All-wheel drive tray four-way shuttle vehicle and track goods shelf

Abstract

The invention relates to the field of shuttle vehicles, and particularly discloses an all-wheel drive tray four-way shuttle vehicle and track goods shelf which comprises an H-shaped vehicle body. The main track walking assembly is located below the left side or the right side of the vehicle body. The walking driving assembly is used for driving the vehicle body to walk in two directions and is mounted in the middle of the vehicle body; the jacking assembly is mounted in the middle of the left side or the right side of the vehicle body, and the jacking assembly is mounted between the sub-track walking assembly and the vehicle body; the jacking driving assembly is used for driving the jacking assembly and is mounted in the middle of the vehicle body; the electric control box is mounted between the two ends of the vehicle body; the battery box is installed between the two ends of the vehicle body. According to the scheme, the space between the two ends of the side beam of the vehicle body is reserved, the electric control box and the battery box are located between the open spaces at the two ends of the side beam respectively, and the degree of freedom of model selection and layout of electric devices such as the electric control box and the battery box is greatly increased.

Description

Technical Field

[0001] The invention relates to the technical field of shuttle vehicles, and in particular to an all-wheel drive pallet four-way shuttle vehicle and a rail rack. Background Art

[0002] At present, most of the four-way shuttle products on the market contain two sets of travel transmission systems. In order to ensure that both transmission systems have independent driving capabilities, a complex transmission mechanism has to be designed inside the body of the vehicle to transmit the torque of the drive motor or switch the direction of the transmission system. Such a design undoubtedly increases the difficulty of body processing, assembly and maintenance, and also reduces the reliability of the entire system.

[0003] The complex internal structure of the vehicle body results in a smaller installation space reserved for electronic control components and batteries, which will further affect the selection of electronic control components and battery component models, thereby limiting the shuttle vehicle's battery life. At the same time, the current industry trend requires that the vehicle body be made thinner and thinner. The thin and light vehicle body also adds a lot of difficulty to the layout of the transmission mechanism in the vehicle body. Some shuttle vehicles use hydraulic systems to transmit power instead of the transmission mechanism. The layout of the hydraulic system and the precision control requirements also increase the maintenance cost of the hydraulic system. After the hydraulic system is adopted, the low-temperature environment adaptability of the entire shuttle vehicle will also be reduced. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an all-wheel drive pallet four-way shuttle vehicle and rail rack to solve the problem that the complex internal structure of the vehicle body results in a small installation space reserved for electronic control components and batteries, which further affects the selection of electronic control components and battery component models, thereby limiting the shuttle vehicle's battery life.

[0005] In order to achieve the above object, the basic scheme of the present invention is as follows: an all-wheel drive pallet four-way shuttle vehicle, comprising:

[0006] The body of the vehicle is in an "H" shape;

[0007] Main track running assembly, which is installed on the four corners of the vehicle body;

[0008] A sub-track running assembly, the sub-track running assembly is located under the left side or right side of the vehicle body;

[0009] A travel drive assembly that drives the vehicle body to travel in two directions, and the travel drive assembly is installed in the middle of the vehicle body;

[0010] A lifting assembly is installed at the middle of the left or right side of the vehicle body, and the lifting assembly is installed between the sub-track traveling assembly and the vehicle body;

[0011] A jacking drive assembly driving the jacking assembly, wherein the jacking drive assembly is installed at the middle part of the vehicle body;

[0012] The electric control box that controls the lifting drive assembly and the travel drive assembly is installed between the two ends of the vehicle body;

[0013] The battery box is used to supply power to the lifting drive assembly, the travel drive assembly and the electric control box. The battery box is installed between the two ends of the vehicle body.

[0014] The technical principle of the present invention is as follows: the "H"-shaped car body integrally covers the sub-track running assembly, the main track running assembly, the running drive assembly, the jacking assembly and the jacking drive assembly, so that the space between the two ends of the car body side beam is reserved, and the electric control box and the battery box are respectively located between the relatively open spaces at the two ends of the side beam, which greatly increases the freedom of selection and layout of electrical components such as the electric control box and the battery box; at the same time, the "H"-shaped car body can fully support and cover the various structures in the track running assembly, the main track running assembly, the running drive assembly, the jacking assembly and the jacking drive assembly, so as to fully protect the various structures and facilitate stable transmission; after being encapsulated by the car body, the various structures are basically maintenance-free, the interior is neat and beautiful, and the positioning surface processing of large components such as the car body is avoided, thereby reducing the processing cost and the later maintenance cost.

[0015] Furthermore, the travel drive assembly includes:

[0016] Drive motor;

[0017] A first reducer, the first reducer is fixedly connected to a power output end of the driving motor;

[0018] A first transmission shaft, wherein the middle portion of the first transmission shaft is connected to the power output end of the first reducer, and the axis of the first transmission shaft is parallel to the middle portion of the vehicle body;

[0019] A fixed commutator, the number of the fixed commutators is two, the two fixed commutators are respectively located at the two ends of the first transmission shaft, and the fixed commutator, the drive motor and the first reducer are all fixedly installed on the middle part of the vehicle body;

[0020] The main track travel components include:

[0021] A follower commutator driven by the sub-track travel assembly, the number of the follower commutators is four, two of which are connected to opposite sides of a single fixed commutator;

[0022] A main track running wheel, which is arranged on a side of the follower commutator away from the fixed commutator;

[0023] Telescopic universal joint, the transmission of the telescopic universal joint is arranged between the fixed commutator and the follower commutator, and the transmission of the telescopic universal joint is also arranged between the main track running wheel and the follower commutator;

[0024] The main track running wheel, telescopic universal joint and fixed commutator are all installed on the left side or right side of the vehicle body and are located on the same plane.

[0025] Through the above arrangement, the power of the driving motor can be stably transmitted through the first reducer, the first transmission shaft and the fixed commutator. When the power is transmitted to the follower commutator through the telescopic universal joint, the lifting assembly and the lifting drive assembly can be used to control the lifting and lowering of the vehicle body, thereby controlling whether the sub-track running assembly or the main track running wheel is in contact with the track. When the main track running wheel is in contact with the track, the follower commutator transmits power to the main track running wheel through the telescopic universal joint, and the sub-track running assembly idles; when the vehicle body is lifted and the main track running wheel is separated from the track, the follower commutator transmits power to the sub-track running assembly, and the main track running wheel idles, thereby realizing the switching of the vehicle body's travel direction. The shuttle vehicle realizes a transmission layout in which one driving motor drives all wheels. The overall layout is symmetrical and beautiful, leaving a large space in the middle of the vehicle body, which is convenient for the layout of the electric control box and the battery box.

[0026] Furthermore, the vehicle body comprises:

[0027] Main beam: the number of main beams is one, and the longitudinal section profile of the main beam is in the shape of an “I”;

[0028] Side beams, there are two side beams, the cross-sectional profile of the side beams is an inverted "L" shape, and the two side beams are symmetrically arranged along the vertical center plane of the main beam. A lifting notch for the follower commutator to be raised and lowered is provided at the side opposite to the side beam and the follower commutator; a mounting seat rotatably connected to the main track running wheel is fixedly arranged at the end of the side beam near one side of the main beam.

[0029] Through the above arrangement, the "I"-shaped main beam can provide stable support for the travel drive assembly and the jacking drive assembly; the side beam can provide stable support for the installation arrangement of the sub-track travel assembly and the main track travel assembly; at the same time, when the vehicle body is raised or lowered, the mounting seat can stably drive the main track travel wheels to move, and can support the stable rotation of the main track travel wheels.

[0030] Furthermore, the drive motor and the first transmission shaft are located between two ends on one side of the main beam, and the jacking drive assembly is located between two ends on the other side of the main beam.

[0031] Through the above arrangement, the "I"-shaped main beam separates the travel drive assembly and the jacking drive assembly, so that the travel power transmission and jacking power transmission paths of the vehicle body are stable, and the jacking state of the vehicle body is linked with the travel direction, so as to realize precise control of the vehicle body; at the same time, after the main beam is inverted to an "I"-shaped longitudinal section, the entire main beam drives the side beams, the travel drive assembly and the jacking drive assembly to be arranged more horizontally, making the entire vehicle body thinner; and the main beam and the side beam are simpler and lighter than the frame structure in the prior art, forming a unique lightweight frame structure, which helps to reduce manufacturing costs and increase endurance.

[0032] Furthermore, the sub-track walking component includes:

[0033] Wheel carriers, the wheel carriers are located on the left and right sides of the vehicle body and away from the center of the vehicle body;

[0034] A support plate, the support plate is fixedly mounted on one side of the wheel frame, and the support plate extends toward a side close to the vehicle body, and the follower commutator is fixedly connected to the support plate;

[0035] Active rubber-coated wheel hub, the active rubber-coated wheel hub is rotatably installed between the wheel frames;

[0036] A driving shaft connected to the power output end of the slave commutator, an end of the driving shaft away from the slave commutator passes through the side wall of the wheel frame and is coaxially fixedly connected to a single active rubber-coated wheel hub.

[0037] Through the above arrangement, the wheel frame can stably support the rotation of the active rubber-coated wheel hub. After the follower commutator and the support plate cooperate, it is convenient to stably transmit power to the active rubber-coated wheel hub. The telescopic universal joint on the side of the follower commutator ensures stable power transmission.

[0038] Furthermore, the sub-track walking component also includes:

[0039] A plurality of driven shafts, the axes of which are parallel to the axes of the driving shafts, and both ends of which are rotatably connected to the wheel carriers;

[0040] A plurality of driven rubber-coated hubs, wherein the driven rubber-coated hubs are coaxially fixedly mounted on the driven shaft;

[0041] A plurality of synchronous belts are tensioned and installed on the driven shaft and the driving shaft.

[0042] Through the above arrangement, the driven rubber-coated wheel hub, in cooperation with the synchronous belt and the driven shaft, can divert the power at the drive shaft to the driven rubber-coated wheel hub, so that the shuttle vehicle can obtain stable support from multiple driven rubber-coated wheel hubs and the active rubber-coated wheel hub during the turning process, making the shuttle vehicle move more stably.

[0043] Further, the jacking drive assembly includes:

[0044] Lifting motor;

[0045] A second speed reducer connected to a power output end of the lifting motor;

[0046] The second transmission shaft, the middle part of the second transmission shaft is fixedly connected to the power output end of the second reducer, and the axis of the second transmission shaft is parallel to the axis of the main beam; the lifting motor and the second reducer are fixedly installed on the middle part of the vehicle body; the second transmission shaft is cross-arranged on the upper side of the telescopic universal joint;

[0047] The lifting components include:

[0048] A screw push rod, an auxiliary telescopic universal joint is coaxially installed between the power input end of the screw push rod and the transmission shaft, the axis of the screw push rod is perpendicular to the axis of the transmission shaft, a housing is provided on the outer wall of the screw push rod, and the housing is fixedly connected to the side beam;

[0049] The scissors-fork mechanism is vertically arranged, one end of the upper side of the scissors-fork mechanism is fixedly connected to the side beam and horizontally slidably connected to the other end of the upper side of the scissors-fork mechanism, and the other end of the upper side of the scissors-fork mechanism is connected to the end of the screw push rod; one end of the lower side of the scissors-fork mechanism is fixedly connected to the wheel frame and horizontally slidably connected to the other end of the lower side of the scissors-fork mechanism.

[0050] When the vehicle body is lifted, the lifting motor drives the second transmission shaft and the auxiliary telescopic universal joint to rotate forwardly through the second reducer. At this time, the power is transmitted to the screw push rod, and the screw push rod pushes the upper end of the scissor mechanism to move away from the center of the side beam, so that the top of the scissor mechanism moves up, and the scissor mechanism and the vehicle body are lifted as a whole. At this time, the side beam and the mounting seat drive the main track running wheels to move up, and the main track running wheels are separated from the track. At this time, the shuttle car can run on the reversing track and the sub-track; when running to the bottom of the object, the scissor mechanism is continued to be pushed, and the vehicle body can lift the object to the highest position and separate from the support frame, so that the load runs on the sub-track; on the contrary, the vehicle body moves down, the main track running wheels are fitted with the track, the sub-track running assembly is retracted, the active wheel hub and the driven wheel hub are separated from the sub-track, and the shuttle car can run on the main track, so that the sub-track running assembly, the main track running wheels, the running drive assembly, the lifting assembly and the lifting drive assembly cooperate to realize the switching of the running direction and the working state.

[0051] Furthermore, there are two scissor-type mechanisms under the single-side side beam, the two scissor-type mechanisms are parallel to each other, and a pull rod is horizontally arranged between the two scissor-type mechanisms, and both ends of the pull rod are respectively hinged to one end of the horizontal sliding lower side of the two scissor-type mechanisms.

[0052] Through the above arrangement, the four scissor mechanisms under the side beams on both sides can stably drive the vehicle body to rise and fall synchronously in the vertical direction when rising and falling, thereby improving the stability of the vehicle body rising and falling.

[0053] The present invention also intends to provide a rail rack, comprising a main rail, a reversing rail, a sub-rail, a support frame, and an all-wheel drive pallet four-way shuttle, wherein the reversing rail is located between the main rails, and the sub-rail is located between the support frames; both the active rubber-coated wheel hub and the driven rubber-coated wheel hub can roll along the reversing rail or the sub-rail, and both the main rail running wheels can roll along the main rail;

[0054] The rail surfaces of the commutation track and the sub-track are both higher than the rail surface of the main track, and the commutation track and the sub-track are opposite to each other and are aligned in both horizontal and vertical positions;

[0055] A gap is provided between the end of the reversing track and the end of the sub-track for the installation of the main track and for the main track active running wheel and the main track driven running wheel to travel. The longitudinal section width of the gap is smaller than the center distance between two adjacent active rubber-coated wheel hubs or driven rubber-coated wheel hubs.

[0056] The technical principle of the present invention is as follows: the main track can cooperate with the main track running wheel, the reversing track and the sub-track can cooperate with the active rubber-coated wheel hub and the driven rubber-coated wheel hub, so that the shuttle can be transferred to the sub-track through the reversing track when taking and placing items on the support frame, which is convenient for taking, placing and transferring items; at the same time, through the control of the gap, when the main track is running, the lowest point of the car body and the reversing track maintain a sufficient gap, which is also convenient for the car body to be transferred from the reversing track to the sub-track; during use, the first state is that the jacking assembly allows the car body to rise during the initial jacking, the main track running wheel contacts the track, and the shuttle runs along the main track, which is convenient for the car body to be transferred to the sub-track as a whole at this time; the second state is the middle position of the jacking, the main frame of the car body rises to a certain height, but is lower than the height of the upper plane of the support frame, and the shuttle can shuttle under the items; the third state is the jacking limit position, and the shuttle can lift the items above the upper plane of the support frame, so as to carry the goods and run on the sub-track.

[0057] Furthermore, the active rubber-coated wheel hub, the driven rubber-coated wheel hub and the main track running wheel are coaxially fixed with a conical wheel rim on one end close to the center of the vehicle body.

[0058] Through the above-mentioned setting, the tapered wheel rim can limit and guide the rolling of the active rubber-coated wheel hub, the driven rubber-coated wheel hub and the main track running wheel, so that the active rubber-coated wheel hub, the driven rubber-coated wheel hub and the main track running wheel keep in contact with the track and are not easy to derail, making the all-wheel drive pallet four-way shuttle vehicle move more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the structure of an all-wheel drive pallet four-way shuttle vehicle on the axle side in Example 1 of the present invention.

[0060] Figure 2 for Figure 1 Exploded view of the all-wheel drive pallet four-way shuttle.

[0061] Figure 3 for Figure 1 A top view after removing the car body.

[0062] Figure 4 This is a schematic diagram of the structure of a rail rack in the axial direction in Example 2 of the present invention.

[0063] Figure 5 for Figure 4 Side view of the mid-track rack.

[0064] In the above drawings: car body 10, main beam 101, side beam 102, mounting seat 103, wheel frame 20, support plate 201, active rubber-coated wheel hub 202, driving shaft 203, driven shaft 204, driven rubber-coated wheel hub 205, synchronous belt 206, follower commutator 501, main track walking wheel 502, telescopic universal joint 503, driving motor 60, first reducer 601, first transmission shaft 602, fixed commutator 603, screw push rod 701, scissors mechanism 702, lifting motor 80, second reducer 801, second transmission shaft 802, auxiliary telescopic universal joint 803, electric control box 901, battery box 902, tapered wheel rim 111, main track 1, commutation track 2, sub-track 3, support frame 4. DETAILED DESCRIPTION

[0065] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0066] Example 1

[0067] This embodiment is basically Figure 1 , Figure 2 and Figure 3 As shown, the embodiment of the present invention proposes an all-wheel drive pallet four-way shuttle vehicle, including a vehicle body 10, a sub-track 3 walking assembly, a main track walking assembly driving the sub-track walking assembly on the left or right side of the vehicle body 10, a walking drive assembly driving the vehicle body 10 to walk in two directions, a lifting assembly, a lifting drive assembly driving the lifting assembly, an electric control box 901 controlling the lifting drive assembly and the walking drive assembly, and a battery box 902 for supplying power to the lifting drive assembly, the walking drive assembly and the electric control box 901; as shown Figure 1 and 2 As shown, the vehicle body 10 is in an "H" shape. At the same time, the vehicle body 10 includes a main beam 101 and two side beams 102. The longitudinal section profile of the main beam 101 is also in an "H" shape, and the main beam 101 is turned upside down so that the longitudinal section is in an "I" shape; the cross-sectional profile of the side beam 102 is in an inverted "L" shape, and the two side beams 102 are symmetrically arranged along the vertical center plane of the main beam 101, and the main beam 101 and the two side beams 102 are located on the same horizontal plane.

[0068] like Figure 2 and3 As shown, the travel drive assembly includes a drive motor 60, a first reducer 601, a first transmission shaft 602 and two fixed commutators 603; the main track travel assembly includes four follower commutators 501 that are transmitted to the sub-track 3 travel assembly, four main track travel wheels 502 and eight telescopic universal joints 503, the first reducer 601 is a double-output reducer, and the follower commutator 501 is a double-output same-direction commutator; the first reducer 601 is fixedly connected to the power output end of the drive motor 60; the middle part of the first transmission shaft 602 is connected to the power output end of the first reducer 601, and the axis of the first transmission shaft 602 is parallel to the axis of the main beam 101; the drive motor 60 and the first reducer 601 are fixedly installed at At the upper left side of the main beam 101, the first transmission shaft 602 is rotatably installed on the left side of the main beam 101, and both sides of the first reducer 601 are power output ends connected to the first transmission shaft 602, and the power output direction of the first reducer 601 is perpendicular to the power output direction of the drive motor 60; two fixed commutators 603 are respectively located on the two ends of the first transmission shaft 602, and the fixed commutator 603, the drive motor 60 and the first reducer 601 are all fixedly installed on the main beam 101, and the fixed commutator 603, the first reducer 601 and the first transmission shaft 602 are located between the two ends of one side of the main beam 101, and the main beam 101 can cover and protect the fixed commutator 603, the first reducer 601 and the first transmission shaft 602.

[0069] At the same time, if Figure 3 As shown, four telescopic universal joints 503 are installed one by one between the four follower commutators 501 and the two sides of the fixed commutator 603, and the follower commutator 501 is fixedly connected to the sub-track 3 walking assembly; the two follower commutators 501 connected to the single fixed commutator 603 are located on the left and right sides of the fixed commutator 603; the main track running wheel 502 is arranged on the side of the follower commutator 501 away from the fixed commutator 603, and the remaining four telescopic universal joints 503 are installed one by one between the four main track running wheels 502 and the four follower commutators 501, and the main track running wheels 502, the telescopic universal joints 503 and the fixed commutator 603 are all located on the same plane; as shown Figure 2 As shown, a mounting seat 103 rotatably connected to the main track running wheel 502 is fixedly provided at the end of the side beam 102 near one side of the main beam 101; the telescopic universal joint 503 and the follower commutator 501 are both covered by the side beam 102, and the side beam 102 can cover and protect the telescopic universal joint 503 and the follower commutator 501 to facilitate stable power transmission.

[0070] like Figure 2 and 3As shown, the sub-track 3 walking assembly includes a wheel frame 20, a support plate 201, four active rubber-coated wheel hubs 202, four drive shafts 203 connected to the power output end of the follower commutator 501, four driven shafts 204, four driven rubber-coated wheel hubs 205 and four synchronous belts 206; the wheel frame 20 is in a rectangular frame, the length direction of the wheel frame 20 is parallel to the axial direction of the side beam 102, and the side beam 102 is vertically opposite to the wheel frame 20 and is located on the upper side of the wheel frame 20; the support plate 201 is welded to the side of the wheel frame 20 close to the side beam 102, and the support plate 201 extends from the side of the wheel frame 20 away from the side of the wheel frame 20 to the side close to the vehicle body 10, the follower commutator 501 is fixedly connected to the support plate 201 by bolts and other fixings, and the side beam 102 and the follower commutator 501 are provided with a fixing for the follower The active rubber-coated wheel hub 202 is rotatably installed between the wheel frame 20, and the end of the driving shaft 203 away from the driven commutator 501 passes through the side wall of the wheel frame 20 and is coaxially fixedly connected with the single active rubber-coated wheel hub 202. The rotation axis of the active rubber-coated wheel hub 202 is perpendicular to the rotation axis of the main track walking wheel 502; the active rubber-coated wheel hub 202, the driving shaft 203 and the driven commutator 501 correspond to each other one by one; at the same time, the axis of the driven shaft 204 is parallel to the axis of the driving shaft 203, and both ends of the driven shaft 204 are rotatably connected with the wheel frame 20, the driven rubber-coated wheel hub 205 is coaxially fixedly installed on the driven shaft 204, the synchronous belt 206 is tensioned and installed on the driven shaft 204 and the driving shaft 203, and the driven rubber-coated wheel hub 205 is located at the end of the wheel frame 20.

[0071] like Figure 2 and 3As shown, the lifting drive assembly includes a lifting motor 80, a second reducer 801, a second transmission shaft 802 and two auxiliary telescopic universal joints 803; the lifting assembly includes two lead screw push rods 701 and four scissor-fork mechanisms 702, the lead screw push rods 701 are horizontally arranged worm gear lifts of model 1520S-T18-M12, the second reducer 801 is power-connected to the power output end of the lifting motor 80; the middle part of the second transmission shaft 802 is fixedly connected to the power output end of the second reducer 801, and the axis of the second transmission shaft 802 is parallel to the axis of the main beam 101; the second transmission shaft 802 is cross-arranged on the upper side of the telescopic universal joint 803; the lifting motor 80 and the second reducer 801 They are all fixedly installed on the upper right side of the main beam 101, and the second transmission shaft 802 is rotatably installed on the right side of the main beam 101. The second reducer 801 has power output ends connected to the second transmission shaft 802 on both sides. The power output direction of the second reducer 801 is perpendicular to the power output direction of the lifting motor 80, and one of the auxiliary telescopic universal joints 803 is coaxially installed on the second transmission shaft 802 near the middle of the second reducer 801; the other auxiliary telescopic universal joint 803 is coaxially installed between the power input end of the lower side screw push rod 701 and the transmission shaft, the axis of the screw push rod 701 is perpendicular to the axis of the transmission shaft, and a casing is provided on the outer wall of the screw push rod 701, and the casing is fixedly connected to the side beam 102 by bolts.

[0072] like Figure 2 and Figure 3 As shown, the scissors-fork mechanism 702 is vertically lifted and lowered, and the vertical plane where the scissors-fork mechanism 702 is located is perpendicular to the axis of the main beam 101. The right end of the upper side of the scissors-fork mechanism 702 on the lower right side is fixedly connected to the side beam 102 by bolts and is horizontally slidably connected to the left end of the upper side of the scissors-fork mechanism 702, and the left end of the upper side of the scissors-fork mechanism 702 is connected to the end of the screw push rod 701; the right end of the lower side of the scissors-fork mechanism 702 is fixedly connected to the wheel frame 20 by bolts and is horizontally slidably connected to the left end of the lower side of the scissors-fork mechanism 702; at the same time, the number of scissors-fork mechanisms 702 under the single-sided side beam 102 is two, the two scissors-fork mechanisms 702 are parallel to each other, and a pull rod is horizontally arranged between the two scissors-fork mechanisms 702, and the two ends of the pull rod are respectively hinged to one end of the horizontal sliding lower side of the two scissors-fork mechanisms 702.

[0073] In addition, if Figure 1-3As shown, the electric control box 901 is installed between the left ends of the two side beams 102; the battery box 902 is installed between the right ends of the two side beams 102; at the same time, the active rubber-coated wheel hub 202, the driven rubber-coated wheel hub 205 and the main track running wheel 502 are coaxially fixed with a tapered wheel rim 111 on one end close to the center of the vehicle body 10. The active rubber-coated wheel hub 202, the driven rubber-coated wheel hub 205 and the main track running wheel 502 are all rubber-coated wheel hubs. The tapered wheel rim 111 can limit and guide the rolling of the active rubber-coated wheel hub 202, the driven rubber-coated wheel hub 205 and the main track running wheel 502, so that the active rubber-coated wheel hub 202, the driven rubber-coated wheel hub 205 and the main track running wheel 502 keep in contact with the track and are not easy to derail, making the all-wheel drive pallet four-way shuttle vehicle travel more stable.

[0074] When an all-wheel drive pallet four-way shuttle vehicle in this embodiment is arranged and installed, the "H"-shaped body 10 covers the sub-track 3 running assembly, the main track running assembly, the running drive assembly, the jacking assembly and the jacking drive assembly as a whole, so that the space between the two ends of the side beam 102 of the body 10 is reserved, and the electric control box 901 and the battery box 902 are respectively located between the relatively open spaces at the two ends of the side beam 102, which greatly increases the freedom of selection and layout of electrical components such as the electric control box 901 and the battery box 902; at the same time, the side beam 102 and the main beam 101 can fully support and cover the various structures in the sub-track 3 running assembly, the main track running assembly, the running drive assembly, the jacking assembly and the jacking drive assembly, so as to fully protect the various structures and facilitate stable transmission; after being encapsulated by the body 10, the various structures are basically maintenance-free, the interior is neat and beautiful, and the positioning surface processing of large components such as the body 10 is avoided, thereby reducing the processing cost and the later maintenance cost.

[0075] At the same time, the "H"-shaped main beam 101 separates the travel drive assembly and the lifting drive assembly, so that the travel power transmission and lifting power transmission paths of the vehicle body 10 are stable, and the lifting state of the vehicle body 10 is linked with the travel direction, so as to realize precise control of the vehicle body 10; after the "H"-shaped main beam 101 is inverted to an "I" shape in the longitudinal section, the entire main beam 101 drives the side beam 102, the travel drive assembly and the lifting drive assembly to be arranged more horizontally, making the entire vehicle body 10 thinner; and the main beam 101 and the side beam 102 are simpler and lighter than the frame structure in the prior art, forming a unique lightweight frame structure, which helps to reduce manufacturing costs and increase endurance.

[0076] A lifting motor 80, a second reducer 801, a second transmission shaft 802, two lead screw push rods 701, four scissor mechanisms 702 and two auxiliary telescopic universal joints 803 are used in the lifting assembly and the lifting drive assembly. The lifting control of the vehicle body 10 adopts a stable mechanical structure instead of a hydraulic structure, which can adapt to low temperature environments, making the entire all-wheel drive pallet four-way shuttle vehicle more adaptable to the environment.

[0077] At the same time, when the all-wheel drive pallet four-way shuttle vehicle is in use, the travel direction of the all-wheel drive pallet four-way shuttle vehicle can be controlled by the electric control box 901, and the lifting and lowering of the vehicle body 10 can be selected according to the needs; when it is necessary to convert the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 into rotation, the lifting motor 80 drives the second transmission shaft 802 and the auxiliary telescopic universal joint 803 to rotate forward through the second reducer 801, and the power is transmitted to the screw push rod 701, and the screw push rod 701 pushes the upper end of the scissor mechanism 702 away from the center of the side beam 102. The scissor mechanism 702 moves upward, and the scissor mechanism 702 body 10 is lifted as a whole. At this time, the side beam 102 and the mounting seat 103 drive the main track running wheel 502 to move upward, and the main track running wheel 502 is out of the track. At the same time, the telescopic universal joint 503 located on the side of the follower commutator 501 close to the fixed commutator 603 still transmits the power transmitted by the drive motor 60, the first reducer 601, the first transmission shaft 602 and the fixed commutator 603 to the follower commutator 501, and the follower commutator 501 transmits the power to the drive motor 60, the first reducer 601, the first transmission shaft 602 and the fixed commutator 603. On the shaft 203, the driving shaft 203 synchronous belt 206 drives the synchronous belt 206, the driven rubber-coated wheel hub 205 and the active rubber-coated wheel hub 202; in this process, the lifted vehicle body 10 can also pick up and place the items to be transported; on the contrary, the upper end of the scissor mechanism 702 drops, the main track running wheel 502 fits with the track, the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 are separated from the sub-track 3, and the power transmitted by the driving motor 60, the first reducer 601, the first transmission shaft 602 and the fixed commutator 603 is still transmitted to the follower commutator 501 The follower commutator 501 transmits the power to the telescopic universal joint 503 on the side of the follower commutator 501 away from the fixed commutator 603, and the telescopic universal joint 503 transmits the power to the main track walking wheel 502, thereby changing the travel direction and power transmission method of the entire all-wheel drive pallet four-way shuttle vehicle, and at the same time, it can make the sub-track 3 walking assembly, the main track walking assembly, the walking drive assembly, the jacking assembly and the jacking drive assembly cooperate to achieve the coordination of power transmission direction and the lifting state of the vehicle body 10, thereby realizing the transmission layout of all-wheel drive.

[0078] In the above process, the telescopic universal joint 503 and the auxiliary telescopic universal joint 803 allow the vehicle body 10 to maintain stable power transmission during the lifting process, and at the same time, when the track surface is not smooth enough, the all-wheel drive pallet four-way shuttle vehicle can move with a certain degree of flexibility. The universal joint and encapsulated transmission components are basically maintenance-free, the interior is clean and beautiful, and the positioning surface processing of large components such as the vehicle body 10 is avoided, thereby reducing the processing cost and later maintenance cost.

[0079] Example 2

[0080] The difference between Example 2 and Example 1 is basically as shown in the attached Figure 4 and Figure 5 As shown, a rail rack is provided, including a main rail 1, a reversing rail 2, a sub-rail 3, a support frame 4 and an all-wheel drive pallet four-way shuttle, the reversing rail 2 is located between the main rails 1, and the sub-rail 3 is located between the support frames 4; the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 can roll along the reversing rail 2 or the sub-rail 3, and the main rail running wheel 502 can roll along the main rail 1; Figure 5 As shown, the rail surfaces of the reversing track 2 and the sub-track 3 are both higher than the rail surface of the main track 1 , and the reversing track 2 and the sub-track 3 are horizontally opposite and aligned in both horizontal and vertical positions.

[0081] At the same time Figure 4 and 5 As shown, there are four active rubber-coated wheel hubs 202 and driven rubber-coated wheel hubs 205 in the wheel frame 20 on one side. The distance between the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 driven by a single synchronous belt 206 is the gap between the end of the reversing track 2 and the end of the sub-track 3. The longitudinal section width of the gap is smaller than the center distance between two adjacent active rubber-coated wheel hubs 202 and the driven rubber-coated wheel hub 205, which can prevent the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 from falling into the gap when passing through the gap, thereby improving the smoothness of the travel of the all-wheel drive pallet four-way shuttle vehicle.

[0082] When the rail rack in this embodiment is in use, when the all-wheel drive pallet four-way shuttle is placed on the initial main track 1, the main track running wheels 502 remain in contact with the main track 1. In this state, the all-wheel drive pallet four-way shuttle is in a state of conveying and transferring items or the all-wheel drive pallet four-way shuttle as a whole is in a state of moving along the main track 1 without carrying any items.

[0083] When the all-wheel drive pallet four-way shuttle vehicle needs to take down an item located on the support frame 4, as shown in FIG. Figure 4 As shown, the all-wheel drive pallet four-way shuttle has three states, specifically:

[0084] State 1: the main track running wheel 502 on the all-wheel drive pallet four-way shuttle vehicle is in contact with the main track 1, and the all-wheel drive pallet four-way shuttle vehicle moves to a state opposite to the sub-track 3, and the all-wheel drive pallet four-way shuttle vehicle moves to the reversing track 2 under the guidance of the main track 1;

[0085] State 2: The vehicle body 10 is lifted to a medium height by the lifting assembly and the lifting drive assembly, the main track running wheel 502 is separated from the main track 1, the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 are fitted with the reversing track 2, and the entire all-wheel drive pallet four-way shuttle is driven to move toward the support frame 4. At this time, the moving active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 pass over the lower main track 1 and combine with the sub-track 3, so that the all-wheel drive pallet four-way shuttle is transferred to the sub-track 3 as a whole and is located between the support frames 4;

[0086] In state two, when the vehicle body 10 moves to the position directly below the object to be transferred, the vehicle body 10 is controlled to continue to be lifted or lifted to the limit state, so that the object is separated from the support frame 4, and then the all-wheel drive pallet four-way shuttle is controlled to move back to the reversing track 2 as a whole; at this time, the vehicle body 10 is controlled to descend through the lifting assembly and the lifting drive assembly, and the main track running wheel 502 and the main track 1 return to the fitting state again, and the lead screw push rod 701 and the scissor mechanism 702 continue to be retracted, the active rubber-coated wheel hub 202 and the driven rubber-coated wheel hub 205 are separated from the reversing track 2, and are lifted to a certain height so that the wheel rim and the reversing track 2 maintain a sufficient gap.

[0087] In the process of conveying items, the all-wheel drive pallet four-way shuttle needs to be moved and steered, which can still be achieved by controlling the lifting and lowering of the vehicle body 10 and the power transmission direction in the above manner, and the control is simple and reliable.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. An all-wheel drive pallet four-way shuttle vehicle, characterized in that: include: A vehicle body, wherein the vehicle body is in an "H" shape; Main track travel components, which are installed on the four corners of the vehicle body; A sub-track running assembly, wherein the sub-track running assembly is located under the left side or the right side of the vehicle body; A travel drive assembly for driving the vehicle body to travel in two directions, wherein the travel drive assembly is installed at the middle of the vehicle body; A lifting assembly, wherein the lifting assembly is installed at the middle of the left side or the right side of the vehicle body, and the lifting assembly is installed between the sub-track traveling assembly and the vehicle body; A jacking drive assembly driving the jacking assembly, wherein the jacking drive assembly is installed at the middle part of the vehicle body; An electric control box for controlling the lifting drive assembly and the traveling drive assembly, wherein the electric control box is installed between the two ends of the vehicle body; A battery box is used to supply power to the lifting drive assembly, the traveling drive assembly and the electric control box, and the battery box is installed between the two ends of the vehicle body.

2. The all-wheel drive pallet four-way shuttle vehicle according to claim 1, characterized in that: The travel drive assembly comprises: Drive motor; A first reducer, wherein the first reducer is fixedly connected to a power output end of the driving motor; A first transmission shaft, wherein the middle portion of the first transmission shaft is connected to the power output end of the first reducer, and the axis of the first transmission shaft is parallel to the middle portion of the vehicle body; A fixed commutator, wherein the number of the fixed commutators is two, and the two fixed commutators are respectively located at the two ends of the first transmission shaft, and the fixed commutator, the drive motor and the first reducer are all fixedly installed on the middle part of the vehicle body; The main track travel assembly comprises: A follower commutator driven by the sub-track travel assembly, wherein the number of the follower commutators is four, wherein two follower commutators are connected to opposite sides of a single fixed commutator; A main track running wheel, wherein the main track running wheel is arranged on a side of the follower commutator away from the fixed commutator; Telescopic universal joint, the telescopic universal joint transmission is arranged between the fixed commutator and the follower commutator, and the telescopic universal joint transmission is also arranged between the main track running wheel and the follower commutator; The main track running wheels, telescopic universal joints and fixed commutators are all installed on the left side or right side of the vehicle body and are located on the same plane.

3. The all-wheel drive pallet four-way shuttle vehicle according to claim 2, characterized in that: The vehicle body comprises: A main beam, wherein the number of the main beam is one, and the longitudinal section profile of the main beam is in the shape of an "I"; Side beams, the number of which is two, the cross-sectional profile of which is inverted "L" shape, and the two side beams are symmetrically arranged along the vertical center plane of the main beam, and a lifting notch for the follower commutator to be raised and lowered is provided at the side opposite to the side beam; a mounting seat rotatably connected to the main track running wheel is fixedly arranged at the end of the side beam near one side of the main beam.

4. The all-wheel drive four-way pallet shuttle vehicle according to claim 3, characterized in that: The driving motor and the first transmission shaft are located between the two ends of one side of the main beam, and the jacking driving assembly is located between the two ends of the other side of the main beam.

5. The all-wheel drive four-way pallet shuttle vehicle according to claim 4, characterized in that: The sub-track walking assembly comprises: Wheel carriers, the wheel carriers being located at the left and right sides of the vehicle body and at a side away from the center of the vehicle body; A support plate, the support plate is fixedly mounted on one side of the wheel frame, and the support plate extends toward a side close to the vehicle body, and the follower commutator is fixedly connected to the support plate; An active rubber-coated wheel hub, wherein the active rubber-coated wheel hub is rotatably mounted between the wheel frames; A driving shaft connected to the power output end of the slave commutator, wherein one end of the driving shaft away from the slave commutator passes through the side wall of the wheel frame and is coaxially fixedly connected to a single active rubber-coated wheel hub.

6. The all-wheel drive four-way pallet shuttle vehicle according to claim 5, characterized in that: The sub-track walking assembly also includes: A plurality of driven shafts, wherein the axes of the driven shafts are parallel to the axes of the driving shafts, and both ends of the driven shafts are rotatably connected to the wheel carriers; A plurality of driven rubber-coated wheel hubs, wherein the driven rubber-coated wheel hubs are coaxially fixedly mounted on the driven shaft; A plurality of synchronous belts are tensioned and installed on the driven shaft and the driving shaft.

7. The all-wheel drive four-way pallet shuttle vehicle according to claim 6, characterized in that: The jacking drive assembly comprises: Lifting motor; A second reducer connected to a power output end of the lifting motor; A second transmission shaft, wherein the middle portion of the second transmission shaft is fixedly connected to the power output end of the second reducer, and the axis of the second transmission shaft is parallel to the axis of the main beam; the lifting motor and the second reducer are both fixedly installed on the middle portion of the vehicle body; the second transmission shaft is cross-arranged on the upper side of the telescopic universal joint; The lifting assembly comprises: A screw push rod, wherein an auxiliary telescopic universal joint is coaxially installed between the power input end of the screw push rod and the transmission shaft, the axis of the screw push rod is perpendicular to the axis of the transmission shaft, and a housing is provided on the outer wall of the screw push rod, and the housing is fixedly connected to the side beam; A scissor-fork mechanism, wherein the scissor-fork mechanism is vertically arranged, one end of the upper side of the scissor-fork mechanism is fixedly connected to the side beam and is horizontally slidably connected to the other end of the upper side of the scissor-fork mechanism, and the other end of the upper side of the scissor-fork mechanism is connected to the end of the screw push rod; one end of the lower side of the scissor-fork mechanism is fixedly connected to the wheel frame and is horizontally slidably connected to the other end of the lower side of the scissor-fork mechanism.

8. The all-wheel drive pallet four-way shuttle vehicle according to claim 7, characterized in that: There are two scissor-fork mechanisms under the side beam on one side, the two scissor-fork mechanisms are parallel to each other, and a pull rod is horizontally arranged between the two scissor-fork mechanisms, and both ends of the pull rod are respectively hinged to one end of the horizontal sliding lower side of the two scissor-fork mechanisms.

9. A rail rack, characterized in that: The invention comprises a main track, a reversing track, a sub-track, a support frame, and an all-wheel drive pallet four-way shuttle vehicle as claimed in any one of claims 1 to 9, wherein the reversing track is located between the main tracks, and the sub-track is located between the support frames; the active rubber-coated wheel hub and the driven rubber-coated wheel hub can roll along the reversing track or the sub-track, and the main track walking wheels can roll along the main track; The rail surfaces of the reversing track and the sub-track are both higher than the rail surface of the main track, and the reversing track and the sub-track are opposite to each other and are aligned in both horizontal and vertical positions; A gap is provided between the end of the reversing track and the end of the sub-track for the installation of the main track and for the main track active running wheel and the main track driven running wheel to travel. The longitudinal section width of the gap is smaller than the center distance between two adjacent active rubber-coated wheel hubs or driven rubber-coated wheel hubs.

10. The all-wheel drive four-way pallet shuttle vehicle according to claim 9, characterized in that: The active rubber-coated wheel hub, the driven rubber-coated wheel hub and one end of the main track running wheel close to the center of the vehicle body are all coaxially fixed with a conical wheel rim.

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