism (700) disposed on the outer side of the first longitudinal transmission belt (308), wherein: The tensioning adjustment mechanism (700) includes a first tensioning wheel (701) and a second tensioning wheel (703) that are attached to the outside of the first longitudinal transmission belt (308), the first tensioning wheel (701) is fixedly arranged on the inner side wall of the supporting frame (100) through a first fixing plate (702), and the second tensioning pulley (703) is movably arranged on the supporting frame (100) through an adjusting plate (704) inner side wall.
5. The transverse electromagnetic linkage type sixteen-wheel four-direction shuttle vehicle according to claim 4, wherein an adjusting square hole (705) is horizontally formed on the adjusting plate (704), and the adjusting square hole (705) is arranged through the adjusting square hole. The bolts in (705) are movably fixed to the inner side wall of the support frame (100), and one end of the bolts is adjustable and connected to the second fixing plate (706) fixed to the inner side wall of the support frame (100) through adjusting nuts and bolts .
6. The lateral electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, wherein the lateral travel drive mechanism (200) further comprises:

   A bearing seat (210) is arranged on the support frame (100), and a bearing is arranged at the top end to support the transverse transmission shaft (206) and the transverse connection shaft (209).
7. The transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, wherein the electromagnetic clutch (404) comprises a rotating wheel (416), an electromagnetic pressure plate (417) and a driven wheel (418), Wherein, the rotating wheel (416) is fixedly arranged on the lateral transmission shaft (206) and the lateral connecting shaft (209), and the driven wheel (418) is fixedly arranged on the ball lifting shaft (409) Above, the rotating wheel (416) and the driven wheel (418) are separated or combined by an electromagnetic pressure plate (417).
8. The transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, wherein the clutch type jacking and reversing mechanism (400) further comprises:

   A jacking nut (414) is fixedly sleeved on the ball bushing (413), and its front and rear side walls are respectively welded and connected to the inclined-pull jacking shaft (415).
9. The lateral electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, characterized in that, the lateral top plate (401) is slidably connected to the support frame ( 100) Lifting guide posts (103) at the four corners.
10. The transverse electromagnetic linkage type sixteen-wheel four-way shuttle according to claim 1, characterized in that, the inclination angle of the lifting inclined hole (411) is 5-85°, and its vertical height is equal to the lifting The vertical height of the shaft hole (410).

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