A four-way shuttle vehicle and a method of its application

Abstract

The application provides a four-way shuttle vehicle and an application method thereof, and relates to the field of shuttle vehicles.The application comprises a bottom plate, two sides of the top of which are provided with a group of balls, and a driving assembly, a transposition assembly, a driven ball shaft assembly and a limiting clutch assembly are arranged between each group of balls and the bottom plate.The driving assembly comprises a motor, a transmission shaft group, a fixed shaft support seat, a power transmission chain, a bevel gear group and a straight gear group.The application cooperates the transposition assembly and the limiting clutch assembly to freely convert the force output by the driving assembly into a horizontal or vertical force, thereby directly controlling the reciprocating movement of the driven ball shaft assembly in the horizontal and vertical directions, forming a four-way shuttle vehicle supported by a set of gear trains for four-way shuttle movement, simplifying the control structure of the four-way shuttle vehicle, reducing the self-weight of the four-way shuttle vehicle and improving the reversing efficiency of the four-way shuttle vehicle.

Description

Technical Field

[0001] This invention relates to a shuttle, specifically a four-way shuttle and its application method, belonging to the field of shuttle technology. Background Technology

[0002] With the development of intelligent warehousing and logistics, shuttle vehicles are receiving increasing attention from the industry due to their advantages such as high space utilization, low cost, and stable performance. Among them, four-way shuttle vehicles, which can move in four directions on a plane, are a key area of ​​research and development in the industry.

[0003] The invention disclosed in patent application number 202310411656.1 belongs to the field of shuttle technology. It includes a vehicle body, multiple electro-hydraulic push rods are fixedly installed in the mounting slot, and drive components that cooperate with lifting plates are provided in two receiving slots. At both ends of the vehicle body, there are stop components that cooperate with the drive components and adjust and stabilize the goods on the top surface of the vehicle body. The invention uses the drive components to drive the stop components to simultaneously adjust the top surface of the lifting plates during the process of the two lifting plates rising.

[0004] Existing four-way shuttles all use two sets of wheel systems to enable the shuttle to move in four directions (forward, backward, left, and right) on the same plane. However, using two sets of wheel systems leads to a complex internal structure of the shuttle, increases the shuttle's weight, and takes a long time to switch wheel systems, resulting in low reversing efficiency and high manufacturing costs. Summary of the Invention

[0005] To solve the above problems, the present invention provides the following technical solution: a four-way shuttle, comprising a base plate, with a set of spheres arranged on both sides of the top of the base plate. Each set of spheres is connected to the base plate by a driving force assembly, a shifting assembly, a driven ball shaft assembly, and a limiting clutch assembly. The force output by the driving force assembly is freely converted into a horizontal or vertical force, thereby directly controlling the reciprocating motion of the driven ball shaft assembly in the horizontal and vertical directions. The two sets of spheres, the driving force assembly, the shifting assembly, the driven ball shaft assembly, the limiting clutch assembly, and the base plate constitute a four-way shuttle supported by a wheel system for four-way shuttle motion. The driving force assembly provides power for the four-way shuttle's movement and includes a motor, a transmission shaft assembly, and a fixed shaft support. The system includes a power transmission chain, bevel gear set, and spur gear set; the shifting assembly includes a shifting main drive assembly, a transmission shaft shifting assembly, a ball shaft shifting assembly, and a shifting auxiliary drive assembly; the driven ball shaft assembly provides support for the actual movement of the four-way shuttle, and includes a ball shaft, a toroidal ball shaft support seat, and a clutch bushing, with grooves on the side of the toroidal ball shaft support seat corresponding to the horizontal position of the limit block; the limit clutch assembly includes a limit push plate, a limit block, a connecting base plate, a clutch push plate, a fixing block, a spring, an energized coil block, and a magnet. The shifting assembly and the limit clutch assembly work together to control the movement direction of the four-way shuttle. There are four limit clutch assemblies, which are respectively set on one side of the two sets of balls. The top of the base plate has a reversing annular groove, a clutch square hole, a limit square hole, and a ball hole.

[0006] Preferably, the drive shaft assembly includes two drive shafts: drive shaft one, drive shaft two, drive shaft three, drive shaft four, and drive shaft five; the bevel gear assembly includes bevel gear one, bevel gear two, bevel gear three, and bevel gear four; the spur gear assembly includes spur gear one and spur gear two; the shifting main drive assembly includes a main drive electric cylinder, a main electric cylinder support, an electric cylinder working rod one, a slider, and a slide rail one; the drive shaft shifting assembly includes a T-shaped frame, an inter-shaft connecting frame, a sliding shaft support, a slide rail two, and a motor fixing frame; the ball shaft shifting assembly includes a central fixing frame, a rotary disk, a connecting rod, a rotating frame one, a rotating frame two, and a ball side fixing frame; and the shifting auxiliary drive assembly includes an auxiliary drive electric cylinder, an auxiliary electric cylinder support, and an electric cylinder working rod two.

[0007] Preferably, two drive shafts are fixedly connected to the two output ends of the motor, and sprockets are fixedly sleeved on the outer sides of both drive shaft one and drive shaft two. A power transmission chain is sleeved on the outer sides of the two sprockets. Both ends of drive shaft two are fixedly connected to bevel gear one and bevel gear three, respectively. Bevel gear one meshes with bevel gear two, which is fixedly sleeved on the outer side of drive shaft three.

[0008] Preferably, the fixed shaft support is rotatably sleeved on the outside of transmission shaft three, transmission shaft four, and transmission shaft five and fixedly connected to the base plate. Bevel gear three meshes with bevel gear four, which is fixedly sleeved on the outside of transmission shaft four. Bevel gear three drives bevel gear four to rotate. Bevel gear four drives the internal fixed transmission shaft four to rotate counterclockwise. Spur gear one is fixedly sleeved on the outside of transmission shaft four. Spur gear one meshes with spur gear two, which is fixedly sleeved on the outside of transmission shaft five. Transmission shaft four drives transmission shaft five to rotate through spur gear one and spur gear two. At this time, transmission shaft five rotates clockwise. The rotation direction of transmission shaft three and transmission shaft five is the same. The end faces of transmission shaft one, transmission shaft three, and transmission shaft five are all tooth profile surfaces.

[0009] Preferably, the main electric cylinder support is fixedly connected between the top of the base plate and the main drive electric cylinder, the electric cylinder working rod is fixedly connected between the main drive electric cylinder and the slider, the slider and the slide rail are slidably connected, and the slide rail limits the movement of the inter-shaft connecting frame to ensure the stability of the movement of the inter-shaft connecting frame.

[0010] Preferably, a slide rail is fixedly installed on the side of a T-shaped frame. A square hole is horizontally opened at one end of the T-shaped frame. The shaft connecting frame passes through the square hole and is slidably connected to the T-shaped frame. The T-shaped frame is rotatably connected to the rotary disk. The shaft connecting frame is fixedly connected to the sliding shaft support seat. Four sliding shaft support seats are provided. The motor fixing frame is fixedly sleeved on the top of the outside of the motor.

[0011] Preferably, two toroidal ball bearing supports are provided inside the reversing annular groove. The two toroidal ball bearing supports are fixedly connected to the second rotating frame and the first rotating frame, respectively. The top of the clutch push plate passes through the clutch square hole. The limiting push plate moves synchronously to the vertical magnet. The limiting block passes through the limiting square hole and is inserted into the groove. The vertical limiting block is driven into the groove on the lower half of the side of the toroidal ball bearing support to limit the toroidal ball bearing support. The ball is provided inside the ball hole. Four sliding shaft supports are rotatably sleeved on the outside of the two first transmission shafts and the outside of the second transmission shaft, respectively. Four slide rails are provided. The four sliding shaft supports are slidably connected to the four slide rails, respectively. The slide rails are fixedly set on the top of the base plate. The motor fixing bracket is fixedly connected to the shaft connecting bracket.

[0012] Preferably, the central fixed frame is fixedly installed on the top of the base plate, the rotary disk is hingedly installed on the top of the central fixed frame, two connecting rods are provided, the two connecting rods are respectively hingedly installed on both sides of the rotary disk, and the other end of the two connecting rods is respectively hingedly installed to the first rotating frame and the second rotating frame. Two spherical fixed frames are provided, the first rotating frame and the second rotating frame are respectively rotatably connected to the two spherical fixed frames. When the second rotating frame and the first rotating frame rotate, they drive the two annular spherical shaft support seats to rotate. Since the spherical shafts installed on the annular spherical shaft support seats are fixed to the spheres, the two rotating spheres rotate. The spherical fixed frames are fixedly installed on the upper surface of the base plate, the auxiliary electric cylinder support seat is fixedly installed between the top of the base plate and the auxiliary drive electric cylinder, the second electric cylinder working rod is fixedly connected to the auxiliary drive electric cylinder, and the other end of the second electric cylinder working rod abuts against one end face of the rotating frame in a horizontal state.

[0013] Preferably, the ball shaft passes through the toroidal ball shaft support seat and is rotatably connected to the toroidal ball shaft support seat. The ball shaft passes through the ball and is fixedly connected to the ball. The outer end of the ball shaft near the motor is inserted into the clutch bushing. Keyways are provided on both the outer circular surface of the ball shaft and the inner circular surface of the clutch bushing at the junction. The ball shaft and the clutch bushing are slidably installed together. The clutch bushing can slide axially a certain distance on the outer side of the ball shaft. The end face of the clutch bushing away from the ball shaft is set as a toothed surface. The fixing block is fixedly set at the bottom of the base plate. The spring is set on the side of the fixing block near the clutch bushing. The other end of the spring is fixedly connected to the clutch push plate. The clutch push plate passes through the clutch square hole in the base plate. The upper half of the clutch push plate is an open semi-circular ring. The outer circular surface of the sleeve has an annular groove. The lower half of the clutch push plate, away from the spring, is fixedly connected to the energized coil block. The energized coil block is located on the magnet side. The magnet is fixedly installed on the top of the base plate. The clutch push plate, near the spring, is fixedly connected to the connecting base plate. The limiting push plate is fixedly connected to the connecting base plate on the side away from the clutch push plate. The clutch bushing moves towards the magnet under the thrust of the clutch push plate. The two clutch bushings are respectively connected to the transmission shaft three and transmission shaft five. The upper part of the limiting push plate passes through the limiting square hole opened in the base plate, driving the vertical limiting block into the groove on the side of the lower half of the toroidal ball shaft support. The limiting block is fixedly connected to the top of the limiting push plate on the side near the motor, limiting the toroidal ball shaft support.

[0014] A method for applying a four-way shuttle vehicle includes the following steps:

[0015] Step 1: When the four-way shuttle moves forward, the limit clutch assembly is activated, and the main drive assembly and the driven ball shaft assembly form a direct transmission relationship.

[0016] Step 2: The motor drives the driven ball shaft assembly through the transmission shaft, and the four-way shuttle moves forward;

[0017] Step 3: The motor stops working, the energized coil block is de-energized, the limit clutch assembly stops working, and the transmission relationship between the main drive assembly and the driven ball shaft assembly is disconnected;

[0018] Step 4: The repositioning component operates, and the main drive electric cylinder operates, driving the annular ball bearing support, ball bearing, and clutch bushing on both sides of the rotary disc to complete the repositioning action in the vertical direction;

[0019] Step 5: The vertically energized coil block generates magnetism, and the limit clutch assembly controls the driven ball shaft assembly to connect with transmission shafts 3 and 5 to form a transmission relationship;

[0020] Step Six: The motor starts, and under the action of the bevel gear set and the spur gear set, the transmission shaft three and transmission shaft five drive the ball to rotate in the vertical direction through the two clutch bushings, realizing the vertical movement of the four-way shuttle.

[0021] This invention provides a four-way shuttle vehicle and its application method, which has the following beneficial effects:

[0022] 1. The four-way shuttle and its application method, through the cooperation of the shifting component and the limiting clutch component, freely converts the force output by the active force drive component into a force in the horizontal or vertical direction, thereby directly controlling the reciprocating motion of the driven ball shaft component in the horizontal and vertical directions. The ball, the active force drive component, the shifting component, the driven ball shaft component, the limiting clutch component, and the base plate constitute a four-way shuttle supported by a set of wheel systems to perform four-way shuttle motion, which simplifies the control structure of the four-way shuttle, reduces the weight of the four-way shuttle, and improves the reversing efficiency of the four-way shuttle.

[0023] 2. The four-way shuttle and its application method: When the auxiliary drive electric cylinder works, the second electric cylinder working rod extends, and the second electric cylinder working rod pushes the opposing rotating frame one to rotate around the hinge point on the spherical fixed frame, passing through the dead point position. At this time, under the action of the connecting rod installed on the top of the rotating frame one, the rotating disk rotates around its own center, and drives the rotating frame two to rotate through the connecting rod on the other side. When the side of the rotating frame one disengages from the second electric cylinder working rod, the auxiliary drive electric cylinder pushes the second electric cylinder working rod to retract, completing the turning operation.

[0024] 3. The four-way shuttle and its application method: the main drive electric cylinder pushes out the electric cylinder working rod one. Under the action of the slider and the slide rail one, the electric cylinder working rod one pushes the T-shaped frame and the rotating disk hinge point to continue rotating around the center of the rotating disk, thereby driving the annular ball shaft support seat, ball shaft and clutch bushing on both sides of the rotating disk to complete the vertical direction change action.

[0025] 4. The four-way shuttle and its application method: The motor starts, driving drive shaft one to rotate. Drive shaft one, through a power transmission chain and sprockets on the outer sides of drive shafts one and two, drives drive shaft two to rotate. Through the bevel gear sets at both ends of drive shaft two, the horizontal rotational motion of drive shaft two is converted into a vertical force, driving the rotational motion of drive shafts three and four. At this time, the rotational direction of drive shaft four is opposite to that of drive shaft three. Through the engagement of the spur gear set between drive shaft four and drive shaft five, the rotational motion of drive shaft four is converted into the rotational motion of drive shaft five. Meanwhile, the rotational directions of drive shaft three and drive shaft five are the same. Because two clutch bushings are connected to drive shafts three and five respectively, the two clutch bushings transmit power to the ball bearings on the left and right sides. The two balls rotate vertically, realizing the vertical movement of the shuttle.

[0026] 5. The four-way shuttle and its application method: In the working state, the energized coil block is attracted and moved by the magnet. The moving energized coil block drives the clutch push plate in the vertical direction to overcome the spring tension. At this time, the clutch push plate can move towards the magnet in the vertical direction. Since the upper half of the clutch push plate is an open semi-circular ring at this time, the semi-circular ring is set inside the annular groove opened on the outer circular surface of the clutch bushing. When the clutch push plate moves, the clutch bushing moves synchronously, so that the clutch bushing and the drive shaft are connected together by toothed engagement. The clutch bushing drives the ball shaft to rotate, thereby realizing the rotation of the ball and the forward movement of the four-way shuttle. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a top view of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the second transmission shaft of the present invention;

[0030] Figure 4 This is a schematic diagram of the connecting rod of the present invention;

[0031] Figure 5 This is a partial structural schematic diagram of the base plate of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the transmission shaft of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the spring of the present invention;

[0034] Figure 8 This is a schematic diagram of the clutch push plate of the present invention;

[0035] Figure 9 This is a partial structural diagram of the T-shaped frame of the present invention.

[0036] Explanation of reference numerals in the attached drawings: 1. Main drive assembly; 11. Motor; 12. Drive shaft assembly; 121. Drive shaft one; 122. Drive shaft two; 123. Drive shaft three; 124. Drive shaft four; 125. Drive shaft five; 13. Fixed shaft support; 14. Power transmission chain; 15. Bevel gear set; 151. Bevel gear one; 152. Bevel gear two; 153. Bevel gear three; 154. Bevel gear four; 16. Spur gear set; 161. Spur gear one; 162. Spur gear two; 2. Shifting assembly; 21. Shifting main drive assembly; 211. Main drive electric cylinder; 212. Main electric cylinder support; 213. Electric cylinder working rod one; 214. Slider; 215. Slide rail one; 22. Drive shaft shifting assembly; 221. T-shaped frame; 222. Inter-shaft connecting frame; 223. Sliding shaft support. 224. Slide rail two; 225. Motor mounting bracket; 23. Ball shaft shifting assembly; 231. Center mounting bracket; 232. Rotary disc; 233. Connecting rod; 234. Rotating frame one; 235. Rotating frame two; 236. Ball side mounting bracket; 24. Shifting auxiliary drive assembly; 241. Auxiliary drive electric cylinder; 242. Auxiliary electric cylinder support seat; 243. Electric cylinder working rod two; 3. Driven ball shaft assembly 31. Sphere; 32. Ball shaft; 33. Annular ball shaft support seat; 34. Clutch bushing; 4. Limiting clutch assembly; 41. Limiting push plate; 42. Limiting block; 43. Connecting base plate; 44. Clutch push plate; 45. Fixing block; 46. Spring; 47. Energizing coil block; 48. Magnet; 5. Base plate; 51. Reversing annular groove; 52. Clutch square hole; 53. Limiting square hole; 54. Ball hole. Detailed Implementation

[0037] This invention provides a four-way shuttle and its application method.

[0038] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9The system includes a base plate 5, with a set of spheres 31 on each side of the top of the base plate 5. Between each set of spheres 31 and the base plate 5, there is a main drive assembly 1, a shifting assembly 2, a driven ball shaft assembly 3, and a limit clutch assembly 4. The two sets of spheres 31, the main drive assembly 1, the shifting assembly 2, the driven ball shaft assembly 3, the limit clutch assembly 4, and the base plate 5 constitute a four-way shuttle supported by a wheel system for four-way movement. The main drive assembly 1 provides power for the four-way shuttle's movement and includes a motor 11, a transmission shaft assembly 12, a fixed shaft support 13, a power transmission chain 14, a bevel gear set 15, and... 16 spur gear set; 2 shifting assembly includes shifting main drive assembly 21, drive shaft shifting assembly 22, ball shaft shifting assembly 23, and shifting auxiliary drive assembly 24; 3 driven ball shaft assembly provides support for the actual movement of the four-way shuttle, including ball shaft 32, toroidal ball shaft support seat 33, and clutch bushing 34, with grooves on the side of the toroidal ball shaft support seat 33 corresponding to the horizontal position of the limiting block 42; 4 limiting clutch assembly 4 includes limiting push plate 41, limiting block 42, connecting base plate 43, clutch push plate 44, fixing block 45, spring 46, energized coil block 47, and magnet 48, the shifting assembly 2 and the limiting... The limit clutch assembly 4 controls the movement direction of the four-way shuttle. Four limit clutch assemblies 4 are provided, each located on one side of one of the two sets of spheres 31. The top of the base plate 5 has a reversing annular groove 51, a clutch square hole 52, a limit square hole 53, and a ball hole 54. The drive shaft assembly 12 includes two drive shafts: drive shaft one 121, drive shaft two 122, drive shaft three 123, drive shaft four 124, and drive shaft five 125. The bevel gear assembly 15 includes bevel gear one 151, bevel gear two 152, bevel gear three 153, and bevel gear four 154. The spur gear assembly 16 includes spur gear one 161 and spur gear two 162. The main drive assembly 21 for shifting includes a main drive electric cylinder 211, a main electric cylinder support 212, an electric cylinder working rod 213, a slider 214, and a slide rail 215. The drive shaft shifting assembly 22 includes a T-shaped frame 221, an inter-shaft connecting frame 222, a sliding shaft support 223, a slide rail 224, and a motor fixing frame 225. The ball shaft shifting assembly 23 includes a center fixing frame 231, a rotary disk 232, a connecting rod 233, a rotating frame 234, a rotating frame 235, and a ball side fixing frame 236. The auxiliary drive assembly 24 for shifting includes an auxiliary drive electric cylinder 241, an auxiliary electric cylinder support 242, and an electric cylinder working rod 243.

[0039] Specifically, the ball shaft 32 has two working states: horizontal and vertical. The mating end faces of the clutch sleeve 34 with the drive shaft 121, drive shaft 323, and drive shaft 5125 are all mating tooth profiles. When the four-way shuttle is stationary, the energized coil block 47 is de-energized, and the clutch push plate 44, which has lost its limit, retracts under the action of the spring 46, driving the clutch sleeve 34 to move. Furthermore, keyways are provided on the outer circular surface of the ball shaft 32 and the inner circular surface of the clutch sleeve 34, so that the ball shaft 32 and the clutch sleeve 34 are slidably installed together. The clutch sleeve 34 can slide axially a certain distance on the outside of the ball shaft 32, but the clutch sleeve 34 and the ball shaft 32 cannot rotate relative to each other, thus meeting the reciprocating motion requirements of the clutch sleeve 34.

[0040] When the four-way shuttle needs to move forward, the ball shaft 32 is in a horizontal state, and the corresponding energized coil block 47 in the horizontal direction is energized. The energized coil block 47 becomes magnetic and is attracted by the magnet 48. The energized coil block 47, attracted and moved by the magnet 48, drives the clutch push plate 44 to move against the tension of the spring 46. Furthermore, the clutch push plate 44 passes through the clutch square hole 52 opened in the base plate 5. The upper half of the clutch push plate 44 is an open semi-circular ring, which is then positioned inside the annular groove opened on the outer surface of the clutch bushing 34. Figure 6 As shown.

[0041] The clutch bushing 34 moves forward under the thrust of the clutch push plate 44. The clutch bushing 34 and the drive shaft 121 are connected together by tooth-shaped fitting. Under the action of the connecting base plate 43, the limiting push plate 41 will move synchronously towards the magnet 48, driving the limiting block 42 into the groove on the lower half of the side of the toroidal ball bearing support 33, limiting the toroidal ball bearing support 33 and restricting the toroidal ball bearing support 33 from sliding around the direction-changing annular groove 51.

[0042] Then the motor 11 (the motor 11 is a dual-axis motor) starts, and the motor 11 drives the transmission shaft 121 to rotate. The transmission shaft 121 and the clutch sleeve 34 are engaged, and the motor 11 eventually drives the clutch sleeves 34 on both sides to rotate synchronously through the two transmission shafts 121. The clutch sleeves 34 drive the ball shaft 32 to rotate, thereby realizing the rotation of the ball 31 and the four-way shuttle moving forward.

[0043] When the shuttle needs to switch from horizontal to vertical movement, the motor 11 stops working, the drive shaft 121 stops rotating, the energized coil block 47 loses power and magnetism, the clutch push plate 44 retracts under the pull of the spring 46, and the clutch bushing 34 disengages from the tooth profile of the drive shaft 121.

[0044] Simultaneously, under the action of the connecting base plate 43, the limiting push plate 41 and the limiting block 42 retract into the limiting square hole 53, the limiting of the toroidal ball bearing support 33 disappears, and the toroidal ball bearing support 33 can rotate inside the reversing annular groove 51. Then, the auxiliary drive electric cylinder 241 works, the electric cylinder working rod 243 extends, and the electric cylinder working rod 243 pushes the opposing rotating frame 234 to rotate around the hinge point on the ball side fixed frame 236, passing through the dead point position. At this time, under the action of the connecting rod 233 installed on the top of the rotating frame 234, the rotary disk 232 rotates around its own center, and drives the rotating frame 235 to rotate through the connecting rod 233 on the other side.

[0045] Simultaneously, the T-shaped frame 221 slides vertically relative to the inter-shaft connecting frame 222 under the drive of the rotary disc 232, and the inter-shaft connecting frame 222 drives the sliding shaft support 223 to slide horizontally relative to the second slide rail 224. When the side of the rotating frame 234 disengages from the second electric cylinder working rod 243, the auxiliary drive electric cylinder 241 drives the second electric cylinder working rod 243 to retract, completing the steering operation.

[0046] Then, the main drive electric cylinder 211 operates to push out the electric cylinder working rod 213. Under the action of the slider 214 and the slide rail 215, the electric cylinder working rod 213 pushes the T-shaped frame 221 and the hinge point of the rotary disk 232 to continue rotating around the center of the rotary disk 232 until the hinge point rotates 90° relative to the initial position. At this time, due to the action of the connecting rod 233, the rotating frame 234 completes a 90° counterclockwise rotation, and the rotating frame 235 completes a 90° clockwise rotation, thereby driving the annular ball bearing support 33, ball bearing 32, and clutch bushing 34 on both sides of the rotary disk 232 to complete the vertical displacement action. At this time, the two clutch bushings 34 are respectively set at one end of the transmission shaft 3 123 and the transmission shaft 5 125, and both the transmission shaft 3 123 and the transmission shaft 5 125 are provided with clutch push plates 44 in the vertical direction. At this time, the two clutch push plates 44 are respectively stuck in the annular grooves opened on the outer surface of the two clutch bushings 34.

[0047] Then, the corresponding energized coil in the vertical direction is energized, and the energized coil block 47 in the vertical direction generates magnetism and is attracted by magnet 48. This causes the clutch push plate 44 in the vertical direction to overcome the tension of spring 46 and move towards magnet 48. Under the pushing force of clutch push plate 44, the two clutch bushings 34 move towards magnet 48. The two clutch bushings 34 are respectively connected to transmission shaft 3 123 and transmission shaft 5 125. At the same time, due to the action of connecting base plate 43, vertical limiting push plate 41 will move synchronously towards vertical magnet 48, causing vertical limiting block 42 to enter the groove on the lower half of the side of toroidal ball bearing support 33, limiting the toroidal ball bearing support 33 and restricting it from sliding around the direction-changing annular groove 51.

[0048] Finally, motor 11 starts, driving drive shaft 121 to rotate. Drive shaft 121 rotates via power transmission chain 14 and sprockets on the outer sides of drive shaft 121 and drive shaft 122. Through bevel gear sets 15 at both ends of drive shaft 122, the horizontal rotational motion of drive shaft 122 is converted into a vertical force that drives the rotational motion of drive shafts 123 and 124. At this time, the rotational direction of drive shaft 124 is opposite to that of drive shaft 123. Through the cooperation of spur gear set 16 between drive shaft 124 and drive shaft 125, the rotational motion of drive shaft 124 is converted into the rotational motion of drive shaft 125. At this time, the rotation direction of transmission shaft 3 123 and transmission shaft 5 125 is the same. Since the two clutch bushings 34 are connected to transmission shaft 3 123 and transmission shaft 5 125 respectively, the two clutch bushings 34 transmit power to the ball shafts 32 on the left and right sides. The two balls 31 rotate in the vertical direction, realizing the vertical movement of the shuttle.

[0049] By cooperating with the shifting component 2 and the limiting clutch component 4, the force output by the active force drive component 1 is freely converted into a force in the horizontal or vertical direction, thereby directly controlling the reciprocating motion of the driven ball shaft component 3 in the horizontal and vertical directions. The ball 31, the active force drive component 1, the shifting component 2, the driven ball shaft component 3, the limiting clutch component 4, and the base plate 5 constitute a four-way shuttle car that is supported by a set of wheel trains for four-way shuttle motion. This simplifies the control structure of the four-way shuttle car, reduces the weight of the four-way shuttle car, and improves the reversing efficiency of the four-way shuttle car.

[0050] Please refer to it again. Figure 1 , Figure 2 and Figure 3 Two drive shafts 121 are fixedly connected to the two output ends of motor 11. A sprocket is fixedly fitted onto the outer side of both drive shaft 121 and drive shaft 122. A power transmission chain 14 is fitted onto the outer side of the two sprockets. Both ends of drive shaft 122 are fixedly connected to bevel gear 151 and bevel gear 153, respectively. Bevel gear 151 meshes with bevel gear 152, which is fixedly fitted onto the outer side of drive shaft 123. A fixed shaft support 13 is rotatably fitted onto the drive shaft. Shaft 3 123, drive shaft 4 124, and drive shaft 5 125 are fixedly connected to the outside of the base plate 5. Bevel gear 3 153 meshes with bevel gear 4 154, which is fixedly sleeved on the outside of drive shaft 4 124. Spur gear 1 161 is fixedly sleeved on the outside of drive shaft 4 124. Spur gear 1 161 meshes with spur gear 2 162, which is fixedly sleeved on the outside of drive shaft 5 125. The end faces of drive shaft 1 121, drive shaft 3 123, and drive shaft 5 125 are all tooth profile surfaces.

[0051] Specifically, drive shaft 2 122 drives bevel gear 1 151 and bevel gear 3 153, which are fixed at both ends, to rotate. Bevel gear 1 151 drives the meshing bevel gear 2 152 to rotate, causing drive shaft 3 123 inside bevel gear 2 152 to rotate clockwise. Bevel gear 3 153 drives bevel gear 4 154 to rotate, and bevel gear 4 154 drives the internal fixed drive shaft 4 124 to rotate counterclockwise. At this time, the rotation direction of drive shaft 4 124 is opposite to that of drive shaft 3 123.

[0052] Furthermore, the spur gear 161 fixed to the fourth drive shaft 124 meshes with the spur gear 2 162 fixed to the fifth drive shaft 125. Therefore, the fourth drive shaft 124 drives the fifth drive shaft 125 to rotate through the spur gear 161 and the spur gear 2 162. At this time, the fifth drive shaft 125 rotates clockwise. The rotation direction of the third drive shaft 123 is the same as that of the fifth drive shaft 125. Finally, the two spheres 31 rotate in the same direction.

[0053] Please refer to it again. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9The main electric cylinder support 212 is fixedly connected between the top of the base plate 5 and the main drive electric cylinder 211. The electric cylinder working rod 213 is fixedly connected between the main drive electric cylinder 211 and the slider 214. The slider 214 is slidably connected to the slide rail 215. The slide rail 215 is fixedly installed on the side of the T-shaped frame 221. A square hole is horizontally opened at one end of the T-shaped frame 221. The shaft connecting frame 222 passes through the square hole and is slidably connected to the T-shaped frame 221. The T-shaped frame 221 is rotatably connected to the rotary disk 232. The shaft connecting frame 222 is fixedly connected to the sliding shaft support 223. Four sliding shaft support 223s are provided. The motor fixing frame 225 is fixedly connected. A fixed sleeve is mounted on the top outer side of the motor 11. An annular ball bearing support 33 is located inside the reversing annular groove 51. Two annular ball bearing support 33s are provided and are fixedly connected to the second rotating frame 235 and the first rotating frame 234 respectively. The top of the clutch push plate 44 passes through the clutch square hole 52. The limiting push plate 41 passes through the limiting square hole 53 and is inserted into the groove. The ball 31 is located inside the ball hole 54. Four sliding shaft support seats 223 are rotatably mounted on the outer sides of the first transmission shaft 121 and the second transmission shaft 122 respectively. Four slide rails 224 are provided, and the four sliding shaft support seats 223 are slidably connected to the four slide rails 224 respectively. The slide rails 224 are fixed. The motor mounting bracket 225 is fixedly connected to the shaft connecting bracket 222, and the central mounting bracket 231 is fixedly mounted on the top of the base plate 5. The rotary disk 232 is hinged to the top of the central mounting bracket 231. Two connecting rods 233 are provided, and the two connecting rods 233 are respectively hinged to both sides of the rotary disk 232. The other ends of the two connecting rods 233 are respectively hinged to the rotating frame 1 234 and the rotating frame 235. Two ball-side mounting brackets 236 are provided, and the rotating frame 1 234 and the rotating frame 235 are respectively rotatably connected to the two ball-side mounting brackets 236. The ball-side mounting brackets 236 are fixedly mounted on the upper surface of the base plate 5. The auxiliary electric cylinder support seat 2... 42 is fixedly installed between the top of the base plate 5 and the auxiliary drive electric cylinder 241. The electric cylinder working rod 243 is fixedly connected to the auxiliary drive electric cylinder 241. The other end of the electric cylinder working rod 243 abuts against the side end face of the rotating frame 234 in a horizontal state. The ball shaft 32 passes through the toroidal ball shaft support seat 33 and is rotatably connected to the toroidal ball shaft support seat 33. The ball shaft 32 passes through the ball 31 and is fixedly connected to the ball 31. The outer end of the ball shaft 32 near the motor 11 is inserted into the clutch bushing 34. The outer circular surface of the ball shaft 32 and the inner circular surface of the clutch bushing 34 at the intersection of the two are provided with keyways. The end face of the clutch bushing 34 away from the ball shaft 32 is set as a tooth profile.

[0054] Specifically, the auxiliary drive cylinder 241 then operates, and the second cylinder working rod 243 extends, pushing the opposing rotating frame 234 to rotate around the hinge point on the spherical fixed frame 236, passing the dead point position. At this time, under the action of the connecting rod 233 installed on the top of the rotating frame 234, the rotary disk 232 rotates around its own center, driving the rotating frame 235 to rotate through the connecting rod 233 on the other side. The rotation of the rotating frame 235 and the rotating frame 234 drives the two toroidal ball shaft support seats 33 to rotate. Since the ball shaft 32 installed on the toroidal ball shaft support seat 33 is fixed to the ball 31, the rotating ball 31 rotates.

[0055] Simultaneously, the T-shaped frame 221 slides vertically relative to the inter-shaft connecting frame 222 under the drive of the rotating disc 232. The inter-shaft connecting frame 222 drives the sliding shaft support 223 to slide horizontally relative to the slide rail 224. The slide rail 224 limits the movement of the inter-shaft connecting frame 222, ensuring its stability. When the side of the rotating frame 234 disengages from the electric cylinder working rod 243, the auxiliary drive electric cylinder 241 drives the electric cylinder working rod 243 to retract, completing the steering operation.

[0056] Please refer to it again. Figure 1 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The fixing block 45 is fixedly installed at the bottom of the base plate 5. The spring 46 is installed on the side of the fixing block 45 near the clutch bushing 34. The other end of the spring 46 is fixedly connected to the clutch push plate 44. The clutch push plate 44 passes through the clutch square hole 52 of the base plate 5. The upper half of the clutch push plate 44 is an unclosed semi-circular ring. The outer circular surface of the clutch bushing 34 is provided with an annular groove. The lower half of the clutch push plate 44 is fixedly connected to the energized coil block 47 on the side away from the spring 46. The energized coil block 47 is installed on the side of the magnet 48. The magnet 48 is fixedly installed on the top of the base plate 5. The side of the clutch push plate 44 near the spring 46 is fixedly connected to the connecting base plate 43. The limiting push plate 41 is fixedly connected to the connecting base plate 43 on the side away from the clutch push plate 44. The upper part of the limiting push plate 41 passes through the limiting square hole 53 opened in the base plate 5. The limiting block 42 is fixedly connected to the top of the limiting push plate 41 on the side near the motor 11.

[0057] Specifically, the vertically energized coil block 47 generates magnetism when energized. In operation, the energized coil block 47 is attracted and moved by the magnet 48. This moving coil block 47 drives the vertically energized clutch push plate 44 to overcome the tension of the spring 46, allowing it to move towards the vertically energized magnet 48. Since the upper part of the clutch push plate 44 is an open semi-circular ring, positioned inside the annular groove on the outer surface of the clutch bushing 34, the clutch bushing 34 moves synchronously with the clutch push plate 44.

[0058] Therefore, the clutch bushing 34 moves towards the magnet 48 under the thrust of the clutch push plate 44. The two clutch bushings 34 are connected to the transmission shaft 123 and the transmission shaft 125 respectively. This connection is only valid when moving in the vertical direction, and is not valid when moving in the horizontal direction. At the same time, due to the action of the connecting base plate 43, the vertical limiting push plate 41 will move synchronously towards the vertical magnet 48, driving the vertical limiting block 42 into the groove on the lower half of the side of the toroidal ball bearing support 33, limiting the toroidal ball bearing support 33 and preventing the toroidal ball bearing support 33 from sliding around the deflection annular groove 51.

[0059] A method for applying a four-way shuttle vehicle includes the following steps:

[0060] Step 1: When the four-way shuttle moves forward, the limit clutch assembly 4 is activated, and the main drive assembly 1 and the driven ball shaft assembly 3 form a direct transmission relationship.

[0061] Step 2: Motor 11 drives the driven ball shaft assembly 3 through transmission shaft 121, and the four-way shuttle moves forward;

[0062] Step 3: Motor 11 stops working, energized coil block 47 is de-energized, limit clutch assembly 4 stops working, and the transmission relationship between the main drive assembly 1 and the driven ball shaft assembly 3 is disconnected.

[0063] Step 4: The shifting component 2 is working, and the main drive electric cylinder 211 is working, driving the annular ball bearing support 33, ball bearing 32, and clutch bushing 34 on both sides of the rotary disc 232 to complete the shifting action in the vertical direction.

[0064] Step 5: The vertically energized coil block 47 generates magnetism, and the limit clutch assembly 4 controls the driven ball shaft assembly 3 to connect with the transmission shaft 123 and the transmission shaft 125 to form a transmission relationship.

[0065] Step 6: Motor 11 starts. Under the action of bevel gear set 15 and spur gear set 16, transmission shaft 3 123 and transmission shaft 5 125 drive ball 31 to rotate in the vertical direction through two clutch bushings 34, realizing the vertical movement of the four-way shuttle.

[0066] By working together in steps one and four, the force output by the active force drive component 1 can be freely converted into a force in the horizontal or vertical direction, thereby enabling the four-way shuttle to change direction, shortening the direction change cycle, simplifying the application of electronic equipment required for the four-way shuttle to change direction, and reducing the cost of four-way shuttle application.

Claims

1. A four-way shuttle vehicle comprising a bottom plate (5), characterized in that: each of the two sides of the top of the bottom plate (5) is provided with a group of balls (31), and each group of balls (31) is provided with a driving assembly (1), a displacement assembly (2), a driven ball shaft assembly (3) and a limiting clutch assembly (4) between the bottom plate (5), the two groups of balls (31), the driving assembly (1), the displacement assembly (2), the driven ball shaft assembly (3), the limiting clutch assembly (4), the bottom plate (5) constitute a four-way shuttle vehicle supported by a set of gear train for four-way shuttle movement; the driving assembly (1) provides power for the movement of the four-way shuttle vehicle, and the driving assembly (1) comprises a motor (11), a transmission shaft group (12), a fixed shaft support seat (13), a power transmission chain (14), a bevel gear set (15) and a straight gear set (16); the displacement assembly (2) comprises a displacement main drive assembly (21), a transmission shaft displacement assembly (22), a ball shaft displacement assembly (23) and a displacement auxiliary drive assembly (24); the driven ball shaft assembly (3) provides support for the actual movement of the four-way shuttle vehicle, and the driven ball shaft assembly (3) comprises a ball shaft (32), a torus ball shaft support seat (33) and a clutch shaft sleeve (34); the limiting clutch assembly (4) comprises a limiting push plate (41), a limiting block (42), a connecting bottom plate (43), a clutch push plate (44), a fixed block (45), a spring (46), a power coil block (47) and a magnet (48), the displacement assembly (2) and the limiting clutch assembly (4) cooperate to control the movement direction of the four-way shuttle vehicle; the limiting clutch assembly (4) is provided with four, and the four limiting clutch assemblies (4) are respectively arranged on one side of the two groups of balls (31), and the top of the bottom plate (5) is provided with a direction-changing annular groove (51), a clutch square hole (52), a limiting square hole (53) and a ball hole (54); the transmission shaft group (12) comprises two transmission shafts (121), a transmission shaft two (122), a transmission shaft three (123), a transmission shaft four (124) and a transmission shaft five (125), the bevel gear set (15) comprises a bevel gear one (151), a bevel gear two (152), a bevel gear three (153) and a bevel gear four (154), the straight gear set (16) comprises a straight gear one (161) and a straight gear two (162), the displacement main drive assembly (21) comprises a main drive cylinder (211), a main cylinder support seat (212), a cylinder working rod one (213), a sliding block (214) and a sliding rail one (215), the transmission shaft displacement assembly (22) comprises a T-shaped frame (221), an inter-shaft connecting frame (222), a sliding shaft support seat (223), a sliding rail two (224) and a motor fixing frame (225), the ball shaft displacement assembly (23) comprises a center fixing frame (231), a rotary disc (232), a connecting rod (233), a rotating frame one (234), a rotating frame two (235) and a ball side fixing frame (236), and the displacement auxiliary drive assembly (24) comprises an auxiliary drive cylinder (241), an auxiliary cylinder support seat (242) and a cylinder working rod two (243).

2. The four-way shuttle vehicle of claim 1, wherein: Two transmission shafts one (121) are fixedly connected to the two output ends of the motor (11), one of the transmission shafts one (121) and the transmission shaft two (122) are fixedly sleeved with a chain wheel, the power transmission chain (14) is sleeved outside the two chain wheels, the transmission shaft two (122) is fixedly connected with the bevel gear one (151) and the bevel gear three (153) at both ends, the bevel gear one (151) is meshed with the bevel gear two (152) fixedly sleeved outside the transmission shaft three (123).

3. The four-way shuttle vehicle of claim 1, wherein: The fixed shaft support seat (13) is rotatably sleeved outside the transmission shaft three (123), the transmission shaft four (124) and the transmission shaft five (125) and is fixedly connected with the bottom plate (5), the bevel gear three (153) is meshed with the bevel gear four (154) fixedly sleeved outside the transmission shaft four (124), the straight gear one (161) is fixedly sleeved outside the transmission shaft four (124), the straight gear one (161) is meshed with the straight gear two (162) fixedly sleeved outside the transmission shaft five (125), and end faces of the transmission shaft one (121), the transmission shaft three (123) and the transmission shaft five (125) are toothed faces.

4. The four-way shuttle vehicle of claim 1, wherein: The main cylinder support seat (212) is fixedly connected between the top of the bottom plate (5) and the main drive cylinder (211), the cylinder working rod one (213) is fixedly connected between the main drive cylinder (211) and the sliding block (214), and the sliding block (214) is slidably connected with the sliding rail one (215).

5. The four-way shuttle vehicle of claim 1, wherein: The sliding rail one (215) is fixedly installed on the side surface of the T-shaped frame (221), the T-shaped frame (221) is provided with a square hole at one end, the shaft connection frame (222) is slidably connected with the T-shaped frame (221) after penetrating through the square hole, the T-shaped frame (221) is rotatably connected with the rotary disc (232), the shaft connection frame (222) is fixedly connected with the sliding shaft support seat (223), there are four sliding shaft support seats (223), and the motor fixing frame (225) is fixedly sleeved outside the top of the motor (11).

6. The shuttle of claim 1, wherein: The torus ball shaft support seat (33) is arranged in the variable-direction annular groove (51), the torus ball shaft support seat (33) is provided with two and is fixedly connected with the rotating frame two (235) and the rotating frame one (234), the clutch push plate (44) penetrates through the clutch square hole (52) at the top, the torus ball shaft support seat (33) is provided with a groove at a position corresponding to the horizontal direction of the limiting block (42), the limiting block (42) is inserted into the groove after penetrating through the limiting square hole (53), the ball (31) is arranged in the ball hole (54), four sliding shaft support seats (223) are rotatably sleeved outside the two transmission shafts one (121) and the transmission shaft two (122), there are four sliding rails two (224), the four sliding shaft support seats (223) are slidably connected in the four sliding rails two (224), the sliding rail two (224) is fixedly arranged at the top of the bottom plate (5), and the motor fixing frame (225) is fixedly connected with the shaft connection frame (222).

7. The four-way shuttle vehicle of claim 1, wherein: The center fixed frame (231) is fixedly arranged on the top of the bottom plate (5), the rotary disc (232) is hingedly installed on the top of the center fixed frame (231), the connecting rods (233) are provided in two, the two connecting rods (233) are respectively hingedly installed on the two sides of the rotary disc (232), the other ends of the two connecting rods (233) are respectively hingedly installed with the rotating frame one (234) and the rotating frame two (235), the ball side fixed frames (236) are provided in two, the rotating frame one (234) and the rotating frame two (235) are respectively rotationally connected with the two ball side fixed frames (236), the ball side fixed frames (236) are fixedly arranged on the upper end surface of the bottom plate (5), the auxiliary electric cylinder support seat (242) is fixedly arranged between the top of the bottom plate (5) and the auxiliary driving electric cylinder (241), the electric cylinder working rod two (243) is fixedly connected with the auxiliary driving electric cylinder (241), and the other end of the electric cylinder working rod two (243) is abutted with the side end surface of the rotating frame one (234) in the horizontal state.

8. The four-way shuttle vehicle of claim 1, wherein: The ball shaft (32) penetrates through the torus ball shaft support seat (33) and is rotationally connected with the torus ball shaft support seat (33), the ball shaft (32) penetrates through the ball body (31) and is fixedly connected with the ball body (31), one end of the ball shaft (32) on the outer side close to the motor (11) is inserted into the inside of the clutch shaft sleeve (34), the outer circular surface of the ball shaft (32) at the joint of the two is provided with a key groove, the end surface of the clutch shaft sleeve (34) away from the ball shaft (32) is provided as a toothed surface, the fixed block (45) is fixedly arranged on the bottom of the bottom plate (5), the spring (46) is arranged on the side of the fixed block (45) close to the clutch shaft sleeve (34), the other end of the spring (46) is fixedly connected with the clutch push plate (44), the clutch push plate (44) penetrates through the clutch square hole (52) of the bottom plate (5), the upper half of the clutch push plate (44) is a half circular ring not closed, the outer circular surface of the clutch shaft sleeve (34) is provided with a ring-shaped clamping groove, the lower half of the clutch push plate (44) away from the spring (46) is fixedly connected with the power coil block (47), the power coil block (47) is arranged on the side of the magnet (48), the magnet (48) is fixedly installed on the top of the bottom plate (5), the side of the clutch push plate (44) close to the spring (46) is fixedly connected with the connecting bottom plate (43), the limiting push plate (41) is fixedly connected with the connecting bottom plate (43) on the side away from the clutch push plate (44), the limiting push plate (41) is arranged on the top of the limiting block (42) on the side close to the motor (11).

9. A method of use of a four-way shuttle vehicle, suitable for use with a four-way shuttle vehicle as claimed in any one of claims 1 to 8, characterised in that: The steps include the following steps: Step one, when the four-way shuttle vehicle moves forward, the limiting clutch assembly (4) works, the driving force driving assembly (1) and the driven ball shaft assembly (3) constitute a direct transmission relationship; Step two, the motor (11) drives the driven ball shaft assembly (3) to work through the transmission shaft one (121), and the four-way shuttle vehicle moves forward; Step three, the motor (11) stops working, the power coil block (47) is powered off, the limiting clutch assembly (4) stops working, and the transmission relationship between the driving force driving assembly (1) and the driven ball shaft assembly (3) is disconnected. Step four, transposition assembly (2) work, main drive cylinder (211) work, drive rotary disc (232) both sides of the ring surface ball shaft support seat (33), ball shaft (32), clutch shaft sleeve (34) to complete the transposition action to the vertical direction; Step five, the vertical direction of the energized coil block (47) work to generate magnetic, limit clutch assembly (4) control driven ball shaft assembly (3) and transmission shaft three (123), transmission shaft five (125) connection constitute the transmission relationship; Step six, the motor (11) start, under the action of bevel gear set (15) and spur gear set (16), transmission shaft three (123), transmission shaft five (125) through two clutch shaft sleeve (34) drive ball (31) in the vertical direction rotation, realize four way shuttle car vertical direction movement.

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