A four-way walking trolley

Abstract

The present invention discloses a four-way walking trolley, including a supporting frame and a walking drive module, a reversing and lifting module installed on the supporting frame; wherein: the walking drive module includes a transverse walking wheel assembly, a longitudinal walking wheel assembly, a driving motor and a cross reducer connected to the driving motor; the reversing and lifting module includes a reversing motor, a reversing reducer, a reversing shaft, a double-link linkage mechanism, a lifting mechanism and a lifting frame; and the second synchronous belt is always in a tensioned state under the action of the first tensioner, the second tensioner or the third tensioner during the reciprocating movement up and down with the second synchronous passive wheel. The four-way walking trolley of the present invention reduces the weight and volume of the robot, improves the operating capacity and material storage and retrieval efficiency; realizes the four-way driving function, reduces costs, saves space, solves the problem of hydraulic device leakage, and improves the flexibility of the shuttle.

Description

Technical Field

[0001] The invention relates to a storage and handling shuttle vehicle, in particular to a four-way traveling trolley. Background Art

[0002] With the rapid development of the warehousing and logistics industry, higher and higher requirements are placed on the utilization rate of the three-dimensional warehouse space. It is hoped that more shelves can be arranged on the plane of the three-dimensional warehouse and more shelf compartments can be arranged in the height direction to minimize the space occupied by the incoming and unloading channels.

[0003] The existing stereoscopic warehouse structure mostly adopts a mode of one incoming and unloading lane and multiple storage rack lanes connected vertically to it, which requires the shuttle car to be able to move in two mutually perpendicular directions, longitudinally and transversely. In the prior art, stereoscopic warehouses usually use a mother-and-child car system, that is, the mother car carries the child car to walk in the incoming and unloading lanes, and then the child car drives out from a direction perpendicular to the mother car's walking direction, enters the rack lane, and then returns to the mother car along the original route, and is finally taken away by the mother car. The combination of a mother-and-child car and two shuttle cars not only occupies a considerable space, reduces the number of shelves and compartments, and reduces the space utilization rate of the stereoscopic warehouse, but also increases the manufacturing, procurement and maintenance costs.

[0004] Currently, there are very few shuttle vehicles on the market for intensive warehouse management and shelf handling. Some existing products have various problems, such as the shuttle vehicle is too heavy, too large, not flexible enough, poor operating ability, low shelf access efficiency, insufficient load capacity, insufficient stability, hydraulic device leakage, etc. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in view of the above-mentioned defects in the prior art, a four-way walking trolley with small equipment size, high space utilization, flexible use and low production cost is proposed.

[0006] The four-way traveling trolley provided by the present invention uses a set of cross reducers and only requires a set of power device to realize four-way traveling of the trolley; uses a set of jacking mechanism to realize the reversal and jacking of the trolley at the same time, saving a set of power device; four wheels on one side and a reinforced supporting frame improve the carrying capacity of the trolley; and an optimized synchronous wheel structure enables the trolley to use only a set of tensioning wheel structure during the reversal and jacking process, saving space and reducing costs.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] The present invention provides a four-directional walking trolley, comprising a supporting frame and a walking driving module, a reversing and lifting module installed on the supporting frame; wherein:

[0009] The travel drive module includes a transverse travel wheel assembly, a longitudinal travel wheel assembly, a drive motor and a cross reducer connected to the drive motor, wherein the cross reducer is connected to the transverse travel wheel assembly through a first synchronous driving wheel thereon via a first synchronous belt and a first synchronous driven wheel, and the cross reducer is connected to the longitudinal travel wheel assembly through a second synchronous driving wheel thereon via a second synchronous belt and a second synchronous driven wheel; and a first tensioner and a second tensioner are arranged below the second synchronous belt, and a third tensioner is arranged above the second synchronous belt;

[0010] The reversing and lifting module includes a reversing motor, a reversing reducer, a reversing shaft, a double-link linkage mechanism, a lifting mechanism and a lifting frame. The double-link linkage mechanism and the lifting mechanism are driven by the reversing motor to drive the lifting frame, the longitudinal walking wheel assembly and the second synchronous passive wheel to move up and down relative to the supporting frame and the transverse walking wheel assembly; and

[0011] The second synchronous belt is always in a tensioned state due to the action of the first tension wheel, the second tension wheel or the third tension wheel during the process of reciprocating up and down with the second synchronous driven wheel.

[0012] Furthermore, on the four-way walking trolley, the transverse walking wheel assembly includes a first driving wheel and a first driven wheel distributed on the front and rear sides of the supporting frame, and the first driving wheel is connected to the first synchronous driven wheel through a first power distributor via a transverse driving shaft.

[0013] Furthermore, on the four-way walking trolley, the longitudinal walking wheel assembly includes a second driving wheel and a second driven wheel distributed on the left and right sides of the jacking frame, and the second driving wheel is connected to the second synchronous driven wheel through a second power distributor via a longitudinal driving shaft.

[0014] Furthermore, on the four-way walking trolley, the horizontal height of the second synchronous driving wheel is equal to the horizontal height of the middle point of the up and down moving trajectory of the second synchronous driven wheel.

[0015] Furthermore, on the four-way walking trolley, the double-link linkage mechanism includes a connecting rod and a fisheye joint and a triangular block located at both ends of the connecting rod, wherein:

[0016] The two ends of the connecting rod are respectively connected to the fisheye joint in an adjustable threaded manner, and the fisheye joint is hingedly connected to the lower end of the triangular block;

[0017] The triangular block at one end is fixedly sleeved on the eccentric support shaft, and the eccentric support shaft is connected to the reversing shaft to drive the double-link linkage mechanism to swing left and right under the transmission action of the reversing shaft.

[0018] Further preferably, on the four-way walking trolley, there are two connecting rods, both ends of which are respectively hingedly connected to the corresponding bottom angle positions of the two triangular blocks, and one of them is hinged to the same side of the two triangular blocks, and the other is hinged to the opposite side of the two triangular blocks.

[0019] Furthermore, on the four-way walking trolley, the lifting mechanism includes a U-shaped support seat and an eccentric wheel, a lifting bearing and an eccentric block arranged on the U-shaped support seat, wherein:

[0020] The upper ends of the eccentric wheel and the eccentric block are hingedly arranged on the U-shaped support seat through an eccentric support shaft and an eccentric support bearing respectively;

[0021] The lower ends of the eccentric wheel and the eccentric block are respectively hingedly connected to the jacking bearing, and the jacking frame is erected on the jacking bearing; and

[0022] The eccentric wheel is connected to the reversing shaft on its outer side through the eccentric support shaft, so as to drive the lifting bearing and the lifting frame thereon to move up and down under the transmission action of the reversing shaft.

[0023] Furthermore, on the four-way walking trolley, the left and right inner side walls of the support frame are symmetrically provided with a plurality of vertically arranged guide column fixing plates, and the guide column fixing plates are fixedly connected to the correspondingly arranged lifting sliders on the lifting frame.

[0024] Further preferably, on the four-way walking trolley, a lifting slot is provided on the outer side wall of the lifting frame, and the lifting slider can be slidably embedded in the lifting slot.

[0025] Furthermore, on the four-directional walking trolley, a battery pack and a control module electrically connected to the battery pack are also provided on the support frame, and the control module is electrically connected to the driving motor and the reversing motor respectively.

[0026] The present invention adopts the above technical solution, which has the following technical effects compared with the prior art:

[0027] (1) The four-way walking trolley reduces the weight and volume of the robot, improves its operating capacity, and improves the efficiency of cargo storage and retrieval;

[0028] (2) Use one set of cross reducer and only one set of power device to realize the four-way driving function of the trolley, which not only reduces costs but also saves space;

[0029] (3) The transverse and longitudinal wheel assemblies use four wheels on each side, and use a reinforced support frame and jacking frame to improve the load-bearing capacity;

[0030] (4) A set of lifting mechanism is used to realize the trolley reversing and lifting at the same time, saving a set of power device, which not only reduces costs, but also saves space and solves the problem of hydraulic device leakage;

[0031] (5) The double-link linkage mechanism improves the stability and flexibility of the four-way trolley;

[0032] (6) The optimized synchronous wheel structure allows the trolley to use only one set of tension wheel structure during the reversing and lifting process, saving space and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of a four-way traveling trolley of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of a support frame in a four-way traveling trolley of the present invention;

[0035] Figure 3 This is a structural schematic diagram of a travel drive module in a four-directional travel trolley of the present invention;

[0036] Figure 4 This is a structural schematic diagram of a tensioning wheel structure in a four-way traveling trolley of the present invention;

[0037] Figure 5 It is a schematic diagram of the top view of the structure of the reversing and lifting module in a four-directional traveling trolley of the present invention;

[0038] Figure 6 It is a cross-sectional structural schematic diagram of a reversing and lifting module in a four-directional traveling trolley of the present invention;

[0039] Figure 7 This is a schematic structural diagram of a double-link linkage mechanism in a four-way traveling trolley of the present invention;

[0040] Wherein, each figure is marked as:

[0041] 100-support frame, 101-guide column fixing plate; 200-travel drive module, 201-drive motor, 202-cross reducer, 203-cross reducer support seat, 204-first synchronous driving wheel, 205-first synchronous belt, 206-first synchronous passive wheel, 207-second synchronous driving wheel, 208-second synchronous belt, 209-second synchronous passive wheel, 210-first tensioning wheel, 211-second tensioning wheel, 212-third tensioning wheel, 213-transverse drive shaft, 214-transverse coupling, 215-first power distributor, 216-first drive wheel, 217-first driven wheel, 218-longitudinal drive shaft, 219 -longitudinal coupling, 220-second power distributor, 221-second driving wheel, 222-second driven wheel, 300-reversing and lifting module, 301-reversing motor, 302-reversing reducer, 303-reversing reducer support seat, 304-reversing coupling, 305-reversing shaft, 306-double-link linkage mechanism, 307-lifting skeleton, 308-lifting slider, 309-fisheye joint, 310-connecting rod, 311-triangular block, 312-support seat, 313-eccentric wheel, 314-lifting shaft, 315-eccentric block, 316-eccentric support shaft, 317-eccentric support bearing, 400-battery pack, 500-control module. DETAILED DESCRIPTION

[0042] The present invention is described in detail and specifically by specific examples below to provide a better understanding of the present invention, but the following examples do not limit the scope of the present invention.

[0043] Example 1

[0044] See also Figure 1 and Figure 2 As shown, this embodiment provides a four-way walking trolley, which can travel in four directions, longitudinally and transversely. Using one of the four-way walking trolleys to replace the existing mother-and-child trolley combination system improves space utilization and the storage and retrieval efficiency of the shelves; it includes a support frame 100, a travel drive module 200, a reversing and lifting module 300, a battery pack 400, and the battery pack 400 and the shell have been omitted. Among them, the travel drive module 200, the reversing and lifting module 300, the battery pack 400 and the battery pack 400 on the support frame 100 are all installed on the support frame 100. The travel drive module 200, the reversing and lifting module 300 in the four-way walking trolley all adopt a mechanical structure, which solves the leakage problem of the hydraulic device used in the prior art and improves the flexibility of the shuttle.

[0045] In this embodiment, the support frame 100 is made of sheet metal bending and local reinforcement to form a whole, which greatly improves the load-bearing capacity of the whole vehicle. The battery pack 400 uses a lithium-ion rechargeable battery, and the battery pack 400 is electrically connected to the control module 500 as a power source to increase the power of the whole vehicle; and the control module 5 is the brain of the whole vehicle. The control module 500 is electrically connected to the drive motor 201 on the walking drive module 200 and the reversing motor 301 on the reversing and lifting module 300 to control the movement of the whole vehicle.

[0046] See also Figure 3 and Figure 4 As shown, the walking drive module 200 provided in this embodiment includes a transverse walking wheel assembly, a longitudinal walking wheel assembly, a driving motor 201 and a cross reducer 202 connected to the driving motor 201, the cross reducer 202 is connected to the transverse walking wheel assembly through the first synchronous driving wheel 204 thereon via the first synchronous belt 205 and the first synchronous driven wheel 206, the cross reducer 202 is installed on the support frame 100 through the cross reducer support seat 203, and is connected to the longitudinal walking wheel assembly through the second synchronous driving wheel 207 thereon via the second synchronous belt 208 and the second synchronous driven wheel 209; and the first tensioning wheel 210 and the second tensioning wheel 211 are arranged below the second synchronous belt 208, and the third tensioning wheel 212 is arranged above. The four-way traveling trolley uses a set of cross reducers 202 to ensure that the four-way movement of the four-way shuttle in the longitudinal and transverse directions only requires one power, and the trolley can travel in the longitudinal and transverse directions at the same time, which not only reduces costs, but also saves space and greatly reduces the external dimensions of the four-way shuttle.

[0047] See also Figure 4 and Figure 5 As shown, the reversing and lifting module 300 provided in this embodiment includes a reversing motor 301, a reversing reducer 302, a reversing shaft 305, a double-link linkage mechanism 306, a lifting mechanism and a lifting frame 307, and the lifting frame 307 is equipped with a loading platform for loading shelves; the reversing reducer 302 is installed on the support frame 100 through the reducer support seat 303, and the reversing shaft 305 is composed of two parts and is connected by a reversing coupling 304. The double-link linkage mechanism 306 and the lifting mechanism, driven by the reversing motor 301, drive the lifting frame 307, the longitudinal walking wheel assembly and the second synchronous passive wheel 209 to move back and forth up and down relative to the support frame 100 and the transverse walking wheel assembly; the reversing and lifting module 300 uses a set of lifting mechanisms, which simultaneously realizes the reversing and lifting of the trolley, saves a set of power devices, reduces costs, saves space, and solves the problem of leakage of hydraulic devices in the prior art; and the use of the double-link linkage mechanism 306 improves the flexibility of the shuttle car.

[0048] Please continue reading Figure 4 As shown, the second synchronous belt 208 is always in a tensioned state due to the first tensioning wheel 210, the second tensioning wheel 211 or the third tensioning wheel 212 during the reciprocating up and down movement with the second synchronous driven wheel 209. This embodiment optimizes the synchronous wheel structure so that the trolley only uses a set of tensioning wheel structures consisting of the first tensioning wheel 210, the second tensioning wheel 211 and the third tensioning wheel 212 during the reversing and jacking process, thereby saving space and reducing costs.

[0049] Example 2

[0050] Based on the four-way traveling trolley described in the above-mentioned embodiment 1, this embodiment provides a tensioning wheel structure for the four-way traveling trolley. Based on the optimized synchronous wheel structure in embodiment 1, the trolley only uses one set of tensioning wheel structure during the reversing and jacking process, thereby saving space and reducing costs.

[0051] The tensioning wheel structure provided in this embodiment mainly consists of five synchronous wheels, namely a second synchronous driving wheel 207, a second synchronous passive wheel 209, a first tensioning wheel 210, a second tensioning wheel 211, and a third tensioning wheel 212. The second synchronous driving wheel 207 is fixed on the driving motor 201, the second synchronous passive wheel 209 is fixed on the transverse driving shaft 213, the second synchronous driving wheel 207 and the second synchronous passive wheel 209 are connected by a second synchronous belt 208, the first tensioning wheel 210 and the second tensioning wheel 211 are located at specific positions below the second synchronous belt 208, and the third tensioning wheel 212 is located at a specific position above the second synchronous belt 208.

[0052] In this embodiment, the second synchronous driving wheel 207 and the first tensioning wheel 210, the second tensioning wheel 211, and the third tensioning wheel 212 are fixed, and the second synchronous passive wheel 209 moves back and forth in the vertical direction during operation, and needs to stay in the three positions of traveling position, reversing position, and picking position in turn to work, and the horizontal height of the second synchronous driving wheel 207 is equal to the horizontal height of the midpoint of the up and down moving trajectory of the second synchronous passive wheel 209, that is, the second synchronous driving wheel 207 is placed at the midpoint of the up and down moving trajectory of the second synchronous passive wheel 209.

[0053] In this embodiment, the second synchronous driven wheel 209, during its vertical reciprocating movement, stays at the three positions of the traveling position, the reversing position, and the picking-up position, and its working principle is as follows: when the second synchronous driven wheel 209 is at the traveling position, the second synchronous belt 208 wraps a specific length with the first tensioning wheel 210 and the second tensioning wheel 211, and is tangent to the third tensioning wheel 212; when the second synchronous driven wheel 209 moves from the traveling position to the reversing position, the second synchronous belt 208 wraps a specific length with the first tensioning wheel 210, the second tensioning wheel 211, and the third tensioning wheel 212; when the second synchronous driven wheel 209 moves from the reversing position to the picking-up position, the second synchronous belt 208 wraps a specific length with the first tensioning wheel 210 and the third tensioning wheel 212, and is tangent to the second tensioning wheel 211.

[0054] The tension wheel structure provided in this embodiment, through the specific position relationship between the first tension wheel 210, the second tension wheel 211, the third tension wheel 212, the second synchronous driving wheel 207, and the second synchronous driven wheel 209, makes the circumference of the second synchronous belt 208 remain unchanged when the second synchronous driving wheel 207 is fixed and the second synchronous driven wheel 209 moves up and down, thereby completing the synchronous wheel transmission. And vice versa.

[0055] Example 3

[0056] Based on the four-way walking trolley of the above-mentioned embodiment 1, this embodiment provides a transverse walking wheel assembly and a longitudinal walking wheel assembly for the four-way walking trolley. The transverse walking wheel assembly and the longitudinal walking wheel assembly use four wheels on one side, and use a reinforced supporting frame and a lifting frame to improve the load-bearing capacity.

[0057] See also Figure 1 and Figure 3 As shown, the transverse walking wheel assembly includes a first driving wheel 216 and a first driven wheel 217 distributed on the front and rear sides of the supporting frame 100, and the first driving wheel 216 is connected to the first synchronous driven wheel 206 through a first power distributor 215 via a transverse driving shaft 213, and the transverse driving shaft 213 is composed of two parts and is connected through a transverse coupling 214.

[0058] In this embodiment, the first driving wheel 216 and the first driven wheel 217 are distributed on the front and rear sides of the vehicle and fixed on the support frame 100. The driving motor 201 is directly connected to the cross reducer 202 and fixed to the support frame 100 through the driving reducer support seat 203. The four guide column fixing plates 101 are fixed to the inner wall of the support frame 100 and arranged symmetrically on the left and right sides. The two first power distributors 215 are also fixed inside the support frame 100, arranged symmetrically on the front and rear sides, and are respectively connected to the two first driving wheels 206, while the cross reducer 202 is respectively connected to the first synchronous driving wheel 204 and the second synchronous driving wheel 207.

[0059] In this embodiment, the driving motor 201 is running, and after the speed is reduced and the torque is increased by the cross reducer 202, the speed and torque are sequentially transmitted to the transverse driving shaft 213 through the first synchronous driving wheel 204, the first synchronous belt 205, and the first synchronous driven wheel 206, and then combined with the transverse coupling 214 and the first power distributor 215, the speed and torque are respectively transmitted to the front and rear first driving wheels 216, thereby driving the whole vehicle to move left and right. The first driving wheel 216 not only generates power to drive the shuttle to move, but also plays a supporting and guiding role; the first driven wheel 217 mainly plays a supporting and guiding role.

[0060] In this embodiment, the cross reducer 202 has two output ends, that is, there are two power transmission paths, which transmit the speed and torque to the first synchronous driving wheel 204 and the second synchronous driving wheel 207 respectively. One of the power paths transmits the speed and torque to the first driving wheel 216 through the first synchronous driving wheel 204, the first synchronous belt 205, and the first synchronous driven wheel 206; the other power path transmits the speed and torque to the second driving wheel 221 through the second synchronous driving wheel 207, the second synchronous belt 208, and the second synchronous driven wheel 209.

[0061] See also Figure 1 and Figure 5 As shown, the longitudinal walking wheel assembly includes a second driving wheel 221 and a second driven wheel 222 distributed on the left and right sides of the jacking frame 307, and the second driving wheel 221 is connected to the second synchronous driven wheel 209 through a second power distributor 220 via a longitudinal driving shaft 218, and the longitudinal driving shaft 218 consists of two parts and is connected through a longitudinal coupling 219.

[0062] In this embodiment, the second driving wheel 221 and the second driven wheel 222 are distributed on the left and right sides of the vehicle and fixed on the lifting frame 307. The four lifting sliders 308 are respectively connected to the four guide column fixing plates 101 and the two lifting frames 307. The reversing motor 301 is directly connected to the reversing reducer 302 and is fixed to the support frame 100 through the reversing reducer support seat 303. The lifting bearing 314 is clamped on the lifting frame 307, and the lifting bearing 314 moves up and down to drive the lifting frame 307 and the loading platform thereon to move up and down.

[0063] In this embodiment, the reversing motor 301 is running, and after the speed is reduced and the torque is increased by the reversing reducer 302, the speed and torque are transmitted to the double-link linkage mechanism 306 through the reversing coupling 304 and the reversing shaft 305. The double-link linkage mechanism 306 can drive the eccentric wheel 313, the jacking bearing 314, the eccentric block 315, and the eccentric support shaft 316 to rotate around the U-shaped support seat 312 and the eccentric support bearing 317 through the left and right swing of the fisheye joint 309, the connecting rod 310, and the triangular block 311, and the eccentric support bearing 317 supports the rotation of the eccentric support shaft 316.

[0064] In summary, by adopting the above-mentioned transverse running wheel assembly and longitudinal running wheel assembly, the four-way shuttle vehicle has 2 driving wheels and 2 driven wheels in the front, rear, left and right directions, ensuring that there are 4 wheels on one side. Under the condition that the load-bearing capacity of a single wheel remains unchanged, the carrying capacity of the whole vehicle is greatly improved.

[0065] Example 4

[0066] See also Figure 5 , Figure 6 and Figure 7 As shown, this embodiment provides a double-link linkage mechanism 306 for a four-way walking trolley, the double-link linkage mechanism 306 includes a connecting rod 310 and a fisheye joint 309 and a triangular block 311 located at both ends of the connecting rod 310, wherein: the two ends of the connecting rod 310 are respectively connected to the fisheye joint 309 by threaded adjustment, and the fisheye joint 309 is hingedly connected to the lower end of the triangular block 311; the triangular block 311 at one end is fixedly sleeved on an eccentric support shaft 316, and the eccentric support shaft 316 is axially connected to the reversing shaft 305, so as to drive the double-link linkage mechanism 306 to swing left and right under the transmission action of the reversing shaft 305. This embodiment adopts a synchronous transmission structure of a double-link linkage mechanism 306 and a synchronous belt, and combines the lifting power of the shelf with the reversing power of the four-way shuttle vehicle, which not only saves costs, but also reduces space, and greatly reduces the external dimensions of the four-way shuttle vehicle.

[0067] In this example, see Figure 7As shown, there are two connecting rods 310, both ends of which are respectively hinged to the bottom angle positions corresponding to the two triangular blocks 311, and one of them is hinged to the same side of the two triangular blocks 311, and the other is hinged to the opposite side of the two triangular blocks 311. By adopting a set of double-link linkage mechanism 306, the second driving wheel 221 and the second driven wheel 222 can move up and down synchronously, thereby improving the stability and flexibility of the jacking operation of the four-way walking trolley.

[0068] In this example, please continue to refer to Figure 6 and Figure 7 As shown, the lifting mechanism includes a U-shaped support seat 312 and an eccentric wheel 313, a lifting bearing 314 and an eccentric block 315 arranged on the U-shaped support seat 312, wherein: the upper ends of the eccentric wheel 313 and the eccentric block 315 are respectively hingedly arranged on the U-shaped support seat 312 through an eccentric support shaft 316 and an eccentric support bearing 317; the lower ends of the eccentric wheel 313 and the eccentric block 315 are respectively hingedly connected to the lifting bearing 314, and the lifting skeleton 307 is mounted on the lifting bearing 314; and the eccentric wheel 313 is axially connected to the reversing shaft 305 on its outer side through the eccentric support shaft 316, so as to drive the lifting bearing 314 and the lifting skeleton 307 thereon to move up and down under the transmission action of the reversing shaft 305.

[0069] In this example, please continue to refer to Figure 3 and Figure 5 As shown, a plurality of vertically arranged guide column fixing plates 101 are symmetrically arranged on the left and right inner side walls of the support frame 100, and the guide column fixing plates 101 are fixedly connected to the correspondingly arranged lifting sliders 308 on the lifting frame 307. The outer side wall of the lifting frame 307 is provided with a lifting slide groove, and the lifting slider 308 can be slidably embedded in the lifting slide groove.

[0070] In this embodiment, when the reversing motor 301 rotates forward, it drives the double-link linkage mechanism 306 to move, causing the lifting frame 307, the second driving wheel 221, and the second driven wheel 222 to descend along the lifting slider 308, and the second driving wheel 221 and the second driven wheel 222 touch the ground together. At this time, the first driving wheel 216 and the first driven wheel 217 are suspended together. The speed and torque of the driving motor 201 are transmitted to the four second driving wheels 221 through the second synchronous driving wheel 207, the second synchronous belt 208, the second synchronous driven wheel 209, the longitudinal driving shaft 218, the longitudinal coupling 219, and the second power distributor 220, driving the whole vehicle to move forward and backward. The second driving wheel 221 not only generates power to drive the shuttle vehicle to move, but also plays a supporting and guiding role. The second driven wheel 222 mainly plays a supporting and guiding role.

[0071] In this embodiment, when the reversing motor 301 reverses, it drives the double-link linkage mechanism 306 to move, causing the lifting frame 307, the second driving wheel 221, and the second driven wheel 222 to be lifted along the lifting slider 308, and the second driving wheel 221 and the second driven wheel 222 are suspended in the air, and the first driving wheel 216 and the first driven wheel 217 are on the ground together. The speed and torque of the driving motor 201 are sequentially transmitted to the first driving wheel 216 through the first synchronous driving wheel 204, the first synchronous belt 205, and the first synchronous driven wheel 206, driving the whole vehicle to move left and right.

[0072] In this embodiment, the lifting and reversing of the four-way shuttle are realized by a reversing motor 301, and the lifting power and reversing power of the four-way shuttle are combined into one. The driving motor 201 mainly provides power for the four-way movement of the four-way shuttle in the longitudinal and transverse directions, ensuring that only one set of power is required for the movement of the whole vehicle.

[0073] In this embodiment, during the lifting and reversing process of the four-way shuttle, the second synchronous driven wheel 209 rises or falls with the lifting frame 307. By optimizing the synchronous wheel structure, when the lifting frame 307 descends, the second synchronous driven wheel 209 follows the descent, and the second synchronous belt 208 is tightened through the first tensioning wheel 210 and the second tensioning wheel 211, and the speed and torque are reliably transmitted to the second driving wheel 221, so as to realize the forward and backward movement of the whole vehicle. When the lifting frame 307 rises, the second synchronous driven wheel 209 follows the rise, and the second synchronous belt 208 is naturally extended and tightened, without the need to add an additional tensioning wheel.

[0074] The specific embodiments of the present invention are described in detail above, but they are only 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 made to the present invention are also within the scope of the present invention. Therefore, the equalization changes and modifications made without departing from the spirit and scope of the present invention should be included in the scope of the present invention.

Claims

1. A four-way walking trolley, It is characterized in that It comprises a support frame (100), a walking drive module (200) and a reversing and lifting module (300) mounted on the support frame (100); wherein: The travel drive module (200) comprises a transverse travel wheel assembly, a longitudinal travel wheel assembly, a drive motor (201) and a cross reducer (202) connected to the drive motor (201); the cross reducer (202) is connected to the transverse travel wheel assembly through a first synchronous driving wheel (204) thereon via a first synchronous belt (205) and a first synchronous driven wheel (206); the cross reducer (202) is connected to the longitudinal travel wheel assembly through a second synchronous driving wheel (207) thereon via a second synchronous belt (208) and a second synchronous driven wheel (209); and a first tensioner (210) and a second tensioner (211) are provided below the second synchronous belt (208), and a third tensioner (212) is provided above the second synchronous belt (208); The reversing and lifting module (300) comprises a reversing motor (301), a reversing reducer (302), a reversing shaft (305), a double-link linkage mechanism (306), a lifting mechanism and a lifting frame (307); the double-link linkage mechanism (306) and the lifting mechanism, driven by the reversing motor (301), drive the lifting frame (307), the longitudinal walking wheel assembly and the second synchronous passive wheel (209) to move up and down reciprocatingly relative to the support frame (100) and the transverse walking wheel assembly; and The second synchronous belt (208) is always in a tensioned state due to the action of the first tension wheel (210), the second tension wheel (211) or the third tension wheel (212) during the process of reciprocating up and down with the second synchronous driven wheel (209); The horizontal height of the second synchronous driving wheel (207) is equal to the horizontal height of the middle point of the vertical movement trajectory of the second synchronous driven wheel (209); A battery pack (400) and a control module (500) electrically connected to the battery pack (400) are also provided on the support frame (100); the control module (500) is electrically connected to the drive motor (201) and the commutation motor (301), respectively; The double-link linkage mechanism (306) comprises a connecting rod (310) and fisheye joints (309) and triangular blocks (311) located at both ends of the connecting rod (310), wherein: Both ends of the connecting rod (310) are respectively connected to the fisheye joint (309) in an adjustable threaded manner, and the fisheye joint (309) is hingedly connected to the lower end of the triangular block (311); The triangular block (311) at one end is fixedly sleeved on an eccentric support shaft (316), and the eccentric support shaft (316) is axially connected to the reversing shaft (305) so as to drive the double-link linkage mechanism (306) to swing left and right under the transmission action of the reversing shaft (305); The lifting mechanism comprises a U-shaped support seat (312), an eccentric wheel (313), a lifting bearing (314) and an eccentric block (315) arranged on the U-shaped support seat (312), wherein: The upper ends of the eccentric wheel (313) and the eccentric block (315) are respectively hingedly arranged on the U-shaped support seat (312) via an eccentric support shaft (316) and an eccentric support bearing (317); The lower ends of the eccentric wheel (313) and the eccentric block (315) are respectively hingedly connected to the jacking bearing (314), and the jacking frame (307) is mounted on the jacking bearing (314); and The eccentric wheel (313) is connected to the reversing shaft (305) on its outer side via the eccentric support shaft (316) so as to drive the lifting bearing (314) and the lifting frame (307) thereon to move up and down under the transmission action of the reversing shaft (305).

2. The four-way walking trolley according to claim 1, It is characterized in that The transverse walking wheel assembly comprises a first driving wheel (216) and a first driven wheel (217) distributed on the front and rear sides of the support frame (100); the first driving wheel (216) is connected to the first synchronous driven wheel (206) via a first power distributor (215) and a transverse driving shaft (213).

3. The four-way walking trolley according to claim 1, It is characterized in that The longitudinal walking wheel assembly comprises a second driving wheel (221) and a second driven wheel (222) distributed on the left and right sides of the jacking frame (307); the second driving wheel (221) is connected to the second synchronous driven wheel (209) via a second power distributor (220) and a longitudinal driving shaft (218).

4. The four-way walking trolley according to claim 1, It is characterized in that There are two connecting rods (310), both ends of which are respectively hingedly connected to the corresponding bottom angle positions of the two triangular blocks (311), and one of them is hingedly connected to the same side of the two triangular blocks (311), and the other is hingedly connected to the opposite side of the two triangular blocks (311).

5. The four-way traveling trolley according to claim 1, It is characterized in that A plurality of vertically arranged guide column fixing plates (101) are symmetrically provided on the left and right inner side walls of the support frame (100), and the guide column fixing plates (101) are fixedly connected to correspondingly arranged lifting slide blocks (308) on the lifting frame (307).

6. The four-way traveling vehicle according to claim 5, It is characterized in that The outer side wall of the lifting frame (307) is provided with a lifting groove, and the lifting slider (308) can be slidably embedded in the lifting groove.

Images