A lifting type reversing position intelligent adjustment rail transport vehicle

Abstract

The present invention discloses a lifting type reversing position intelligent adjustment rail transport vehicle, comprising: a first frame module, with first running wheels arranged along a first direction on both sides of the bottom; the first running wheels on both sides are connected by a first cross bar; a second frame module, with second running wheels arranged along a second direction on both sides of the bottom; the second running wheels on both sides are connected by a second cross bar; a lifting mechanism for driving the first frame module to move up and down relative to the second frame module; a running motor for driving the first running wheel and the second running wheel to operate; the running motor is connected to the first cross bar and the second cross bar respectively through a chain transmission mechanism; a chain adaptive adjustment mechanism for adaptively adjusting the tension of the chain of the chain transmission mechanism so that the chain is always in a tensioned state. The running wheel driving force transmission of the lifting type reversing position intelligent adjustment rail transport vehicle provided by the present invention is stable, reliable in performance, large in load, low in cost, and long in service life.

Description

Technical Field

[0001] The invention belongs to the technical field of rail transport vehicles, and in particular relates to a lifting and reversing position intelligently adjustable rail transport vehicle. Background Art

[0002] Shelf automated three-dimensional warehouse, referred to as "three-dimensional warehouse". Generally refers to a warehouse that uses several, dozens or even dozens of layers of shelves to store unit goods, and uses corresponding material handling equipment to carry out goods warehousing and outbound operations. Because this type of warehouse can make full use of space to store goods, it is often figuratively called a "three-dimensional warehouse".

[0003] At present, the material handling equipment commonly used in smart factories is rail transport vehicles and their supporting equipment. Rail transport vehicles can achieve automated handling, which can greatly reduce labor costs and operating costs and increase warehouse storage space.

[0004] The existing rail transport vehicle has traveling wheels on all four sides of its bottom, the front and rear sides are traveling wheels for one direction (such as the Y direction), and the left and right sides are traveling wheels for another direction (such as the X direction). The traveling wheels on both sides in the same direction are connected by a cross bar, and a gear is arranged on the cross bar. The gear is connected to the gear on the motor output shaft through a chain, so that the traveling wheels on both sides in the same direction are driven by one motor to run together.

[0005] However, the inventors of this application found that the above technology has at least the following technical problems in the process of implementing the technical solution of the invention in the embodiment of this application:

[0006] 1. During the operation of the rail transport vehicle, especially during the reversing process in the X and Y directions, the chain between the gear on the crossbar and the gear on the motor output shaft will change in tightness, which will cause the chain to become disjointed, affecting the transmission of the driving force of the walking wheel and causing the rail transport vehicle to run unstably.

[0007] 2. The cross bar is relatively long. When the rail transport vehicle is loaded with cargo, the forces on both ends of the cross bar are relatively large, which will cause the cross bar to bend and deform, affecting the stability of the synchronous movement of the running wheels on both sides. Summary of the invention

[0008] The embodiment of the present application solves the technical problem in the prior art that the chain between the cross bar and the motor is disconnected or the cross bar is bent and deformed, resulting in unstable operation of the rail transport vehicle, by providing a lifting and reversing position intelligent adjustment rail transport vehicle. The chain tightness is automatically adjusted through an original chain adaptive adjustment mechanism, so that the chain is always in a tensioned state, thereby ensuring the stable transmission of the driving force of the running wheels; at the same time, the chain adaptive adjustment mechanism can also provide lateral support to the middle part of the cross bar, thereby alleviating the bending deformation of the cross bar and improving the stability of the synchronous movement of the running wheels on both sides of the rail transport vehicle.

[0009] The embodiment of the present application provides a lifting type reversing position intelligent adjustment rail transport vehicle, comprising:

[0010] A first frame module, wherein first running wheels arranged along a first direction are provided on both sides of the bottom of the first frame module; the first running wheels on both sides are connected by a first cross bar;

[0011] A second frame module, wherein the second frame module has second running wheels arranged along a second direction on both sides of the bottom thereof; the second running wheels on both sides are connected by a second cross bar;

[0012] A lifting mechanism for driving the first frame module to move up and down relative to the second frame module;

[0013] A travel motor for driving the first travel wheel and the second travel wheel to operate; the travel motor is connected to the first cross bar and the second cross bar respectively through a chain transmission mechanism;

[0014] A chain adaptive adjustment mechanism is used for adaptively adjusting the tension of the chain of the chain transmission mechanism so that the chain is always in a tensioned state.

[0015] Preferably, the chain adaptive adjustment mechanism includes a support, a slider is slidably arranged on the support, one end of the connecting plate is fixed to the slider, and the other end of the connecting plate is coaxially arranged on the outside of the first cross bar; the central rotating shaft of the first turntable is arranged on the connecting plate, and the second turntable is eccentrically fixed on the first turntable; the chain of the chain transmission mechanism is connected to the second turntable.

[0016] Furthermore, in the initial state, the first turntable can rotate relative to the connecting plate; the positions of the first turntable and the second turntable are rotated so that the chain is just in a tensioned state. At this time, the first turntable and the connecting plate are fixed and locked so that the first turntable can no longer rotate relative to the connecting plate.

[0017] Furthermore, in the working state, when the lifting mechanism drives the first frame module to move up and down relative to the second frame module, the first cross bar moves up and down driven by the lifting mechanism, and the connecting plate, the slider, the first turntable, and the second turntable are fixed as a whole and slide up and down synchronously along the support, so that the chain is always in a tensioned state.

[0018] Preferably, the second frame module also includes a bottom plate, the first side plate, the second side plate and the reinforced side plate are all connected to the bottom plate, the first side plate is arranged along the second direction, the second side plate and the reinforced side plate are arranged along the first direction, and the reinforced side plate and the top of the second side plate are connected by an upper sealing plate.

[0019] Furthermore, the bottom plate is formed by splicing at least three plate bodies, both ends of each plate body are connected to the first side plate, and the thickness of the middle plate body is smaller than the plate bodies on both sides.

[0020] Preferably, the lifting mechanism comprises a main eccentric disk and a first cam follower connected to the main eccentric disk, the first frame module further comprises a lifting beam, the lifting beam is provided with a first waist-shaped hole, a linear guide is provided on the side of the lifting beam, a slider is provided on the linear guide, and the slider is fixed to the second side plate;

[0021] The first cam follower is inserted into the first waist-shaped hole, and the main eccentric disk rotates to drive the lifting beam to move up and down through the first cam follower; the first walking wheel moves up and down following the lifting beam.

[0022] More preferably, the lifting mechanism also includes a secondary eccentric plate and a second cam follower connected to the secondary eccentric plate, and a second waist-shaped hole is also provided on the lifting beam, and the second cam follower is passed through the second waist-shaped hole; the main eccentric plate and the secondary eccentric plate are connected by a silent chain transmission.

[0023] Further, the length of the first waist-shaped hole is half of the circumference of the first cam follower, and the length of the second waist-shaped hole is half of the circumference of the second cam follower.

[0024] Preferably, the lifting type reversing position intelligent adjustment rail transport vehicle further includes a cargo platform, which is arranged above the lifting beam, and when the lifting beam moves upward to a set height, the lifting beam lifts the cargo platform upward;

[0025] The middle part of the cargo platform is in a concave structure.

[0026] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0027] 1. The chain tightness is automatically adjusted through the original chain adaptive adjustment mechanism, so that the chain is always in a tensioned state, which solves the technical problem of unstable operation of the rail transport vehicle caused by the chain between the cross bar and the motor in the prior art, and ensures the stable transmission of the driving force of the walking wheel.

[0028] 2. The chain adaptive adjustment mechanism can also provide lateral support for the middle of the crossbar, solving the problem in the prior art that only the two ends of the crossbar are subjected to force and are prone to bending and deformation, and can improve the stability of the synchronous movement of the walking wheels on both sides of the rail transport vehicle.

[0029] 3. The lifting mechanism provides positioning and support for the lifting beam through linear guides. Compared with the traditional bearing structure, the linear guide has a strong ability to withstand front and rear forces and lateral forces, and can be installed in the middle section of the lifting beam. In this way, the position of the crossbar can be expanded to both sides, so that the internal space of the rail transport vehicle is increased, which is convenient for arranging coils, motors and other equipment. On the other hand, the linear guide is installed on the side of the lifting beam, and there is no requirement for the width of the lifting beam. Therefore, the width of the lifting beam can be reduced, the processing fee is reduced, and the processing difficulty is reduced.

[0030] 4. The lifting mechanism sets the waist hole length to half the circumference of the cam follower, and the rotation angle of the cam follower is 180°, which solves the problem of the cam follower rotating 360° with two upper and lower gap switches and large errors in the prior art. Setting the rotation angle of the cam follower to 180° can reduce the error.

[0031] 5. The bottom plate of the lifting and reversing intelligent adjustment rail transport vehicle is composed of three plates, which is easy to process. At the same time, when the plates on both sides are subjected to force, the impact on the middle plate is small, and the middle plate is not easy to deform, which ensures the reliable operation of the electrical components on it. In addition, the middle plate can be made relatively thin, which has the effect of reducing weight and also reduces processing and material costs.

[0032] 6. The frame module of the lifting and reversing intelligent adjustment rail transport vehicle adopts a riveted structure. Using a riveted structure instead of a traditional welding structure can improve the assembly accuracy of the vehicle body and reduce the difficulty of processing the vehicle body.

[0033] 7. Reinforced side panels are arranged on the outside of the frame module to improve the strength of the lifting and reversing position intelligent adjustment rail transport vehicle and increase the load capacity of the lifting and reversing position intelligent adjustment rail transport vehicle.

[0034] 8. The lifting reversing intelligent adjustment rail transporter adopts silent chain transmission, which solves the problem of belt transmission in the existing technology. When the transporter is used in cold storage and other environments, the belt is prone to aging, which makes the transmission effect worse. The silent chain transmission has high precision, strong bearing capacity, can adapt to more harsh environments, high stability and long service life.

[0035] 9. The middle part of the cargo platform of the lifting and reversing position intelligent adjustment rail transporter is set as a concave structure, which solves the technical problem in the prior art that the pallet must be replaced immediately after the middle part of the pallet becomes concave over time. The pallet can still be stably supported after the middle part of the pallet is concave, thereby extending the service life of the pallet and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 An axonometric diagram of an angle of a lifting and reversing intelligently adjusting rail transport vehicle in an embodiment of the present application;

[0037] Figure 2 It is an axonometric view of another angle of the lifting and reversing position intelligent adjustment rail transport vehicle in the embodiment of the present application;

[0038] Figure 3 A schematic diagram of an angle of the chain adaptive adjustment mechanism in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the chain adaptive adjustment mechanism from another angle in an embodiment of the present application;

[0040] Figure 5 This is a schematic structural diagram of the first rotating disk of the chain adaptive adjustment mechanism in the embodiment of the present application;

[0041] Figure 6 This is a schematic diagram of the riveting structure of the frame module of the lifting and reversing position intelligent adjustment rail transport vehicle in the embodiment of the present application;

[0042] Figure 7 This is a schematic diagram of the bottom plate structure of the lifting and reversing position intelligent adjustment rail transport vehicle frame module in the embodiment of the present application;

[0043] Figure 8 This is a structural schematic diagram of the first frame module in the embodiment of the present application when it is in a low position;

[0044] Fig. 9 This is a structural schematic diagram of the first frame module in the embodiment of the present application when it is in a high position;

[0045] Fig.10 It is a schematic diagram of the structure of the jacking beam in the embodiment of the present application;

[0046] Fig.11 Schematic diagram of the structure of the linear guide rail in the embodiment of the present application;

[0047] Fig.12 This is a schematic diagram of the structure of the lifting and reversing position intelligent adjustment rail transport vehicle cargo platform in the embodiment of the present application;

[0048] Fig.13 This is a schematic diagram of the lowest cargo position of the lifting reversing position intelligently adjusting the rail transport vehicle in the embodiment of the present application;

[0049] Fig.14 This is a schematic diagram of the cargo reversing position of the lifting reversing position intelligently adjusting the rail transport vehicle in the embodiment of the present application;

[0050] Fig.15 This is a schematic diagram of the highest cargo position of the lifting and reversing position intelligently adjusting the rail transport vehicle in the embodiment of the present application. DETAILED DESCRIPTION

[0051] The embodiment of the present application solves the technical problem in the prior art that the rail transport vehicle is unstable due to the chain disconnection between the cross bar and the motor or the bending and deformation of the cross bar, by providing a lifting and reversing position intelligently adjustable rail transport vehicle.

[0052] The technical solution in the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0053] A chain self-adaptive adjustment mechanism is designed, which can automatically adjust the tightness of the chain so that the chain is always in a tensioned state, ensuring the stable transmission of the driving force of the traveling wheels of the rail transport vehicle.

[0054] At the same time, the chain adaptive adjustment mechanism can also provide lateral support to the middle of the crossbar, alleviating the bending deformation of the crossbar, thereby improving the stability of the synchronous movement of the walking wheels on both sides of the rail transport vehicle.

[0055] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0056] Figure 1 and Figure 2 This is a structural schematic diagram of a lifting and reversing position intelligently adjustable rail transport vehicle provided in an embodiment of the present application, wherein the lifting and reversing position intelligently adjustable rail transport vehicle comprises a first frame module 1, a second frame module 2, and a lifting mechanism 3. The first frame module 1 comprises a first running wheel 101 arranged along a first direction (Y-axis direction). The second frame module 2 comprises a second running wheel 201 arranged along a second direction (X-axis direction). The lifting mechanism 3 drives the first frame module 1 to move up and down (Z-axis direction) relative to the second frame module 2.

[0057] When the lifting mechanism 3 drives the first frame module 1 to move upward to the first height, the lowest point of the first running wheel 101 is higher than the lowest point of the second running wheel 201. At this time, the second running wheel 201 is on the ground while the first running wheel 101 is suspended. At this time, the lifting reversing position intelligent adjustment rail transport vehicle can be realized to travel in the second direction.

[0058] When the lifting mechanism 3 drives the first frame module 1 to move downward to the second height, the lowest point of the second running wheel 201 is higher than the lowest point of the first running wheel 101. At this time, the first running wheel 101 is on the ground and the second running wheel 201 is suspended, so that the lifting reversing position intelligent adjustment rail transport vehicle can move in the first direction.

[0059] In this embodiment, the first direction is perpendicular to the second direction. In other optional implementations, the first direction is not perpendicular to the second direction.

[0060] The lifting and reversing position intelligent adjustment rail transport vehicle of this embodiment conveniently realizes the steering and walking of the rail transport vehicle in different directions.

[0061] For ease of explanation, the positive direction of the X-axis is the right, the positive direction of the Y-axis is the back, and the positive direction of the Z-axis is the top. The number of first running wheels 101 is several, and the several first running wheels 101 are respectively arranged on the left and right sides of the first frame module 1. The first running wheels 101 on the left and right sides are connected by a first cross bar 108. The number of second running wheels 201 is several, and the several second running wheels 201 are respectively arranged on the front and rear sides of the second frame module 2. The second running wheels 201 on the front and rear sides are connected by a second cross bar 202.

[0062] The travel motor 4 is provided with output shafts in two directions, X and Y. The output shaft in the X direction is connected to the first crossbar 108 through gears and chains, and the output shaft in the Y direction is connected to the second crossbar 202 through gears and chains. When the output shaft in one direction of the travel motor 4 is started, the crossbar in the corresponding direction is driven to rotate, thereby driving the travel wheel in that direction to rotate, and the travel wheel in the other direction is suspended. In this embodiment, the travel drive in two directions is realized by one travel motor, which greatly saves space and reduces costs.

[0063] In addition, a chain adaptive adjustment mechanism 7 is provided between the X-direction output shaft of the travel motor and the corresponding first crossbar 108. During the operation of the lifting reversing position intelligent adjustment rail transporter, especially during the reversing position in the X and Y directions, the first crossbar 108 will be lifted up and down driven by the lifting mechanism 3, and the distance between the gear on the first crossbar 108 and the gear on the X-direction output shaft of the travel motor will change automatically. The chain adaptive adjustment mechanism 7 can adaptively adjust the tension of the chain, so that the chain is always in a tensioned state, avoiding the phenomenon of chain disengagement, and realizing the stable transmission of the driving force of the travel wheel.

[0064] Figure 3 and Figure 4 Schematic diagram of the structure of the chain self-adjusting mechanism in the embodiment of the present application, the chain self-adjusting mechanism 7 comprises a support 701, a column 706 arranged along the Z direction is fixed on the support 701, a slider 702 is installed on the column 706, and the slider 702 can slide up and down along the column 706. The slider 702 is fixed to one end of the connecting plate 703, and the other end of the connecting plate 703 is punched with a hole for the cross bar ( Figure 3 and Figure 4 The connecting plate 703 has an axial hole 7031 along the thickness direction (Y direction). The central rotating shaft of the first rotating disk 704 is installed in the axial hole 7031 on the connecting plate 703, and the second rotating disk 705 is fixed on the eccentric shaft on the first rotating disk 704.

[0065] Combination Figure 5 The first turntable 704 includes a disk body 7041, a central rotating shaft 7042 is provided at the center of one side of the disk body 7041, and an eccentric shaft 7044 is provided at the other side of the disk body 7041. The eccentric shaft 7044 is eccentrically arranged relative to the disk body 7041, that is, the eccentric shaft 7044 is not arranged at the center of the disk body 7041.

[0066] A through hole 7043 is provided at the center of the disk body 7041 and the center shaft 7042. A positioning cover 7045 is provided at the end of the eccentric shaft 7044. A threaded hole 7032 extending to the center shaft 7042 is provided at the top of the connecting plate 703 along the longitudinal direction (Z direction).

[0067] The center of the second rotating disk 705 is mounted on the eccentric shaft 7044 and is positioned and fixed by the positioning cover 7045 at the outer end of the eccentric shaft 7044. The second rotating disk 705 and the first rotating disk 704 can rotate together around the shaft hole 7031 on the connecting plate 703, and the second rotating disk 705 will not rotate relative to the first rotating disk 704.

[0068] The gear 103 on the first crossbar 108, the X-axis gear 401 on the X-direction output shaft of the travel motor 4, and the second turntable 705 are connected by a chain. The first turntable 704 and the second turntable 705 are rotated to make the chain just tight. Then two bolts are inserted into the cavity 7043 and the threaded hole 7032 respectively to fix the first turntable 704 and the connecting plate 703.

[0069] As an optional implementation, the first rotating disk 704 and the second rotating disk 705 are made of nylon material, which is elastic, has little wear, high adjustment accuracy and good effect.

[0070] When the lifting and reversing position intelligent adjustment rail transport vehicle is working, especially during the reversing process, the first cross bar 108 will rise and fall driven by the lifting mechanism 3. At this time, the connecting plate 703 and the slider 702 will also slide up and down along the column 706. Therefore, the gear 103 on the first cross bar 108, the X-axis gear 401 on the X-direction output shaft of the travel motor 4, and the chain on the second turntable 705 are always in a tensioned state, and the chain will not be dislocated, thereby realizing the stable transmission of the travel wheel driving force.

[0071] On the other hand, the first cross bar 108 is relatively long. When the rail transport vehicle is loaded with cargo, the two ends of the first cross bar 108 are subjected to greater force. The chain adaptive adjustment mechanism 7 can also provide lateral support to the middle part of the first cross bar 108 to alleviate the bending deformation of the first cross bar 108, thereby improving the stability of the synchronous movement of the running wheels on both sides of the rail transport vehicle.

[0072] Combination Figure 6In this embodiment, the second frame module 2 also includes a first side plate 203, a bottom plate 204, a second side plate 205, a reinforced side plate 206 and an upper sealing plate 207. The first side plate 203, the second side plate 205 and the reinforced side plate 206 are all connected to the bottom plate 204. The first side plate 203 is arranged along the X direction, the second side plate 205 and the reinforced side plate 206 are arranged along the Y direction, the reinforced side plate 206 is arranged on the outer side of the second side plate 205, the reinforced side plate 206 and the top of the second side plate 205 are connected by the upper sealing plate 207, and the upper sealing plate 207 is provided with a groove for the lifting beam 102 to pass through when it is raised or lowered.

[0073] The arrangement of the reinforced side panels 206 can increase the load capacity of the lifting and reversing position intelligently adjustable rail transport vehicle.

[0074] As a preferred embodiment, the first side plate 203, the second side plate 205, the reinforced side plate 20, and the upper sealing plate 207 are all made of 45# steel. The thickness of the first side plate 203, the second side plate 205, and the reinforced side plate 20 is 12-16 mm, and the thickness of the upper sealing plate 207 is 2 mm.

[0075] As a preferred embodiment, the frame module of the lifting and reversing intelligent adjustment rail transport vehicle adopts a riveted structure. Using a riveted structure instead of a traditional welding structure can improve the assembly accuracy of the vehicle body and reduce the difficulty of processing the vehicle body.

[0076] Combination Figure 7 As a preferred embodiment, the bottom plate 204 is composed of three plates 2041, 2042, and 2043. The two ends of each plate are riveted to the first side plate and are fixed by triangular pieces. Since the two sides of the bottom plate are subjected to large forces when the rail transport vehicle is loaded, the plates 2041 and 2043 on the sides are relatively thick and have strong force bearing capacity; the middle plate 2042 is relatively thin and has a weight reduction effect. In an optional embodiment, the thickness of the middle plate 2042 is two-thirds of the thickness of the plates 2041 and 2043 on the sides.

[0077] In traditional technology, the bottom plate is a large integral plate. The processing of large plates is difficult, has inherent deformation, and requires high processing equipment. At the same time, when the rail transport vehicle is loaded with goods, the large plate is prone to concave deformation in the middle after being stressed, which may cause short circuits and other faults in the electrical components placed on the bottom plate.

[0078] In this embodiment, the bottom plate 204 is composed of three plates 2041, 2042, and 2043. When the plates 2041 and 2043 on both sides are subjected to force, the influence on the middle plate 2042 is small, and the middle plate is not easy to deform, thereby ensuring the reliable operation of the electrical components thereon. At the same time, the middle plate can be made relatively thin, which has the effect of reducing weight and also reduces processing and material costs.

[0079] Combination Figure 8 to Figure 11 In this embodiment, the lifting mechanism 3 includes a main eccentric disk 301 and a first cam follower 302 connected to the main eccentric disk 301. The first frame module 1 also includes a lifting beam 102. The lifting beam 102 is provided with a first waist-shaped hole 103. A linear guide 106 is provided on the side of the lifting beam 102. The linear guide 106 is fixed to the side of the lifting beam 102 through a mounting plate 105. A slider 107 is provided on the linear guide 106. The slider 107 is fixed to the second side plate 205. The first cam follower 302 is inserted into the first waist-shaped hole 103. The main eccentric disk 301 rotates to drive the lifting beam 102 to move up and down through the first cam follower 302; the first running wheel 101 moves up and down following the lifting beam 102. Based on the eccentric disk structure, the lifting beam 102 is driven to move up and down to achieve the change of the height of the first running wheel 101. The structure is reasonable and easy to implement.

[0080] When the lifting beam 102 moves up and down, the linear guide rail 106 and the slider 107 move up and down relatively to provide positioning and support for the lifting beam 102. There are two linear guide rails 106. In this embodiment, the two linear guide rails 106 are respectively arranged at three equal parts of the lifting beam 102.

[0081] Most of the transport vehicles in the prior art use a positioning support structure in which the bearing passes through the lifting beam. Since the bearing has poor ability to withstand lateral forces, the bearing is generally installed near the two ends of the lifting beam, because the two ends only need to withstand the front and rear forces. And due to the width specification of the bearing itself, the width of the lifting beam must match the width specification of the bearing.

[0082] Compared with bearings, linear guides have a stronger ability to withstand front and rear forces and lateral forces, so linear guides can be installed in the middle section of the top beam. In this way, the position of the crossbar can be expanded to both sides, so that the internal space of the rail transport vehicle is increased, which is convenient for arranging coils, motors and other equipment. On the other hand, the linear guide is installed on the side of the top beam, and there is no requirement for the width of the top beam. Therefore, the width of the top beam can be reduced, the processing fee is reduced, and the processing difficulty is reduced.

[0083] As an optional embodiment, the lifting mechanism 3 also includes a lifting motor 304, a gear box 305 and a first drive shaft 306 connected to the main eccentric disk 301, the gear box 305 is fixed on the base plate 204, the first drive shaft 306 is passed through the gear box 305, the lifting motor 304 drives the gears in the gear box 305 to rotate to drive the first drive shaft 306 to rotate, and the first drive shaft 306 drives the main eccentric disk 301 to rotate.

[0084] As an optional embodiment, the lifting mechanism 3 further includes a silent chain (not shown in the figure), a secondary eccentric disk 307 and a second cam follower 308 connected to the secondary eccentric disk 307. The lifting beam 102 is also provided with a second waist-shaped hole 104, and the second cam follower 308 is penetrated in the second waist-shaped hole 104. The main eccentric disk 301 and the secondary eccentric disk 308 are connected by a silent chain transmission.

[0085] Two eccentric plates and corresponding cam followers are arranged on the left and right sides of the lifting reversing intelligent adjustment rail transport vehicle, so that the lifting beam 102 can be balanced in force, ensuring the smoothness of the up and down movement of the lifting beam 102 and keeping it level. The main eccentric plate 301 and the auxiliary eccentric plate 308 can be kept in rotation synchronization through the silent chain transmission connection.

[0086] On the other hand, the existing transport vehicles often use belt transmission. When the transport vehicles are used in cold storage environments, the belts are prone to aging, which makes the transmission effect worse. In this solution, a silent chain transmission is used, which has high precision, strong bearing capacity, can adapt to more harsh environments, has high stability and long service life.

[0087] As a preferred embodiment, the length of the first waist-shaped hole 103 is half of the circumference of the first cam follower 302, and the length of the second waist-shaped hole 104 is half of the circumference of the second cam follower 308. In this way, the rotation angle of the first cam follower 302 and the second cam follower 308 is 180°.

[0088] The prior art transport vehicle often uses a cam follower that rotates 360°. Since there is a gap between the cam follower and the waist-shaped hole, the upper and lower gaps switch every 180° rotation of the cam follower. When the cam follower rotates 360°, there are two upper and lower gap switches, which results in a large error. In this embodiment, the rotation angle of the cam follower 308 is set to 180°, which can reduce the error.

[0089] As an optional implementation, refer to Figure 2 The lifting and reversing position intelligently adjustable rail transport vehicle further comprises an outer shell plate 6, which is arranged on the outer side of the first side plate 203 and the reinforcing side plate 206 of the second frame module.

[0090] In an optional embodiment, the modular lifting rail transport vehicle further includes a cargo platform 5, which is arranged above the lifting beam 102. When the lifting beam 102 moves upward to a third height, the lifting beam 102 lifts the cargo platform 5 upward, and the third height is higher than the first height.

[0091] Combination Fig.12As a preferred embodiment, the middle part 501 of the cargo platform 5 is concave relative to the two ends 502. When the modular lifting rail transporter is working, a pallet is set on the cargo platform 5, and the pallet is loaded with goods. The pallet will have a concave structure in the middle after a long time. The middle part of the cargo platform 5 is set as a concave structure, so that the pallet can still be stably supported after the middle part of the pallet is concave, thereby extending the service life of the pallet and saving costs.

[0092] When the lifting and reversing intelligent adjustment rail transport vehicle of this embodiment is used, the cargo platform 5 is loaded with cargo, referring to Fig.13 When the cam follower is at the first position (one side edge) in the waist-shaped hole, the lowest point of the second running wheel 201 is higher than the lowest point of the first running wheel 101. At this time, the first running wheel 101 is on the ground and the second running wheel 201 is suspended in the air, so that the lifting rail transport vehicle can move in the first direction. For example, the lifting reversing position intelligently adjusts the rail transport vehicle to move in the direction of the aisle in the warehouse.

[0093] Reference Fig.14 , when the cam follower continues to move in the waist-shaped hole, the lifting mechanism 3 drives the first frame module 1 to continue to move upward until the lowest point of the first running wheel 101 is higher than the lowest point of the second running wheel 201. At this time, the second running wheel 201 is on the ground and the first running wheel 101 is suspended. At this time, the lifting reversing position intelligent adjustment rail transport vehicle can be realized to move in the second direction. For example, the lifting reversing position intelligent adjustment rail transport vehicle moves in a direction perpendicular to the direction of the aisle in the warehouse to the shelf.

[0094] Reference Fig.15 When the lifting reversing position intelligent adjustment rail transport vehicle moves to the target shelf and is under the target goods, the cam follower continues to move in the waist-shaped hole, and the lifting beam 102 continues to move upward, lifting the cargo platform 5 upward to lift the goods, and then transports the target goods to the target position according to the preset route.

[0095] Compared with the prior art, the lifting and reversing position intelligent adjustment rail transport vehicle provided in this embodiment has at least the following beneficial effects:

[0096] 1. The chain tightness is automatically adjusted through the original chain adaptive adjustment mechanism, so that the chain is always in a tensioned state, which solves the technical problem of unstable operation of the rail transport vehicle caused by the chain between the cross bar and the motor in the prior art, and ensures the stable transmission of the driving force of the walking wheel.

[0097] 2. The chain adaptive adjustment mechanism can also provide lateral support for the middle of the crossbar, solving the problem in the prior art that only the two ends of the crossbar are subjected to force and are prone to bending and deformation, and can improve the stability of the synchronous movement of the walking wheels on both sides of the rail transport vehicle.

[0098] 3. The lifting mechanism provides positioning and support for the lifting beam through linear guides. Compared with the traditional bearing structure, the linear guide has a strong ability to withstand front and rear forces and lateral forces, and can be installed in the middle section of the lifting beam. In this way, the position of the crossbar can be expanded to both sides, so that the internal space of the rail transport vehicle is increased, which is convenient for arranging coils, motors and other equipment. On the other hand, the linear guide is installed on the side of the lifting beam, and there is no requirement for the width of the lifting beam. Therefore, the width of the lifting beam can be reduced, the processing fee is reduced, and the processing difficulty is reduced.

[0099] 4. The lifting mechanism sets the waist hole length to half the circumference of the cam follower, and the rotation angle of the cam follower is 180°, which solves the problem of the cam follower rotating 360° with two upper and lower gap switches and large errors in the prior art. Setting the rotation angle of the cam follower to 180° can reduce the error.

[0100] 5. The bottom plate of the lifting and reversing intelligent adjustment rail transport vehicle is composed of three plates, which is easy to process. At the same time, when the plates on both sides are subjected to force, the impact on the middle plate is small, and the middle plate is not easy to deform, which ensures the reliable operation of the electrical components on it. In addition, the middle plate can be made relatively thin, which has the effect of reducing weight and also reduces processing and material costs.

[0101] 6. The frame module of the lifting and reversing intelligent adjustment rail transport vehicle adopts a riveted structure. Using a riveted structure instead of a traditional welding structure can improve the assembly accuracy of the vehicle body and reduce the difficulty of processing the vehicle body.

[0102] 7. Reinforced side panels are arranged on the outside of the frame module to improve the strength of the lifting and reversing position intelligent adjustment rail transport vehicle and increase the load capacity of the lifting and reversing position intelligent adjustment rail transport vehicle.

[0103] 8. The lifting reversing intelligent adjustment rail transporter adopts silent chain transmission, which solves the problem of belt transmission in the existing technology. When the transporter is used in cold storage and other environments, the belt is prone to aging, which makes the transmission effect worse. The silent chain transmission has high precision, strong bearing capacity, can adapt to more harsh environments, high stability and long service life.

[0104] 9. The middle part of the cargo platform of the lifting and reversing position intelligent adjustment rail transporter is set as a concave structure, which solves the technical problem in the prior art that the pallet must be replaced immediately after the middle part of the pallet becomes concave over time. The pallet can still be stably supported after the middle part of the pallet is concave, thereby extending the service life of the pallet and reducing costs.

[0105] It should be understood that although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit without departing from the scope of the exemplary embodiments.

[0106] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to different positions and different usage conditions. Therefore, these or other directional terms should not be interpreted as restrictive terms.

[0107] The above is only a preferred embodiment of the present application, and is not any formal or substantial limitation to the present application. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the method of the present application, and these improvements and supplements should also be regarded as the protection scope of the present application. Any technician familiar with this profession can make some changes, modifications and evolutions of the technical content disclosed above without departing from the spirit and scope of the present application, which are equivalent embodiments of the present application; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above embodiments based on the substantial technology of the present application are still within the scope of the technical solution of the present application.

Claims

1. A lifting and reversing intelligent adjustment rail transport vehicle, It is characterized in that include: A first frame module, wherein first running wheels arranged along a first direction are provided on both sides of the bottom of the first frame module; the first running wheels on both sides are connected by a first cross bar; A second frame module, wherein the second frame module has second running wheels arranged along a second direction on both sides of the bottom thereof; the second running wheels on both sides are connected by a second cross bar; A lifting mechanism for driving the first frame module to move up and down relative to the second frame module; A travel motor for driving the first travel wheel and the second travel wheel to operate; the travel motor is connected to the first cross bar and the second cross bar respectively through a chain transmission mechanism; A chain adaptive adjustment mechanism for adaptively adjusting the tension of the chain of the chain transmission mechanism so that the chain is always in a tensioned state; The chain self-adaptive adjustment mechanism comprises a support, a slider is slidably arranged on the support, one end of a connecting plate is fixed to the slider, and the other end of the connecting plate is coaxially arranged outside the first crossbar; the central rotating shaft of the first rotating disk is arranged on the connecting plate, and the second rotating disk is eccentrically fixed on the first rotating disk; the chain of the chain transmission mechanism is connected to the second rotating disk; In the initial state, the first rotating disk can rotate relative to the connecting plate; the positions of the first rotating disk and the second rotating disk are rotated so that the chain is just in a tensioned state, at which time the first rotating disk and the connecting plate are fixedly locked so that the first rotating disk can no longer rotate relative to the connecting plate; In the working state, when the lifting mechanism drives the first frame module to move up and down relative to the second frame module, the first crossbar moves up and down driven by the lifting mechanism, and the connecting plate, the slider, the first turntable, and the second turntable are fixed as a whole and slide up and down synchronously along the support, so that the chain is always in a tensioned state; The second frame module also includes a bottom plate, and the first side plate, the second side plate, and the reinforced side plate are all connected to the bottom plate. The first side plate is arranged along the second direction, and the second side plate and the reinforced side plate are arranged along the first direction. The reinforced side plate and the top of the second side plate are connected by an upper sealing plate.

2. The lifting and reversing position intelligent adjustment rail transport vehicle according to claim 1, It is characterized in that The bottom plate is formed by splicing at least three plate bodies, both ends of each plate body are connected to the first side plate, and the thickness of the middle plate body is smaller than that of the plates on both sides.

3. The lifting and reversing position intelligent adjustment rail transport vehicle according to claim 1, It is characterized in that The lifting mechanism includes a main eccentric disk and a first cam follower connected to the main eccentric disk, the first frame module also includes a lifting beam, the lifting beam is provided with a first waist-shaped hole, a linear guide is provided on the side of the lifting beam, a slider is provided on the linear guide, and the slider is fixed to the second side plate; The first cam follower is inserted into the first waist-shaped hole, and the main eccentric disk rotates to drive the lifting beam to move up and down through the first cam follower; the first walking wheel moves up and down following the lifting beam.

4. The lifting and reversing position intelligent adjustment rail transport vehicle as claimed in claim 3, It is characterized in that The lifting mechanism also includes a secondary eccentric plate and a second cam follower connected to the secondary eccentric plate. The lifting beam is also provided with a second waist-shaped hole, and the second cam follower is inserted into the second waist-shaped hole. The main eccentric plate and the secondary eccentric plate are connected by a silent chain transmission.

5. The lifting and reversing position intelligent adjustment rail transport vehicle as claimed in claim 4, It is characterized in that The length of the first waist-shaped hole is half of the circumference of the first cam follower, and the length of the second waist-shaped hole is half of the circumference of the second cam follower.

6. The lifting and reversing position intelligent adjustment rail transport vehicle according to any one of claims 3 to 5, It is characterized in that The lifting type reversing position intelligent adjustment rail transport vehicle also includes a cargo platform, which is arranged above the lifting beam. When the lifting beam moves upward to a set height, the lifting beam lifts the cargo platform upward; The middle part of the cargo platform is in a concave structure.

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