A dual-rail reversing conveying device

Abstract

This invention provides a dual-track reversing conveying device, belonging to the technical field of reversing mechanisms. It includes a frame, a reversing mechanism, a first-direction wheel set, and a second-direction wheel set. The first-direction wheel set is arranged along a first direction of the frame and is used to drive the frame to move along the first direction. The second-direction wheel set is arranged along a second direction of the frame and is used to drive the frame to move along the second direction. The first and second directions are perpendicular to each other. The output end of the reversing mechanism is connected to both the first and second-direction wheel sets, and the reversing mechanism drives the first and second-direction wheel sets to move synchronously in opposite directions along the height direction. By using the reversing mechanism to drive the first and second-direction wheel sets to move in different directions, synchronous lifting and lowering are achieved, allowing one wheel set to contact the track, thus driving the entire device to move along either the first or second direction, achieving adaptation to the track direction.

Description

Technical Field

[0001] This invention relates to the field of reversing mechanism technology, and in particular to a dual-rail reversing conveying device. Background Technology

[0002] With the development of technology, the handling of some items is gradually being replaced by machines instead of manual labor. The handling robots, combined with grid-like tracks, can move in different directions and efficiently move items within a certain space. Especially for logistics and warehousing applications, the mobile robots can quickly transfer items to specific locations by moving back and forth in a straight line along a simple grid-like track. However, traditional handling machines can only move in a straight line back and forth. For mutually perpendicular grid tracks, two handling vehicles moving in different directions are required, which is not only costly, but also results in a large number of handling vehicles on the track, making it difficult to coordinate. Therefore, it is necessary to enable the handling vehicles to automatically change direction on the grid-like track.

[0003] Chinese patent CN202310127665.8 discloses a dual-track reversing conveying device, including a first wheel set with a wheel seat connected to the inner side of the first wheel, a second wheel set, and a linkage assembly including a first link, a second link, and a connecting seat. The first link and the second link both extend vertically, with the second link located above the first link. One end of the first link is hinged to the wheel seat, and the other end is hinged to a first hinge position of the connecting seat. One end of the second link is hinged to the top of the frame, and the other end is hinged to a second hinge position of the connecting seat. A drive assembly is connected to the connecting seat. Under the drive of the drive assembly, the bottom of the first wheel has a first height position, a second height position, and a third height position. The first height position is higher than the bottom of the second wheel, the second height position is at the same height as the bottom of the second wheel, and the third height position is lower than the bottom of the second wheel. The device uses the height of the first wheel set to change direction. Although it can cope with changes in different directions, the transition from the first height to the third height takes a long time and the overall structure occupies a large volume, which poses a risk to its use.

[0004] Chinese patent CN201910635309.0 discloses an automatic reversing conveying device, including an upper body, a lower body, and a reversing device. A first set of wheels is mounted on both sides of the upper body; a second set of wheels is mounted on both ends of the lower body. The reversing device includes a reversing motor mounted on the lower body, a reversing shaft driven by the reversing motor, and a crank mounted on one end of the reversing shaft. At least one end face of the upper body has a transverse groove located above the lower body. When the reversing shaft drives the crank to rotate, a slider moves in the transverse groove, causing the lower body to rise or fall relative to the upper body. When the slider moves to a first position, the bottom of the second set of wheels is lower than the bottom of the first set of wheels; when the slider moves to a second position, the bottom of the second set of wheels is higher than the bottom of the first set of wheels. Similar to the aforementioned patent, this device uses one set of wheels fixed in position and another set of wheels changing height to adjust the contact wheels with the track. However, its internal reversing structure not only occupies a large volume but also has a long driving time for changing the wheel height, resulting in low working efficiency.

[0005] In summary, existing material handling equipment has low reversing efficiency, affects working time, and occupies a large volume, making it unsuitable for use in different material handling scenarios. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: a dual-track reversing conveying device, including a frame, a reversing mechanism, a first directional wheel group, and a second directional wheel group, wherein the first directional wheel group is arranged along a first direction of the frame and is used to drive the frame to move along the first direction, and the second directional wheel group is arranged along a second direction of the frame and is used to drive the frame to move along the second direction, wherein the first direction and the second direction are perpendicular to each other.

[0007] The reversing mechanism is mounted on the vehicle frame. The output end of the reversing mechanism is connected to the first directional wheel group and the second directional wheel group respectively. The reversing mechanism is used to drive the first directional wheel group and the second directional wheel group to move synchronously in opposite directions along the height direction.

[0008] Preferably, the reversing mechanism includes a linkage drive mechanism, two first vertical linkages, two second vertical linkages, two first reversing gear sets, two second reversing gear sets, a first transverse linkage, a second transverse linkage, a third transverse linkage, and a fourth transverse linkage.

[0009] The first vertical link, the second vertical link, the first transverse link, the second transverse link, the third transverse link, and the fourth transverse link are rotatably connected to the vehicle frame, and the link drive mechanism is connected to the upper ends of the first vertical link and the second vertical link, respectively.

[0010] The first and second lateral links are located at both ends of the frame in a first direction, and the third and fourth lateral links are located at both ends of the frame in a second direction.

[0011] The input end of the first reversing gear set is connected to the first vertical connecting rod, the output end of one of the first reversing gear sets is connected to the ends of the first and fourth transverse connecting rods respectively, and the output end of the other first reversing gear set is connected to the ends of the second and third transverse connecting rods respectively.

[0012] The input end of the second reversing gear set is connected to the second vertical connecting rod. The output end of one of the second reversing gear sets is connected to the ends of the first and third transverse connecting rods, respectively. The output end of the other second reversing gear set is connected to the ends of the second and fourth transverse connecting rods, respectively.

[0013] The first wheel assembly includes at least one pair of first wheels and a first wheel drive mechanism. The first wheel drive mechanism is mounted on the frame, and its output end is connected to the first wheel. The pair of first wheels is respectively connected to a first lateral link and a second lateral link.

[0014] The second wheel assembly includes at least one pair of second wheels and a second wheel drive mechanism. The second wheel drive mechanism is mounted on the frame and its output end is connected to the second wheel. The pair of second wheels are respectively connected to a third lateral link and a fourth lateral link.

[0015] Preferably, the linkage drive mechanism includes a first transmission belt, a second transmission belt, a third transmission belt, a fourth transmission belt, and a linkage drive motor, wherein the linkage drive motor is fixedly connected to the vehicle frame.

[0016] The first transmission belt is sleeved on the output end of the connecting rod drive motor, the first vertical connecting rod located at both ends of the first transverse connecting rod, and the upper part of the second vertical connecting rod.

[0017] The second transmission belt is sleeved on the upper part of the first vertical connecting rod and the second vertical connecting rod located at both ends of the second transverse connecting rod.

[0018] The third transmission belt is sleeved on the upper part of the first vertical connecting rod and the second vertical connecting rod located at both ends of the third transverse connecting rod.

[0019] The fourth transmission belt is sleeved on the upper part of the first vertical connecting rod and the second vertical connecting rod located at both ends of the fourth transverse connecting rod.

[0020] Preferably, the first reversing gear set includes a first horizontal helical gear and two first vertical helical gears, the first horizontal helical gears are connected to a first vertical connecting rod, and the first vertical helical gears mesh with the first horizontal helical gears.

[0021] The second reversing gear set includes a second horizontal helical gear and two second vertical helical gears. The second horizontal helical gear is connected to a second vertical connecting rod. The second vertical helical gear meshes with the second horizontal helical gear. The gear orientations of the first horizontal helical gear and the second vertical helical gear are opposite.

[0022] One end of each of the first, second, third, and fourth transverse connecting rods is fixedly connected to one of the first vertical helical gears.

[0023] The other ends of the first transverse link, the second transverse link, the third transverse link, and the fourth transverse link are respectively fixedly connected to one of the second vertical helical gears.

[0024] According to the claim, a dual-track reversing conveying device is characterized in that: the first horizontal helical gear faces downward and is located above the first vertical helical gear; the second vertical helical gear faces upward and is located below the second vertical helical gear.

[0025] Preferably, the first transverse link has two first cut-off portions, and the stage portion divides the first transverse link into a first intermediate section located between the two first cut-off portions and a first end section located outside the first cut-off portions. Each first cut-off portion is provided with two opposing first clamping plates, one of which is a first wheel located between the two first clamping plates, and the first wheel is movably connected to the first clamping plate.

[0026] The second transverse link has two second cut-off sections. The stage section divides the second transverse link into a second intermediate section located between the two second cut-off sections and a second end section located outside the second cut-off sections. Each second cut-off section is provided with two opposing second clamping plates. The first wheel is located between the two second clamping plates and is movably connected to the second clamping plates.

[0027] The third transverse link has two third cut-off sections. The stage section divides the third transverse link into a third intermediate section located between the two third cut-off sections and a third end section located outside the third cut-off sections. Each third cut-off section is provided with two opposing third clamping plates, one of which is located between the two third clamping plates, and the second wheel is movably connected to the third clamping plate.

[0028] The fourth transverse link has two fourth cut-off sections. The stage section divides the fourth transverse link into a fourth intermediate section located between the two fourth cut-off sections and a fourth end section located outside the fourth cut-off section. The fourth cut-off section is provided with two fourth clamping plates arranged opposite each other. Another second wheel is located between the two fourth clamping plates, and the second wheel is movably connected to the fourth clamping plate.

[0029] Two opposing first clamps position one of a pair of first wheels, and two opposing second clamps position the other of a pair of first wheels. The first and second clamps are set according to the number of first wheels; similarly, the third and fourth clamps are set according to the number of pairs of second wheels.

[0030] Preferably, the two ends of the first intermediate section are rotatably connected to the first clamping plate, the end of the first intermediate section is fitted with a fifth transmission belt, the other end of the fifth transmission belt is fitted on one of the first wheel rotating shafts, the two ends of the second intermediate section are rotatably connected to the second clamping plate, the end of the second intermediate section is fitted with a sixth transmission belt, the other end of the sixth transmission belt is fitted on another first wheel rotating shaft, and the output end of the first wheel drive mechanism is connected to the first intermediate section and the second intermediate section respectively.

[0031] The third intermediate section is rotatably connected to the third clamping plate at both ends, and a seventh transmission belt is fitted onto the end of the third intermediate section. The other end of the seventh transmission belt is fitted onto the rotating axle of one of the second wheels.

[0032] The two ends of the fourth intermediate section are rotatably connected to the fourth clamping plate, and the end of the fourth intermediate section is fitted with an eighth transmission belt. The other end of the eighth transmission belt is fitted on the rotating shaft of another second wheel. The output end of the second wheel drive mechanism is connected to the third intermediate section and the fourth intermediate section respectively.

[0033] Preferably, the first wheel drive mechanism includes a first wheel motor, a first drive gear, and a second drive gear. The first wheel motor is fixedly connected to the vehicle frame, and its output end is connected to the first drive gear. The second drive gear meshes with the first drive gear, and the second drive gear is fitted onto both the first intermediate section and the second intermediate section.

[0034] The second wheel drive mechanism includes a second wheel motor, a third drive gear, and a fourth drive gear. The second wheel motor is fixedly connected to the frame. The output end of the second wheel motor is connected to the third drive gear. The third drive gear meshes with the fourth drive gear. The fourth drive gear is sleeved on both the third intermediate section and the fourth intermediate section.

[0035] Preferably, a closed cover is installed on the top of the vehicle frame.

[0036] Preferably, a power battery is installed at the bottom of the vehicle frame.

[0037] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0038] This invention provides a dual-track reversing conveying device. A reversing mechanism drives a first-direction wheel group and a second-direction wheel group to move in different directions, achieving synchronous lifting and lowering. This allows one wheel group to contact the track, enabling the entire device to move along either the first or second direction, thus adapting to the track direction. A linkage drive mechanism is used for downward drive, and a reversing gear set adjusts the direction of each crossbar, achieving synchronous control. Furthermore, simply changing the output direction of the linkage drive mechanism adjusts the movement of the first and second-direction wheel groups along different height directions, changing their position relative to the track. Operation is simple and quick, preventing errors. The device is small in size and compact in structure, effectively saving space and facilitating the transport of goods. It is also applicable to other bidirectional movement scenarios requiring changes in movement direction, demonstrating good applicability. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of the present invention from a bottom view;

[0041] Figure 3 This is a top view of the cross-sectional structure of the present invention;

[0042] Figure 4 This is a schematic diagram of the three-dimensional structure of the assembled sealing cover of the present invention;

[0043] Figure 5 This is a side view of the assembled sealing cover structure of the present invention;

[0044] Figure 6 This is a schematic diagram of the cross-sectional structure of the assembled sealing cover of the present invention;

[0045] Figure 7 This is a schematic diagram of the assembly structure of the reversing mechanism of the present invention with the first and second reversing wheel sets;

[0046] Figure 8 This is an enlarged structural diagram of the assembly part of the first transverse connecting rod and the first axial wheel assembly of the present invention;

[0047] Figure 9 This is an enlarged structural diagram of the fifth transmission belt of the present invention after the first clamping plate is removed;

[0048] Figure 10 This is an enlarged structural diagram of the assembly part of the second transverse link and the first wheel assembly of the present invention;

[0049] Figure 11 This is an enlarged structural diagram of the assembly part of the third transverse link and the second wheel assembly of the present invention;

[0050] Figure 12 This is an enlarged structural diagram of the assembly part of the fourth transverse link and the second wheel assembly of the present invention;

[0051] Figure 13 This is a schematic diagram of a gridded track.

[0052] The components include: 1. Frame; 2. Reversing mechanism; 3. First-direction wheel assembly; 4. Second-direction wheel assembly; 5. Sealing cover; 6. Power battery;

[0053] 21. Linkage drive mechanism; 22. First vertical link; 23. Second vertical link; 24. First reversing gear set; 25. Second reversing gear set; 26. First transverse link; 27. Second transverse link; 28. Third transverse link; 29. ​​Fourth transverse link;

[0054] 31. First wheel; 32. First wheel drive mechanism; 41. Second wheel; 42. Second wheel drive mechanism;

[0055] 211. First drive belt; 212. Second drive belt; 213. Third drive belt; 214. Fourth drive belt; 215. Linkage drive motor;

[0056] 241. First horizontal helical gear; 242. First vertical helical gear; 251. Second horizontal helical gear; 252. Second vertical helical gear;

[0057] 261. First intermediate section; 262. First end section; 263. First clamping plate; 264. Fifth transmission belt;

[0058] 271. Second intermediate section; 272. Second end section; 273. Second clamping plate; 274. Sixth transmission belt;

[0059] 281. Third intermediate section; 282. Third end section; 283. Third clamping plate; 284. Seventh transmission belt;

[0060] 291. Fourth intermediate section; 292. Fourth end section; 293. Fourth clamping plate; 294. Eighth transmission belt;

[0061] 321. First wheel motor; 322. First drive gear; 323. Second drive gear;

[0062] 421. Second wheel motor; 422. Third drive gear; 423. Fourth drive gear. Detailed Implementation

[0063] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable that some well-known structures and their descriptions may be omitted in the drawings for those skilled in the art. Technologies, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be considered part of the specification. In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, not indicating or implying that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of components and therefore should not be construed as limiting the invention. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. The specific dimensions used in this embodiment are only for illustrative purposes and do not limit the scope of protection of this invention.

[0064] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0065] Example 1:

[0066] like Figure 1-6 As shown, a dual-track reversing conveying device includes a frame 1, a reversing mechanism 2, a first-direction wheel group 3, and a second-direction wheel group 4. The first-direction wheel group 3 is arranged along a first direction of the frame 1 and is used to drive the frame 1 to move along the first direction. The second-direction wheel group 4 is arranged along a second direction of the frame 1 and is used to drive the frame 1 to move along the second direction. The first direction and the second direction are perpendicular to each other.

[0067] The reversing mechanism 2 is mounted on the frame 1. The output end of the reversing mechanism 2 is connected to the first directional wheel group 3 and the second directional wheel group 4 respectively. The reversing mechanism 2 is used to drive the first directional wheel group 3 and the second directional wheel group 4 to move synchronously in opposite directions along the height direction.

[0068] This device is designed for use on gridded tracks and other pathways. (See reference...) Figure 13The gridded track direction, i.e. the travel route, is two mutually perpendicular directions. Referring to the two mutually perpendicular bidirectional arrows in the figure, the device moves in a straight line along the track in both directions, thereby transporting the item to any point on the gridded track. Because it is a straight track with a fixed direction, it has a wide range of applications, especially in warehousing and logistics. It is even more effective for large areas. Therefore, the reversing conveying device of this application has a wide range of applications. The specific implementation process is described below.

[0069] Place the device on the gridded track, refer to Figure 5 In this embodiment, the first wheel assembly 3 and the second wheel assembly 4 have different heights. The first wheel assembly 3 is in contact with the track and is placed along one direction of the gridded track. The two directions of the gridded track are perpendicular to each other. Since the first direction and the second direction of the conveying device are perpendicular to each other, i.e., referencing... Figure 5 As shown in the diagram, the direction of the first directional wheel assembly 3, placed at both ends, is the first direction. The direction perpendicular to the first direction is the second direction, which is the direction in which the second directional wheel assembly 4 is positioned. When the first directional wheel assembly 3 is placed on the track in one direction, the second directional wheel assembly 4 is positioned above the track in the other direction. The first directional wheel assembly 3 can then drive the frame 1 to move along the first direction, i.e., along the track in one direction of the gridded track. Goods or other shelves can be placed on top of the frame 1 to hold items that need to be moved. When the direction of movement needs to be changed, the reversing mechanism 2 drives the first directional wheel assembly 3 and the second directional wheel assembly 4... The first wheel group 3 moves synchronously in opposite directions along the height direction, while the second wheel group 4 moves downward along the height direction and contacts the track. Simultaneously, the first wheel group 3 moves upward along the height direction and disengages from the track. At this time, the second wheel group 4 drives the frame 1 to move in the second direction, that is, along the track in another direction of the grid track, thereby changing the movement direction of the entire device. Through the reversing mechanism 2, the movement direction can be changed according to the movement route on the grid track, and the device can move along the track in different directions to reach any point on the grid track, thereby realizing the rapid fixed-point handling of goods and improving efficiency.

[0070] In a further embodiment, reference Figure 4-5 As shown, a closed cover 5 is installed on the top of the frame 1 to protect the frame 1 and other structures, and to facilitate the placement of items or racks for transportation.

[0071] In a further embodiment, reference Figure 3 , 7 As shown, a power battery 6 is installed at the bottom of the frame 1, providing built-in power and electrical connection to the first wheel set 3 and the second wheel set 4, which can meet its long-term operation.

[0072] Example 2:

[0073] like Figure 1-7 As shown, the reversing mechanism 2 includes a linkage drive mechanism 21, two first vertical linkages 22, two second vertical linkages 23, two first reversing gear sets 24, two second reversing gear sets 25, a first transverse linkage 26, a second transverse linkage 27, a third transverse linkage 28, and a fourth transverse linkage 29.

[0074] The first vertical link 22, the second vertical link 23, the first horizontal link 26, the second horizontal link 27, the third horizontal link 28, and the fourth horizontal link 29 are rotatably connected to the frame 1, and the link drive mechanism 21 is connected to the upper ends of the first vertical link 22 and the second vertical link 23, respectively.

[0075] The first lateral link 26 and the second lateral link 27 are located at both ends of the frame 1 in the first direction, and the third lateral link 28 and the fourth lateral link 29 are located at both ends of the frame 1 in the second direction.

[0076] The input end of the first reversing gear set 24 is connected to the first vertical connecting rod 22. The output end of one of the first reversing gear sets 24 is connected to the ends of the first horizontal connecting rod 26 and the fourth horizontal connecting rod 29, respectively. The output end of the other first reversing gear set 24 is connected to the ends of the second horizontal connecting rod 27 and the third horizontal connecting rod 28, respectively.

[0077] The input end of the second reversing gear set 25 is connected to the second vertical connecting rod 23. The output end of one of the second reversing gear sets 25 is connected to the ends of the first horizontal connecting rod 26 and the third horizontal connecting rod 28, respectively. The output end of the other second reversing gear set 25 is connected to the ends of the second horizontal connecting rod 27 and the fourth horizontal connecting rod 29, respectively.

[0078] The first wheel assembly 3 includes at least one pair of first wheels 31 and a first wheel drive mechanism 32. The first wheel drive mechanism 32 is mounted on the frame 1, and its output end is connected to the first wheels 31. The pair of first wheels 31 are respectively connected to a first lateral link 26 and a second lateral link 27.

[0079] The second wheel assembly 4 includes at least one pair of second wheels 41 and a second wheel drive mechanism 42. The second wheel drive mechanism 42 is mounted on the frame 1, and the output end of the second wheel drive mechanism 42 is connected to the second wheels 41. The pair of second wheels 41 are respectively connected to the third lateral link 28 and the fourth lateral link 29.

[0080] refer to Figure 2-3 As shown, the first wheel assembly 3 includes two pairs of first wheels 31, each pair of first wheels 31 being located at one end of the frame and arranged along the first direction of the frame 1. Figure 3The diagram shows the direction of the line connecting the pair of first wheels 31 at the left and right ends; similarly, the second wheel assembly 4 includes two pairs of second wheels 41, each pair of second wheels 41 located at both ends of the frame and arranged along the second direction of the frame 1. Figure 3 The diagram shows the direction of the line connecting the pair of second wheels 41 at the upper and lower ends. The first direction is perpendicular to the second direction to match the two-way track of the gridded track. The first wheel 31 moves on one of the directional tracks of the gridded track under the drive of the first wheel drive mechanism 32. Similarly, the second wheel drive mechanism 42 drives the second wheel 41 to move on the other directional track. The wheel drive structure can be replaced by existing technology, which can be selected by those skilled in the art, as long as the wheel drive does not affect the lifting or lowering of the wheel. The first transverse link 26 and the second transverse link 27 are located at the two ends of the frame 1 in the first direction, and are used to connect the first directional wheel group 3 and drive it to lift away from the track or fall to contact the track. Similarly, the third transverse link 28 and the fourth transverse link 29 are located at the two ends of the frame 1 in the second direction, and are used to connect the second directional wheel group 4 and drive it to fall to contact the track or lift away from the track.

[0081] In the specific implementation process, refer to Figure 7 As shown, during reversal, the linkage drive mechanism 21 drives the two first vertical links 22 and the two second vertical links 23 to rotate. The rotation of the first vertical links 22 drives the input end of the first reversing gear set 24, and the rotation of the second vertical links 23 drives the input end of the second reversing gear set 25. The output ends of the two first reversing gear sets 24 and the two second reversing gear sets 25 respectively drive the ends of the first transverse link 26, the second transverse link 27, the third transverse link 28, and the fourth transverse link 29 to rotate, for example... Figure 7 The two ends of the first transverse link 26 rotate under the drive of the first reversing gear set 24 and the second reversing gear set 25. Similarly, the rotation of the second transverse link 27 causes a pair of first wheels 31 to disengage from the track and lift upward. The rotation of the third transverse link 28 and the fourth transverse link 29 causes a pair of second wheels 41 connected to them to move close to the track and fall downward to contact the track, thus completing the engagement of the second wheel set 4 with the track, thereby changing the movement of the frame 1 from the first direction to the second direction, completing the reversal.

[0082] In a further embodiment, reference Figure 7As shown, the linkage drive mechanism 21 includes a first transmission belt 211, a second transmission belt 212, a third transmission belt 213, a fourth transmission belt 214, and a linkage drive motor 215. The linkage drive motor 215 is fixedly connected to the frame 1. The first transmission belt 211 is sleeved on the output end of the linkage drive motor 215 and on the upper part of the first vertical link 22 and the second vertical link 23 located at both ends of the first transverse link 26. The second transmission belt 212 is sleeved on the upper part of the first vertical link 22 and the second vertical link 23 located at both ends of the second transverse link 27. The third transmission belt 213 is sleeved on the upper part of the first vertical link 22 and the second vertical link 23 located at both ends of the third transverse link 28. The fourth transmission belt 214 is sleeved on the upper part of the first vertical link 22 and the second vertical link 23 located at both ends of the fourth transverse link 29.

[0083] In the specific implementation process, refer to Figure 7-8 As shown, when the linkage drive motor 215 is turned on, the output end of the linkage drive motor 215 drives the first transmission belt 211 to rotate. The first transmission belt 211 is sleeved on the first vertical link 22 and the second vertical link 23. The first vertical link 22 and the second vertical link 23 are located at both ends of the first horizontal link 26. It should be noted that the first transmission belt 211 is connected to the output end of the linkage drive motor 215, the upper part of the first vertical link 22 and the second vertical link 23. As needed, pulleys are installed on the output end of the linkage drive motor 215, the upper part of the first vertical link 22 and the second vertical link 23 to connect with the first transmission belt 211 to ensure the transmission effect. Similarly, the second transmission belt 212, the third transmission belt 213, and the fourth transmission belt 214 are also connected to the remaining first vertical link 22 and second vertical link 23 using pulleys as needed, which will not be described in detail here.

[0084] During operation, the first transmission belt 211 drives the first vertical connecting rods 22 and 23 at both ends of the first transverse connecting rod 26 to rotate relative to the frame 1, thereby driving the third transmission belt 213 and the fourth transmission belt 214 to rotate. The third transmission belt 213 drives the first vertical connecting rod 22 at the end of the third transverse connecting rod 28 to rotate, and the fourth transmission belt 214 drives the second vertical connecting rod 23 at the end of the fourth transverse connecting rod 29 to rotate. At the same time, it drives the second transmission belt 212 to rotate, causing the two ends of the second transverse connecting rod 27 to rotate. The first vertical link 22 and the second vertical link 23 at the end rotate stably, thereby completing the same-direction drive of the first vertical link 22 and the second vertical link 23 by the link drive mechanism 21. Then, the first reversing gear set 24 and the second reversing gear set 25 drive the first transverse link 26 and the second transverse link 27 to rotate, lifting or lowering a pair of first wheels 31 off the track. At the same time, the third transverse link 28 and the fourth transverse link 29 are driven to rotate, causing a pair of second wheels 41 to move in the opposite direction of the first wheels 31 along the height direction.

[0085] Example 3:

[0086] refer to Figure 7 As shown, the first reversing gear set 24 includes a first horizontal helical gear 241 and two first vertical helical gears 242. The first horizontal helical gear 241 is connected to the first vertical connecting rod 22, and the first vertical helical gear 242 meshes with the first horizontal helical gear 241. The second reversing gear set 25 includes a second horizontal helical gear 251 and two second vertical helical gears 252. The second horizontal helical gear 251 is connected to the second vertical connecting rod 22, and the second vertical helical gear 252 meshes with the second horizontal helical gear 251. The gear orientations of the first horizontal helical gear 241 and the second vertical helical gear 252 are opposite. One end of the first transverse connecting rod 26, the second transverse connecting rod 27, the third transverse connecting rod 28, and the fourth transverse connecting rod 29 are respectively fixedly connected to one of the first vertical helical gears 242, and the other end of the first transverse connecting rod 26, the second transverse connecting rod 27, the third transverse connecting rod 28, and the fourth transverse connecting rod 29 are respectively fixedly connected to one of the second vertical helical gears 252.

[0087] When the first vertical connecting rod 22 rotates, it drives the first horizontal helical gear 241 to rotate. The first horizontal helical gear 241 meshes with and drives the two first vertical helical gears 242 to rotate. When the second vertical connecting rod 23 rotates, it drives the second horizontal helical gear 251 to rotate. The second horizontal helical gear 251 meshes with and drives the two second vertical helical gears 252 to rotate.

[0088] The following is an explanation, referring to section 7-12. Figure 7 As shown, the second vertical connecting rod 22 and the second vertical connecting rod 23 first rotate clockwise under the drive of the connecting rod drive mechanism 21, which in turn drives the first horizontal helical gear 241 and the second horizontal helical gear 251 to rotate.

[0089] At this time, the first vertical helical gear 242 and the second vertical helical gear 252, which are meshed at both ends of the first transverse link 26, rotate counterclockwise in the vertical direction, thereby driving the first transverse link 26 to rotate counterclockwise, thereby driving the first wheel 31 located at one end of the frame 1 in the first direction to move from bottom to top in the height direction, thereby moving away from the track.

[0090] The first vertical helical gear 242 and the second vertical helical gear 252, which are meshed at both ends of the second transverse link 27, rotate clockwise in the vertical direction, thereby driving the first wheel 31 located at the other end of the frame 1 in the first direction to move from bottom to top in the height direction, thus moving away from the track;

[0091] The first vertical helical gear 242 and the second vertical helical gear 252, which are meshed at both ends of the third transverse link 28, rotate counterclockwise in the vertical direction, thereby driving the third transverse link 28 to rotate counterclockwise, thereby driving the second wheel 41 located at one end of the frame 1 in the second direction to move from top to bottom in the height direction, thereby approaching the track and contacting and fitting with the track.

[0092] The first vertical helical gear 242 and the second vertical helical gear 252, which are meshed at both ends of the fourth transverse link 29, rotate clockwise in the vertical direction, thereby driving the second wheel 41 located at the other end of the frame 1 in the second direction to move from top to bottom in the height direction, thereby getting close to the track and contacting and fitting the track.

[0093] Similarly, when the second vertical link 22 and the second vertical link 23 rotate counterclockwise under the drive of the link drive mechanism 21, the first wheel 31 will be in contact with the track, and the second wheel 41 will be away from the track.

[0094] This allows the linkage drive mechanism 21 to drive the first wheel 31 and the second wheel 41 to move in opposite directions along the height direction simultaneously through the first reversing gear set 24 and the second reversing gear set 25. This causes the first wheel set 3 or the second wheel set 4 to contact the gridded track, driving the frame 1 to move along the first or second direction on the gridded track, achieving single-direction track movement and reversing direction at any time.

[0095] In a further embodiment, reference Figure 7 As shown, the first horizontal helical gear 241 faces downwards and is located above the first vertical helical gear 242. The second vertical helical gear 252 faces upwards and is located below the second vertical helical gear 252.

[0096] Example 4:

[0097] refer to Figure 8-12 As shown, the first transverse link 26 has two first cut-off sections. The stage section divides the first transverse link 26 into a first intermediate section 261 located between the two first cut-off sections and a first end section 262 located outside the first cut-off sections. The first cut-off section is provided with two opposing first clamping plates 263. One of the first wheels 31 is located between the two first clamping plates 263, and the first wheel 31 is movably connected to the first clamping plate 263.

[0098] The second transverse link 27 has two second cut-off sections. The stage section divides the second transverse link 27 into a second intermediate section 271 located between the two second cut-off sections and a second end section 272 located outside the second cut-off sections. The second cut-off sections are provided with two opposing second clamping plates 273. Another first wheel 31 is located between the two second clamping plates 273 and is movably connected to the second clamping plates 273.

[0099] The third transverse link 28 has two third cut-off sections. The stage section divides the third transverse link 28 into a third intermediate section 281 located between the two third cut-off sections and a third end section 282 located outside the third cut-off sections. The third cut-off section is provided with two opposing third clamping plates 283. One of the second wheels 41 is located between the two third clamping plates 283, and the second wheel 41 is movably connected to the third clamping plate 283.

[0100] The fourth transverse link 29 has two fourth cut-off sections. The stage section divides the fourth transverse link 29 into a fourth intermediate section 291 located between the two fourth cut-off sections and a fourth end section 292 located outside the fourth cut-off section. The fourth cut-off section is provided with two fourth clamping plates 293 arranged facing each other. Another second wheel 41 is located between the two fourth clamping plates 293, and the second wheel 41 is movably connected to the fourth clamping plate 293.

[0101] refer to Figure 8 As shown, when the two ends of the first transverse connecting rod 26 are driven to rotate, that is, the first end section 262 at the end rotates, thereby driving the first clamping plate 263 connected thereto to rotate. The second middle section 271 also rotates relative to the frame 1. Then, the two oppositely arranged first clamping plates 263 drive the first wheel 31 between them to move up and down to change its height, thereby realizing the engagement with the track or the disengagement from the track and the lifting off. The first clamping plate 263 can be arranged at an angle. The position of the first wheel 31 relative to the frame 1 can be adjusted according to the length and angle of the first clamping plate 263. It is suitable for various specifications of grid track. The first wheel 31 can move under the drive of the first wheel drive mechanism 32.

[0102] Similarly, refer to Figure 10-12 The second end section 272 drives the two second clamping plates 273 to rotate, thereby causing the first wheel 31 at the other end to move closer to or away from the track and become airborne. The third end section 282 drives the two third clamping plates 283 to rotate, thereby causing the second wheel 41 to move away from or closer to the track. The fourth end section 292 drives the two fourth clamping plates 293 to rotate, thereby causing the second wheel 41 at the other end to move away from or closer to the track.

[0103] In a further embodiment, reference Figure 7-12As shown, the two ends of the first intermediate section 261 are rotatably connected to the first clamping plate 263 respectively. The end of the first intermediate section 261 is fitted with a fifth transmission belt 264. The other end of the fifth transmission belt 264 is fitted on the rotating shaft of one of the first wheels 31. The two ends of the second intermediate section 271 are rotatably connected to the second clamping plate 273 respectively. The end of the second intermediate section 271 is fitted with a sixth transmission belt 274. The other end of the sixth transmission belt 274 is fitted on the rotating shaft of another first wheel 31. The output end of the first wheel drive mechanism 32 is connected to the first intermediate section 261 and the second intermediate section 271 respectively.

[0104] The two ends of the third intermediate section 281 are rotatably connected to the third clamping plate 283 respectively. The end of the third intermediate section 281 is fitted with a seventh transmission belt 284. The other end of the seventh transmission belt 284 is fitted on the rotating shaft of one of the second wheels 41. The two ends of the fourth intermediate section 291 are rotatably connected to the fourth clamping plate 293 respectively. The end of the fourth intermediate section 291 is fitted with an eighth transmission belt 294. The other end of the eighth transmission belt 294 is fitted on the rotating shaft of another second wheel 41. The output end of the second wheel drive mechanism 42 is connected to the third intermediate section 281 and the fourth intermediate section 291 respectively.

[0105] During the specific operation, refer to Figure 8 As shown, when the first wheel 31 contacts the track and the second wheel 41 is off the track, i.e., when the frame 1 needs to move along the first direction from the first wheel group 3, the output end of the first wheel drive mechanism 32 drives the first intermediate section 261 to rotate relative to the frame 1 and the first clamping plate 263, thereby driving the fifth transmission belt 264 to rotate, thereby driving the first wheel 31 to rotate, so that the first wheel 31 rotates and moves on the grid track. By changing the output direction of the first wheel drive mechanism 32, the direction of rotation of the first wheel 31 is changed, thereby changing the first wheel group 3 to drive the frame 1 to move forward or backward along the first direction on the grid track. It should be noted that, as mentioned above, the fifth transmission belt 264 is connected to the first intermediate section 261 and the first wheel 31 rotation shaft. As needed, a pulley or a groove is opened to make a stable connection with the transmission belt. The sixth transmission belt 274, the seventh transmission belt 284, and the eighth transmission belt 294 are similar and will not be described again.

[0106] The output end of the first wheel drive mechanism 32 drives the second intermediate section 271 to rotate relative to the frame 1 and the second clamping plate 273, thereby driving the sixth transmission belt 274 to rotate, thereby driving the other first wheel 31 to rotate and move the frame 1 along the first direction on the track.

[0107] Similarly, when the second wheel 41 contacts the track and the first wheel 31 is airborne and away from the track, the output end of the second wheel drive mechanism 42 is connected to the third intermediate section 281 and the fourth intermediate section 291 respectively, driving the third intermediate section 281 and the fourth intermediate section 291 to rotate, so that the seventh transmission belt 284 and the eighth transmission belt 294 rotate respectively, driving one of the pair of second wheels 41 to rotate, so that it moves along the second direction on the track.

[0108] In a further embodiment, reference Figure 7-12 As shown, the first wheel drive mechanism 32 includes a first wheel motor 321, a first drive gear 322, and a second drive gear 323. The first wheel motor 321 is fixedly connected to the frame 1. The output end of the first wheel motor 321 is connected to the first drive gear 322. The second drive gear 323 meshes with the first drive gear 322. The second drive gear 323 is fitted onto both the first intermediate section 261 and the second intermediate section 271.

[0109] The second wheel drive mechanism 42 includes a second wheel motor 421, a third drive gear 422 and a fourth drive gear 423. The second wheel motor 421 is fixedly connected to the frame 1. The output end of the second wheel motor 421 is connected to the third drive gear 422. The third drive gear 422 meshes with the fourth drive gear 423. The fourth drive gear 423 is sleeved on both the third intermediate section 281 and the fourth intermediate section 291.

[0110] In the specific driving process, the output end of the first wheel motor 321 drives the first drive gear 322 to rotate, the first drive gear 322 drives the meshing second drive gear 323 to rotate, thereby driving the first intermediate section 261 and the second intermediate section 271 to rotate; the output end of the second wheel motor 421 drives the third drive gear 422 to rotate, the third drive gear 422 drives the meshing fourth drive gear 423 to rotate, thereby driving the third intermediate section 281 and the fourth intermediate section 291 to rotate.

[0111] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A dual-track reversing conveying device, characterized in that: The vehicle includes a frame (1), a reversing mechanism (2), a first directional wheel assembly (3), and a second directional wheel assembly (4). The first directional wheel assembly (3) is arranged along a first direction of the frame (1) and is used to drive the frame (1) to move along the first direction. The second directional wheel assembly (4) is arranged along a second direction of the frame (1) and is used to drive the frame (1) to move along the second direction. The first direction and the second direction are perpendicular to each other. The reversing mechanism (2) is mounted on the frame (1). The output end of the reversing mechanism (2) is connected to the first directional wheel group (3) and the second directional wheel group (4) respectively. The reversing mechanism (2) is used to drive the first directional wheel group (3) and the second directional wheel group (4) to move synchronously in opposite directions along the height direction. The reversing mechanism (2) includes a linkage drive mechanism (21), two first vertical linkages (22), two second vertical linkages (23), two first reversing gear groups (24), two second reversing gear groups (25), a first transverse linkage (26), a second transverse linkage (27), a third transverse linkage (28), and a fourth transverse linkage (29). The first vertical link (22), the second vertical link (23), the first horizontal link (26), the second horizontal link (27), the third horizontal link (28), and the fourth horizontal link (29) are rotatably connected to the frame (1), and the link drive mechanism (21) is connected to the upper ends of the first vertical link (22) and the second vertical link (23), respectively. The first transverse link (26) and the second transverse link (27) are located at both ends of the frame (1) in the first direction, and the third transverse link (28) and the fourth transverse link (29) are located at both ends of the frame (1) in the second direction. The input end of the first reversing gear set (24) is connected to the first vertical connecting rod (22), and the output end of one of the first reversing gear sets (24) is connected to the ends of the first horizontal connecting rod (26) and the fourth horizontal connecting rod (29), respectively. The output end of the other first reversing gear set (24) is connected to the ends of the second horizontal connecting rod (27) and the third horizontal connecting rod (28), respectively. The input end of the second reversing gear set (25) is connected to the second vertical link (23). The output end of one of the second reversing gear sets (25) is connected to the ends of the first horizontal link (26) and the third horizontal link (28), respectively. The output end of the other second reversing gear set (25) is connected to the ends of the second horizontal link (27) and the fourth horizontal link (29), respectively.

2. The dual-track reversing conveying device according to claim 1, characterized in that: The first wheel assembly (3) includes at least one pair of first wheels (31) and a first wheel drive mechanism (32). The first wheel drive mechanism (32) is mounted on the frame (1), and the output end of the first wheel drive mechanism (32) is connected to the first wheel (31). The pair of first wheels (31) are respectively connected to the first lateral link (26) and the second lateral link (27). The second wheel assembly (4) includes at least one pair of second wheels (41) and a second wheel drive mechanism (42). The second wheel drive mechanism (42) is mounted on the frame (1), and the output end of the second wheel drive mechanism (42) is connected to the second wheel (41). The pair of second wheels (41) are respectively connected to the third lateral link (28) and the fourth lateral link (29).

3. The dual-track reversing conveying device according to claim 2, characterized in that: The linkage drive mechanism (21) includes a first transmission belt (211), a second transmission belt (212), a third transmission belt (213), a fourth transmission belt (214), and a linkage drive motor (215). The linkage drive motor (215) is fixedly connected to the vehicle frame (1). The first transmission belt (211) is sleeved on the output end of the connecting rod drive motor (215), the upper part of the first vertical connecting rod (22) and the second vertical connecting rod (23) located at both ends of the first horizontal connecting rod (26). The second transmission belt (212) is sleeved on the upper part of the first vertical connecting rod (22) and the second vertical connecting rod (23) located at both ends of the second transverse connecting rod (27). The third transmission belt (213) is sleeved on the upper part of the first vertical connecting rod (22) and the second vertical connecting rod (23) located at both ends of the third transverse connecting rod (28). The fourth transmission belt (214) is sleeved on the upper part of the first vertical link (22) and the second vertical link (23) located at both ends of the fourth transverse link (29).

4. The dual-track reversing conveying device according to claim 2, characterized in that: The first reversing gear set (24) includes a first horizontal helical gear (241) and two first vertical helical gears (242). The first horizontal helical gear (241) is connected to the first vertical connecting rod (22), and the first vertical helical gears (242) mesh with the first horizontal helical gears (241). The second reversing gear set (25) includes a second horizontal helical gear (251) and two second vertical helical gears (252). The second horizontal helical gear (251) is connected to the second vertical connecting rod (23). The second vertical helical gear (252) meshes with the second horizontal helical gear (251). The gear orientations of the first horizontal helical gear (241) and the second horizontal helical gear (251) are opposite. One end of the first transverse link (26), the second transverse link (27), the third transverse link (28), and the fourth transverse link (29) is fixedly connected to one of the first vertical helical gears (242). The other ends of the first transverse link (26), the second transverse link (27), the third transverse link (28), and the fourth transverse link (29) are respectively fixedly connected to one of the second vertical helical gears (252).

5. A dual-track reversing conveying device according to claim 4, characterized in that: The first horizontal helical gear (241) faces downward and is located above the first vertical helical gear (242). The second horizontal helical gear (251) faces upward and is located below the second vertical helical gear (252).

6. A dual-track reversing conveying device according to claim 2, characterized in that: The first transverse link (26) has two first cut-off sections, which divide the first transverse link (26) into a first intermediate section (261) located between the two first cut-off sections and a first end section (262) located outside the first cut-off section. The first cut-off section is provided with two opposing first clamping plates (263), one of which is a first wheel (31) located between the two first clamping plates (263), and the first wheel (31) is movably connected to the first clamping plate (263). The second transverse link (27) has two second cut-off sections, which divide the second transverse link (27) into a second intermediate section (271) located between the two second cut-off sections and a second end section (272) located outside the second cut-off sections. The second cut-off sections are provided with two opposing second clamping plates (273). Another first wheel (31) is located between the two second clamping plates (273), and the first wheel (31) is movably connected to the second clamping plate (273). The third transverse link (28) has two third cut-off sections, which divide the third transverse link (28) into a third intermediate section (281) located between the two third cut-off sections and a third end section (282) located outside the third cut-off section. The third cut-off section is provided with two opposing third clamping plates (283), one of which is a second wheel (41) located between the two third clamping plates (283), and the second wheel (41) is movably connected to the third clamping plate (283). The fourth transverse link (29) has two fourth cut-off sections, which divide the fourth transverse link (29) into a fourth intermediate section (291) located between the two fourth cut-off sections and a fourth end section (292) located outside the fourth cut-off section. The fourth cut-off section is provided with two fourth clamping plates (293) arranged opposite to each other. Another second wheel (41) is located between the two fourth clamping plates (293), and the second wheel (41) is movably connected to the fourth clamping plate (293).

7. A dual-track reversing conveying device according to claim 6, characterized in that: The first intermediate section (261) is rotatably connected to the first clamping plate (263) at both ends. A fifth transmission belt (264) is sleeved on the end of the first intermediate section (261). The other end of the fifth transmission belt (264) is sleeved on the rotating shaft of one of the first wheels (31). The second intermediate section (271) is rotatably connected to the second clamping plate (273) at both ends. A sixth transmission belt (274) is sleeved on the end of the second intermediate section (271). The other end of the sixth transmission belt (274) is sleeved on the rotating shaft of another first wheel (31). The output end of the first wheel drive mechanism (32) is connected to the first intermediate section (261) and the second intermediate section (271) respectively. The third intermediate section (281) is rotatably connected to the third clamping plate (283) at both ends. A seventh transmission belt (284) is fitted at one end of the third intermediate section (281), and the other end of the seventh transmission belt (284) is fitted on the rotating shaft of one of the second wheels (41). The fourth intermediate section (291) is rotatably connected to the fourth clamping plate (293) at both ends. The eighth transmission belt (294) is sleeved at the end of the fourth intermediate section (291). The other end of the eighth transmission belt (294) is sleeved on the rotating shaft of another second wheel (41). The output end of the second wheel drive mechanism (42) is connected to the third intermediate section (281) and the fourth intermediate section (291) respectively.

8. A dual-track reversing conveying device according to claim 7, characterized in that: The first wheel drive mechanism (32) includes a first wheel motor (321), a first drive gear (322), and a second drive gear (323). The first wheel motor (321) is fixedly connected to the frame (1). The output end of the first wheel motor (321) is connected to the first drive gear (322). The second drive gear (323) meshes with the first drive gear (322). The second drive gear (323) is sleeved on both the first intermediate section (261) and the second intermediate section (271). The second wheel drive mechanism (42) includes a second wheel motor (421), a third drive gear (422) and a fourth drive gear (423). The second wheel motor (421) is fixedly connected to the frame (1). The output end of the second wheel motor (421) is connected to the third drive gear (422). The third drive gear (422) meshes with the fourth drive gear (423). The fourth drive gear (423) is sleeved on both the third intermediate section (281) and the fourth intermediate section (291).

9. A dual-track reversing conveying device according to any one of claims 1-8, characterized in that: A closed cover (5) is installed on the top of the frame (1).

10. A dual-track reversing conveying device according to any one of claims 1-8, characterized in that: The power battery (6) is installed at the bottom of the frame (1).

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