A mechanism, a four-way vehicle, and a control method for reversing and lifting linkage.

Abstract

This application provides a mechanism, a four-way vehicle, and a control method for a reversing and lifting linkage. The mechanism simultaneously drives a first drive assembly and a second drive assembly via a drive shaft. When the first drive assembly rotates to a first angle range, a first linkage triggers a reversing mechanism to maintain a resting state. When the first drive assembly is further driven to a second angle range, the reversing mechanism is triggered to switch to a lifting state, achieving reversing wheel lifting and reversing. When the second drive assembly is further driven to a third angle range, this application can trigger a lifting mechanism via a second linkage to lift and load cargo. Based on the conjugate cam-linkage structure of the first drive assembly, this application achieves independent control between the lifting and reversing actions through the cam-linkage mechanism of the cooperating second drive assembly. The conjugate cam drive method improves stability, reduces vehicle height, and facilitates the installation of the cargo lifting frame.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, and more specifically to a mechanism for reversing lifting linkage, a four-way vehicle, and a control method. Background Technology

[0002] Existing four-way vehicles typically use hydraulic mechanisms to reverse the drive wheels and lift the cargo racks. However, hydraulic mechanisms are prone to leakage, and their operation is not permitted in certain storage environments, limiting their application scenarios. Existing mechanical reversing or lifting structures usually employ linear drive methods such as rack and pinion or wedge-shaped sliders. These methods have high load torque, requiring additional reduction mechanisms to increase output torque. Furthermore, it is essential to ensure stable meshing between components and consistent transmission stroke throughout the drive process. If mud, sand, or foreign objects enter the meshing structure, or if the transmission stroke is inconsistent, the reversing and lifting structure will be jammed, causing serious mechanical failure. Summary of the Invention

[0003] This application addresses the shortcomings of existing technologies by providing a mechanism, a four-way vehicle, and a control method for reversing and lifting linkage. This application utilizes the cooperation between the drive assembly and different linkage structures to provide driving force in both the forward and return phases of the linkage, enabling independent control of the reversing and lifting actions. This improves the operational stability of the four-way vehicle, reduces the vehicle height, and provides more adjustment space for the cargo lifting frame. The specific technical solution adopted in this application is as follows.

[0004] First, to achieve the above objectives, a mechanism for reversing and lifting linkage is proposed, comprising: a drive shaft that connects to and drives a first drive assembly and a second drive assembly; a first link that is coupled to the first drive assembly on one side and to the reversing mechanism on the other side, wherein the first link remains in a resting state when the first drive assembly operates to a first angle range, and remains in a reversing state when the first drive assembly operates to a second angle range; in the resting state, the first link cancels the lifting torque on the reversing mechanism, and in the reversing state, the first link maintains the lifting torque on the reversing mechanism; and a second link that is coupled to the second drive assembly on one side and to the lifting mechanism on the other side, wherein the second link remains in a lifting state when the second drive assembly operates to a third angle range, and in the lifting state, the second link maintains the lifting torque on the lifting mechanism.

[0005] Optionally, in any of the above-described mechanisms for reversing lifting linkage, the first drive component and the second drive component operate synchronously; the first angle range, the second angle range, and the third angle range are sequentially connected along the direction of drive shaft operation; the second link remains in a resting state when the second drive component operates to other angle ranges, and in the resting state, the second link cancels the lifting torque on the lifting mechanism.

[0006] Optionally, in any of the above-described mechanisms for reversing and lifting linkage, the first driving component is a conjugate cam; when the conjugate cam operates to the first angle range, the far rest end of its main cam pushes the coupling part of the first link upward, so that the other side of the first link remains in the rest state; when the conjugate cam operates to the second angle range, the far rest end of its return cam pushes the coupling part of the first link downward, so that the other side of the first link remains in the reversing state.

[0007] Optionally, in any of the above-described mechanisms for reversing lifting linkage, the second drive component is a lifting cam linked with the conjugate cam; when the lifting cam operates to the third angle range, its far rest end pushes the coupling part of the second link downward, so that the other end of the second link remains in the lifting state; when the lifting cam operates to other angle ranges, its near rest end cancels the push on the coupling part of the second link.

[0008] Optionally, in the reversing lifting linkage mechanism described above, the first connecting rod includes three reversing support rods with a fixed included angle between them; a conjugate cam is disposed between two of the reversing support rods, wherein the main cam pushes the first reversing support rod located at one end of the first connecting rod upward within a first angular range, so that the third reversing support rod at the other end of the first connecting rod is kept in a low position; the return cam pushes the second reversing support rod located in the middle of the first connecting rod downward within a second angular range, so that the third reversing support rod at the other end of the first connecting rod is switched to a high position.

[0009] Optionally, the reversing lifting linkage mechanism as described above includes: a reversing body connected to the reversing wheel, the side of the reversing body being provided with a waist-shaped groove; a reversing body guide shaft passing through the reversing body, restricting the reversing body to slide up and down only along its axial direction; the end of the third reversing support rod is embedded in the waist-shaped groove of the reversing body, swinging left and right in the waist-shaped groove as the conjugate cam rotates, driving the reversing body to slide up and down along the reversing body guide shaft, and driving the reversing wheel to lift or lower.

[0010] Optionally, in any of the above-described mechanisms for reversing and lifting linkage, the ends of the first reversing support rod, the second reversing support rod, and the third reversing support rod are each connected to a follower bearing, and the three follower bearings are respectively rolledly connected to the main cam, the return cam, and the waist-shaped groove.

[0011] Optionally, in the reversing lifting linkage mechanism as described above, the second link is provided with two lifting rods, and the included angle between the two lifting rods is fixed; the lifting cam is provided outside the first lifting rod, and the lifting cam pushes the first lifting rod located at one end of the second link downward within a third angle range, so that the second lifting rod at the other end of the second link is kept in a high position.

[0012] Optionally, the lifting mechanism for reversing lifting linkage as described above includes: a lifting plate connected to the cargo lifting frame; a lifting plate guide shaft passing through the lifting plate and restricting the lifting plate to slide up and down only along its axial direction; the end of the second lifting support rod abuts against the lower part of the lifting plate and drives the lifting plate to slide up and down along the lifting plate guide shaft with the lifting cam, thereby driving the cargo lifting frame to lift or lower.

[0013] Optionally, in any of the above-described mechanisms for reversing and lifting linkage, the first link and the second link are coaxially arranged and operate independently.

[0014] In addition, to achieve the above objectives, this application also provides a four-way vehicle, which includes the mechanism for reversing lifting linkage as described above.

[0015] In addition, this application also provides a control method for a four-way vehicle as described above, wherein during the reversing process: the first drive assembly is driven to operate within a first angle range, the lifting torque of the first link on the reversing mechanism is removed, and the reversing mechanism drives the reversing wheel to fall; the first drive assembly is driven to operate within a second angle range, the lifting torque of the first link on the reversing mechanism is maintained, and the reversing mechanism drives the reversing wheel to rise.

[0016] Optionally, in any of the control methods described above, during the lifting process, the second drive assembly is driven in the first direction of operation to transition from the second angle range to the third angle range, maintaining the lifting torque of the second link on the lifting mechanism, so that the lifting mechanism drives the cargo lifting frame to rise; when the lifting is canceled, the second drive assembly is driven in the second direction of operation to transition from the third angle range to the second angle range or the first angle range, canceling the lifting torque of the second link on the lifting mechanism, so that the lifting mechanism drives the cargo lifting frame to fall; wherein, the second direction of operation is opposite to the first direction of operation.

[0017] Beneficial effects

[0018] This application provides a mechanism for reversing and lifting linkage. This mechanism simultaneously drives a first drive assembly and a second drive assembly via a drive shaft. When the first drive assembly rotates to a first angle range, a first linkage triggers a reversing mechanism to maintain a resting state. When the first drive assembly is further driven to a second angle range, the reversing mechanism is triggered to switch to a lifting state, achieving reversing wheel lifting and reversing. When the second drive assembly is further driven to a third angle range, this application can trigger a lifting mechanism via a second linkage to lift and load / unload cargo. Based on the conjugate cam-linkage structure of the first drive assembly, this application achieves independent control between the lifting and reversing actions through the cam-linkage mechanism of the cooperating second drive assembly. Through the cooperation between the drive assembly and different linkage structures, this application can provide driving force in both the linkage's forward and return phases. During the linkage of reversing and lifting actions, it improves the operational stability of the four-way vehicle, reduces the vehicle height, provides more flexible adjustment space for the cargo lifting frame, and facilitates the installation of the cargo lifting frame.

[0019] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present application and form part of the specification. Together with the embodiments of the present application, they serve to explain the present application but do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the mechanism used for reversing and lifting linkage in this application in a resting state;

[0022] Figure 2 yes Figure 1 A cross-sectional view of the rotation plane of the first link in the mechanism shown;

[0023] Figure 3 This is a schematic diagram of the mechanism used for reversing and lifting linkage in this application in the reversing state;

[0024] Figure 4 yes Figure 3 A schematic diagram of the A-A' section in the mechanism shown;

[0025] Figure 5 This is a schematic diagram of the mechanism used for reversing and lifting linkage in this application in the lifting state;

[0026] Figure 6 This is a schematic diagram of the connection between the first drive component and the second drive component in the structure of this application;

[0027] Figure 7This is a schematic diagram of the overall structure of the first link in the mechanism of this application;

[0028] Figure 8 This is a schematic diagram of the overall structure of the second link in the mechanism of this application.

[0029] In the diagram, 10 represents the drive shaft; 1 represents the conjugate cam; 1-1 represents the main cam; 1-2 represents the return cam; 2 represents the first connecting rod; 2-1 represents the first reversing support rod; 2-2 represents the second reversing support rod; 2-3 represents the third reversing support rod; 3 represents the second connecting rod; 3-1 represents the first lifting support rod; 3-2 represents the second lifting support rod; 4 represents the cam housing; 5 represents the connecting rod rotation shaft; 6 represents the reversing body; 61 represents the waist-shaped groove; 7 represents the reversing body guide shaft; 8 represents the lifting plate; 81 represents the lifting plate guide shaft; 9 represents the lifting cam; and 11 represents the follower bearing. Detailed Implementation

[0030] To make the objectives and technical solutions of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0031] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0032] The meaning of "and / or" as used in this application includes both situations where each exists alone or both exist simultaneously.

[0033] In this application, "inner" and "outer" refer to the direction from the cargo lifting frame toward the drive shaft inside the vehicle body, relative to the four-way vehicle itself, and vice versa; rather than a specific limitation on the device mechanism of this application.

[0034] The terms "left" and "right" as used in this application refer to the user's left side as the left and the user's right side as the right when the user is facing the four-way vehicle, and do not constitute a specific limitation on the device mechanism of this application.

[0035] The term "connection" as used in this application can mean a direct connection between components or an indirect connection between components through other components.

[0036] The terms "up" and "down" as used in this application refer to the direction from the bottom of the lifting plate guide shaft to the lifting frame of the cargo when the user is facing the four-way vehicle, which is up, and vice versa, which is down, and are not a specific limitation on the device mechanism of this application.

[0037] Figure 1 According to this application, a mechanism for the reversing and lifting linkage of a four-way shuttle is installed in the body of a four-way shuttle operating in an automated warehouse. The four-way shuttle typically has drive wheels and reversing wheels with mutually perpendicular directions of rotation. The drive wheels run along a drive track, driving the four-way shuttle in a first direction; the reversing wheels run along a reversing track, driving the four-way shuttle along a path perpendicular to the first direction. The drive track and the reversing track can be set at different heights, thereby allowing the reversing wheels to be raised or lowered accordingly by the reversing mechanism to match the height of the reversing track and achieve reversing operation.

[0038] To facilitate the handling and loading / unloading of goods within the warehouse, four-way vehicles are typically equipped with a cargo lifting frame on top. Driven by a lifting mechanism, the frame lifts the goods from the top of the vehicle to load and transport them, or retracts from the top of the vehicle to unload them.

[0039] The mechanism for reversing and lifting linkage in this application is located in the body of the four-way vehicle, and the reversing mechanism and lifting mechanism can be driven through the following structure:

[0040] Drive shaft 10, which connects to and drives the first drive assembly and the second drive assembly;

[0041] The first link is coupled to the first drive assembly on one side and to the reversing mechanism on the other side. The first link remains in a resting state when the first drive assembly operates to a first angle range, and remains in a reversing state when the first drive assembly operates to a second angle range. In the resting state, the first link cancels the lifting torque on the reversing mechanism, causing the reversing wheel to be lowered with the reversing mechanism. In the reversing state, the first link maintains the lifting torque on the reversing mechanism, causing the reversing wheel to be lifted by the reversing mechanism. Thus, the switching of the four-way vehicle's running route is achieved by matching the different height positions of the reversing wheel with warehouse tracks of different heights.

[0042] The second link, coupled to the second drive assembly on one side and the lifting mechanism on the other, remains in the lifting state when the second drive assembly operates to a third angle range. In this lifting state, the second link maintains a lifting torque on the lifting mechanism, allowing the cargo lifting frame to lift the cargo from the top of the four-way vehicle body, thus enabling loading and transporting the cargo. The second link can be configured to remain in a resting state when the second drive assembly operates to other angle ranges, so that when the first drive assembly operates to the first or second angle range, the second link is in a state where it no longer provides lifting torque to the lifting mechanism, preventing the cargo lifting frame from being lifted and affecting the operation of the four-way vehicle.

[0043] In this application, the first drive assembly and the second drive assembly can be coaxially mounted on the drive shaft 10 to operate synchronously by the same drive motor. The first drive assembly can be implemented by a conjugate cam 1, or by a corresponding multi-layer non-circular gear or planetary gear with an outwardly convex meshing surface; the second drive assembly can be implemented by a lifting cam 9 on the outer side of the conjugate cam, or by a corresponding non-circular gear or planetary gear with an outwardly convex meshing surface. The first angle range, second angle range, and third angle range of the control reversing mechanism and the lifting mechanism for different working states can respectively correspond to different rotation angles of the two drive assemblies. Each angle range is generally set to be sequentially connected along the single direction of operation of the drive shaft and the drive assembly according to the operating requirements of the four-way vehicle. The angle ranges can be set to overlap with each other to achieve a smooth transition of driving torque, or they can be set to not overlap to clearly distinguish the different working states of the reversing wheel and the cargo lifting frame.

[0044] Taking the use of a conjugate cam mechanism as the first driving component as an example, when the conjugate cam mechanism is in operation, the reciprocating strokes of its follower, namely the first connecting rod, can be considered as being driven by a master cam and a return cam respectively. The master cam and the return cam form a set of conjugate cams, which control the push stroke and return stroke of the first connecting rod respectively, so that the first connecting rod receives driving force in both the push and return strokes. Compared with the driving method using a slotted cam, the movement direction of the end of the first connecting rod in this application maintains a smaller angle with the direction of force. That is, compared with the connecting rod driven by a slotted cam, the connecting rod in this application can maintain a smaller pressure angle in both the push and return strokes. The smaller pressure angle makes the connecting rod in this application have higher transmission efficiency, and thus it can be applied to the needs of heavy-load operation of four-way vehicles. This application utilizes a conjugate cam linkage mechanism to achieve vertical up-and-down movement at the end of the linkage. Compared with the current mainstream gear and rack transmission and eccentric wheel transmission, it can reduce the torque on the transmission shaft and reduce the load before and after the action begins and ends (i.e., when the linkage is stationary). Therefore, it can meet the heavy-load drive requirements with a commonly used and easily integrated conventional torque output motor, saving hardware costs.

[0045] Specific reference Figure 2 As shown, when the conjugate cam 1 of this application is driven by the drive shaft 10 to rotate clockwise in a first direction to a first angular range, the far resting end of its main cam 1-1 pushes upward the coupling part of the first connecting rod, keeping the other side of the first connecting rod in a resting state. As the conjugate cam 1 continues to rotate clockwise in the first direction to... Figure 3 , Figure 4 After the second angle range shown, the return cam 1-2 in the conjugate cam can push the coupling part of the first link downward through its far rest end, keeping the other side of the first link in the reversing state. During this process, the lifting cam 9 on the front side of the conjugate cam abuts the coupling part of the second link with its near rest section, thereby keeping the other side of the second link in the rest state, canceling the lifting torque of the second link on the lifting mechanism, and keeping the cargo lifting frame in the retracted state.

[0046] When the lifting cam 9, which is linked to the conjugate cam, continues to be driven by the drive shaft 10 to rotate clockwise in the first direction... Figure 5 When the third angle range is shown, its far resting end can push the coupling part of the second link downward, so that the other end of the second link is kept in an upward lifting state, thereby lifting the cargo lifting frame to the top of the vehicle body through the lifting mechanism, realizing the picking, placing and unloading of cargo.

[0047] The lifting cam 9 can adjust the pushing state of the second link coupling part at different operating angles by setting its near and far repose angles, thereby flexibly realizing the drive control of the lifting mechanism and the cargo lifting frame connected to the lifting mechanism.

[0048] Therefore, a four-way vehicle using the aforementioned reversing and lifting linkage mechanism can, during the reversing process:

[0049] By driving the first drive assembly to operate within the first angle range, the lifting torque of the first link on the reversing mechanism is removed, causing the reversing mechanism to drive the reversing wheel to fall.

[0050] Alternatively, by driving the first drive assembly to operate within the second angle range, the lifting torque of the first link on the reversing mechanism is maintained, causing the reversing mechanism to drive the reversing wheel to rise.

[0051] Meanwhile, during the process of lifting and loading goods, the four-way vehicle can drive the second drive component from the second angle range to the third angle range in the first clockwise direction, so as to maintain the lifting torque of the second link on the lifting mechanism, so that the lifting mechanism can drive the cargo lifting frame to lift.

[0052] Or when it is necessary to retract the lifting frame for lifting goods, the second driving component is driven in the above-mentioned second counterclockwise rotation direction to transition from the third angle range to the second angle range or the first angle range, so as to cancel the lifting torque of the second connecting rod on the lifting mechanism, and the lifting mechanism drives the lifting frame for goods to fall.

[0053] In other implementation manners, the connection sequence of the above three angle ranges can also be correspondingly set in a counterclockwise direction according to the torque output direction of the driving motor or according to the vehicle body structure. The lifting cam 9 and the conjugate cam can realize the linkage control of the commutation mechanism and the lifting mechanism in the same way as above through a reverse driving sequence by flexibly adjusting the angle ranges of their near rest angles and far rest angles and the angular relationship between the cams.

[0054] In this application, the first connecting rod for controlling the working state of the commutation mechanism and the second connecting rod for controlling the working state of the lifting mechanism can be Figure 6 coaxially arranged on the same connecting rod rotating shaft 5 in the manner shown. The first connecting rod and the second connecting rod can be independently rotated 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 driving shaft 10 to achieve 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 driving shaft 10.

[0055] Taking Figure 1 the internal structure of the vehicle body shown as an example, in this four-way vehicle, the cam box body accommodating the conjugate cam and the lifting cam is arranged on the right side in the figure, while the commutation mechanism and the lifting mechanism are arranged on the left side in the figure.

[0056] In this installation manner, to ensure that the commutation mechanism can receive the driving torque during both the lifting and descending processes and ensure the stability of its action process, this application can set the first connecting rod to include Figure 7 [[ID=-18]]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 connecting rod rotating shaft 5 through the bearing structures in the middle of the support rods, and are connected between the cam box body 4 and the commutation mechanism.

[0057] Taking Figure 4 the assembly manner as an example, this application can set the conjugate cam 1 between the first commutation support rod and the second commutation support rod, and couple and abut the cam surface of the conjugate cam against the right side of the first connecting rod. Thus, when the main cam 1-1 rotates clockwise to Figure 2 the first angle range shown, it can push the first commutation support rod 2-1 at the right end of the first connecting rod upward through the far rest end of the main cam 1-1, so that the third commutation support rod 2-3 at the left end of the first connecting rod flips downward and remains at a low position; and when the return cam 1-2 continues to rotate clockwise to Figure 4When the second angle range is shown, the second reversing support rod 2-2 located in the middle of the first link can be pushed downward and to the left by the far rest end of the return cam 1-2, so that the third reversing support rod 2-3 at the left end of the first link can be flipped upward and switched to a high position, thereby driving the reversing mechanism to slide upward, driving the reversing wheel to be lifted synchronously to a higher position of the vehicle body along with the sliding of the reversing body, disengaging from the bottom reversing track, and switching to the main drive wheel running along the main drive track.

[0058] When it is necessary to switch to the reversing track to drive the four-way vehicle to run, after switching the conjugate cam 1 to the first angle range in the reverse direction, the reversing body can be lowered, so that the reversing body drives the reversing wheel to fall on the reversing track plane, and the four-way vehicle is driven to run along the reversing track by the reversing wheel.

[0059] This application utilizes a conjugate cam transmission structure, enabling the drive shaft to, according to operational needs, first drive the reversing mechanism to reverse direction and then drive the lifting mechanism to lift during its clockwise rotation from the initial segment of the first angle range to the extreme position of the third angle range. Similarly, during the counter-clockwise return of the drive shaft from the extreme position to the initial position, first drive the lifting mechanism to lower and then drive the reversing mechanism to return. In practical applications, this application can adjust the initial position of the drive shaft between the first and second angle ranges by adjusting the assembly angle relationship between the four-way in-vehicle motor shaft and the corresponding transmission components. Therefore, this application can adjust the operating state of the reversing wheel by controlling the forward and reverse rotation of the motor through a program, ensuring that the drive shaft, whether rotating clockwise or counter-clockwise from its initial position, prioritizes the lifting and lowering state switching of the reversing mechanism, achieving reversing operation. Since the travel height difference between the first and second angle ranges of the first link driving the reversing mechanism is limited, this application can compress the required internal cavity height of the vehicle body through the aforementioned conjugate cam transmission structure. Furthermore, because this application sets the conjugate cam and the lifting cam parallel, the second link can also be parallel to the first link, maintaining the same elevation space in a lateral parallel manner. Therefore, the four-way vehicle of this application only needs to provide a travel space from the second angle range to the first angle range within its body cavity to drive the reversing block to freely extend and retract from inside the body, achieving reversing, and using the same height space to drive the lifting plate upward to achieve loading, unloading, and transportation of goods. This application avoids the problem of existing conventional cam lifting and reversing mechanisms requiring a complete travel from the lowest to the highest position during the process, necessitating a higher body assembly space, and affecting the usable storage height of the automated warehouse. Conventional cam lifting and reversing mechanisms require the cam to rotate to the highest position and the traveling wheels to lift goods in order to load and unload them; however, in this application, the loading and unloading process does not require additional body height, but can be directly driven by the second link parallel to the first link, reusing the same height space as the first link's rotation range. Therefore, this application can effectively reduce the height of the four-way vehicle body, thereby increasing the available space of the storage system and increasing the overall capacity of the storage system.

[0060] This application can achieve flexible adjustment of the sequence of reversing and lifting linkage actions by controlling the relative angle relationship between the conjugate cam and the lifting cam arranged side by side. This allows the two actions to be separated, so that the reversing stroke can be completed first by setting its drive angle range. This can shorten the reversing stroke as much as possible, thereby making the vehicle body relatively thin.

[0061] In this application, the lifting and reversing actions are driven by two separate devices—the lifting mechanism and the reversing mechanism—based on different drive shaft operating angles. This driving method also allows the cargo lifting mechanism to operate relatively independently, eliminating the need for direct contact with the vehicle's external frame to limit the lower limit of the cargo lifting frame's downward travel range, as is required in existing cam-driven structures. Instead, this application eliminates the need for an external vehicle frame, allowing for flexible adjustment of the cargo lifting frame's travel position directly through the lifting mechanism's own lifting range. Consequently, the specific dimensions of the cargo lifting frame in this application are no longer limited by the vehicle's external frame structure, enabling convenient and flexible replacement of different sized lifting plates within the four-way vehicle to meet the driving requirements of different projects and pallet sizes.

[0062] The reversing body 6 of this application can be directly connected to the reversing wheel, or the lifting and lowering state of the reversing wheel can be controlled through the wheel frame transmission mechanism. Generally, the reversing body in this application can be configured as a block structure, with a waist-shaped groove on its side wall surface, and its top and / or bottom can be penetrated by the reversing body guide shaft 7. Thus, the reversing body 6 can be guided by the reversing body guide shaft 7 and restricted to sliding only up and down along the reversing body guide shaft 7. In this structure, the end of the third reversing support rod 2-3 can be directly embedded in the waist-shaped groove of the reversing body, so that during the operation of the first connecting rod with the conjugate cam 1, the reversing body is driven to slide up and down along the reversing body guide shaft by the left and right swing of the end of the third reversing support rod 2-3 in the waist-shaped groove, thereby driving the reversing wheel to lift or lower.

[0063] To achieve the driving of the lifting mechanism, this application may configure the second link to include Figure 8 The two lifting support rods are shown. The included angle between each lifting support rod is fixed, and they are rotatably mounted on the top of the connecting rod rotating shaft 5 through the bearing structure in the middle of the lifting support rod, connecting the cam box 4 and the lifting mechanism.

[0064] by Figure 1 or Figure 3 Taking the assembly method shown as an example, this application can position the lifting cam 9 on the outside of the angle between the two lifting rods. Thus, within a third angle range, the lifting cam 9 can push the first lifting rod 3-1 located at the right end of the second link downwards and to the left via its far rest end, causing the second lifting rod 3-2 at the left end of the second link to flip upwards and remain in a high position. This drives the lifting mechanism to slide upwards, causing the cargo lifting frame to be lifted synchronously to the top of the vehicle body along with the lifting plate 8, achieving cargo lifting and unloading. Within other angle ranges, the lifting cam 9 can retract its push on the right side of the first lifting rod 3-1 via its near rest end, causing the second lifting rod 3-2 at the left end of the second link to flip downwards and switch to a low position under gravity. This causes the lifting mechanism to slide downwards, allowing the cargo lifting frame and lifting plate 8 to synchronously return to the vehicle body, thus canceling the cargo lifting.

[0065] The lifting mechanism of this application can be directly connected to the cargo lifting frame via the lifting plate 8, or the lifting state of the cargo lifting frame can be controlled via the lifting frame transmission mechanism. Generally, the lifting plate 8 in this application can be configured as a block structure, with its top and / or bottom accessible by the lifting plate guide shaft 81. Thus, the lifting plate 8 can be guided by the lifting plate guide shaft 81 and restricted to sliding only up and down along the lifting plate guide shaft 81. In this structure, the end of the second lifting support rod 3-2 can be directly abutted against the lower side of the lifting plate 8, so that during the operation of the second connecting rod with the lifting cam 9, the lifting plate 8 is driven to slide up and down along the lifting plate guide shaft 81 by the up and down flipping of the end of the second lifting support rod 3-2, thereby driving the cargo lifting frame to rise or fall accordingly.

[0066] To reduce wear between the aforementioned linkage mechanisms and ensure smoother vertical sliding of the lifting plate and reversing body, this application connects a follower bearing 11 to the ends of the first reversing support rod 2-1, the second reversing support rod 2-2, the third reversing support rod 2-3, the first lifting support rod 3-1, and the second lifting support rod 3-2, respectively. The three follower bearings at the three ends of the first connecting rod are respectively connected to the main cam 1-1, the return cam 1-2, and the waist-shaped groove via rolling connections. The two follower bearings at both ends of the second connecting rod are respectively connected to the lifting cam and the bottom of the lifting plate via rolling connections. Therefore, this application reduces friction between components and wear through rolling fit, thereby extending the service life of the linkage mechanism.

[0067] In the aforementioned linkage structures, the driving point between the follower bearing and the lifting plate is close to the guide shaft of the lifting plate. Therefore, even if the rotation angles of different reversing lifting linkage mechanisms deviate and are not completely consistent, the travel deviation of the follower bearing along the guide shaft direction will not be too large to affect the lifting of the cargo lifting frame. Similarly, because the driving point between the follower bearing and the reversing body in the aforementioned linkage structures is close to the guide shaft of the reversing body, even if the rotation angles of different reversing lifting linkage mechanisms deviate and are not completely consistent, the travel deviation of the follower bearing along the guide shaft direction will not be too large to affect the lifting of the reversing body driving the main rail wheel.

[0068] The length and angle of each support rod structure mentioned above are fixed in this application. The stroke length distance of each cam structure can be set to be equal or unequal according to the driving requirements.

[0069] In summary, this application uses three support rods to connect three cam follower bearings at their ends. These three follower bearings 11 are respectively in contact with the main cam, the return cam, and the lifting cam. The corresponding loads are connected to the other side of the support rods to achieve the lifting and lowering drive of the reversing wheel and the cargo lifting frame. During the counterclockwise rotation of the conjugate cam, the main cam can drive the follower bearings from their near-rest end through a push stroke to... Figure 1The state of the far rest end shown indicates that the commutator is at its lowest point, driving the commutator wheel to descend and achieve commutation drive; when the conjugate cam switches to clockwise rotation, the return cam can drive the follower bearing at the end of the second commutator support rod from its near rest end through the push stroke to its far rest end, reaching... Figure 3 In this state, the reversing body, driven by the third reversing support rod, is at its highest point, lifting the reversing wheel. This structure can be applied to the reversing action of a four-way shuttle. The sliding of the follower bearing within the reversing body drives the shuttle's reversing body up and down, achieving the purpose of changing tracks. The lifting cam rotates further clockwise, driving the follower bearing at the end of the first lifting support rod from the near-rest section to the far-rest section via its coupling surface, switching to... Figure 5 As shown, the lifting plate is at its highest point, driven by the second lifting support rod, raising the cargo lifting frame. The conjugate cam and the lifting cam are coaxially linked, enabling the linkage between the reversing action and the lifting action.

[0070] In this application, the drive shaft 10 simultaneously drives a pair of conjugate cams and a separate lifting cam. The three cams and the drive shaft 10 can be integrated into a single camshaft or assembled separately. By adjusting the rotation angle of the drive shaft 10, the cams can achieve the following three working states by rotating them to different angle ranges:

[0071] like Figure 1 As shown, at this time, the follower bearing at the end of the first reversing support rod is at the far end of the main cam, the follower bearing at the end of the third reversing support 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 support rod is at the starting point near the end of the lifting cam. The second lifting support rod cancels the upward thrust so that the lifting plate is at the low position.

[0072] like Figure 3 As shown, when the drive shaft 10 rotates clockwise by a certain angle, the return cam drives the follower bearing at the bottom of the second reversing support rod to rotate clockwise to the far rest end of the return cam. The follower bearing at the end of the first reversing support rod is at the near rest end of the main cam. At this time, the reversing body 6 moves upward to the high point along the guide shaft 7 of the reversing body under the drive of the follower bearing at the end of the third reversing support rod. During this process, the follower bearing at the bottom of the first lifting support rod moves from the near rest start point of the lifting cam to the near rest end point. Therefore, the follower bearing at the top of the second lifting support rod has no displacement change and is still in the low position. This process completes the individual reversing action.

[0073] like Figure 5As shown, when the drive shaft 10 continues to rotate clockwise by a certain angle, the follower bearing at the end of the first reversing support rod completes a near-rest stroke on the main cam, and the follower bearing at the bottom of the second reversing support rod completes a far-rest stroke on the return cam. Therefore, during this process, the swing angle of the third reversing support rod is zero, and the follower bearing at the end of the third reversing support rod has no displacement change. Meanwhile, the lifting cam can drive the follower bearing at the bottom of the first lifting support rod to move from its near-rest end to its far-rest end during this process, causing the second lifting support rod to rotate clockwise upward by a certain angle. This causes the follower bearing at the top of the second lifting support rod to drive the lifting plate 8 to move upward along the lifting plate guide shaft 81, completing the individual lifting action.

[0074] At this point, driving the drive shaft 10 to move counterclockwise will allow the lifting plate to descend and reverse direction independently in succession.

[0075] The above are merely embodiments of this application, and their descriptions are quite specific and detailed, but they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application.

Claims

1. A mechanism for reversing and lifting linkage, characterized in that, include: A drive shaft that connects to and drives a first drive assembly and a second drive assembly; The first link is coupled to the first drive assembly on one side and to the reversing mechanism on the other side. When the first drive assembly moves to the first angle range, the first link remains in the rest state. When the first drive assembly moves to the second angle range, the first link remains in the reversing state. In the rest state, the first link cancels the lifting torque on the reversing mechanism. In the reversing state, the first link maintains the lifting torque on the reversing mechanism. The second link is coupled to the second drive assembly on one side and to the lifting mechanism on the other side. When the second drive assembly moves to the third angle range, the second link remains in the lifting state. In the lifting state, the second link maintains the lifting torque on the lifting mechanism. The first driving component is a conjugate cam; When the conjugate cam rotates to the first angle range, the far rest end of its main cam pushes the coupling part of the first link upward, so that the other side of the first link remains in the rest state; When the conjugate cam rotates to the second angle range, the far rest end of its return cam pushes the coupling part of the first link downward, keeping the other side of the first link in the reversing state. The first link includes three reversing struts, and the included angle between each reversing strut is fixed; A conjugate cam is disposed between two of the reversing rods. The main cam pushes the first reversing rod located at one end of the first link upward within a first angle range, so that the third reversing rod at the other end of the first link is kept in a low position. The return cam pushes the second reversing support rod located in the middle of the first link downward within the second angle range, so that the third reversing support rod at the other end of the first link switches to the high position; The first driving component and the second driving component operate synchronously; The first angle range, the second angle range, and the third angle range are sequentially connected along the direction of drive shaft rotation; the second link remains in a resting state when the second drive assembly rotates to other angle ranges, and in the resting state, the second link cancels the lifting torque on the lifting mechanism; The second drive component is a lifting cam that is linked to the conjugate cam; When the lifting cam rotates to the third angle range, its far rest end pushes the coupling part of the second link downward, so that the other end of the second link is kept in the lifting state. When the lifting cam rotates to other angle ranges, its near-rest end cancels the push on the coupling part of the second link; The reversing mechanism includes: A commutator body, which connects to the commutator wheel, has a waist-shaped groove on its side; a commutator body guide shaft, which passes through the commutator body and restricts the commutator body to slide up and down only along its axial direction. The end of the third reversing support rod is embedded in the waist-shaped groove of the reversing body. It swings left and right in the waist-shaped groove as the conjugate cam rotates, driving the reversing body to slide up and down along the reversing body guide shaft, and driving the reversing wheel to rise or fall.

2. The mechanism for reversing and lifting linkage as described in claim 1, characterized in that, The ends of the first reversing support rod, the second reversing support rod, and the third reversing support rod are each connected to a follower bearing, and the three follower bearings are respectively rolled to the main cam, the return cam, and the waist groove.

3. The mechanism for reversing and lifting linkage as described in claim 2, characterized in that, The second connecting rod is equipped with two lifting support rods, and the included angle between the two lifting support rods is fixed; The lifting cam is located outside the first lifting support rod. Within a third angle range, the lifting cam pushes the first lifting support rod located at one end of the second link downward, so that the second lifting support rod at the other end of the second link is kept in a high position.

4. The mechanism for reversing and lifting linkage as described in claim 3, characterized in that, The lifting mechanism includes: A lifting platform, which connects to a cargo lifting frame; The lifting plate guide shaft passes through the lifting plate and restricts the lifting plate to slide up and down only along its axial direction. The end of the second lifting support rod abuts against the bottom of the lifting plate, and drives the lifting plate to slide up and down along the lifting plate guide shaft with the lifting cam, thereby driving the cargo lifting frame to rise or fall.

5. The mechanism for reversing and lifting linkage as described in claim 4, characterized in that, The first and second connecting rods are coaxially arranged and operate independently.

6. A four-way vehicle, characterized in that, Includes the mechanism for reversing and lifting linkage as described in any one of claims 1 to 5.

7. A control method for a four-way vehicle as described in claim 6, characterized in that, During the reversing process: drive the first drive assembly to operate within the first angle range, remove the lifting torque of the first link on the reversing mechanism, and cause the reversing mechanism to drive the reversing wheel to fall; drive the first drive assembly to operate within the second angle range, maintain the lifting torque of the first link on the reversing mechanism, and cause the reversing mechanism to drive the reversing wheel to rise.

8. The control method as described in claim 7, characterized in that, During the lifting process, the second drive assembly is driven in the first direction of operation to transition from the second angle range to the third angle range, maintaining the lifting torque of the second link on the lifting mechanism, so that the lifting mechanism drives the cargo lifting frame to rise; when the lifting is canceled, the second drive assembly is driven in the second direction of operation to transition from the third angle range to the second angle range or the first angle range, canceling the lifting torque of the second link on the lifting mechanism, so that the lifting mechanism drives the cargo lifting frame to fall; wherein, the second direction of operation is opposite to the first direction of operation.

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