Traveling wheel train structure and four-way shuttle vehicle

Abstract

The utility model discloses a walking wheel train structure and a four-way shuttle vehicle. The walking wheel train structure comprises a walking driving assembly, a primary roadway wheel set, a secondary roadway wheel set, a primary roadway transmission assembly and a secondary roadway transmission assembly, the walking wheel train structure has a primary roadway wheel ground contact state and a secondary roadway wheel ground contact state, and a first driving shaft of the double-shaft driving part is in transmission connection with the two primary roadway wheels through the primary roadway transmission assembly at the same time. And the second driving shaft of the double-shaft driving part is in transmission connection through the sub-roadway transmission assembly, so that the walking wheel train structure can walk in the sub-roadway perpendicular to the main roadway in the state that the sub-roadway wheels are in contact with the ground, and the walking wheel train structure can walk in the sub-roadway perpendicular to the main roadway in the state that the sub-roadway wheels are in contact with the ground. The traveling wheel train structure can move in the primary roadway and the secondary roadway in four directions by utilizing the double-shaft driving piece, and is compact in structure, small in occupied space and low in manufacturing cost and driving cost.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics equipment, in particular to a traveling wheel system structure and a four-way shuttle vehicle. Background Art

[0002] A four-way shuttle is a machine that can shuttle in four directions, front, back, left, and right, in a plane. It has the advantages of flexible mobility, high cargo transfer efficiency, time saving and labor saving, and is therefore widely used in the logistics industry. The four-way shuttle includes two sets of wheels with different travel directions, namely, the main lane wheels and the sub-lane wheels. In the actual working process, the four-way shuttle can travel in the main lane by switching to the main lane wheels touching the ground, and can travel in the sub-lane by switching to the sub-lane wheels touching the ground.

[0003] The existing four-way shuttle adopts different power mechanisms and transmission mechanisms to drive the main lane wheels and the sub-lane wheels respectively, which not only leads to high driving costs, but also complex structures and large occupied space, which is not conducive to miniaturization of the four-way shuttle. Utility Model Content

[0004] The first object of the utility model is to provide a traveling gear train structure, which is not only compact in structure and occupies less space, but also has low cost.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A walking wheel train structure comprises: a walking drive assembly, the walking drive assembly comprises a dual-axis driving member, the dual-axis driving member comprises a first driving shaft and a second driving shaft capable of outputting rotational motion; a mother lane wheel group and a sub-lane wheel group, the mother lane wheel group comprises two groups of mother lane wheels spaced apart in a first direction, the sub-lane wheel group comprises two groups of sub-lane wheels spaced apart in a second direction, the first direction is perpendicular to the second direction; a mother lane transmission assembly and a sub-lane transmission assembly are simultaneously connected to the two groups of mother lane wheels in driving connection, and the second driving shaft is connected to the sub-lane transmission assembly in driving connection; wherein the rotation axis direction of the mother lane wheel is perpendicular to the rotation axis direction of the sub-lane wheel, the walking wheel train structure has a mother lane wheel touching the ground state and a sub-lane wheel touching the ground state, the walking wheel train structure can walk in the mother lane in the mother lane wheel touching the ground state, and the walking wheel train structure can walk in the sub-lane perpendicular to the mother lane in the sub-lane wheel touching the ground state.

[0007] Preferably, the dual-axis driving member is a dual-axis reducer, the travel drive assembly also includes a travel motor, the motor shaft of the travel motor is transmission-connected to the input end of the dual-axis reducer, and the dual-axis reducer includes the first drive shaft and the second drive shaft vertically arranged; or, the dual-axis driving member is a dual-axis motor.

[0008] Preferably, the mother lane transmission assembly includes a first transmission shaft, a first sprocket mechanism and two second sprocket mechanisms extending along the first direction and rotatably connected to the frame, the first drive shaft is transmission-connected to the first transmission shaft through the first sprocket mechanism, and the first transmission shaft is transmission-connected to the two ends of the two second sprocket mechanisms through the second sprocket mechanisms.

[0009] Preferably, the first sprocket mechanism includes a first sprocket, a first chain and a second sprocket, the first sprocket fixedly sleeved on the first drive shaft, the second sprocket fixedly sleeved on the first transmission shaft, and the first chain sleeved on the first sprocket and the second sprocket; and / or, the second sprocket mechanism includes a third sprocket, a second chain and a fourth sprocket, the third sprocket fixedly sleeved on the first transmission shaft, the fourth sprocket fixedly sleeved on the wheel axle of the mother roadway wheel, and the second chain sleeved on the third sprocket and the fourth sprocket.

[0010] Preferably, the fourth sprocket can be raised and lowered synchronously with the mother road wheel. During the raising and lowering process of the fourth sprocket, the distance between the center of the fourth sprocket and the center of the third sprocket increases or decreases, so that the effective tensioning length of the second chain between the center of the fourth sprocket and the center of the third sprocket increases or decreases synchronously.

[0011] Preferably, the sub-alley transmission assembly includes a second transmission shaft, a third sprocket mechanism and two fourth sprocket mechanisms, the second transmission shaft is extended along the second direction and rotatably connected to the frame, the second drive shaft is transmission-connected to the second transmission shaft through the third sprocket mechanism, the two fourth sprocket mechanisms are respectively arranged at both ends of the second transmission shaft, and the second transmission shaft is transmission-connected to the sub-alley wheel on the corresponding side through the fourth sprocket mechanism.

[0012] Preferably, the third sprocket mechanism includes a fifth sprocket, a third chain and a sixth sprocket, the fifth sprocket fixed sleeve is arranged on the second drive shaft, the sixth sprocket fixed sleeve is arranged on the second transmission shaft, and the third chain is arranged on the fifth sprocket and the sixth sprocket; and / or, the fourth sprocket mechanism includes a seventh sprocket, a fourth chain and an eighth sprocket, the seventh sprocket fixed sleeve is arranged on the second transmission shaft, the eighth sprocket fixed sleeve is arranged on the wheel axle of the sub-lane wheel, and the fourth chain is arranged on the seventh sprocket and the eighth sprocket.

[0013] Preferably, the fourth sprocket mechanism also includes a fifth chain; each group of the sub-lane wheels includes two small groups of sub-lane wheels spaced apart in the first direction, wherein one small group of the sub-lane wheels includes two sub-lane wheels, and among the two sub-lane wheels, the eighth sprocket mounted on the axle of one of the sub-lane wheels is used to connect the fourth chain, and the eighth sprocket mounted on the axles of the two sub-lane wheels is chain driven through the fifth chain.

[0014] The second object of the utility model is to provide a four-way shuttle vehicle, the traveling wheel system structure of the four-way shuttle vehicle is not only compact in structure and occupies less space, but also has low cost.

[0015] To achieve this purpose, the utility model adopts the following technical solutions:

[0016] A four-way shuttle vehicle comprises a vehicle frame and the above-mentioned running wheel train structure, wherein the running wheel train structure is arranged on the vehicle frame.

[0017] Preferably, the four-way shuttle vehicle further comprises: two lifting frames, the two lifting frames being spaced apart in the first direction, each of the lifting frames extending along the second direction and being liftably arranged on the vehicle frame, and the two groups of the mother lane wheels being rotatably connected to the two lifting frames in a one-to-one manner.

[0018] Beneficial effects of the utility model:

[0019] The walking wheel train structure provided by the utility model comprises a walking drive assembly, a mother lane wheel group, a sub-lane wheel group, a mother lane transmission assembly and a sub-lane transmission assembly, and the walking wheel train structure has a mother lane wheel touching the ground state and a sub-lane wheel touching the ground state, the first driving shaft of the double-axis driving member is connected to the two groups of mother lane wheels through the mother lane transmission assembly at the same time, so that the walking wheel train structure can walk in the mother lane in the mother lane wheel touching the ground state, and the second driving shaft of the double-axis driving member is connected to the sub-lane transmission assembly through the sub-lane transmission assembly, so that the walking wheel train structure can walk in the sub-lane perpendicular to the mother lane in the sub-lane wheel touching the ground state. The walking wheel train structure can realize four-way movement in the mother lane and the sub-lane by using a double-axis driving member, which is not only compact in structure and occupies less space, but also has low manufacturing cost and driving cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of a four-way shuttle provided by an embodiment of the utility model;

[0021] Figure 2 It is a schematic diagram of the four-way shuttle provided by the embodiment of the utility model with the outer shell removed;

[0022] Figure 3 It is a schematic diagram of the traveling wheel train structure and the frame provided by the embodiment of the utility model at one viewing angle;

[0023] Figure 4 It is a schematic diagram of the active mother lane wheel provided by the embodiment of the utility model;

[0024] Figure 5 It is a schematic diagram of a follower mother roadway wheel provided in an embodiment of the utility model;

[0025] Figure 6 It is a schematic diagram of the active sub-lane wheel provided in the embodiment of the utility model;

[0026] Figure 7 It is a cross-sectional view of the active sub-lane wheel provided in the embodiment of the utility model;

[0027] Figure 8 It is a schematic diagram of a follower roadway wheel provided in an embodiment of the utility model;

[0028] Fig. 9 It is a cross-sectional view of a follower roadway wheel provided in an embodiment of the utility model;

[0029] Fig.10 It is a schematic diagram of a travel drive assembly provided by an embodiment of the utility model;

[0030] Fig.11 It is a schematic diagram of the traveling wheel train structure and the frame provided by the embodiment of the utility model from another perspective;

[0031] Fig.12 It is a schematic diagram of a first transmission shaft, a second sprocket and a third sprocket provided in an embodiment of the utility model;

[0032] Fig.13 It is a schematic diagram of a sub-lane transmission assembly provided by an embodiment of the utility model;

[0033] Fig.14 It is a schematic diagram of a second transmission shaft, a sixth sprocket and a seventh sprocket provided in an embodiment of the utility model;

[0034] Fig.15 It is a schematic diagram of a mother laneway track and a sub-laneway track provided by an embodiment of the utility model;

[0035] Fig.16 It is a schematic diagram of a tension screw provided by an embodiment of the utility model;

[0036] Fig.17 It is a schematic diagram of a wheel lifting assembly provided by an embodiment of the utility model at a certain viewing angle;

[0037] Fig.18 is a schematic diagram of the wheel lifting assembly provided by an embodiment of the utility model from another perspective;

[0038] Fig.19 It is a schematic diagram of a jacking frame, an active mother roadway wheel and a follower mother roadway wheel provided in an embodiment of the utility model;

[0039] Fig. 20 is a schematic diagram of a gearbox provided by an embodiment of the utility model at a certain viewing angle;

[0040] Fig.21 is a schematic diagram of a gearbox provided by an embodiment of the utility model at another viewing angle;

[0041] Fig. 22 yes Fig.18 A longitudinal section of the structure shown along the central axis of the rotating shaft;

[0042] Fig.23 It is a schematic diagram of a frame provided by an embodiment of the utility model;

[0043] Fig.24 It is a schematic diagram of a gear box provided by an embodiment of the utility model at a certain viewing angle after the swing rod and the cam follower are removed;

[0044] Fig.25 is a schematic diagram of the gear box provided by the embodiment of the utility model in another viewing angle after the swing rod and the cam follower are removed;

[0045] Fig.26 yes Fig.25A longitudinal section of the structure shown;

[0046] Fig. 27 It is a schematic diagram of a swing rod provided by an embodiment of the utility model at a certain viewing angle;

[0047] Fig.28 is a schematic diagram of a swing rod provided by an embodiment of the utility model at another viewing angle;

[0048] Fig.29 is a schematic diagram of a first guide mechanism provided by an embodiment of the utility model at a certain viewing angle;

[0049] Fig.30 is a schematic diagram of the first guide mechanism provided by an embodiment of the utility model at another viewing angle;

[0050] Fig.31 is a schematic diagram of a lifting support plate and a guide light axis provided by an embodiment of the utility model at another viewing angle;

[0051] Fig.32 is a schematic diagram of a lifting support plate and a guide light axis provided by an embodiment of the utility model at another viewing angle;

[0052] Fig.33 It is a schematic diagram of the first guide mechanism and the second guide mechanism provided in an embodiment of the utility model being arranged adjacent to each other;

[0053] Fig.34 yes Fig.33 The schematic diagram of the structure shown after the jacking plate is removed;

[0054] Fig.35 It is a schematic diagram of a four-way shuttle provided by an embodiment of the utility model in a state of traveling in a mother lane;

[0055] Fig.36 It is a schematic diagram of the traveling wheel system structure provided by the embodiment of the utility model in the state where the mother roadway wheel touches the ground;

[0056] Fig.37 It is a schematic diagram of a first guide mechanism and a second guide mechanism when the four-way shuttle provided by an embodiment of the utility model is in a traveling state in a mother lane;

[0057] Fig.38 It is a schematic diagram of a four-way shuttle provided by an embodiment of the utility model in a sub-lane traveling state;

[0058] Fig.39 It is a schematic diagram of the traveling wheel system structure provided by the embodiment of the utility model in the state where the sub-lane wheel touches the ground;

[0059] Fig.40It is a schematic diagram of a first guide mechanism and a second guide mechanism when the four-way shuttle provided by an embodiment of the utility model is in a sub-lane traveling state;

[0060] Fig.41 It is a schematic diagram of a four-way shuttle provided by an embodiment of the utility model in a state of lifting a tray;

[0061] Fig.42 It is a schematic diagram of the traveling wheel train structure when the four-way shuttle provided by the embodiment of the utility model is in a state of lifting a tray;

[0062] Fig.43 It is a schematic diagram of the first guide mechanism and the second guide mechanism when the four-way shuttle provided by the embodiment of the utility model is in a state of lifting a tray.

[0063] In the figure:

[0064] 100, vehicle body; 110, vehicle frame; 111, bottom plate; 112, front side plate; 113, rear side plate; 114, left side plate; 115, right side plate; 116, first plate; 117, second plate; 118, third plate; 119, fourth plate; 1110, upper mounting plate; 1111, lower mounting plate; 1112, first mounting cavity; 1113, second mounting cavity; 1114, third mounting cavity; 120, housing;

[0065] 200. Traveling gear train structure;

[0066] 210, travel drive assembly; 211, travel motor; 212, double-axis reducer; 213, fixed plate;

[0067] 220, mother roadway wheel; 221, first wheel body; 222, first shaft body; 223, first bearing; 224, spacer; 225, first gland; 220a, active mother roadway wheel; 220b, follower mother roadway wheel;

[0068] 230, sub-laneway wheel; 231, second wheel body; 232, second shaft body; 233, second bearing; 234, second gland; 230a, active sub-laneway wheel; 230b, follower sub-laneway wheel;

[0069] 240, mother lane transmission assembly; 241, first transmission shaft; 242, first sprocket mechanism; 2421, first sprocket; 2422, second sprocket; 2423, first chain; 243, second sprocket mechanism; 2431, third sprocket; 2432, fourth sprocket; 2433, second chain; 244, mother lane bearing seat; 245, first mounting bracket;

[0070] 250, sub-lane transmission assembly; 251, second transmission shaft; 252, third sprocket mechanism; 2521, fifth sprocket; 2522, sixth sprocket; 2523, third chain; 253, fourth sprocket mechanism; 2531, seventh sprocket; 2532, eighth sprocket; 2533, fourth chain; 2534, fifth chain; 2535, tensioning screw; 254, sub-lane bearing seat;

[0071] 260, mother laneway track; 270, sub-laneway track;

[0072] 300, wheel lifting assembly;

[0073] 310, driving mechanism; 311, driving motor; 312, speed reducer; 313, sprocket structure; 3131, ninth sprocket; 3132, sixth chain; 3133, tenth sprocket; 314, rotating shaft; 315, rotating shaft bearing seat; 316, spacer ring;

[0074] 320, lifting frame; 321, accommodating chamber; 322, wheel mounting portion; 323, long hole;

[0075] 330, gear box; 331, input shaft; 332, output shaft; 333, swing rod; 334, cam follower; 335, intermediate shaft; 336, transmission gear; 337, housing; 338, input gear; 339, output gear;

[0076] 340, first guide mechanism; 341, spline bushing; 342, spline shaft;

[0077] 400, pallet assembly;

[0078] 410, lifting pallet;

[0079] 420. Second guiding mechanism; 421. Guide optical axis; 422. Optical axis bushing. DETAILED DESCRIPTION

[0080] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0081] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0082] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] like Figure 1 and Figure 2 As shown, the utility model provides a four-way shuttle vehicle, which can realize four-way movement in the main lane and the sub-lane, the main lane and the sub-lane are lanes perpendicular to each other, and the four-way movement refers to moving forward in the main lane, moving backward in the main lane, moving forward in the sub-lane, and moving backward in the sub-lane. Specifically, the four-way shuttle vehicle includes a vehicle body 100, a traveling wheel system structure 200, a wheel lifting assembly 300, and a pallet assembly 400.

[0084] The vehicle body 100 is the main installation structure and support structure of the four-way shuttle vehicle, and the walking wheel system structure 200, the wheel lifting assembly 300 and the pallet assembly 400 are all arranged on the vehicle body 100. In some embodiments, the vehicle body 100 includes a frame 110 and a shell 120, the frame 110 is roughly in the shape of a cube, and the shell 120 is covered on the frame 110, so as to play a protective role. In some specific embodiments, the frame 110 is a frame structure formed by welding a plurality of sheet metal parts, and a plurality of installation spaces and installation surfaces for installing other components are formed. In some specific embodiments, the shell 120 is a cover-shaped structure formed by welding sheet metal parts. Of course, in other embodiments, the frame 110 and the shell 120 can also be made of other materials, for example, the frame 110 and the shell 120 can both be plastic parts.

[0085] The following reference Figures 3 to 16 The specific structure of the traveling gear train structure 200 is introduced.

[0086] The traveling wheel train structure 200 is used to assist the four-way shuttle vehicle to travel in four directions. Specifically, Figure 3 As shown, the travel wheel system structure 200 includes a travel drive assembly 210, a main lane transmission assembly 240, a sub-lane transmission assembly 250 and wheels. Among them, the wheels are divided into a main lane wheel group and a sub-lane wheel group according to the different rotation directions. The main lane wheel group includes two groups of main lane wheels 220 spaced apart in a first direction, and the sub-lane wheel group includes two groups of sub-lane wheels 230 spaced apart in a second direction. The first direction is perpendicular to the second direction, and the rotation axis direction of the main lane wheel 220 is perpendicular to the rotation axis direction of the sub-lane wheel 230. The first direction and the second direction are as shown in FIG. Figure 2 As shown in , the first direction is defined as the front-rear direction of the four-way shuttle, and the second direction is defined as the left-right direction of the four-way shuttle.

[0087] It should be noted that the main lane wheel 220 is used for reciprocating in the main lane, and the sub-lane wheel 230 is used for reciprocating in the sub-lane. The walking wheel train structure 200 has a main lane wheel contacting state and a sub-lane wheel contacting state. The walking wheel train structure 200 can travel in the main lane in the main lane wheel contacting state, and the sub-lane wheel 230 is in a suspended state at this time; the walking wheel train structure 200 can travel in a sub-lane perpendicular to the main lane in the sub-lane wheel contacting state, and the main lane wheel 220 is suspended at this time. The reversing travel of the four-way shuttle relies on the lifting and lowering of the main lane wheel 220 by the wheel lifting assembly 300 to realize the lifting action, that is, the switching of the four-way shuttle between the main lane wheel contacting state and the sub-lane wheel contacting state is realized by the wheel lifting assembly 300.

[0088] In some embodiments, there are four mother lane wheels 220, and the four mother lane wheels 220 are arranged in pairs. The two groups of mother lane wheels 220 are arranged at intervals in the first direction, and the two mother lane wheels 220 included in each group of mother lane wheels 220 are arranged at intervals in the second direction, that is, the four mother lane wheels 220 are distributed in two rows and two columns on the frame 110. In some embodiments, there are eight sub-lane wheels 230, and the eight sub-lane wheels 230 are arranged in four groups. The two groups of sub-lane wheels 230 are arranged at intervals in the second direction, and the four sub-lane wheels 230 included in each group of sub-lane wheels 230 are arranged adjacent to each other in pairs, and the two teams of sub-lane wheels 230 are arranged at intervals in the first direction. Of course, in other embodiments, the number of mother lane wheels 220 and sub-lane wheels 230 can be flexibly adjusted according to needs.

[0089] In some embodiments, Figure 4 and Figure 5As shown, the mother road wheel 220 includes a first wheel body 221, a first shaft body 222, and a first bearing 223. The first wheel body 221 and the first shaft body 222 are coaxially connected by screws, and the first shaft body 222 is rotatably connected to the lifting frame 320 of the wheel lifting assembly 300 through two sets of first bearings 223. Optionally, the first wheel body 221 is a rubber-coated wheel, and the first bearing 223 is a tapered roller bearing. It should be noted that the mother roadway wheel 220 is divided into an active mother roadway wheel 220a and a follower mother roadway wheel 220b according to whether it is connected to the mother roadway transmission assembly 240 for transmission. The active mother roadway wheel 220a and the follower mother roadway wheel 220b both include the above-mentioned first wheel body 221, first shaft body 222 and first bearing 223. The only difference between the two is that the first shaft body 222 of the active mother roadway wheel 220a is slightly longer, so that the fourth sprocket 2432 of the mother roadway transmission assembly 240 can be installed on the first shaft body 222 of the active mother roadway wheel 220a. The fourth sprocket 2432 is introduced in detail below.

[0090] Optionally, the active mother roadway wheel 220a further includes a spacer 224, which is sleeved on the first shaft body 222 and located between the first bearing 223 and the fourth sprocket 2432. Optionally, the active mother roadway wheel 220a and the driven mother roadway wheel 220b further include a first pressure cap 225, which is connected to the end surface of the first shaft body 222 and is used to limit the fourth sprocket 2432 on the first shaft body 222 or to limit the first shaft body 222 axially on the wheel mounting portion 322 of the jacking frame 320.

[0091] In some embodiments, Figures 6 to 9 As shown, the sub-lane wheel 230 includes a second wheel body 231, a second shaft body 232, and a second bearing 233. The second wheel body 231 is coaxially connected to the second shaft body 232, and the second shaft body 232 is rotatably connected to the frame 110 through the second bearing 233. Optionally, the second wheel body 231 is a rubber-coated wheel. It should be noted that the sub-lane wheel 230 is divided into an active sub-lane wheel 230a and a follower sub-lane wheel 230b according to whether it is connected to the sub-lane transmission assembly 250 for transmission. The active sub-lane wheel 230a and the follower sub-lane wheel 230b both include the above-mentioned second wheel body 231, the second shaft body 232 and the second bearing 233. The only difference between the two is that the eighth sprocket 2532 of the sub-lane transmission assembly 250 can be installed on the second shaft body 232 of the active sub-lane wheel 230a. The eighth sprocket 2532 is described in detail below. Optionally, the active sub-lane wheel 230a further includes a second pressure cover 234 , which is connected to the end surface of the second shaft body 232 and is used to limit the eighth sprocket 2532 on the second shaft body 232 .

[0092] The travel drive assembly 210 includes a dual-axis drive member, which includes a first drive shaft and a second drive shaft capable of outputting rotational motion. The first drive shaft is simultaneously connected to two sets of mother lane wheels 220 through the mother lane transmission assembly 240, and the second drive shaft is simultaneously connected to two sets of sub lane wheels 230 through the sub lane transmission assembly 250. The travel wheel train structure 200 uses the dual-axis drive member as a power member, and under the transmission of the mother lane transmission assembly 240 and the sub lane transmission assembly 250, power can be transmitted to the mother lane wheel 220 and the sub lane wheel 230, so that the travel wheel train structure 200 can achieve four-way movement in the mother lane and the sub lane. Compared with the prior art, the mother lane wheel and the sub lane wheel are driven by using different power members, respectively. The utility model uses one power member to drive the mother lane wheel 220 and the sub lane wheel 230, which is not only compact in structure and occupies less space, but also has low manufacturing cost and driving cost.

[0093] Continue to refer to Fig.10 As shown, in some embodiments, the dual-axis driving member is a dual-axis reducer 212, and the travel drive assembly 210 also includes a travel motor 211, and the motor shaft of the travel motor 211 is transmission-connected to the input end of the dual-axis reducer 212, and the dual-axis reducer 212 includes a first drive shaft and a second drive shaft arranged vertically. The travel motor 211 can provide power for bidirectional travel through the dual-axis reducer 212. Optionally, the dual-axis reducer 212 is fixedly connected to the frame 110 through a fixing plate 213. In some specific embodiments, the axial direction of the first drive shaft is parallel to the first direction, and the axial direction of the second drive shaft is parallel to the second direction.

[0094] In some parallel embodiments, the dual-axis driving member is a dual-axis motor having two motor shafts, and the two motor shafts are used as a first driving shaft and a second driving shaft respectively.

[0095] Continue to refer to Fig.11 As shown, in some embodiments, the mother lane transmission assembly 240 includes a first transmission shaft 241, a first sprocket mechanism 242 and two second sprocket mechanisms 243, the first transmission shaft 241 is extended along the first direction and rotatably connected to the frame 110, the first drive shaft is transmission-connected to the first transmission shaft 241 through the first sprocket mechanism 242, the two second sprocket mechanisms 243 are respectively arranged at both ends of the first transmission shaft 241, and the first transmission shaft 241 is transmission-connected to the mother lane wheel 220 on the corresponding side through the second sprocket mechanism 243. The mother lane transmission assembly 240 adopts a chain transmission method, which not only has a large bearing torque, a long service life, but also occupies less space.

[0096] like Fig.12As shown, the mother lane transmission assembly 240 also includes two mother lane bearing seats 244, which are respectively sleeved at both ends of the first transmission shaft 241, and are used to support the first transmission shaft 241 and enable the first transmission shaft 241 to rotate around its own central axis. In some embodiments, each mother lane bearing seat 244 is fixed to the frame 110 through a first mounting bracket 245. Optionally, the first mounting bracket 245 is a "π"-shaped bracket.

[0097] In some embodiments, the first sprocket mechanism 242 includes a first sprocket 2421, a first chain 2423 and a second sprocket 2422. The first sprocket 2421 is fixedly mounted on the first drive shaft, the second sprocket 2422 is fixedly mounted on the first transmission shaft 241, and the first chain 2423 is mounted on the first sprocket 2421 and the second sprocket 2422.

[0098] In some embodiments, the second sprocket mechanism 243 includes a third sprocket 2431, a second chain 2433 and a fourth sprocket 2432. The third sprocket 2431 is fixedly mounted on the first transmission shaft 241, the fourth sprocket 2432 is fixedly mounted on the axle of the mother lane wheel 220, and the second chain 2433 is mounted on the third sprocket 2431 and the fourth sprocket 2432.

[0099] It should be noted that, since the mother roadway wheel 220 can be raised and lowered in the vertical direction to switch between the ground contact state and the suspended device, the fourth sprocket 2432 arranged on the wheel axle of the mother roadway wheel 220 can be raised and lowered synchronously with the mother roadway wheel 220, so that the end of the second chain 2433 sleeved on the fourth sprocket 2432 can be raised and lowered synchronously. However, since the height of the other end of the second chain 2433 sleeved on the third sprocket 2431 remains unchanged, during the raising and lowering process of the mother roadway wheel 220, the second chain 2433 is in a swinging state, and the second chains 2433 at different inclination angles are at different tension levels.

[0100] That is to say, during the lifting and lowering process of the fourth sprocket 2432, the distance between the center of the fourth sprocket 2432 and the center of the third sprocket 2431 increases or decreases, so that the effective tensioning length of the second chain 2433 between the center of the fourth sprocket 2432 and the center of the third sprocket 2431 increases or decreases synchronously, and the distance between adjacent links of the second chain 2433 changes.

[0101] Specifically, when the center of the fourth sprocket 2432 and the center of the third sprocket 2431 are at the same height, that is, when the second chain 2433 is set horizontally, the distance between the center of the fourth sprocket 2432 and the center of the third sprocket 2431 is the smallest, the effective tensioning length of the second chain 2433 between the center of the fourth sprocket 2432 and the center of the third sprocket 2431 is the shortest, and the distance between adjacent links of the second chain 2433 is the smallest; as the height difference between the center of the fourth sprocket 2432 and the center of the third sprocket 2431 increases, that is, the larger the inclination angle of the second chain 2433, the larger the distance between the center of the fourth sprocket 2432 and the center of the third sprocket 2431, the longer the effective tensioning length of the second chain 2433 between the center of the fourth sprocket 2432 and the center of the third sprocket 2431, and the larger the distance between adjacent links of the second chain 2433.

[0102] Continue to refer to Fig.11 and Fig.13 As shown, in some embodiments, the sub-lane transmission assembly 250 includes a second transmission shaft 251, a third sprocket mechanism 252 and two fourth sprocket mechanisms 253, the second transmission shaft 251 is extended along the second direction and rotatably connected to the frame 110, the second drive shaft is transmission-connected to the second transmission shaft 251 through the third sprocket mechanism 252, the two fourth sprocket mechanisms 253 are respectively arranged at both ends of the second transmission shaft 251, and the second transmission shaft 251 is transmission-connected to the sub-lane wheel 230 on the corresponding side through the fourth sprocket mechanism 253. The sub-lane transmission assembly 250 adopts a chain transmission method, which not only has a large bearing torque, a long service life, but also occupies less space.

[0103] like Fig.14 As shown, the sub-lane transmission assembly 250 also includes two sub-lane bearing seats 254, which are respectively sleeved at both ends of the second transmission shaft 251, for supporting the second transmission shaft 251 and allowing the second transmission shaft 251 to rotate around its own central axis. In some embodiments, the frame 110 is provided with mounting grooves on the left side plate 114 and the right side plate 115 that are arranged opposite to each other in the second direction, and the second transmission shaft 251 is placed in the mounting grooves. The two sub-lane bearing seats 254 are located on the left side of the left side plate 114 and the right side of the right side plate 115, and are respectively fixedly connected to the left side plate 114 and the right side plate 115 by screws. Of course, in other embodiments, the two sub-lane bearing seats 254 can also be connected to the left side plate 114 and the right side plate 115 through a second mounting bracket.

[0104] In some embodiments, the third sprocket mechanism 252 includes a fifth sprocket 2521, a third chain 2523 and a sixth sprocket 2522, the fifth sprocket 2521 is fixedly mounted on the second drive shaft, the sixth sprocket 2522 is fixedly mounted on the second transmission shaft 251, and the third chain 2523 is mounted on the fifth sprocket 2521 and the sixth sprocket 2522.

[0105] In some embodiments, the fourth sprocket mechanism 253 includes a seventh sprocket 2531, a fourth chain 2533 and an eighth sprocket 2532, the seventh sprocket 2531 is fixedly mounted on the second transmission shaft 251, the eighth sprocket 2532 is fixedly mounted on the axle of the sub-lane wheel 230, and the fourth chain 2533 is mounted on the seventh sprocket 2531 and the eighth sprocket 2532.

[0106] Furthermore, the fourth sprocket mechanism 253 also includes a fifth chain 2534, and each group of sub-lane wheels 230 includes two small groups of sub-lane wheels 230 spaced apart in the first direction, wherein one small group of sub-lane wheels 230 includes two sub-lane wheels 230, and among the two sub-lane wheels 230, the eighth sprocket 2532 mounted on the axle of one of the sub-lane wheels 230 is used to connect the fourth chain 2533, and the eighth sprocket 2532 mounted on the axles of the two sub-lane wheels 230 is chain-driven through the fifth chain 2534.

[0107] It should be noted that the eighth sprocket 2532 can be a single-layer sprocket or a double-layer sprocket according to needs, and the eighth sprocket 2532 connected to the fourth chain 2533 and the fifth chain 2534 is a double-layer sprocket, and the eighth sprocket 2532 connected to only the fourth chain 2533 or the fifth chain 2534 is a single-layer sprocket. Of course, the number of sub-lane wheels 230 included in each group of sub-lane wheels 230 can also be set to one, three or more according to needs, and the number of the fifth chain 2534 can be flexibly increased or decreased according to needs.

[0108] In one embodiment, Fig.13 As shown, each group of sub-lane wheels 230 includes four sub-lane wheels 230, and the four sub-lane wheels 230 are grouped in pairs, and the two groups are spaced apart in the first direction, wherein the wheel axles of two adjacent sub-lane wheels 230 close to the second transmission shaft 251 are respectively sleeved with an eighth sprocket 2532, the eighth sprocket 2532 located in the middle is a double-layer sprocket, and the eighth sprocket 2532 located on one side is a single-layer sprocket, and the chain drive is realized between the two eighth sprockets 2532 through a fifth chain 2534. Under the drive of the second transmission shaft 251, the two sub-lane wheels 230 in the group of sub-lane wheels 230 close to the second transmission shaft 251 rotate simultaneously, and the two sub-lane wheels 230 in the group of sub-lane wheels 230 far from the second transmission shaft 251 are follower wheels, and there is no power on them.

[0109] like Fig.15 As shown, since there is a disconnected opening at the junction of the sub-lane track 270 and the mother lane track 260, eight sub-lane wheels 230 need to be arranged, and every two sub-lane wheels 230 are arranged adjacent to form a pair. When driving to the track opening, three sub-lane wheels 230 in each group of sub-lane wheels 230 are used as support, and the other sub-lane wheel 230 can be suspended across the opening, and the subsequent three sub-lane wheels 230 as support also cross the track opening in the same way. Such a setting is conducive to improving the flexibility of the four-way shuttle vehicle to cross the track break. Since the mother lane track 260 is a complete track, four mother lane wheels 220 can be set for walking.

[0110] In some embodiments, the fourth sprocket mechanism 253 further includes a tensioning idler wheel, which is rotatably connected to the frame 110, the fourth chain 2533 is arranged around the tensioning idler wheel, and the tensioning idler wheel is tightened on one side of the fourth chain 2533. Optionally, the tensioning idler wheel includes a tensioning wheel body, a third bearing and a third shaft body, the tensioning wheel body is rotatably connected to the third shaft body through the third bearing, the third shaft body is provided with a threaded structure, and the third shaft body passes through the side plate of the frame 110 and is locked by a locking nut and a gasket.

[0111] In some embodiments, the fourth sprocket mechanism 253 further includes a toothed idler wheel, the toothed idler wheel is rotatably connected to the frame 110, the fourth chain 2533 is arranged around the toothed idler wheel, and the toothed idler wheel is tightened on one side of the fourth chain 2533. Optionally, the toothed idler wheel includes a gear body, a fourth bearing and a fourth shaft body, the gear body is rotatably connected to the fourth shaft body through the fourth bearing, the fourth shaft body is provided with a threaded hole, the fourth shaft body passes through the side plate of the frame 110 and is locked by screws.

[0112] In some embodiments, the fourth sprocket mechanism 253 further includes a toothless idler wheel, which is rotatably connected to the frame 110, and the fourth chain 2533 is arranged around the toothless idler wheel, and the toothless idler wheel is tightened on one side of the fourth chain 2533. Optionally, the toothless idler wheel includes a gearless body, a fifth bearing and a fifth shaft body, and the gearless body is rotatably connected to the fifth shaft body through the fifth bearing, and the fifth shaft body is provided with a threaded hole, and the fifth shaft body passes through the side plate of the frame 110 and is locked by screws.

[0113] It should be noted that the tensioning idler, toothed idler and toothless idler are all combinations of wheels, bearings and shafts. The wheels can rotate around the shafts under the action of the bearings. The difference between toothless idlers, toothed idlers and tensioning idlers is that the toothless idler does not have sprocket teeth on its outer circumference.

[0114] In a specific embodiment, the fourth sprocket mechanism 253 includes two tension idlers, two toothless idlers and one toothed idler, the two tension idlers are respectively arranged on both sides of the second transmission shaft 251, and the two tension idlers press on the fourth chain 2533 from top to bottom, and the two tension idlers are tightened downward so that the fourth chain 2533 tightly wraps the seventh sprocket 2531, so that the power is better transmitted to the seventh sprocket 2531. Fig.16 As shown, a tensioning screw 2535 is also provided on the side plate of the vehicle frame 110, and the tensioning screw 2535 is tightened downward to support the shaft of the tensioning idler wheel, so that the tensioning idler wheel can tighten the fourth chain 2533. The two toothless idler wheels are arranged vertically opposite to each other and are located between the two adjacent eighth sprocket wheels 2532, and the two toothless idler wheels are pressed from bottom to top on the fourth chain 2533. The toothed idler wheel is arranged below the two tensioning idler wheels, and the toothed idler wheel is pressed from bottom to top on the fourth chain 2533.

[0115] The winding path of the fourth chain 2533 is as follows: starting from the fourth chain 2533 bypassing the tensioning idler wheel on the left side and starting from the left, first, the fourth chain 2533 bypasses the upper toothless idler wheel to the left and then winds around the eighth sprocket 2532 on the far left; then, starting from the bottom side, bypass the lower toothless idler wheel to the right, continue to bypass the second eighth sprocket 2532 from left to right to the right, and continue to bypass the toothed idler wheel to the right; then, go right to the third eighth sprocket 2532 from left to right; finally, start from the top side and bypass the tensioning idler wheel on the right side to the left, thus forming a winding loop.

[0116] The following reference Figures 17 to 30 The specific structure of the wheel lifting assembly 300 is introduced.

[0117] like Fig.17 and Fig.21As shown, the wheel lifting assembly 300 includes a driving mechanism 310, a lifting frame 320 and a gear box 330. The output end of the driving mechanism 310 can output a rotational motion around a first straight line. The lifting frame 320 is provided with a receiving cavity 321 and a long hole 323 connected to the receiving cavity 321, and the lifting frame 320 is formed with a wheel mounting portion 322, and the wheel mounting portion 322 is used to mount the above-mentioned active mother roadway wheel 220a and the follower mother roadway wheel 220b. The gearbox 330 is disposed in the accommodating chamber 321. The gearbox 330 includes an input shaft 331, an output shaft 332, a swing rod 333 and a cam follower 334. The output end of the driving mechanism 310 is connected to the input shaft 331 in a transmission manner. One end of the swing rod 333 is connected to the output shaft 332, and the other end is connected to the cam follower 334. The cam follower 334 is rotatably disposed in the long hole 323 and can move in the long hole 323, so that the lifting frame 320 can rise or fall relative to the gearbox 330. In the embodiment of the present application, the wheel mounted to the wheel mounting portion 322 is the above-mentioned mother road wheel 220. Of course, in other embodiments, the wheel lifting assembly 300 can also be used to achieve any other wheel with lifting requirements.

[0118] The wheel lifting assembly 300 uses a gear box 330 to drive a swinging rod 333 to swing, and the swinging rod 333 drives a cam follower 334 to move in a long hole 323, so that the lifting frame 320 can be raised and lowered, so that the mother roadway wheel 220 can be lifted off the ground or lowered to touch the ground. The wheel lifting assembly 300 is not only compact in structure and occupies a small space, which can meet the design trend of miniaturization, but also has low cost, making it easy to be promoted and used.

[0119] Continue to refer to Fig.17 As shown, the driving mechanism 310 is fixedly arranged on the frame 110. Optionally, in some embodiments, the driving mechanism 310 includes a driving motor 311, a reducer 312, a sprocket structure 313 and a rotating shaft 314, the motor shaft of the driving motor 311 is connected to the input end of the reducer 312, the output end of the reducer 312 is connected to the rotating shaft 314 through the sprocket structure 313, and the rotating shaft 314 can output a rotational motion around a first straight line. Optionally, the driving mechanism 310 also includes two rotating shaft bearing seats 315, the two rotating shaft bearing seats 315 are arranged at intervals, and the two ends of the rotating shaft 314 are inserted into the rotating shaft bearing seats 315 and supported by the rotating shaft bearing seats 315.

[0120] In some embodiments, the motor shaft of the driving motor 311 is extended along the first direction, and the sprocket structure 313 includes a ninth sprocket 3131, a sixth chain 3132, and a tenth sprocket 3133. The ninth sprocket 3131 is sleeved on the output shaft 332 of the reducer 312, the tenth sprocket 3133 is sleeved on the rotating shaft 314, and the sixth chain 3132 is sleeved on the ninth sprocket 3131 and the tenth sprocket 3133. By adopting the sprocket structure 313, the driving motor 311 and the reducer 312 are arranged side by side with the rotating shaft 314 in the second direction, so that the components of the driving mechanism 310 are compactly arranged and occupy less space, which is conducive to the miniaturization of the four-way shuttle. Optionally, as Fig. 22 As shown, a spacer ring 316 is provided between the tenth sprocket 3133 and the rotating shaft bearing seat 315 , and the spacer ring 316 is sleeved on the rotating shaft 314 .

[0121] Continue to refer to Fig.17 As shown, since two groups of mother roadway wheels 220 are arranged at intervals in the first direction, in some embodiments, two lifting frames 320 and two gear boxes 330 are provided, and the two lifting frames 320 are arranged at intervals in the first direction, and a gear box 330 is provided in each lifting frame 320, and both ends of the rotating shaft 314 are respectively connected to the input shafts 331 of the two gear boxes 330. Such a setting can realize the simultaneous driving of the two lifting frames 320 by using a driving structure, so that all the mother roadway wheels 220 on the two lifting frames 320 can be raised and lowered synchronously, which is not only efficient, but also has a low driving cost.

[0122] Optionally, the end of the rotating shaft 314 is coaxially connected to the input shaft 331 of the gear box 330 through a coupling. In some embodiments, the coupling is a rigid coupling, which is a left-right split structure. The coupling clamps the connection between the rotating shaft 314 and the input shaft 331 from both sides of the rotating shaft 314, and a keyway is provided on the inner side of the coupling. The circumferential position of the shafts on both sides is limited by the key placed in the keyway, so that the input shaft 331 of the gear box 330 and the rotating shaft 314 can rotate synchronously.

[0123] In order to realize the installation of the driving mechanism 310 and the lifting frame 320, as shown in FIG. Fig.23 As shown, a first installation cavity 1112, a second installation cavity 1113 and a third installation cavity 1114 are formed on the frame 110 formed by splicing a plurality of panels. The second installation cavity 1113 and the third installation cavity 1114 are symmetrically arranged on both sides of the first installation cavity 1112. The first installation cavity 1112 is used to accommodate the driving mechanism 310, and the second installation cavity 1113 and the third installation cavity 1114 are respectively used to accommodate a group of lifting frames 320 and a gear box 330.

[0124] Specifically, the frame 110 includes a bottom plate 111, a front side plate 112, a rear side plate 113, a left side plate 114, a right side plate 115, a first plate 116, a second plate 117, a third plate 118 and a fourth plate 119, wherein the bottom plate 111 is located at the bottom layer, the front side plate 112, the rear side plate 113, the left side plate 114, the right side plate 115, the first plate 116, the second plate 117, the third plate 118 and the fourth plate 119 are all arranged on the bottom plate 111, and the front side plate 112, the rear side plate 113, the left side plate 114, the right side plate 115 are respectively The front side, rear side, left side and right side of the bottom plate 111 are convexly arranged, the front side plate 112 and the rear side plate 113 are arranged in parallel, the left side plate 114 and the right side plate 115 are arranged in parallel, the first plate 116 and the second plate 117 are located between the front side plate 112 and the rear side plate 113, and the first plate 116 is adjacent to and parallel to the front side plate 112, the second plate 117 is adjacent to and parallel to the rear side plate 113, the third plate 118 is connected between the first plate 116 and the second plate 117, and the fourth plate 119 is connected between the third plate 118 and the right side plate 115. Among them, the first installation cavity 1112 is formed between the second plate 117, the third plate 118, the fourth plate 119 and the right side plate 115, the third plate 118 is formed with an installation surface for installing the rotating shaft bearing seat 315, and the fourth plate 119 is formed with an installation surface for installing the reducer 312. A second installation cavity 1113 is formed between the front side plate 112, the first plate 116, part of the left side plate 114, part of the right side plate 115 and part of the bottom plate 111, and a mounting surface for mounting one gear box 330 is formed on the bottom plate 111. A third installation cavity 1114 is formed between the rear side plate 113, the second plate 117, part of the left side plate 114, part of the right side plate 115 and part of the bottom plate 111, and a mounting surface for mounting another gear box 330 is formed on the bottom plate 111.

[0125] In order to improve the stability of the lifting frame 320, continue to refer to Figure 24 to Figure 26 As shown, each gear box 330 includes two output shafts 332, the input shaft 331 is located between the two output shafts 332, and each output shaft 332 is connected to at least one set of swing rods 333 and cam followers 334. A plurality of long holes 323 are provided on the lifting frame 320, and two long holes 323 are arranged at intervals in the second direction, and a plurality of cam followers 334 are connected to the plurality of long holes 323 in a one-to-one correspondence. Such an arrangement enables the two cam followers 334 to apply force to one lifting frame 320 at the same time, thereby improving the stability of the lifting frame 320 in lifting and lowering.

[0126] In some embodiments, both ends of each output shaft 332 protrude from the housing 337 of the gear box 330, and a set of swing rods 333 and cam followers 334 are connected to the two ends of each output shaft 332, that is, four sets of swing rods 333 and cam followers 334 are connected to the two output shafts 332, and correspondingly, two long holes 323 are respectively provided on both sides of each lifting frame 320, and the four cam followers 334 are connected to the four long holes 323 one by one. Optionally, the swing rod 333 is connected to the output shaft 332 by screws and a third gland.

[0127] Continue to refer to Fig.26 As shown, the gearbox 330 further includes a housing 337 and three intermediate shafts 335 rotatably disposed in the housing 337. The three intermediate shafts 335 are disposed in parallel in the housing 337. A transmission gear 336 is disposed on each intermediate shaft 335. An intermediate shaft 335 is disposed between the input shaft 331 and the output shaft 332. An input gear 338 is sleeved on the input shaft 331, and an output gear 339 is sleeved on the output shaft 332. The input gear 338 and the output gear 339 are meshed and transmitted through the transmission gear 336. Of course, in other embodiments, the number of transmission gears 336 and intermediate shafts 335 in the gearbox 330 can be flexibly adjusted according to demand, as long as the power transmission between the input shaft 331 and the output shaft 332 can be realized.

[0128] In order to improve the lifting accuracy of the lifting frame 320, as Fig.17 , Fig.30 and Fig.31 As shown, the wheel lifting assembly 300 further includes a first guide mechanism 340 , and the first guide mechanism 340 is used to guide the lifting and lowering of the lifting frame 320 .

[0129] In some embodiments, the first guide mechanism 340 includes a spline sleeve 341 and a spline shaft 342, the spline shaft 342 is vertically arranged on the vehicle frame 110, the spline sleeve 341 is arranged on the lifting frame 320, and the spline sleeve 341 is slidably sleeved on the spline shaft 342. The spline shaft 342 and the spline sleeve 341 cooperate not only to achieve high guiding accuracy, but also to form a limit in the circumferential direction, so that the lifting frame 320 is not easy to deflect during the lifting process, which is conducive to improving the walking accuracy of the mother roadway wheel 220.

[0130] In a specific embodiment, continue to refer to Fig.17As shown, two spline sleeves 341 are provided on each lifting frame 320, and the two spline sleeves 341 are respectively provided on both sides of the accommodating cavity 321 in the second direction. Correspondingly, four spline shafts 342 are provided on the frame 110, and the four spline shafts 342 are arranged in two rows and two columns on the frame 110, and the four spline sleeves 341 on the two lifting frames 320 are correspondingly provided on the four spline shafts 342. Of course, in other embodiments, the number of spline sleeves 341 and spline shafts 342 can be increased or decreased according to needs.

[0131] Furthermore, each lifting frame 320 is installed with two mother roadway wheels 220, and correspondingly, the lifting frame 320 is provided with two wheel mounting parts 322, and the two wheel mounting parts 322 are respectively arranged on both sides of the accommodating cavity 321 in the second direction, and each wheel mounting part 322 is rotatably connected with a mother roadway wheel 220, one of the two mother roadway wheels 220 is the above-mentioned active mother roadway wheel 220a, and the other is the above-mentioned follower mother roadway wheel 220b.

[0132] The lifting principle of the wheel lifting assembly 300 is as follows: the power of the driving motor 311 is transmitted to the input shaft 331 of the two gear boxes 330 through the reducer 312, the sprocket structure 313 and the rotating shaft 314. In each gear box 330, the power transmitted to the input shaft 331 is transmitted to the two ends of the two output shafts 332 through gear meshing, thereby driving the four swing rods 333 to swing, so that the four cam followers 334 move respectively in the four long holes 323 of the lifting frame 320. When the cam follower 334 moves upward until it reaches a high point, the lifting frame 320 carries the main alley wheel 220 to move upward, and at this time the car body 100 and the sub-alley wheel 230 fall onto the sub-alley track 270; when the cam follower 334 moves downward to the level of the swing rod 333, the main alley wheel 220 will contact the main alley track 260, and then the swing rod 333 continues to swing, which will lift up the car body 100 and the sub-alley wheel 230, thereby realizing the replacement of the alley.

[0133] The following reference Figure 31 to Figure 34 The specific structure of the support plate assembly 400 will be introduced.

[0134] The support plate assembly 400 includes a lifting support plate 410 and a second guide mechanism 420. The lifting support plate 410 is escalably arranged on the vehicle frame 110 through the second guide mechanism 420, and the lifting support plate 410 is arranged above the lifting frame 320. The lifting frame 320 can move relative to the vehicle frame 110 to a first position where the wheels touch the ground, a second position where the wheels are lifted, and a third position where the lifting support plate 410 is lifted to a target height, and the first position, the second position and the third position are successively increased. The wheels here refer to the active mother roadway wheels 220a and the follower mother roadway wheels 220b.

[0135] Compared with the existing four-way shuttle vehicle that does not provide a guide structure for the lifting frame and the lifting plate, the four-way shuttle vehicle provided by the utility model guides the lifting of the lifting frame 320 by using the first guide mechanism 340, and guides the lifting of the lifting plate 410 by using the second guide mechanism 420. The lifting frame 320 and the lifting plate 410 each have their own independent guides, which greatly improves the lifting accuracy of the lifting frame 320 and the lifting plate 410. In addition, by arranging the lifting plate 410 above the lifting frame 320, the lifting frame 320 that moves upward is abutted against the lifting plate 410 and drives the lifting plate 410 to move upward, and the connection between the lifting frame 320 and the lifting plate 410 is established, so that the lifting plate 410 can only be lifted when the mother lane wheel 220 is suspended, avoiding the phenomenon of the lifting plate 410 accidentally lifting when the four-way shuttle vehicle moves in the mother lane, and reducing the failure rate.

[0136] It should be noted that the lifting frame 320 can also move to the fourth position abutting against the lifting plate 410. The height of the fourth position is higher than the second position and lower than the third position. The lifting frame 320 can push the lifting plate 410 to move from the fourth position to the third position. The lifting plate 410 is guided by the second guide mechanism 420 during the process of moving from the fourth position to the third position. The lifting plate 410 is guided and supported by the second guide mechanism 420, so that the lifting plate 410 can avoid shaking during the process of moving from the fourth position to the third position, thereby improving the movement stability of the pallet cargo held by the lifting plate 410 and avoiding the phenomenon of the pallet cargo tipping over and falling.

[0137] In some embodiments, the lifting support plate 410 is a long strip-shaped plate extending along the first direction. Optionally, two lifting support plates 410 are provided, and the two lifting support plates 410 are spaced apart in the second direction. By providing two lifting support plates 410, the two lifting support plates 410 are simultaneously raised to carry different positions of the tray, thereby improving the stability of lifting the tray. Of course, in other embodiments, the number of lifting support plates 410 can also be set to three, four or more according to needs.

[0138] In some embodiments, the second guide mechanism 420 includes a guide optical axis 421 and an optical axis bushing 422, wherein the optical axis bushing 422 is disposed on the vehicle frame 110, the guide optical axis 421 is vertically protruded on the lifting support plate 410, and the guide optical axis 421 is slidably penetrated on the optical axis bushing 422. Optionally, the top end of the guide optical axis 421 is fixedly connected to the lifting support plate 410 by screws.

[0139] In order to improve the stability and accuracy of the lifting and lowering of the lifting plate 410, in some embodiments, the number of guide light axes 421 and optical axis bushings 422 are both multiple, and the multiple guide light axes 421 are convexly arranged on the lifting plate 410 at intervals, and the multiple optical axis bushings 422 are distributed at intervals on the frame 110, and the multiple guide light axes 421 are slidably penetrated on the optical axis bushings 422 in a one-to-one manner.

[0140] In a specific embodiment, two guide light shafts 421 are convexly arranged at intervals on each lifting support plate 410, and the two lifting support plates 410 are provided with four guide light shafts 421. Correspondingly, four optical axis bushings 422 are provided, and the four optical axis bushings 422 are arranged in two rows and two columns on the frame 110. The four guide light shafts 421 of the two lifting support plates 410 are slidably penetrated on the four optical axis bushings 422 in a one-to-one correspondence. Of course, in other embodiments, the number of guide light shafts 421 and optical axis bushings 422 can be increased or decreased according to demand.

[0141] In order to improve the compactness of the structure of the four-way shuttle, in the embodiment of the utility model, as Fig.33 and Fig.34 As shown, the first guide mechanism 340 and the second guide mechanism 420 are arranged adjacent to each other. Fig.29 and Fig.30 As shown, the frame 110 also includes an upper mounting plate 1110 and a lower mounting plate 1111 , the spline shaft 342 is vertically connected between the upper mounting plate 1110 and the lower mounting plate 1111 , the optical axis bushing 422 is installed on the upper mounting plate 1110 , and the spline shaft 342 is adjacent to and parallel to the guide optical axis 421 .

[0142] In some specific embodiments, the first guide mechanism 340 and the second guide mechanism 420 are each configured with four groups, and are respectively arranged at the four corners close to the vehicle body 100. The lifting support plate 410 is small in size, light in weight and not easy to get stuck. The matching structure of the guide optical axis 421 and the optical axis bushing 422 is very simple, the price is very low, and it takes up little space. Since the four-way shuttle vehicle will cause the entire vehicle body 100 to rise and fall when changing direction, and since the four-way shuttle vehicle is large in size and heavy in weight, even a slight deformation of the vehicle body 100 will cause the lifting and falling to get stuck, a spline shaft 342 and a spline shaft sleeve 341 are configured. The spline shaft sleeve 341 has a ball inside, and the sliding is very smooth. It has a large rigidity and can resist the force generated by a certain degree of deformation trend. Therefore, with the cooperation of the two guide mechanisms of the guide optical axis 421 and the optical axis bushing 422, and the spline shaft 342 and the spline shaft sleeve 341, the four-way shuttle vehicle can switch smoothly between the three lifting states without getting stuck. In the process of the spline sleeve 341 rising from the lowest point to the highest point, there will be no interference with the optical axis bushing 422, and the two will not overlap in height. Therefore, the total height of the body 100 of the four-way shuttle can be made very low, which is beneficial to reducing the height of a single layer of the shelf and improving the storage density.

[0143] In summary, with the cooperation of the wheel lifting assembly 300, the first guide mechanism 340 and the second guide mechanism 420, the four-way shuttle provided by the utility model has a mother-lane walking state, a sub-lane walking state and a pallet lifting state.

[0144] like Figure 35 to Figure 37 As shown, when the four-way shuttle is in the mother lane walking state, the walking wheel system structure 200 is in the mother lane wheel touching the ground state. At this time, the wheel lifting assembly 300 presses the lifting frame 320 downward, and the lifting frame 320 is in the first position relative to the frame 110, so that the mother lane wheel 220 reaches the lowest state. The mother lane wheel 220 contacts the mother lane track 260 and the car body 100 including the sub-lane wheel 230 rises, and the sub-lane wheel 230 is in a suspended state. In this state, the lifting frame 320 drops to the lowest position, that is, the spline shaft sleeve 341 slides to the bottom, the spline shaft 342 is fixed to the frame 110 and its position remains unchanged with the frame 110, and the relative position of the lifting support plate 410 and the car body 100 remains unchanged.

[0145] like Figures 38 to 40As shown, when the four-way shuttle is in the sub-lane walking state, the walking wheel system structure 200 is in the sub-lane wheel touching the ground state. At this time, the wheel lifting assembly 300 lifts the lifting frame 320 upward, so that the car body 100 including the sub-lane wheel 230 descends, and the sub-lane wheel 230 contacts the sub-lane track 270. Since the main lane track 260 is lower than the sub-lane track 270, the main lane wheel 220 is in a suspended state. In this state, the lifting frame 320 rises to the second position, that is, the spline shaft sleeve 341 slides to the middle position of the spline shaft 342, and the relative position of the lifting support plate 410 and the car body 100 remains unchanged.

[0146] like Fig.41 The four-way shuttle is shown in the state of lifting the pallet. The wheel lifting assembly 300 continues to lift the lifting frame 320 upwards in the sub-lane walking state. During this process, the lifting frame 320 will contact the lifting support plate 410 and continue to lift the lifting support plate 410, so that the lifting support plate 410 can lift the pallet cargo. In this state, Fig.42 and Fig.43 As shown, the lifting frame 320 is raised to the highest position (i.e., the third position mentioned above), and at the same time, the lifting plate 410 is lifted up, the spline shaft sleeve 341 is in the highest position, and the relative position of the lifting plate 410 and the vehicle body 100 changes, and the pallet cargo is lifted up.

[0147] It should be noted that when the four-way shuttle switches back and forth between the main lane and the sub-lane, only the main lane wheels 220 and the sub-lane wheels 230 are in contact with their respective tracks back and forth, and the lifting plate 410 always remains in a constant relative position with the vehicle body 100, so that the four-way shuttle can move under the pallet cargo, so that the lifting action of the lifting plate 410 can be performed only after the four-way shuttle reaches under the pallet cargo.

[0148] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A traveling gear train structure, characterized in that: include: A travel drive assembly (210), the travel drive assembly (210) comprising a dual-axis drive member, the dual-axis drive member comprising a first drive shaft and a second drive shaft capable of outputting rotational motion; A main lane wheel group and a sub-lane wheel group, wherein the main lane wheel group comprises two groups of main lane wheels (220) spaced apart in a first direction, and the sub-lane wheel group comprises two groups of sub-lane wheels (230) spaced apart in a second direction, wherein the first direction is perpendicular to the second direction; A main lane transmission assembly (240) and a sub-lane transmission assembly (250), wherein the first drive shaft is simultaneously connected to the two groups of main lane wheels (220) through the main lane transmission assembly (240), and the second drive shaft is simultaneously connected to the two groups of sub-lane wheels (230) through the sub-lane transmission assembly (250); The rotation axis direction of the mother lane wheel (220) is perpendicular to the rotation axis direction of the sub-lane wheel (230), the travel wheel train structure has a mother lane wheel ground contact state and a sub-lane wheel ground contact state, the travel wheel train structure can travel in the mother lane in the mother lane wheel ground contact state, and the travel wheel train structure can travel in the sub-lane perpendicular to the mother lane in the sub-lane wheel ground contact state.

2. The traveling gear train structure according to claim 1, characterized in that: The dual-axis driving member is a dual-axis reducer (212), the travel drive assembly (210) further comprises a travel motor (211), the motor shaft of the travel motor (211) is drivingly connected to the input end of the dual-axis reducer (212), and the dual-axis reducer (212) comprises the first drive shaft and the second drive shaft which are vertically arranged; Alternatively, the dual-axis driving member is a dual-axis motor.

3. The traveling gear train structure according to claim 1, characterized in that: The mother lane transmission assembly (240) comprises a first transmission shaft (241), a first sprocket mechanism (242) and two second sprocket mechanisms (243); the first transmission shaft (241) is extended along the first direction and is rotatably connected to the vehicle frame (110); the first drive shaft is transmission-connected to the first transmission shaft (241) via the first sprocket mechanism (242); the two second sprocket mechanisms (243) are respectively arranged at two ends of the first transmission shaft (241); the first transmission shaft (241) is transmission-connected to the mother lane wheel (220) on the corresponding side via the second sprocket mechanism (243).

4. The traveling gear train structure according to claim 3, characterized in that: The first sprocket mechanism (242) comprises a first sprocket (2421), a first chain (2423) and a second sprocket (2422); the first sprocket (2421) is fixedly sleeved on the first drive shaft, the second sprocket (2422) is fixedly sleeved on the first transmission shaft (241), and the first chain (2423) is sleeved on the first sprocket (2421) and the second sprocket (2422); And / or, the second sprocket mechanism (243) comprises a third sprocket (2431), a second chain (2433) and a fourth sprocket (2432), the third sprocket (2431) is fixedly mounted on the first transmission shaft (241), the fourth sprocket (2432) is fixedly mounted on the axle of the mother lane wheel (220), and the second chain (2433) is mounted on the third sprocket (2431) and the fourth sprocket (2432).

5. The traveling gear train structure according to claim 4, characterized in that: The fourth sprocket (2432) can be raised and lowered synchronously with the mother road wheel (220). During the raising and lowering process of the fourth sprocket (2432), the distance between the center of the fourth sprocket (2432) and the center of the third sprocket (2431) increases or decreases, so that the effective tensioning length of the second chain (2433) between the center of the fourth sprocket (2432) and the center of the third sprocket (2431) increases or decreases synchronously.

6. The traveling gear train structure according to claim 1, characterized in that: The sub-lane transmission assembly (250) comprises a second transmission shaft (251), a third sprocket mechanism (252) and two fourth sprocket mechanisms (253); the second transmission shaft (251) is extended along the second direction and is rotatably connected to the vehicle frame (110); the second drive shaft is transmission-connected to the second transmission shaft (251) via the third sprocket mechanism (252); the two fourth sprocket mechanisms (253) are respectively arranged at two ends of the second transmission shaft (251); the second transmission shaft (251) is transmission-connected to the sub-lane wheel (230) on the corresponding side via the fourth sprocket mechanism (253).

7. The traveling gear train structure according to claim 6, characterized in that: The third sprocket mechanism (252) comprises a fifth sprocket (2521), a third chain (2523) and a sixth sprocket (2522); the fifth sprocket (2521) is fixedly sleeved on the second drive shaft, the sixth sprocket (2522) is fixedly sleeved on the second transmission shaft (251), and the third chain (2523) is sleeved on the fifth sprocket (2521) and the sixth sprocket (2522); And / or, the fourth sprocket mechanism (253) comprises a seventh sprocket (2531), a fourth chain (2533) and an eighth sprocket (2532), the seventh sprocket (2531) being fixedly sleeved on the second transmission shaft (251), the eighth sprocket (2532) being fixedly sleeved on the wheel axle of the sub-lane wheel (230), and the fourth chain (2533) being sleeved on the seventh sprocket (2531) and the eighth sprocket (2532).

8. The traveling gear train structure according to claim 7, characterized in that: The fourth sprocket mechanism (253) further includes a fifth chain (2534); Each group of the sub-lane wheels (230) comprises two small groups of the sub-lane wheels (230) spaced apart in the first direction, wherein one small group of the sub-lane wheels (230) comprises two sub-lane wheels (230), and the eighth sprocket (2532) mounted on the axle of one of the sub-lane wheels (230) of the two sub-lane wheels (230) is used to connect the fourth chain (2533), and the eighth sprocket (2532) mounted on the axles of the two sub-lane wheels (230) is chain-driven through the fifth chain (2534).

9. A four-way shuttle vehicle, characterized in that: It comprises a frame (110) and a running gear train structure according to any one of claims 1 to 8, wherein the running gear train structure is arranged on the frame (110).

10. The four-way shuttle vehicle according to claim 9, characterized in that: The four-way shuttle vehicle also includes: Two lifting frames (320), the two lifting frames (320) are spaced apart in a first direction, each of the lifting frames (320) is extended along a second direction and is liftably arranged on the vehicle frame (110), and the two groups of mother road wheels (220) are rotatably connected to the two lifting frames (320) in a one-to-one correspondence.

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