An action device, a four-way vehicle and a warehousing system

Abstract

The present application provides an action device, a four-way vehicle and a warehousing system. In the present application, a reversing and lifting linkage mechanism for adjusting the running direction of the four-way vehicle and the loading and unloading state of goods is respectively arranged at the four corners of the four-way vehicle. Each reversing and lifting linkage mechanism is connected to the same power source through a transmission component and is driven by the power source to realize the switching of the action state. In the action device of the present application, the driving point of each reversing and lifting linkage mechanism is close to the guiding shaft of the reversing body and the lifting plate in the reversing and lifting linkage mechanism, which can effectively avoid the jamming failure under the traditional driving mode. In addition, in each reversing and lifting linkage mechanism of the present application, the transmission connecting rods of the reversing body and the lifting plate are arranged side by side and operate independently, and can respectively and independently realize the reversing of the mother rail wheel and the lifting of the goods lifting frame in the same height space, compress the vehicle body height, reduce the running space of the four-way vehicle, and improve the space utilization efficiency in the warehousing system.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and more specifically to an action device, a four-way vehicle and a warehousing system. Background Art

[0002] Existing four-way vehicles usually use hydraulic mechanisms to achieve the reversing operation of the sub-rail wheels and the lifting operation of the cargo lifting frame. However, the hydraulic mechanism is prone to leakage, and the hydraulic device is not allowed to operate in certain storage environments, which limits its application scenarios.

[0003] The mechanical reversing structure or mechanical lifting structure used in existing four-way vehicles usually adopts gear racks, wedge-shaped sliders and other driving methods, which need to be driven by a long connecting rod structure. The driving point is far away from the action parts, so a slight synchronization error will cause the body reversing system or lifting system to get stuck, affecting the operation. The entry of foreign matter such as mud and sand can also easily cause the existing reversing lifting structure to get stuck, affecting the operating efficiency of the storage system. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present application provides an action device, a four-way vehicle and a storage system. The present application uses a transmission component to synchronously drive the independent reversing and lifting linkage mechanisms at the four corners of the vehicle body, so that the reversing and lifting linkage mechanisms can independently and synchronously realize reversing or lifting actions, thereby improving the operating stability of the four-way vehicle, compressing the vehicle body height, and providing a more flexible adjustment space for the cargo lifting rack. The present application specifically adopts the following technical solutions.

[0005] Firstly, to achieve the above-mentioned purpose, an action device is proposed, which includes: a power source, which is arranged in the body of a four-way vehicle and outputs a driving torque; a reversing lifting linkage mechanism, which is respectively connected to a mother rail wheel arranged in the four-way vehicle and a cargo lifting frame adjacent to the mother rail wheel; a transmission component, which is transmission-connected between the power source and each reversing lifting linkage mechanism, transmits the power source driving torque to each reversing lifting linkage mechanism, and drives each reversing lifting linkage mechanism at different positions in the four-way vehicle to adjust its action state; the reversing lifting linkage mechanism can independently drive the mother rail wheel and the cargo lifting frame to switch the action state, and the action state switching of the mother rail wheel and the cargo lifting frame can be independent of each other.

[0006] Optionally, an action device as described in any of the above, wherein the reversing and lifting linkage mechanisms are respectively arranged in the four corners of the four-way vehicle body, and each reversing and lifting linkage mechanism is respectively provided with: a reversing body, which is fixedly connected to the mother rail wheel, and drives the mother rail wheel to remain in a rest state or switch to a reversing state in response to the output angle range of the driving torque of the power source; a lifting plate, which is fixedly connected to the cargo lifting frame, and drives the cargo lifting frame to remain in a rest state or switch to a lifting state in response to the output angle range of the driving torque of the power source. Optionally, an action device as described in any of the above, wherein each reversing and lifting linkage mechanism is respectively provided with: a conjugate cam, which is driven to operate by the driving torque output by the power source; a lifting cam, which is driven to operate by the driving torque output by the same power source; a commutator, which is drivenly connected to the contour surface of the conjugate cam through a first connecting rod, and the commutator remains in a rest state when the conjugate cam operates to a first angle range, and remains in a reversing state when the conjugate cam operates to a second angle range, and the first connecting rod cancels the lifting torque on the commutator in the rest state, and maintains the lifting torque on the commutator in the reversing state; a lifting plate, which is drivenly connected to the contour surface of the lifting cam through a second connecting rod, and the lifting plate remains in a lifting state when the lifting cam operates to a third angle range, and the second connecting rod maintains the lifting torque on the lifting plate in the lifting state.

[0007] Optionally, an action device as described in any of the above, wherein in each reversing lifting linkage mechanism, the conjugate cam and the lifting cam operate synchronously; the first connecting rod is driven by the conjugate cam, and the second connecting rod is driven by the lifting cam, and the operating states of the first connecting rod and the second connecting rod are independent of each other.

[0008] Optionally, an action device as described in any of the above, wherein the first angle range, the second angle range and the third angle range corresponding to the conjugate cam and the lifting cam are sequentially connected in a single direction; the second connecting rod remains in a rest state when the lifting cam operates to other angle ranges, and in the rest state, the second connecting rod cancels the lifting torque on the lifting mechanism.

[0009] Optionally, an action device as described in any of the above, wherein the transmission assembly includes: a jacking and reversing reducer, which is connected to a power source and adjusts the driving torque at the output end; a jacking and reversing transmission shaft, which is driven by the torque output end of the jacking and reversing reducer and is simultaneously connected to each reversing and jacking linkage mechanism, thereby driving each reversing and jacking linkage mechanism to operate synchronously.

[0010] Optionally, an action device as described in any of the above, wherein, in each reversing and lifting linkage mechanism, the conjugate cam and the lifting cam are coaxially arranged on the cam mounting shaft, the cam mounting shaft is coupled to the end of the lifting and reversing transmission shaft, and is driven by the lifting and reversing transmission shaft to synchronously drive the conjugate cam and the lifting cam to adjust their angle range.

[0011] Optionally, for any of the above-described actuating devices, the jacking reversing transmission shaft is installed between two mother rail wheels on the same side of the vehicle body parallel to the vehicle body main frame. Both ends of the jacking reversing transmission shaft are simultaneously engaged to drive two reversing jacking linkage mechanisms. The two reversing jacking linkage mechanisms are respectively driven synchronously according to the torque transmission angle of the power source, adjusting the two mother rail wheels on the same side of the vehicle body to the rest state or simultaneously switching the two mother rail wheels on the same side of the vehicle body to the reversing state.

[0012] Optionally, for any of the above-described actuating devices, the jacking reversing transmission shafts on both sides of the vehicle body are connected by the output shaft of the reducer. The output shaft of the reducer is arranged inside the vehicle body main frame and is connected between the torque output end of the jacking reversing reducer and the jacking reversing transmission shaft.

[0013] Optionally, for any of the above-described actuating devices, a bevel gear meshing transmission is respectively provided between the output shaft of the reducer and the jacking reversing transmission shaft, and between the jacking reversing transmission shaft and the cam mounting shaft of the reversing jacking linkage mechanism.

[0014] Meanwhile, to achieve the above object, the present application further provides a four-way vehicle, in which any of the above-described actuating devices is provided.

[0015] Optionally, for any of the above-described four-way vehicles, a traveling motor is further provided inside, which is connected to and drives a traveling speed reducer. The traveling speed reducer simultaneously drives a universal joint coupling and a sub-rail transmission shaft to drive the mother rail wheels and the sub-rail wheels to run along the track respectively.

[0016] Optionally, for any of the above-described four-way vehicles, the traveling motor and the power source of the actuating device are respectively arranged on both sides of the four-way vehicle body main frame. The output shafts of the traveling speed reducer and the jacking reversing reducer are parallel to each other and are respectively connected to the universal joint coupling and the output shaft of the reducer arranged in parallel on both sides of the four-way vehicle body main frame.

[0017] Optionally, for any of the above-described four-way vehicles, the jacking reversing transmission shaft is perpendicular to the output shaft of the reducer and is arranged at the inner edge of the four-way vehicle body.

[0018] In addition, the present application further provides a warehousing system, which includes any of the above-described four-way vehicles and a warehousing shelf matching the four-way vehicle. The warehousing shelf is provided with a mother rail for the mother rail wheels to run, a sub-rail for the sub-rail wheels to run, and storage bins arranged therebetween; the four-way vehicle drives its reversing jacking linkage mechanism accordingly according to the operation requirements: maintaining within a first angle range when the four-way vehicle runs along the mother rail, maintaining within a second angle range when the four-way vehicle runs along the sub-rail, and correspondingly switching to a third angle range during the jacking loading and unloading process of the four-way vehicle.

[0019] Beneficial effects

[0020] The present application provides an action device, a four-way vehicle, and a warehousing system. Commutation and lifting linkage mechanisms for adjusting the running direction of the four-way vehicle and the loading and unloading state of goods are respectively arranged at the four corners of the four-way vehicle. The commutation and lifting linkage mechanisms are connected to the same power source through a transmission component and are uniformly driven by the power source to achieve unified switching of the action states. In the action device of the present application, the driving points of each commutation and lifting linkage mechanism are all close to the guiding shafts of the commutation body and the lifting plate in the commutation and lifting linkage mechanism, which can effectively avoid the jamming failure caused by the asynchronous torque output at the four corners of the vehicle body in the traditional driving mode. In addition, in each commutation and lifting linkage mechanism of the present application, the transmission connecting rods of the commutation body and the lifting plate are arranged side by side and operate independently, and can independently achieve the commutation of the mother rail wheel and the lifting of the goods lifting rack within the same height space, compress the vehicle body height, reduce the running space of the four-way vehicle, and improve the space utilization efficiency within the warehousing system.

[0021] Other features and advantages of the present application will be described in the subsequent description, and, in part, will be obvious from the description, or will be understood by implementing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings are used to provide a further understanding of the present application, and constitute a part of the description, and together with the embodiments of the present application, are used to explain the present application, and do not constitute a limitation to the present application. In the drawings:

[0023] Figure 1 is a schematic diagram of the internal structure of the four-way vehicle provided by the present application;

[0024] Figure 2 is a schematic diagram of the mechanism for commutation and lifting linkage in the rest state in the present application;

[0025] Figure 3 is Figure 2 a cross-sectional view of the rotation plane of the first connecting rod in the shown mechanism;

[0026] Figure 4 is a schematic diagram of the mechanism for commutation and lifting linkage in the commutation state in the present application;

[0027] Figure 5 is Figure 4 a schematic diagram of the A-A' cross-section in the shown mechanism;

[0028] Figure 6 is a schematic diagram of the mechanism for commutation and lifting linkage in the lifting state in the present application;

[0029] Figure 7 is a schematic diagram of the connection mode of the conjugate cam and the lifting cam in the mechanism of the present application;

[0030] Figure 8It is a schematic diagram of the overall structure of the first connecting rod in the mechanism of the present application;

[0031] Figure 9 It is a schematic diagram of the overall structure of the second connecting rod in the mechanism of the present application.

[0032] In the figure, 1 represents a sub-rail wheel; 2 represents a traveling motor; 3 represents a traveling speed reducer; 4 represents a universal joint coupling; 5 represents a sub-rail transmission shaft; 6 represents a lifting reversing motor; 7 represents a lifting reversing reducer; 8 represents a cam box; 81 represents a conjugate cam; 81-1 represents a main cam; 81-2 represents a return cam; 82 represents a first connecting rod; 82-1 represents a first reversing rod; 82-2 represents a second reversing rod; 82-3 represents a third reversing rod; 83 represents a second connecting rod; 83-1 represents a first lifting rod; 83-2 represents a second lifting rod; 84 represents a lifting cam; 85 represents a connecting rod rotating shaft; 86 represents a lifting plate; 87 represents a lifting plate guiding shaft; 88 represents a cam mounting shaft; 9 represents a reversing body; 91 represents a waist-shaped groove; 10 represents a mother rail wheel; 11 represents a bevel gear; 12 represents a lifting reversing transmission shaft; 13 represents a reversing body guiding shaft. Detailed implementation manners

[0033] To make the objectives and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0034] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as such herein.

[0035] The meaning of "and / or" as used in the present application refers to the situation where each exists alone or both exist simultaneously.

[0036] The meaning of "inside and outside" as used in the present application refers to, relative to the four-way vehicle itself, the direction from its cargo lifting frame to the cam mounting shaft inside the vehicle body is inside, and vice versa; it is not a specific limitation on the device mechanism of the present application.

[0037] As used in this application, the meanings of "left" and "right" refer to the left side of the user when the user is facing the four-way vehicle, and the right side of the user when the user is facing the four-way vehicle, rather than specific limitations on the device mechanism of this application.

[0038] As used in this application, the meaning of "connection" can be a direct connection between components or an indirect connection between components through other components.

[0039] As used in this application, the meanings of "up" and "down" refer to the direction in which the bottom of the lifting plate guide shaft points to the lifting direction of the cargo lifting frame when the user is facing the four-way vehicle, and vice versa, rather than specific limitations on the device mechanism of this application.

[0040] Figure 1 For the four-way vehicle provided in this application, a sub-rail wheel 1 and a master-rail wheel 10 with mutually perpendicular running directions are usually arranged inside the vehicle body. Among them, the sub-rail wheel 1 runs along the sub-rail, driving the four-way vehicle to walk in the first direction; the master-rail wheel 10 can adjust its running height through the drive of the reversing lifting linkage mechanism, so as to run along the master-rail when adjusted to the height position where the master-rail is located, driving the four-way vehicle to walk along a path perpendicular to the first direction. The height difference between the sub-rail and the master-rail can be set accordingly according to the lifting height of the master-rail wheel in the vehicle body. Thus, the master-rail wheel 10 can be lifted correspondingly to make the master-rail wheel hang in the air above the master-rail and be driven only by the sub-rail wheel, or the master-rail wheel 10 can be lowered correspondingly to the surface of the master-rail, so that the master-rail wheel can cooperate with the surface of the master-rail to achieve reversing operation.

[0041] For the above four-way vehicle, specifically, it can be realized by Figure 1 the following driving device shown to run along the sub-rail or along the master-rail:

[0042] A traveling motor 2, which is connected to and drives a traveling speed reducer 3. The traveling speed reducer 3 drives a universal joint coupling 4 and a sub-rail transmission shaft 5 at the same time. The universal joint coupling 4 drives the master-rail wheel 10 installed in the lifting frame to run along the master-rail, and the sub-rail transmission shaft 5 drives the sub-rail wheel 1 installed on the side wall of the vehicle body to run along the sub-rail. The transmission between the traveling speed reducer 3 and the universal joint coupling 4, and the transmission between the traveling speed reducer 3 and the sub-rail transmission shaft 5 can be flexibly selected as gear meshing transmission, belt friction transmission, sprocket chain transmission or any other transmission method according to the internal assembly space of the vehicle body.

[0043] To save the internal assembly space of the vehicle body, this application generally arranges the traveling motor 2 and the power source of the action device for realizing the reversing lifting action side by side on both sides of the main body of the four-way vehicle body respectively, so as to avoid the mutual interference of their respective transmission systems and affect the operation of the equipment. Such an assembly method also facilitates the installation of the control system and the power supply system of the four-way vehicle by using the space between them.

[0044] Generally speaking, in order to match the parallel assembly position relationship between the above-mentioned power devices, the present application will also set the output shaft of the traveling reducer 3 connected to the traveling motor 2 and the output shaft of the lifting and reversing reducer 7 connected to the power source of the action device for realizing the reversing and lifting actions to be parallel to each other, so as to directly use the output gear of the traveling reducer 3 to directly mesh and drive the universal joint coupling 4 arranged on one side of the main body of the four-way vehicle body to realize the drive of the mother rail wheel; and use the output end of the lifting and reversing reducer 7 to connect to the reducer output shaft arranged in parallel on the other side of the main body of the four-way vehicle body to realize the drive of the reversing and lifting device and realize the reversing action or the lifting action.

[0045] In order to synchronously transfer the output torque of the lifting and reversing reducer 7 to the reversing and lifting linkage mechanism at the four corners of the four-way vehicle through the reducer output shaft and realize the switching of the action states of the mother rail wheel and the cargo lifting frame, the present application generally arranges a lifting and reversing drive shaft 12 at the front and rear ends of the vehicle body respectively in a manner parallel to the lifting frame of the mother rail wheel 10 and perpendicular to the reducer output shaft. Thus, the front and rear ends of the reducer output shaft respectively mesh and drive the lifting and reversing drive shafts 12 arranged at the inner edges of the front and rear sides of the four-way vehicle body, and the lifting and lowering of the mother rail wheel or the lifting and lowering of the cargo lifting frame are realized through the reversing and lifting linkage mechanisms respectively meshed and driven at the left and right ends of the lifting and reversing drive shaft 12.

[0046] Specifically, the above four-way vehicle can Figure 1 realize the reversing action and the lifting and loading / unloading action of the goods through the following action devices shown:

[0047] The power source for the reversing and lifting action device, which can realize the drive torque output function through the lifting and reversing motor arranged in the main body of the four-way vehicle body;

[0048] The reversing and lifting linkage mechanism, which is respectively arranged at the four corners of the four-way vehicle, and each reversing and lifting linkage mechanism is respectively connected to the mother rail wheel 10 arranged in the four-way vehicle and the cargo lifting frame adjacent to the mother rail wheel 10;

[0049] The transmission component, which can be realized by the lifting and reversing reducer 7, the lifting and reversing drive shaft 12 and the corresponding reducer output shaft. The transmission component can be connected between the power source and each reversing and lifting linkage mechanism through any transmission method, transfer the drive torque of the power source to each reversing and lifting linkage mechanism, and drive each reversing and lifting linkage mechanism at different positions in the four-way vehicle to adjust its action state;

[0050] Each reversing and lifting linkage mechanism of the present application can independently drive the mother rail wheel 10 and the cargo lifting frame to switch the action state. The action state switching of the mother rail wheel 10 and the cargo lifting frame can be independent of each other, so as to independently realize the reversal of the mother rail wheel and the lifting of the cargo lifting frame in the same height space, compress the vehicle body height, reduce the operating space of the four-way vehicle, and improve the space utilization efficiency in the storage system.

[0051] by Figure 1 For example, the transmission assembly in the present application, its jacking reversing reducer 7 can be directly connected to the power source to adjust the driving torque at the output end; its jacking reversing transmission shaft 12 can be driven by the torque output end of the jacking reversing reducer 7 through the coupling of the reducer output shaft, and at the same time, it is connected to each reversing jacking linkage mechanism through the bevel gear at its end, thereby driving each reversing jacking linkage mechanism to operate synchronously.

[0052] Taking transmission efficiency into consideration and minimizing interference with other components in the vehicle as much as possible, the present application can install the lifting and reversing transmission shaft 12 between the two mother rail wheels 10 on the same side of the vehicle body in a manner parallel to the main frame of the vehicle body. The axial direction of the lifting and reversing transmission shaft 12 can be set to be perpendicular to the axle of the mother rail wheel, so as to drive the mother rail wheel through the steering of the internal cam system of the reversing and lifting linkage mechanism. The two ends of the lifting and reversing transmission shaft 12 can be directly set to simultaneously engage and drive the cam mounting shaft 88 of the reversing and lifting linkage mechanism connected to the two mother rail wheels 10, thereby, the lifting and reversing transmission shaft 12 can synchronously adjust the two mother rail wheels 10 on the same side of the vehicle body to the rest state or synchronously switch the two mother rail wheels 10 on the same side of the vehicle body to the reversing state according to the torque transmission angle of the power source. The lifting and reversing transmission shafts 12 at the front and rear ends of the vehicle body can be ensured to have consistent transmission steps by the output shaft of the reducer.

[0053] Under the above transmission structure arrangement, the transmission between the reducer output shaft and the lifting reversing transmission shaft 12, and between the lifting reversing transmission shaft 12 and the cam mounting shaft 88 of the reversing lifting linkage mechanism can be respectively arranged to be driven by bevel gear meshing. Those skilled in the art should know that when other transmission structure arrangements are adopted, the above transmission method can be flexibly adjusted according to the assembly space position relationship between the components. The adjustment method includes but is not limited to the use of gear rack transmission, sprocket chain transmission, transmission through any form of gear structure, transmission through belt method, etc.

[0054] Figure 2It is the specific structure of the reversing and lifting linkage mechanism adopted in the above four-way vehicle. The reversing and lifting linkage mechanism is arranged at the four corners of the body of the four-way shuttle vehicle running in the stereoscopic warehouse. To carry and load / unload goods in the warehouse, a goods lifting frame is generally provided on the top of the four-way vehicle. It is driven by a lifting mechanism and lifted upward from the top of the four-way vehicle body to lift the goods to achieve the loading and transportation of the goods, or retracted from the top of the four-way vehicle body by the lowering of the lifting mechanism to lower the goods to achieve the unloading of the goods.

[0055] In this application, the reversing and lifting linkage mechanism is arranged at the four corners of the four-way vehicle body, and the driving of the reversing mechanism and the lifting mechanism can be achieved through the following structure:

[0056] The cam mounting shaft 88, which connects and drives the conjugate cam and the lifting cam. To achieve the transmission of the reversing and lifting linkage mechanism, the cam mounting shaft 88 can be directly set to be coupled to the end of the lifting and reversing transmission shaft 12, and is driven by the lifting and reversing transmission shaft 12 to synchronously drive the conjugate cam 81 and the lifting cam 84 to adjust their angular ranges;

[0057] The first link, one side of which is coupled to the conjugate cam and the other side is coupled to the reversing mechanism. The first link remains in the rest state when the conjugate cam rotates to the first angular range, and remains in the reversing state when the conjugate cam rotates to the second angular range. Among them, in the rest state, the first link cancels the lifting torque on the reversing mechanism, so that the mother rail wheel 10 is lowered with the reversing mechanism, and in the reversing state, the first link maintains the lifting torque on the reversing mechanism, so that the mother rail wheel 10 is lifted by the reversing mechanism. Thus, the running route of the four-way vehicle is switched by matching different heights of the warehouse tracks at different height positions of the mother rail wheel 10;

[0058] The second link, one side of which is coupled to the lifting cam and the other side is coupled to the lifting mechanism. The second link remains in the lifting state when the lifting cam rotates to the third angular range. In the lifting state, the second link maintains the lifting torque on the lifting mechanism, so that the goods lifting frame lifts the goods upward from the top of the four-way vehicle body through the lifting of the lifting mechanism to achieve the loading and transportation of the goods. The second link can be kept in the rest state when the lifting cam rotates to other angular ranges through the setting of the lifting cam, so as to keep the second link in the state of canceling the lifting torque provided to the lifting mechanism when the conjugate cam rotates to the first angular range or the second angular range to avoid the goods lifting frame being lifted and affecting the operation of the four-way vehicle.

[0059] In this application, the conjugate cam and the lifting cam can be coaxially arranged on the cam mounting shaft 88 to operate synchronously through the drive of the same drive motor. The conjugate cam 81 can also be replaced by a corresponding multi-layer non-circular gear or planetary gear with an outward convex meshing surface; the lifting cam can be replaced by a non-circular gear or planetary gear with a corresponding outward convex meshing surface to achieve the same function. The first angle range, the second angle range, and the third angle range for controlling different working states of the above control reversing mechanism and the lifting mechanism can respectively correspond to different rotation angles of the two drive components. Each angle range is generally set according to the operating requirements of the four-way vehicle to be sequentially connected along the single operating direction of the cam mounting shaft and the drive components. The angle ranges can be set to overlap each other to achieve a smooth transition of the driving torque, or can be set not to overlap each other to clearly distinguish different operating states of the mother rail wheel 10 and the cargo lifting frame.

[0060] Taking the method of using a conjugate cam as the drive torque transmission structure of the reversing mechanism as an example. When the conjugate cam mechanism operates, its follower, that is, the reciprocating two strokes of the first connecting rod, can be considered to be respectively coordinated and driven by a main cam and a return cam. The main cam and the return cam form a set of conjugate cams, respectively controlling the forward stroke and the return stroke of the first connecting rod, so that the first connecting rod receives driving force in both the forward and return stages. Compared with the driving method using a groove cam, the movement direction of the end of the first connecting rod in this application maintains a smaller angle with the force direction, that is, the connecting rod in this application can maintain a smaller pressure angle in both the forward stroke or the return stroke compared with the connecting rod driven by a groove cam. The smaller pressure angle enables the connecting rod in this application to have a higher transmission efficiency, and thus can meet the needs of heavy-load operation of the four-way vehicle. This application uses a conjugate cam connecting rod mechanism to achieve the up-and-down vertical movement of the end of the connecting rod. Compared with the current mainstream transmission methods such as gear-rack transmission and eccentric wheel transmission, it can reduce the torque on the transmission shaft and reduce the load before and after the action starts (that is, when the connecting rod is in a stationary state), and thus can meet the heavy-load drive requirements through a commonly used and easily integrated conventional torque output motor, saving hardware costs.

[0061] Specifically referring to Figure 3 As shown, when the conjugate cam 81 of this application is driven by the cam mounting shaft 88 to rotate in the first clockwise direction to the first angle range, the far rest end of its main cam 81-1 pushes up the coupling part of the first connecting rod, keeping the other side of the first connecting rod in a rest state. As the conjugate cam 81 continues to rotate in the first clockwise direction to Figure 4 、 Figure 5After the second angular range shown, the return cam 81-2 in the conjugate cam can push down the coupling part of the first link through its far rest end, so that the other side of the first link remains in the commutation state. During this process, the lifting cams 84 on the front side of the conjugate cam abut against the coupling part of the second link with their near rest sections, so as to keep the other side of the second link in the rest state, cancel the lifting torque of the second link on the lifting mechanism, and keep the cargo lifting frame in the retracted state.

[0062] When the lifting cam 84 linked with the conjugate cam continues to be driven by the cam mounting shaft 88 to rotate in the first clockwise direction to Figure 6 the third angular range shown, its far rest end can push down the coupling part of the second link, so that the other end of the second link remains in the upward lifting state, and then the cargo lifting frame is lifted above the vehicle body through the lifting mechanism to realize the picking, placing, loading and unloading of the cargo.

[0063] The pushing state of the coupling part of the second link at different operating angles can be correspondingly adjusted by setting the near rest angle and the far rest angle of the lifting cam 84, so as to flexibly realize the drive control of the lifting mechanism and the cargo lifting frame connected to the lifting mechanism.

[0064] Therefore, for the four-way vehicle applying the above commutation and lifting linkage mechanism, during the commutation process:

[0065] By driving the conjugate cam to rotate to the first angular range, the lifting torque of the first link on the commutation mechanism is cancelled, and the commutation mechanism drives the female rail wheel 10 to fall;

[0066] Or by driving the conjugate cam to rotate to the second angular range, the lifting torque of the first link on the commutation mechanism is maintained, and the commutation mechanism drives the female rail wheel 10 to rise.

[0067] At the same time, during the process of lifting and picking up the cargo, the four-way vehicle can drive the lifting cam to transition from the second angular range to the third angular range in the above-mentioned first clockwise operating direction to maintain the lifting torque of the second link on the lifting mechanism, so that the lifting mechanism drives the cargo lifting frame to rise;

[0068] Or when it is necessary to cancel the lifting of the cargo lifting frame, the lifting cam is driven to transition from the third angular range to the second angular range or the first angular range in the above-mentioned second counterclockwise operating direction, so as to cancel the lifting torque of the second link on the lifting mechanism, and the lifting mechanism drives the cargo lifting frame to fall.

[0069] In other implementation manners, the connection sequence of the above three angular ranges can also be set to be arranged in the counterclockwise direction according to the torque output direction of the driving motor or according to the vehicle body structure. The lifting cam 84 and the conjugate cam can flexibly adjust the angular ranges of their near rest angle and far rest angle and the angular relationship between the cams, and with the opposite driving sequence, realize the linkage control of the commutation mechanism and the lifting mechanism in the same manner as above.

[0070] In this application, the first link for controlling the working state of the commutation mechanism and the second link for controlling the working state of the lifting mechanism can be coaxially arranged on the same link rotation shaft 85 in the manner shown, and the first link and the second link can operate relatively independently by being driven by the conjugate cam and the lifting cam respectively. The conjugate cam and the lifting cam can also be coaxially installed on the same cam installation shaft 88 to realize linkage operation through the same driving motor. During the linkage operation, the relative angles between the cams can be kept unchanged by different limiting protrusions on the cam installation shaft 88. Figure 7 Taking the internal structure of the vehicle body shown as an example, from this perspective, the cam box housing the conjugate cam and the lifting cam is arranged on the right side of the figure, while the commutation mechanism and the lifting mechanism are arranged on the left side of the position shown in the figure.

[0071] For Figure 2 In this installation manner, to ensure that the commutation mechanism can receive the driving torque during both the lifting and lowering processes and ensure the stability of its action process, this application can set the first link to include the three commutation support rods shown. The included angles between the commutation support rods are fixed, and they can be rotatably installed at the bottom of the link rotation shaft 85 through the bearing structure in the middle of the support rods, and are connected between the cam box 8 and the commutation mechanism.

[0072] Taking the assembly manner shown as an example, this application can set the conjugate cam 81 between the first commutation support rod and the second commutation support rod among them, and couple and abut the cam surface of the conjugate cam against the right side of the first link. Thus, when the main cam 81-1 rotates clockwise to the first angular range shown, it can push the first commutation support rod 82-1 at the right end of the first link upward through the far rest end of the main cam 81-1, so that the third commutation support rod 82-3 at the left end of the first link flips downward and remains in the low position; and when the return cam 81-2 continues to rotate clockwise to Figure 8 In this application, the first link can be set to include the three commutation support rods shown. The included angles between the commutation support rods are fixed, and they can be rotatably installed at the bottom of the link rotation shaft 85 through the bearing structure in the middle of the support rods, and are connected between the cam box 8 and the commutation mechanism.

[0073] For Figure 5 Taking the assembly manner shown as an example, this application can set the conjugate cam 81 between the first commutation support rod and the second commutation support rod among them, and couple and abut the cam surface of the conjugate cam against the right side of the first link. Thus, when the main cam 81-1 rotates clockwise to the first angular range shown, it can push the first commutation support rod 82-1 at the right end of the first link upward through the far rest end of the main cam 81-1, so that the third commutation support rod 82-3 at the left end of the first link flips downward and remains in the low position; and when the return cam 81-2 continues to rotate clockwise to Figure 3 In this application, the first link can be set to include the three commutation support rods shown. The included angles between the commutation support rods are fixed, and they can be rotatably installed at the bottom of the link rotation shaft 85 through the bearing structure in the middle of the support rods, and are connected between the cam box 8 and the commutation mechanism. Figure 5When in the second angular range shown, it can push the second commutation rod 82-2 located in the middle of the first connecting rod downward and leftward through the far rest end of the return cam 81-2, causing the third commutation rod 82-3 at the left end of the first connecting rod to flip upward and switch to the high position, so as to drive the commutation mechanism to slide upward, driving the mother rail wheel 10 to be synchronously lifted to a higher position of the vehicle body along with the sliding of the commutation body, disengaging from the cooperation with the bottom mother rail, and switching to running along the sub-rail by the sub-rail wheel 1.

[0074] When it is necessary to switch to driving the four-way vehicle to run along the mother rail by the mother rail wheel 10, after reversely switching the conjugate cam 81 to the first angular range, the commutation body can be lowered, causing the commutation body to drive the mother rail wheel 10 to fall on the mother rail plane, and driving the four-way vehicle to run along the mother rail through the mother rail wheel 10.

[0075] Through the conjugate cam drive structure of the present application, the drive shaft can, according to the operating requirements, drive the reversing mechanism to reverse first and then drive the lifting mechanism to lift during the process of rotating clockwise from the initial section of the first angular range to the limit position of the third angular range, and correspondingly, drive the lifting mechanism to fall first and then drive the reversing mechanism to return during the process of the drive shaft rotating counterclockwise from the limit position to the initial position. In practical applications, the present application can set the initial position of the drive shaft between the first angular range and the second angular range by adjusting the assembly angular relationship between the motor shaft of the four-way vehicle and the corresponding transmission components. Thus, the present application can adjust the operating state of the master rail wheel 10 by controlling the forward and reverse rotation of the motor through a program, so that whether the drive shaft rotates forward or reverses from its initial position, it can preferentially switch the lifting state of the reversing mechanism to achieve reversing operation. Since the stroke height difference of the first link for driving the reversing mechanism between the first angular range and the second angular range is limited, therefore, the present application can compress the required inner cavity height of the vehicle body through the above conjugate cam drive structure. And because the conjugate cam and the lifting cam of the present application are arranged in parallel, the second link can also be parallel to the first link and be maintained within the same elevation space range in a side-by-side manner. Therefore, for the four-way vehicle of the present application, the inner cavity of the vehicle body only needs to provide a stroke space from the second angular range to the first angular range to drive the reversing body to freely extend and retract inside the vehicle body to achieve reversing, and use the same height space to drive the lifting plate to lift upward through the second link to achieve the loading, unloading and transportation of goods. Through the side-by-side linkage between the conjugate cam and the lifting cam of the present application, it avoids the problem that in the conventional cam lifting and reversing process, it is necessary to completely experience the complete stroke from the lowest position to the highest position of the cam, which requires a relatively high vehicle body assembly space and affects the available storage height of the stereoscopic warehouse. When the conventional cam lifting and reversing mechanism lifts the goods, it is necessary to run the cam to the highest position to achieve the loading and unloading of the goods in the state where the walking wheels are lifted; while in the present application, during the loading and unloading process of the goods, there is no need to additionally occupy the vehicle body height, but the driving of the lifting mechanism can be directly achieved through the second link parallel to the first link and by reusing the height space with the same rotation range as the first link. Therefore, the present application can effectively compress the height of the four-way vehicle body, thereby compressing the elevation space occupied by the vehicle body operation, increasing the storage space available for storing goods in the warehousing system, and improving the overall capacity and space utilization efficiency of the warehousing system.

[0076] The present application can flexibly adjust the sequence of the reversing and lifting linkage actions by regulating the relative angular relationship between the conjugate cam and the lifting cam arranged side by side, and can separate the two actions, so that the reversing stroke can be preferentially completed by setting its driving angular range. Thus, the reversing stroke can be shortened as much as possible, and the vehicle body can be made relatively thinner.

[0077] In this application, the jacking action and the commutation action are respectively driven by two sets of devices, namely the jacking mechanism and the commutation mechanism, according to the operating angles of different cam mounting shafts. This driving method can also make the cargo jacking mechanism relatively independent, without the need to rely on the direct contact of the external frame of the vehicle body to limit the lower limit of the downward stroke range of the cargo jacking frame like the existing cam driving structure. On the contrary, in this application, without the external frame of the vehicle body, the stroke position of the cargo jacking frame can be flexibly adjusted directly through the lifting range of the jacking mechanism itself. Thus, the specific size of the cargo jacking frame in this application is no longer limited by the structure of the external frame of the vehicle body, and different-sized lifting plates can be conveniently and flexibly replaced and installed in the four-way vehicle according to the cargo loading and unloading requirements to adapt to the driving requirements of different projects and different pallet sizes.

[0078] The commutation body 9 of this application can be directly connected to the female rail wheel 10, or the lifting state of the female rail wheel 10 can be regulated through the wheel frame transmission mechanism. Generally speaking, the commutation body in this application can be set as a block structure, with a waist-shaped groove 91 provided on the side wall surface thereof, and the top and / or bottom thereof can be penetrated by the commutation body guide shaft 13. Thus, the commutation body 9 can be guided by the commutation body guide shaft 13 and restricted to slide up and down only along the commutation body guide shaft 13. In this structure, the end of the third commutation support rod 82-3 can be directly embedded in the waist-shaped groove of the commutation body, so that during the operation of the first connecting rod following the conjugate cam 81, the left and right swing of the end of the third commutation support rod 82-3 in the waist-shaped groove can drive the commutation body to slide up and down along the commutation body guide shaft, driving the female rail wheel 10 to lift or lower.

[0079] To achieve the drive of the jacking mechanism, this application can set the second connecting rod to include Figure 9 the two jacking support rods shown. The angle between the jacking support rods is fixed, and they can be rotatably installed on the top of the connecting rod rotating shaft 85 through the bearing structure in the middle of the jacking support rods, and are connected between the cam box 8 and the jacking mechanism.

[0080] With Figure 2 or Figure 4Taking the shown assembly method as an example, in the present application, the lifting cam 84 can be arranged outside the included angle between the two lifting support rods. Thus, within the third angle range, the lifting cam 84 can push the first lifting support rod 83-1 at the right end of the second connecting rod leftward and downward through its far rest end, causing the second lifting support rod 83-2 at the left end of the second connecting rod to flip upward and stay at a high position, so as to drive the lifting mechanism to slide upward, and drive the goods lifting frame to be lifted synchronously above the vehicle body along with the lifting plate 86, realizing the lifting and loading / unloading of the goods. The lifting cam 84 can cancel the push on the right side of the first lifting support rod 83-1 through its near rest end within other angle ranges, causing the second lifting support rod 83-2 at the left end of the second connecting rod to flip downward under the action of gravity and switch to a low position, causing the moving lifting mechanism to slide downward, and causing the goods lifting frame and the lifting plate 86 to return to the vehicle body synchronously, canceling the lifting of the goods.

[0081] For the lifting mechanism of the present application, it can be directly connected to the goods lifting frame through the lifting plate 86, or the lifting state of the goods lifting frame can be regulated through the lifting frame transmission mechanism. Generally speaking, the lifting plate 86 in the present application can be set as a block structure, and its top and / or bottom can be provided with a lifting plate guide shaft 87. Thus, the lifting plate 86 can be guided by the lifting plate guide shaft 87 and restricted to slide only up and down along the lifting plate guide shaft 87. In this structure, the end of the second lifting support rod 83-2 can be directly abutted and arranged on the lower side of the lifting plate 86, so that during the operation of the second connecting rod along with the lifting cam 84, the lifting plate 86 is driven to slide up and down along the lifting plate guide shaft 87 through the up and down flipping of the end of the second lifting support rod 83-2, driving the corresponding lifting or lowering of the goods lifting frame.

[0082] To reduce the wear between the above-mentioned linkage mechanisms and ensure that the lifting plate and the commutation body slide more smoothly up and down, in the present application, a follower bearing can be respectively connected to the end parts of the first commutation support rod 82-1, the second commutation support rod 82-2, the third commutation support rod 82-3, the first lifting support rod 83-1, and the second lifting support rod 83-2. The three follower bearings at the three ends of the first connecting rod are respectively connected to the main cam 81-1, the return cam 81-2, and the waist-shaped groove in a rolling manner, and the two follower bearings at the two ends of the second connecting rod are respectively connected to the lifting cam and the bottom of the lifting plate in a rolling manner. Thus, the present application can reduce the friction between components through the rolling fit method, reduce the wear between components, and improve the service life of the linkage mechanism.

[0083] In each of the above connecting rod structures, the driving point between the follower bearing and the jacking plate is close to the guiding shaft of the jacking plate. Thus, even if there are deviations in the rotation angles between different reversing jacking linkage mechanisms, which are not completely consistent, the deviation amount of the stroke of the follower bearing in the direction of the guiding shaft will not be too large to affect the lifting of the cargo lifting frame. Similarly, in each of the above connecting rod structures, the driving point between the follower bearing and the reversing body is close to the guiding shaft of the reversing body. Thus, even if there are deviations in the rotation angles between different reversing jacking linkage mechanisms, which are not completely consistent, the deviation amount of the stroke of the follower bearing in the direction of the guiding shaft will not be too large to affect the lifting of the driving mother rail wheel of the reversing body.

[0084] The lengths and angles of each of the above strut structures in this application are fixed, and the stroke lengths of the swing rods corresponding to each cam structure can be set to be equal or unequal according to driving requirements.

[0085] In summary, in this application, three follower bearings are connected to the ends of three struts, and the three follower bearings are respectively in contact with the main cam, the return cam, and the jacking cam. By connecting the corresponding loads to the other sides of the struts, the lifting drive of the mother rail wheel 10 and the cargo lifting frame is realized. During the counterclockwise rotation of the conjugate cam in this application, the main cam can drive the follower bearing from its near rest end through the stroke to Figure 2 the state of the far rest end shown, so that the reversing body is at the lowest point, and the driving mother rail wheel 10 descends to realize the reversing drive; when the conjugate cam switches to clockwise rotation, the return cam can drive the follower bearing at the end of the second reversing strut from its near rest end through the stroke to its far rest end, reaching Figure 4 the state of, at this time, the reversing body is at the highest point driven by the third reversing strut, and the mother rail wheel 10 is lifted. This structure can be applied to the reversing action of a four-way shuttle vehicle. By the sliding of the follower bearing in the reversing body, the reversing body of the shuttle vehicle is driven to move up and down, achieving the purpose of changing tracks for traveling. When the jacking cam further rotates clockwise, it can drive the follower bearing at the end of the first jacking strut from the near rest section of the jacking cam to the far rest end through its coupling surface, switching to Figure 6 the state shown, at this time, the jacking plate is at the highest point driven by the second jacking strut, and the cargo lifting frame is lifted. The conjugate cam and the jacking cam are coaxially linked, and the linkage between the reversing action and the jacking action can be realized.

[0086] In this application, the cam mounting shaft 88 drives a pair of conjugate cams plus a single jacking cam at the same time. The three cams and the cam mounting shaft 88 can be realized through an integral camshaft or can be assembled in a split manner. Three working states as follows can be respectively obtained by rotating the cams to different angular ranges through the operating angle of the cam mounting shaft 88:

[0087] Such as Figure 2As shown, at this time, the follower bearing at the end of the first reversing rod is at the far rest end of the main cam, the follower bearing at the end of the third reversing rod is at the lowest position, that is, the reversing body is at the lowest position, and the follower bearing at the end of the first lifting rod is at the starting point of the near rest end of the lifting cam. The upward thrust of the second lifting rod is withdrawn, so that the lifting plate is at a low position.

[0088] As Figure 4 shown, when the cam mounting shaft 88 rotates clockwise by a certain angle, the return cam drives the follower bearing at the bottom of the second reversing rod to rotate clockwise to the far rest end of the return cam. The follower bearing at the end of the first reversing rod is at the near rest end of the main cam. At this time, the reversing body 9 is driven by the follower bearing at the end of the third reversing rod and moves upward along the reversing body guide shaft 13 to the high point. The follower bearing at the bottom end of the first lifting rod moves from the near rest starting point to the near rest end point of the lifting cam during this process. Therefore, the follower bearing at the top end of the second lifting rod has no displacement change and remains at a low position. This process completes a single reversing action.

[0089] As Figure 6 shown, when the cam mounting shaft 88 continues to rotate clockwise by a certain angle, the follower bearing at the end of the first reversing rod completes a near rest stroke on the main cam, and the follower bearing at the bottom end of the second reversing rod completes a far rest stroke on the return cam. Therefore, during this process, the swing angle of the third reversing rod is zero, and the follower bearing at the end of the third reversing rod has no displacement change. However, the lifting cam can drive the follower bearing at the bottom end of the first lifting rod to move from its near rest end to the far rest end during this process, driving the second lifting rod to rotate clockwise upward by a certain angle, so that the follower bearing at the top end of the second lifting rod drives the lifting plate 86 to move upward along the lifting plate guide shaft 87, completing a single lifting action.

[0090] At this time, driving the cam mounting shaft 88 to rotate counterclockwise can successively reverse to complete the actions of the single lowering and single reversing of the lifting plate.

[0091] The above is only the implementation mode of this application. The description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application.

Claims

1. An action device, characterized in that, Comprising: A power source, which is arranged inside the body main body of the four-way vehicle and outputs a driving torque; A reversing and lifting linkage mechanism, which is respectively connected to the female rail wheel (10) arranged in the four-way vehicle and the cargo lifting frame adjacent to the female rail wheel (10); A transmission assembly, which is transmission-connected between the power source and each reversing and lifting linkage mechanism, transmits the driving torque of the power source to each reversing and lifting linkage mechanism, and drives each reversing and lifting linkage mechanism at different positions in the four-way vehicle to adjust its action state; The reversing and lifting linkage mechanism can respectively and independently drive the female rail wheel (10) and the cargo lifting frame to switch their action states, and the action state switching of the female rail wheel (10) and the cargo lifting frame can be independent of each other; Wherein, each reversing and lifting linkage mechanism is respectively provided with: A conjugate cam (81), which is driven to rotate by the driving torque output by the power source; A lifting cam (84), which is driven to rotate by the driving torque output by the same power source; A reversing body (9), which is driven by a first link to follow the contour surface of the conjugate cam (81). The reversing body (9) remains in a rest state when the conjugate cam (81) rotates to a first angle range, and remains in a reversing state when the conjugate cam (81) rotates to a second angle range. In the rest state, the first link cancels the lifting torque on the reversing body (9), and in the reversing state, the first link maintains the lifting torque on the reversing body (9); A lifting plate (86), which is driven by a second link to follow the contour surface of the lifting cam (84). The lifting plate (86) remains in a lifting state when the lifting cam (84) rotates to a third angle range. In the lifting state, the second link maintains the lifting torque on the lifting plate (86); The conjugate cam (81) includes: a main cam (81-1) and a return cam (81-2) which are conjugately connected. When it is driven by a cam mounting shaft (88) to rotate in a first clockwise direction to a first angle range, the far rest end of its main cam (81-1) pushes up the coupling part of the first link, so that the other side of the first link remains in a rest state; as the conjugate cam (81) continues to rotate in the first clockwise direction to a second angle range, the return cam (81-2) in the conjugate cam pushes down the coupling part of the first link through its far rest end, so that the other side of the first link remains in a reversing state; during this process, the lifting cam (84) on the front side of the conjugate cam abuts against the coupling part of the second link with its near rest section, so as to keep the other side of the second link in a rest state, cancel the lifting torque of the second link on the lifting mechanism, and keep the cargo lifting frame in a contracted state; When the lifting cam (84) linked with the conjugate cam continues to be driven by the cam mounting shaft (88) to rotate in a first clockwise direction to a third angle range, its far rest end pushes down the coupling part of the second link, so that the other end of the second link remains in an upward lifting state, thereby lifting the cargo lifting frame above the vehicle body through the lifting mechanism to realize the picking, placing, loading and unloading of the cargo.

2. The actuating device according to claim 1, characterized in that, The reversing and lifting linkage mechanisms are respectively arranged at the four corners inside the body main body of the four-way vehicle, and each reversing and lifting linkage mechanism is respectively provided with: A commutator (9) is fixedly connected to the mother rail wheel (10) and drives the mother rail wheel (10) to remain in a rest state or switch to a commutation state in response to the output angle range of the driving torque of the power source; The lifting plate (86) is fixedly connected to the cargo lifting frame, and drives the cargo lifting frame to remain in a rest state or switch to a lifting state in response to the output angle range of the driving torque of the power source.

3. The motion device according to claim 2, wherein, In each reversing lifting linkage mechanism, the conjugate cam (81) and the lifting cam (84) operate synchronously; The first connecting rod is driven by the conjugate cam (81), and the second connecting rod is driven by the lifting cam (84), and the operating states of the first connecting rod and the second connecting rod are independent of each other.

4. The actuating device according to claim 3, characterized in that, The first angle range, the second angle range and the third angle range corresponding to the conjugate cam (81) and the lifting cam (84) are sequentially connected along a single direction; The second connecting rod remains in a rest state when the lifting cam (84) moves to other angle ranges, and in the rest state, the second connecting rod cancels the lifting torque on the lifting mechanism.

5. The action device according to claim 1, characterized in that, The transmission assembly comprises: A lifting reversing reducer (7) connected to a power source to adjust the output end driving torque; The lifting and reversing transmission shaft (12) is driven by the torque output end of the lifting and reversing reducer (7), and is simultaneously connected to each reversing and lifting linkage mechanism for driving each reversing and lifting linkage mechanism to operate synchronously.

6. The actuating device according to claim 5, characterized in that, In each reversing lifting linkage mechanism, the conjugate cam (81) and the lifting cam (84) are coaxially arranged on a cam mounting shaft (88), and the cam mounting shaft (88) is coupled to the end of the lifting reversing transmission shaft (12), and is driven by the lifting reversing transmission shaft (12) to synchronously drive the conjugate cam (81) and the lifting cam (84) to adjust their angle ranges.

7. The actuating device according to claim 6, characterized in that, The lifting and reversing transmission shaft (12) is installed parallel to the main body frame of the vehicle body between the two mother rail wheels (10) on the same side of the vehicle body, and the two ends of the lifting and reversing transmission shaft (12) simultaneously mesh and drive two reversing lifting linkage mechanisms, and the two reversing lifting linkage mechanisms are synchronously driven according to the torque transmission angle of the power source to adjust the two mother rail wheels (10) on the same side of the vehicle body to a rest state or synchronously switch the two mother rail wheels (10) on the same side of the vehicle body to a reversing state.

8. The actuating device according to claim 7, characterized in that, The lifting and reversing transmission shafts (12) on both sides of the vehicle body are connected by a reducer output shaft, and the reducer output shaft is arranged inside the vehicle body and connected between the torque output end of the lifting and reversing reducer (7) and the lifting and reversing transmission shaft (12).

9. The actuating device according to claim 8, characterized in that, Bevel gear meshing transmission is provided between the output shaft of the reducer and the lifting reversing transmission shaft (12), and between the lifting reversing transmission shaft (12) and the cam mounting shaft (88) of the reversing lifting linkage mechanism.

10. A four-way vehicle, characterized in that, The four-way vehicle is provided with an actuating device as described in any one of claims 1 to 9.

11. The four-way vehicle according to claim 10, wherein, The four-way vehicle is also provided with: A travel motor (2) is connected to and drives a travel reducer (3), and the travel reducer (3) simultaneously drives a universal joint coupling (4) and a sub-rail transmission shaft (5), thereby driving the mother rail wheel (10) and the sub-rail wheel (1) to respectively run along the rail.

12. The four-way vehicle according to claim 11, wherein The traveling motor (2) and the power source of the actuating device are respectively arranged on both sides of the body of the four-way vehicle. The output shafts of the traveling speed reducer (3) and the lifting reversing speed reducer (7) are parallel to each other and are respectively connected to the universal joint couplings (4) and the output shaft of the speed reducer which are arranged in parallel on both sides of the body of the four-way vehicle.

13. The four-way vehicle according to claim 12, wherein The lifting reversing transmission shaft (12) is perpendicular to the output shaft of the speed reducer and is arranged on the inner edge of the body of the four-way vehicle.

14. A warehousing system, characterized in that, It includes a four-way vehicle as described in claim 10, and a storage rack matching the four-way vehicle. The storage rack is provided with a main rail for the main rail wheels (10) to run, a sub-rail for the sub-rail wheels (1) to run, and storage compartments arranged therebetween; According to the operation requirements, the four-way vehicle correspondingly drives its reversing and lifting linkage mechanism: it remains within a first angle range when the four-way vehicle runs along the main rail, within a second angle range when the four-way vehicle runs along the sub-rail, and correspondingly switches to a third angle range during the process of the four-way vehicle lifting and loading / unloading goods.

Images