Pallet four-way shuttle vehicle of hinged type vehicle body main frame and track goods shelf

Abstract

The invention relates to the field of shuttle vehicles, and particularly discloses a tray four-way shuttle vehicle of a hinged type vehicle body main frame and a track goods shelf. The vehicle body main frame comprises a first frame with an I-shaped cross section profile, a second frame with a linear cross section profile and a rotating assembly connected with the middle of the second frame and the lower end of the first frame, and the axis of the second frame is parallel to the axis of the upper end of the first frame and perpendicular to the rotating axis of the rotating assembly. According to the scheme, the vehicle body main frame composed of the first frame and the second frame can cover the sub-track walking assembly, the main track walking assembly, the walking driving assembly, the jacking assembly and the jacking driving assembly, so that the space between the end of the first frame and the end of the second frame is reserved; and the electric control box and the battery box are respectively positioned between the relatively open spaces at the two ends of the end parts of the first frame and the second frame, so that 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 a pallet four-way shuttle vehicle with an articulated vehicle body main frame and a track shelf. Background Art

[0002] As an important equipment in modern warehousing and logistics systems, the four-way shuttle for pallets is increasingly widely used. The four-way shuttle for pallets can realize the rapid storage and retrieval of pallet goods in high-density stereoscopic warehouses, greatly improving storage efficiency, reducing labor input, reducing error rates, and improving safety and reliability.

[0003] Currently, many pallet four-way shuttle products on the market are generally equipped with dual travel transmission systems. In order to ensure that both systems can be effectively driven, a transmission system with many transmission parts and a highly complex system has to be introduced inside the main frame of the vehicle body. This system is not only responsible for transmitting the torque of the drive motor, but also needs to switch the direction of the transmission system when necessary. Multiple motors will be arranged in the transmission system for driving, which compresses the free space inside the shuttle car, and the installation space of the electronic control and battery is greatly limited; at the same time, while this design improves functionality, it also significantly increases the processing accuracy requirements, assembly complexity and maintenance difficulty of the main frame of the vehicle body, thereby weakening the stability and reliability of the entire system; due to the complexity of the transmission structure inside the main frame of the vehicle body, the installation space of the electronic control and battery is greatly limited, which not only affects the selection diversity of the electronic control and battery components, but also directly restricts the endurance of the shuttle car; the power transmission inside the main frame of the vehicle body usually uses a large number of chain drives, which reduces the transmission efficiency and the chain structure also requires regular maintenance. Summary of the invention

[0004] In view of the shortcomings in the prior art, the present invention provides a pallet four-way shuttle and rail rack with an articulated vehicle body main frame to solve the problems of complexity of the internal transmission structure of the vehicle body main frame and limited installation space for electronic control and batteries, limited parts selection, and limited battery life.

[0005] In order to achieve the above-mentioned object, the basic scheme of the present invention is as follows: a pallet four-way shuttle vehicle with an articulated vehicle body main frame, comprising:

[0006] The main frame of the vehicle body includes a first frame with a cross-sectional profile in the shape of an I, a second frame with a cross-sectional profile in the shape of a letter I, and a rotating assembly connecting the middle of the second frame with the lower end of the first frame, wherein the axis of the second frame is parallel to the axis of the upper end of the first frame and is perpendicular to the rotating axis of the rotating assembly;

[0007] A sub-track running assembly running along the sub-track, the sub-track running assembly being installed at the upper ends of the second frame and the first frame;

[0008] A main track travel assembly that travels along the main track, the main track travel assembly being installed at the upper ends of the second frame and the first frame;

[0009] A travel drive assembly that drives the sub-track travel assembly and / or the main track travel assembly, wherein the travel drive assembly is installed on the main frame of the vehicle body;

[0010] A jacking assembly, the jacking assembly is located at the upper end of the first frame and the second frame, and the jacking assembly is installed between the vehicle body main frame and the sub-track walking assembly;

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

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

[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 main frame of the vehicle body.

[0014] The technical principle of the present invention is as follows: the main vehicle frame composed of the first frame and the second frame can cover 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 ends of the first frame and the second frame is reserved, and the electric control box and the battery box are respectively located between the relatively open spaces at both ends of the first frame and the second frame, which greatly increases the freedom of selection and layout of electrical components such as the electric control box and the battery box; the main vehicle frame can fully support and cover the sub-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 each structure and facilitate stable transmission. After being encapsulated by the main vehicle frame, each structure is basically maintenance-free, the interior is neat and beautiful, and the positioning surface processing of large components such as the main vehicle frame is avoided, thereby reducing the processing cost and the later maintenance cost.

[0015] At the same time, the first frame and the second frame are connected together through a rotating assembly to form a main frame of the vehicle body. When the main frame of the vehicle body bears all external loads, the rotating assembly allows the first frame and the second frame to have relative rotational freedom, so that the entire shuttle has a certain amount of flexible deformation. When the shuttle passes through a joint or the track is uneven, the rotating assemblies at the first frame and the second frame can offset a part of the torsional deformation of the main frame of the vehicle body, thereby ensuring that no matter which track the shuttle is traveling on, all the running wheels can contact the track, and there is no risk of the driving wheels being suspended. In addition, there is no need to drive all the running wheels to have sufficient driving force, which can simplify the structure of the travel drive assembly and only require a cross-arrangement, thereby freeing up more space for installing the battery box and the electronic control box.

[0016] Further, the rotating assembly comprises:

[0017] A hinge pin shaft, the axis of which is perpendicular to the axis of the second frame;

[0018] A mounting block, the mounting block is fixedly mounted on the second frame, a mounting hole for the hinge pin to pass through is provided on the mounting block, a bushing rotatably connected to the outer wall of the hinge pin is provided in the mounting hole of the mounting block, and a locking spring is provided between the end of the hinge pin and the end of the mounting block away from the first frame;

[0019] The sleeve is coaxially mounted on the lower end of the first frame, and one end of the hinge pin away from the mounting block is coaxially rotatably connected with the sleeve.

[0020] Through the above-mentioned arrangement, the hinge pin can precisely cooperate with the first frame and the second frame through the mounting block, sleeve, bushing and locking spring, so that the second frame has the freedom of rotation around the axis of the pin relative to the first frame, and thus the first frame and the second frame can rotate relative to each other around the axis of the hinge pin.

[0021] Furthermore, the travel drive assembly includes:

[0022] Drive motor;

[0023] A first reducer, the first reducer is fixedly connected to a power output end of the driving motor;

[0024] A first transmission shaft, wherein the end 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 axis of the middle part of the vehicle body main frame;

[0025] A primary commutator, the number of the primary commutators is two, the two primary commutators are respectively located at both ends of the first transmission shaft, and the primary commutator, the drive motor and the first reducer are all fixedly installed on the middle part of the first frame;

[0026] A secondary commutator, the number of which is two, a single secondary commutator is connected to one side of a single primary commutator; the secondary commutator is fixedly connected to the sub-track travel assembly and connected to the first transmission shaft;

[0027] A first telescopic universal joint, the first telescopic universal joint is transmission-mounted between the primary commutator and the secondary commutator;

[0028] The first double universal joint is installed between a side of the single primary commutator away from the first telescopic universal joint and the main track travel assembly.

[0029] Through the above arrangement, one motor can simultaneously drive the driving wheels on the sub-track traveling assembly and the main track traveling assembly, and there are at least two driving wheels in each direction to ensure sufficient driving force.

[0030] Furthermore, the main track travel assembly includes:

[0031] The main track driving wheel is fixedly connected to one end of the first double universal joint away from the primary commutator, and the main track driving wheel is rotatably connected to the end of the upper end of the first frame or the end of the second frame;

[0032] The main track driven walking wheel is rotatably mounted on a side of the first frame or the second frame away from the main track active walking wheel.

[0033] Through the above arrangement, the rotation of the main track active walking wheel and the main track driven walking wheel is supported by the first frame or the second frame, so that the rotation arrangement of the main track active walking wheel and the main track driven walking wheel is more stable; when power is transmitted to the main track active walking wheel, the main track active walking wheel can drive the main track driven walking wheel to rotate through the connection between the first frame and the second frame, so that the shuttle vehicle moves smoothly.

[0034] Furthermore, the sub-track walking component includes:

[0035] Two wheel frames, the two wheel frames are respectively located at one side of the first frame and the second frame away from the center of the vehicle body main frame;

[0036] 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 main frame of the vehicle body, and the secondary commutator is fixedly connected to the support plate;

[0037] A driving wheel hub, which is rotatably mounted between the wheel frames;

[0038] A drive shaft connected to the power output end of the secondary commutator, wherein one end of the drive shaft away from the secondary commutator passes through the side wall of the wheel frame and is coaxially fixedly connected to the single driving wheel hub;

[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 hubs are coaxially fixedly connected with the driven shaft.

[0041] Through the above-mentioned arrangement, the wheel frame can stably support the installation of the support plate, the active wheel hub, the driven wheel hub and the secondary commutator, and when the jacking drive assembly lifts the main frame of the vehicle body, the main frame of the vehicle body can be stably moved upward relative to the wheel frame; when the main frame of the vehicle body is lifted, the active walking wheels of the main track and the driven walking wheels of the main track are separated from the main track. At this time, a slight tilt occurs at the first telescopic universal joint and the power transmission is continuously guaranteed, and the power is transmitted to the secondary commutator. The secondary commutator can drive the active wheel hub to rotate through the drive shaft, and the active wheel hub mobilizes several driven wheel hubs to rotate synchronously through the wheel frame, so that the shuttle car can also move smoothly on the sub-track.

[0042] Further, the jacking drive assembly includes:

[0043] Lifting motor;

[0044] A second speed reducer connected to a power output end of the lifting motor;

[0045] 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 lower end of the first frame; the jacking motor and the second reducer are both fixedly installed in the middle part of the first frame, and the end of the second transmission shaft away from the second reducer is transmission-connected to the jacking assembly.

[0046] Through the above arrangement, when the main frame of the vehicle body is lifted, the lifting motor drives the second transmission shaft to rotate in the forward direction through the second reducer, thereby driving the lifting assembly to lift the main frame of the vehicle body; conversely, the lifting assembly drives the main frame of the vehicle body to descend, and the lifting drive assembly can be arranged at the lower end of the first frame in coordination with the travel drive assembly, so as to achieve precise coordination of the power transmission direction and the lifting and lowering state of the main frame of the vehicle body.

[0047] Further, the lifting assembly includes:

[0048] A jacking mechanism frame, one side of the jacking mechanism frame is fixedly connected to the wheel frame, and the other side of the jacking mechanism frame is fixedly connected to the upper end of the first frame of the wheel frame or the second frame;

[0049] A third commutator, one side of the third commutator is transmission-connected to the second transmission shaft, and the third commutator is fixedly mounted on the upper end of the first frame or on the second frame;

[0050] A second telescopic universal joint, one end of which is transmission-connected to one side of the third commutator;

[0051] A ball screw assembly, the ball screw assembly includes a screw and a nut seat for controlling the partial lifting of the jacking mechanism frame, the axis of the screw is parallel to the axis of the second frame, and one end of the second telescopic universal joint away from the third commutator is transmission-connected to one end of the screw;

[0052] The third commutator is provided with a manual lifting rod for driving the screw rod to rotate.

[0053] Through the above arrangement, it is convenient to transmit the lifting or lowering power to the lifting mechanism frame through the third commutator, the second telescopic universal joint and the ball screw assembly. The lifting mechanism frame can effectively adjust the distance between the wheel frame and the main frame of the vehicle body, thereby realizing the control of the vertical height of the main frame of the vehicle body, and then the main frame of the vehicle body can pick up and place the items to be transported.

[0054] Further, the jacking mechanism framework includes:

[0055] Wishbone;

[0056] A connecting end block, wherein the connecting end block is fixedly connected to a nut seat;

[0057] a plurality of articulated rods;

[0058] A lifting base, the lifting base is fixedly connected to the upper end of the first frame or the second frame;

[0059] A fixed base, the fixed base is fixedly connected to the upper side of the wheel frame, a plurality of hinged rods are hinged between the end of the fork arm, the lifting base, the fixed base and the connecting end block, and the hinged rods located at the end of the fork arm, the lifting base, the fixed base and one side of the connecting end block are located on the same vertical plane and form a hexagonal shape; when the connecting end block approaches the end of the fork arm, the lifting base is lifted; when the connecting end block is away from the end of the fork arm, the lifting base is lowered;

[0060] A subordinate lifting base and a subordinate fixed base are hinged on one end of the fork arm away from the connecting end block through a hinged rod. The lifting base is fixedly connected to the upper end of the first frame or the second frame and is parallel to the lifting base, and the hinged rod is parallel to the trapezoidal side hinged rod; the subordinate fixed base is fixedly connected to the upper side of the wheel frame and is parallel to the fixed base.

[0061] Through the above arrangement, the third commutator transmits power to the lead screw, and the nut seat on the lead screw converts the rotational force into a thrust for horizontal movement, thereby driving the connecting end block to move horizontally, and the articulated rod hinged to the connecting end block is driven synchronously, and the articulated rod drives the jacking base and the fixed base to automatically rise and fall through the hinge point, and the subordinate jacking base and the subordinate fixed base are also driven synchronously by the fork arm, so that the upper end of the first frame or the second frame is evenly supported, so that the main frame of the vehicle body can be raised and lowered in the vertical direction; in actual use, the jacking mechanism frame can have three working positions, one is that a number of articulated rods are in the folded position, the main track running wheels are in contact with the track, and the shuttle car runs along the main track; the second is that a number of articulated rods are extended to lift the jacking base to the middle position, the main frame of the vehicle body rises to a certain height, but is lower than the height of the sub-track cargo plane, and the shuttle car can shuttle under the cargo; the third is that a number of articulated rods lift the jacking base to the limit position, and the shuttle car can lift the cargo above the sub-track cargo plane, thereby carrying the cargo on the sub-track.

[0062] Further, the number of the jacking assemblies is two, and the jacking assemblies are symmetrically arranged along the center of the main frame of the vehicle body;

[0063] The secondary commutator, the first telescopic universal joint, the first double universal joint, the main track running assembly and the sub-track running assembly located at the upper end of the first frame are symmetrically arranged along the center of the first frame with the secondary commutator, the first telescopic universal joint, the first double universal joint, the main track running assembly and the sub-track running assembly located at the upper end of the first frame on the second frame.

[0064] Through the above arrangement, the main track driven walking wheel, the main track driven walking wheel, the driving wheel hub and the driven wheel hub are all cross-arranged at the upper end of the first frame and the second frame. This drive layout method can realize one motor cross-driving the driving wheels in two directions, thereby reducing the number of motors and simplifying the drive component structure.

[0065] The present invention also intends to provide a rail rack, comprising a four-way shuttle vehicle for pallets of a main rail, a reversing rail, a sub-rail, a support frame and an articulated vehicle body main frame, wherein the reversing rail is located between the main rails, and the sub-rail is located between the support frames; both the driving wheel hub and the driven wheel hub can roll along the reversing rail or the sub-rail, and both the main rail driving running wheel and the main rail driven running wheel can roll along the main rail;

[0066] 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;

[0067] A gap is provided between the reversing track and the sub-track for the installation of the main track and for the main track driving wheel and the main track driven wheel to travel, and the longitudinal section width of the gap is smaller than the center distance between two adjacent driving wheel hubs or driven wheel hubs;

[0068] A guide wheel rim is coaxially fixedly arranged on one end of the driving wheel hub, the driven wheel hub, the main track driving running wheel and the main track driven running wheel close to the center of the vehicle body main frame.

[0069] A guide wheel rim is coaxially fixedly arranged on one end of the driving wheel hub, the driven wheel hub, the main track driving running wheel and the main track driven running wheel close to the center of the vehicle body main frame.

[0070] The technical principle of the present invention is as follows: the main track can cooperate with the main track active running wheel and the main track driven running wheel, the reversing track and the sub-track can cooperate with the active wheel hub and the driven wheel hub, and the wheel frame cooperates with the jacking assembly, the first frame and the second frame, so that the shuttle vehicle can switch between the main track and the sub-track through the reversing track when it is empty or loaded; by controlling the gap, when the main track is running, the lowest point of the vehicle body maintains a sufficient gap with the reversing track, which also facilitates the transfer of the vehicle body from the reversing track to the sub-track; at the same time, the guide wheel rim can limit and guide the rolling of the active wheel hub, the driven wheel hub, the main track active running wheel and the main track driven running wheel, so that the active wheel hub, the driven wheel hub, the main track active running wheel and the main track driven running wheel keep in contact with the track and are not easy to derail, making the articulated pallet four-way shuttle vehicle travel more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 This is an exploded view of a pallet four-way shuttle vehicle with an articulated vehicle body main frame in Example 1 of the present invention.

[0072] Figure 2 for Figure 2 Partial cross-sectional view of the rotating component in the middle.

[0073] Figure 3 It is a longitudinal partial cross-sectional view of the connection between the secondary commutator and the second frame.

[0074] Figure 4 It is an enlarged view of the axial direction of the single-side main track traveling assembly, the lifting assembly and the sub-track traveling assembly.

[0075] Figure 5 This is a schematic diagram of the axial direction of the travel drive assembly.

[0076] Figure 6 This is a schematic diagram of the structure of a rail rack in the axial direction in Example 2 of the present invention.

[0077] Figure 7 This is a side view of the rail rack.

[0078] In the above drawings: the vehicle body main frame 10, the first frame 101, the second frame 102, the mounting seat 103, the hinge pin 104, the mounting block 105, the oil-free bushing 106, the sleeve 107, the lifting gap 108, the wheel frame 20, the support plate 201, the driving hub 202, the driving shaft 203, the driven shaft 204, the driven hub 205, the synchronous belt 206, the secondary commutator 501, the main track driving walking wheel 512, the main track driven walking wheel 522, the first double universal joint 503, the driving motor 60, the first reducer 601, the first transmission shaft 60 2. Primary commutator 603, first telescopic universal joint 604, third commutator 701, screw 702, nut seat 703, fork arm 704, connecting end block 705, hinged rod 706, lifting base 707, fixed base 708, slave lifting base 709, slave fixed base 710, second telescopic universal joint 711, manual lifting rod 712, lifting motor 80, second reducer 801, second transmission shaft 802, electric control box 901, battery box 902, guide wheel rim 111, main track 1, commutation track 2, sub-track 3, support frame 4. DETAILED DESCRIPTION

[0079] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0080] Example 1

[0081] This embodiment is basically Figure 1-Figure 5As shown, the embodiment of the present invention proposes a pallet four-way shuttle vehicle with an articulated vehicle body main frame, including a vehicle body main frame 10, a sub-track walking component walking along a sub-track, a main track walking component walking along a main track, a walking drive component driving the sub-track walking component and / or the main track walking component, a lifting component, a lifting drive component driving the lifting component, an electric control box 901 for controlling the lifting drive component and the walking drive component, and a battery box 902 for powering the lifting drive component, the walking drive component and the electric control box 901; wherein the vehicle body main frame 10 It includes a first frame 101 with an "I"-shaped cross-sectional profile, a second frame 102 with an "I"-shaped cross-sectional profile, and a rotating assembly connecting the middle of the second frame 102 and the lower end of the first frame 101. A plurality of weight-reducing ventilation holes are provided on the lower end side wall of the first frame 101. The axis of the second frame 102 is parallel to the axis of the upper end of the first frame 101. The second frame 102 and the first frame 101 both include a vertical plate and a top plate. The top plate covers the vertical plate for fixed connection, so that the space between the first frame 101 and the second frame 102 is large and has a high utilization rate.

[0082] At the same time, if Figure 2 As shown, the rotating assembly includes a hinge pin 104, a mounting block 105 and a sleeve 107. The axis of the hinge pin 104 is perpendicular to the axis of the second frame 102. The mounting block 105 is welded to the middle of the second frame 102. A mounting hole for the hinge pin 104 to pass through is horizontally provided on the mounting block 105. An oil-free bushing 106 rotatably connected to the outer wall of the hinge pin 104 is provided in the mounting hole of the mounting block 105. A locking spring is provided at the end of the hinge pin 104 and the left end of the mounting block 105. The sleeve 107 is coaxially installed on the left end of the first frame 101. The hinge pin The right end of 104 is coaxially abutted against the sleeve 107 and is rotatably connected. The first frame 101 and the second frame 102 are connected together by the hinge pin 104 to form the main frame 10 of the vehicle body, which bears all external loads. The hinge pin 104 allows the first frame 101 and the second frame 102 to have relative rotational freedom, so that the entire shuttle has a certain amount of flexible deformation. When the shuttle passes through a joint or the track is uneven, the rotating components at the first frame 101 and the second frame 102 can offset a portion of the torsional deformation of the main frame 10 of the vehicle body, thereby keeping the running wheels in real-time fit with the track.

[0083] like Figure 1 and 5As shown, the walking drive assembly includes a driving motor 60, a first reducer 601, a first transmission shaft 602, two primary commutators 603, two secondary commutators 501 and two first telescopic universal joints 604, the first transmission shaft 602 is located on the left side of the lower end of the first frame 101; the first reducer 601 is fixedly connected to the power output end of the driving motor 60; the end 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 at the middle of the vehicle body main frame 10; the two primary commutators 603 are respectively located at the two ends of the first transmission shaft 602, the primary commutator 603, the driving motor The machine 60 and the first reducer 601 are both fixedly installed on the middle part of the first frame 101, and the first reducer 601 and the drive motor 60 are installed on the upper left side of the main frame 10 of the vehicle body; the number of secondary commutators 501 is two, and a single secondary commutator 501 is connected to one side of a single primary commutator 603; the secondary commutator 501 is fixedly connected to the sub-track running assembly and connected to the first transmission shaft 602; the first telescopic universal joint 604 is transmission-installed between the primary commutator 603 and the secondary commutator 501, and a first double universal joint 503 connected to the main track running assembly is provided on the side of the single primary commutator 603 away from the first telescopic universal joint 604.

[0084] like Figure 1-4 As shown, the main track travel assembly includes two main track 1 active travel wheels 512 and two main track 1 driven travel wheels 522, the main track 1 active travel wheel 512 is fixedly connected to the end of the first double universal joint 503 away from the primary commutator 603, the main track 1 active travel wheel 512 is rotatably connected to the end of the upper end of the first frame 101 or the end of the second frame 102, and the main track 1 driven travel wheel 522 is rotatably installed on the side of the first frame 101 or the second frame 102 away from the main track 1 active travel wheel 512; the end of the upper end of the first frame 101 and the end of the second frame 102 are both provided with mounting seats 103 for supporting the rotation of the main track 1 active travel wheel 512 and the main track 1 driven travel wheel 522, and the mounting seats 103 extend to the middle part near the lower end of the first frame 101.

[0085] like Figure 1-5 As shown, the sub-track running assembly includes two wheel frames 20, a support plate 201, two driving wheel hubs 202, a driving shaft 203 connected to the power output end of the secondary commutator 501, six driven shafts 204 and six driven wheel hubs 205. The two wheel frames 20 are respectively located on the first frame 101 and the second frame 102 at a side away from the center of the vehicle body main frame 10; the support plate 201 is fixedly installed on a side of the wheel frame 20 close to the vehicle body main frame 10, and the support plate 201 extends to the side close to the vehicle body main frame 10, the secondary commutator 501 is fixedly connected to the support plate 201 by bolts, and at the same time as shown in FIG. Figure 3As shown, a lifting notch 108 is provided on the side wall at the upper end of the first frame 101 and the side wall of the second frame 102 for the secondary commutator 501 to move up and down; the driving hub 202 is rotatably installed between the wheel frames 20, and the end of the driving shaft 203 away from the secondary commutator 501 passes through the side wall of the wheel frame 20 and is coaxially fixedly connected to the single driving hub 202; 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 to the wheel frame 20, the driven hub 205 corresponds to the driven shaft 204 one by one and is coaxially fixedly connected, and a synchronous belt 206 is provided between the driven hubs 205 located on the same side as the single driving hub 202, and the synchronous belt 206 is tensioned on the corresponding driving shaft 203 and the driven shaft 204.

[0086] like Figure 1 and 4 As shown, the jacking drive assembly includes a jacking motor 80, a second reducer 801 and a second transmission shaft 802, and the second transmission shaft 802 is located on the right side of the lower end of the first frame 101; the second reducer 801 is connected to the power output end of the jacking 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 lower end of the first frame 101; the jacking motor 80 and the second reducer 801 are both fixedly installed in the middle part of the first frame 101, and the end of the second transmission shaft 802 away from the second reducer 801 is transmission-connected to the jacking assembly.

[0087] like Figure 4As shown, the number of jacking assemblies is two, and the jacking assemblies are symmetrically arranged along the center of the vehicle body main frame 10; the jacking assembly includes a jacking mechanism frame, a third commutator 701, a second telescopic universal joint 711 and a ball screw assembly, the jacking mechanism frame includes a fork arm 704, a connecting end block 705, twelve hinged rods 706, a jacking base 707 and a fixed base 708, the ball screw assembly includes a screw rod 702 and a nut seat 703 for controlling the partial lifting of the jacking mechanism frame, the screw rod 702 is a ball screw, one side of the third commutator 701 is transmission-connected to the second transmission shaft 802, the third commutator 701 is fixedly mounted on the upper end of the first frame 101 or the second frame 102, one end of the second telescopic universal joint 711 is transmission-connected to one side of the third commutator 701, the axis of the screw rod 702 is parallel to the axis of the second frame 102, and the end of the second telescopic universal joint 711 away from the third commutator 701 is connected to the screw rod 702 One end is connected by transmission, and a manual lifting rod 712 for driving the screw 702 to rotate is provided on the side of the third commutator 701 away from the screw 702; at the same time, the connecting end block 705 is fixedly connected to the nut seat 703; the lifting base 707 is fixedly connected to the upper end of the first frame 101 or the second frame 102 by screws; the fixed base 708 is fixedly connected to the upper side of the wheel frame 20 by screws, and eight hinged rods 706 are hinged to the end of the fork arm 704 and the lifting base 707, the fixed base 708 and the connecting end block 705, and the end of the fork arm 704, the lifting base 707, the fixed base 708 and the hinged rod 706 on one side of the connecting end block 705 are located on the same vertical plane and form a hexagonal shape with the driving screw 702; when the connecting end block 705 is close to the end of the fork arm 704, the lifting base 707 is lifted; when the connecting end block 705 is away from the end of the fork arm 704, the lifting base 707 is lowered; at the same time, Figure 5 As shown, a subordinate lifting base 709 and a subordinate fixed base 710 are hingedly connected on one end of the fork arm 704 away from the connecting end block 705 through four hinged rods 706. The lifting base 707 is fixedly connected to the upper end of the first frame 101 or the second frame 102 and is parallel to the lifting base 707; the subordinate fixed base 710 is fixedly connected to the upper side of the wheel frame 20 and is parallel to the fixed base 708, and the hinged rod 706 is parallel to the hinged rod 706 on one side of the trapezoid.

[0088] At the same time, if Figure 5As shown, the secondary commutator 501, the first telescopic universal joint 604, the first double universal joint 503, the main track running assembly and the sub-track running assembly at the upper end of the first frame 101 and the secondary commutator 501, the first telescopic universal joint 604, the first double universal joint 503, the main track running assembly and the sub-track running assembly at the upper end of the first frame 101 on the second frame 102 are centrally symmetrically arranged along the center of the first frame 101, so that the shuttle car is driven in a cross-drive layout when traveling on the main track 1 and the sub-track 3. When the shuttle car is traveling on the main track 1 When the shuttle vehicle is traveling on the sub-track 3, the active wheel hubs 202 at positions ② and ④ are driving wheels, and the remaining driven wheel hubs 205 are driven wheels, and all the main track 1 driven wheels 522 and the main track 1 driven wheels 522 are suspended in the air; this drive layout has a more uniform power distribution than the two-wheel drive, which makes the shuttle vehicle travel more smoothly and reduces the risk of slipping.

[0089] like Figure 1 As shown, the electric control box 901 is installed between the two ends of the left side of the vehicle body main frame 10, and the battery box 902 is installed between the two ends of the right side of the vehicle body main frame 10.

[0090] In addition, the driving hub 202, the driven hub 205, the main track 1 driving running wheel 512 and the main track 1 driven running wheel 522 are all made of aluminum alloy, and the outer walls of the driving hub 202, the driven hub 205, the main track 1 driving running wheel 512 and the main track 1 driven running wheel 522 are fixedly bonded with a rubber coating layer; the driving hub 202, the driven hub 205, the main track 1 driving running wheel 512 and the main track 1 driven running wheel 522 are coaxially fixed with a guide rim 111 on one end close to the center of the vehicle body main frame 10, and the transition between the guide rim 111 and the wheel surface is chamfered, and the guide rim 111 has a certain slope, which is convenient for the main track 1 and the sub-track 3 to run-in with the rim, so that the shuttle vehicle has a greater walking accuracy error redundancy.

[0091] When a pallet four-way shuttle vehicle with an articulated vehicle body main frame in the present embodiment is in use, the vehicle body main frame 10 composed of the first frame 101 and the second frame 102 can cover the sub-track running assembly, the main track running assembly, the running drive assembly, the lifting assembly and the lifting drive assembly, so that the space between the ends of the first frame 101 and the second frame 102 is reserved, and the electric control box 901 and the battery box 902 are respectively located between the relatively open spaces at both ends of the first frame 101 and the second frame 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 vehicle body main frame 10 can fully support and cover the sub-track running assembly, the main track running assembly, the running drive assembly, the lifting assembly and the lifting drive assembly, so as to fully protect each structure and facilitate stable transmission. After being encapsulated by the vehicle body main frame 10, each structure is basically maintenance-free, the interior is neat and beautiful, and the positioning surface processing of large components such as the vehicle body main frame 10 is avoided, thereby reducing the processing cost and the later maintenance cost.

[0092] At the same time, the first frame 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 main frame 10 are stable, and the lifting state of the vehicle body main frame 10 is linked with the walking direction, thereby realizing precise control of the travel state of the vehicle body main frame 10; the first frame 101 and the second frame 102 are thinner, simpler and lighter than the frame structure in the prior art, and the height and weight of the vehicle body can be effectively reduced, forming a unique lightweight wheel frame 20 structure, which helps to reduce manufacturing costs and increase endurance.

[0093] The jacking assembly and the jacking drive assembly use a jacking motor 80, a second reducer 801, a second transmission shaft 802, a third commutator 701, a ball screw 702 assembly, a jacking mechanism frame and a second telescopic universal joint 711. The lifting and lowering control of the vehicle main frame 10 adopts a stable mechanical structure rather than a hydraulic structure, which can adapt to low temperature environments, making the entire articulated pallet four-way shuttle vehicle more adaptable to the environment.

[0094] At the same time, when the articulated pallet four-way shuttle is in use, the travel direction of the articulated pallet four-way shuttle can be controlled by the electric control box 901, and the lifting and lowering of the vehicle body main frame 10 can be selected according to needs; when it is necessary to convert the driving hub 202 and the driven hub 205 into rotation, the lifting motor 80 drives the second transmission shaft 802 to rotate forward through the second reducer 801. At this time, the power is transmitted to the third commutator 701, and the third commutator 701 transmits the power to the screw 702. The nut seat 703 on the screw 702 converts the rotational force into a thrust for horizontal movement, thereby driving the connecting end block 705 to move horizontally, and connecting The hinged rod 706 hinged to the end block 705 is driven synchronously, and the hinged rod 706 drives the jacking base 707 and the fixed base 708 to automatically rise and fall through the hinge point; when the connection end block 705 is close to the end of the fork arm 704, the jacking base 707 rises and the fixed base 708 falls, and then the jacking base 707 lifts the first frame 101 and the second frame 102. At this time, the first frame 101 and the second frame 102 as a whole drive the travel drive assembly, the jacking drive assembly and the main track travel assembly to move up, so that the main track 1 active travel wheel 512 and the main track 1 driven travel wheel 522 are separated from the main track 1; at this time, Figure 5 As shown, the first transmission shaft 602 in the travel drive assembly still transmits power to the secondary commutator 501 through the primary commutator 603 and the first telescopic universal joint 604, and the secondary commutator 501 drives the active hub 202 to rotate, and the active hub 202 drives the six driven hubs 205 to move on the sub-track 3 through the wheel frame 20 or the synchronous belt 206. When it reaches below the object, the main frame 10 of the vehicle body is further raised, and the objects to be transported can also be lifted; on the contrary, the lifting base 707 descends, and the active walking wheel 512 of the main track 1 and the driven walking wheel 522 of the main track 1 are in contact with the main track 1, further driving the ball screw 702, retracting the wheel frame 20, The power transmitted by the driving hub 202 and the driven hub 205, the driving motor 60, the first reducer 601, the first transmission shaft 602 and the primary commutator 603 is still transmitted to the secondary commutator 501, and the secondary commutator 501 transmits the power to the first double universal joint 503 on the side of the secondary commutator 501 away from the primary commutator 603. The first double universal joint 503 transmits the power to the driving walking wheel 512 of the main track 1. The driving walking wheel 512 of the main track 1 drives the driven walking wheel 522 of the main track 1 to rotate synchronously on the main track 1 through the main frame 10 of the vehicle body, thereby changing the travel direction and power transmission method of the entire articulated pallet four-way shuttle.

[0095] In the above process, the sub-track walking assembly and the main track walking assembly adopt a cross-two-drive layout scheme, which can cooperate with the jacking assembly and the jacking drive assembly in the whole process to realize the switching of the sub-track walking assembly and the main track walking assembly, which is beneficial for the shuttle vehicle to pass through the joints of the tracks and has lower wear; only one drive motor 60 is required to be arranged in the walking drive assembly, the kinetic energy can be fully utilized and the structural arrangement is more compact and simple, which saves the internal space of the articulated pallet four-way shuttle vehicle and is easier to maintain.

[0096] Example 2

[0097] The difference between Example 2 and Example 1 is basically as shown in the attached Figure 6 and 7 As shown, a rail rack is provided, comprising a main rail 1, a reversing rail 2, a sub-rail 3, a support frame 4 and a pallet four-way shuttle vehicle of an articulated vehicle body main frame, wherein the reversing rail 2 is located between the main rails 1, and the sub-rail 3 is located between the support frames 4; the driving wheel hub 202 and the driven wheel hub 205 can both roll along the reversing rail 2 or the sub-rail 3, and the driving running wheel 512 of the main rail 1 and the driven running wheel 522 of the main rail 1 can both roll along the main rail 1; as shown in FIG. Figure 7 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 opposite to each other and are aligned in both horizontal and vertical positions.

[0098] There are a total of four driving wheel hubs 202 and driven wheel hubs 205 in the wheel frame 20 on one side. A gap is provided between the reversing track 2 and the sub-track 3 for the installation of the main track 1 and for the movement of the driving running wheel 512 of the main track 1 and the driven running wheel 522 of the main track 1. The longitudinal section width of the gap is smaller than the center distance between two adjacent driving wheel hubs 202 or driven wheel hubs 205, so that the gap can avoid the running tracks of the driving running wheel 512 of the main track and the driven running wheel 522 of the main track, and can prevent the driving wheel hub 202 and the driven wheel hub 205 from falling into the gap when passing through the gap, thereby improving the smoothness of the travel of the pallet four-way shuttle vehicle of the articulated vehicle body main frame.

[0099] When the rail rack in this embodiment is in use, the pallet four-way shuttle vehicle of the articulated vehicle body main frame is first placed on the initial main track 1. At this time, the active walking wheels of the main track remain in contact with the main track 1. In this state, the pallet four-way shuttle vehicle of the articulated vehicle body main frame can run stably on the main track 1.

[0100] When the four-way shuttle vehicle of the articulated vehicle body main frame needs to take down the items on the support frame 4, Figure 4 As shown, the pallet four-way shuttle vehicle of the articulated vehicle body main frame has three states, specifically:

[0101] State 1: the main track active wheels 512 and the main track driven wheels 522 of the four-way shuttle vehicle of the articulated vehicle body main frame are both in contact with the main track 1, and the four-way shuttle vehicle of the articulated vehicle body main frame moves to a state where the four-way shuttle vehicle of the articulated vehicle body main frame is opposite to the sub-track 3, and the four-way shuttle vehicle of the articulated vehicle body main frame moves to the reversing track 2 under the guidance of the main track 1;

[0102] State 2: The pallet four-way shuttle vehicle of the articulated vehicle body main frame moves to the reversing track 2 under the guidance of the main track 1. At this time, the vehicle body main frame 10 is controlled to be lifted to a medium height through the lifting assembly and the lifting drive assembly. The main track 1 active running wheel 512 and the main track 1 driven running wheel 522 are separated from the main track 1. The active wheel hub 202 and the driven wheel hub 205 are fitted with the reversing track 2, and the pallet four-way shuttle vehicle of the entire articulated vehicle body main frame is driven to move toward the support frame 4. At this time, the moving active wheel hub 202 and the driven wheel hub 205 pass over the lower main track 1 and combine with the sub-track 3, so that the pallet four-way shuttle vehicle of the articulated vehicle body main frame is transferred to the sub-track 3 as a whole and is located between the support frames 4. The vehicle body main frame 10 is directly below the items to be transferred.

[0103] State three: control the vehicle body main frame 10 to continue to lift or lift to the limit state, so that the items are separated from the support frame 4, and then control the pallet four-way shuttle of the articulated vehicle body main frame to move back to the reversing track 2 as a whole; at this time, the lifting assembly and the lifting drive assembly are contracted to control the vehicle body main frame 10 to descend, and the main track active walking wheel and the main track 1 can be returned to the fitting state again, and the lifting assembly is continued to be contracted, the active wheel hub 202 and the driven wheel hub 205 are out of contact with the reversing track 2, and the wheel rim is higher than the reversing track 2 and maintains a certain gap, and the lowest point of the vehicle body also maintains a certain gap with the reversing track 2.

[0104] During the conveying process of items, the pallet four-way shuttle of the articulated vehicle main frame needs to be moved and steered. The above method can still be used to control the lifting and lowering coordination and power transmission direction of the vehicle main frame 10 and the lifting assembly, and the control is simple and reliable.

[0105] 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. A pallet four-way shuttle vehicle with an articulated vehicle body main frame, characterized in that: include: A vehicle body main frame, the vehicle body main frame comprising a first frame with an I-shaped cross-sectional profile, a second frame with an I-shaped cross-sectional profile, and a rotating assembly connecting a middle portion of the second frame with a lower end of the first frame, wherein an axis of the second frame is parallel to an axis of an upper end of the first frame and is perpendicular to a rotating axis of the rotating assembly; A sub-track running assembly running along the sub-track, wherein the sub-track running assembly is installed at the upper ends of the second frame and the first frame; A main track travel assembly that travels along the main track, wherein the main track travel assembly is installed at the upper ends of the second frame and the first frame; A travel drive assembly driving the sub-track travel assembly and / or the main track travel assembly, wherein the travel drive assembly is installed on the main frame of the vehicle body; A jacking assembly, the jacking assembly is located at the upper end of the first frame and the second frame, and the jacking assembly is installed between the vehicle body main frame and the sub-track walking assembly; A jacking drive assembly driving the jacking assembly, wherein the jacking drive assembly is installed at the middle of the vehicle body main frame; 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 main frame; A battery box for supplying power to the lifting drive assembly, the traveling drive assembly and the electric control box, wherein the battery box is installed between the two ends of the vehicle body main frame.

2. A pallet four-way shuttle vehicle with an articulated vehicle body main frame as claimed in claim 1, characterized in that: The rotating assembly comprises: A hinge pin shaft, wherein the axis of the hinge pin shaft is perpendicular to the axis of the second frame; A mounting block, the mounting block is fixedly mounted on the second frame, a mounting hole for the hinge pin to pass through is provided on the mounting block, a bushing rotatably connected to the outer wall of the hinge pin is provided in the mounting hole of the mounting block, and a locking spring is provided between the end of the hinge pin and the end of the mounting block away from the first frame; The sleeve is coaxially mounted on the lower end of the first frame, and one end of the hinge pin away from the mounting block is coaxially rotatably connected with the sleeve.

3. A pallet four-way shuttle vehicle with an articulated vehicle body main frame as claimed in 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 end 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 axis of the middle part of the vehicle body main frame; A primary commutator, wherein the number of the primary commutators is two, and the two primary commutators are respectively located at both ends of the first transmission shaft, and the primary commutator, the drive motor and the first reducer are all fixedly mounted on the middle part of the first frame; A secondary commutator, wherein the number of the secondary commutators is two, and a single secondary commutator is connected to one side of a single primary commutator; the secondary commutator is fixedly connected to the sub-track travel assembly and connected to the first transmission shaft; A first telescopic universal joint, wherein the first telescopic universal joint is transmission-mounted between the primary commutator and the secondary commutator; The first double universal joint is installed between a side of the single primary commutator away from the first telescopic universal joint and the main track travel assembly.

4. A pallet four-way shuttle vehicle with an articulated vehicle body main frame as claimed in claim 3, characterized in that: The main track travel assembly comprises: A main track driving wheel, wherein the main track driving wheel is fixedly connected to an end of the first double universal joint away from the primary commutator, and the main track driving wheel is rotatably connected to an end of the upper end of the first frame or an end of the second frame; The main track driven walking wheel is rotatably mounted on a side of the first frame or the second frame away from the main track active walking wheel.

5. A pallet four-way shuttle vehicle with an articulated vehicle body main frame as claimed in claim 4, characterized in that: The sub-track walking assembly comprises: Two wheel frames, the two wheel frames are respectively located at one side of the first frame and the second frame away from the center of the vehicle body main frame; 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 main frame of the vehicle body, and the secondary commutator is fixedly connected to the support plate; A driving hub, the driving hub being rotatably mounted between the wheel frames; A drive shaft connected to the power output end of the secondary commutator, wherein one end of the drive shaft away from the secondary commutator passes through the side wall of the wheel frame and is coaxially fixedly connected to the single driving wheel hub; 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 wheel hubs are coaxially fixedly connected with the driven shaft.

6. A pallet four-way shuttle vehicle with an articulated vehicle body main frame as claimed in claim 5, characterized in that: The jacking drive assembly comprises: Lifting motor; A second reducer connected to a power output end of the lifting motor; 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 lower end of the first frame; the jacking motor and the second reducer are both fixedly installed in the middle part of the first frame, and the end of the second transmission shaft away from the second reducer is transmission-connected to the jacking assembly.

7. A pallet four-way shuttle vehicle with an articulated vehicle body main frame as claimed in claim 6, characterized in that: The lifting assembly comprises: A lifting mechanism frame, one side of which is fixedly connected to the wheel frame, and the other side of which is fixedly connected to the upper end of the first frame of the wheel frame or the second frame; a third commutator, one side of which is transmission-connected to the second transmission shaft, and the third commutator is fixedly mounted on the upper end of the first frame or on the second frame; a second telescopic universal joint, one end of which is drivingly connected to one side of the third commutator; A ball screw assembly, the ball screw assembly comprising a screw and a nut seat for controlling partial lifting of the jacking mechanism frame, the axis of the screw is parallel to the axis of the second frame, and one end of the second telescopic universal joint away from the third commutator is transmission-connected to one end of the screw; The third commutator is provided with a manual lifting rod for driving the screw rod to rotate.

8. A four-way shuttle vehicle for pallets with an articulated vehicle body main frame as claimed in claim 7, characterized in that: The jacking mechanism framework comprises: Wishbone; A connecting end block, wherein the connecting end block is fixedly connected to the nut seat; a plurality of articulated rods; A lifting base, wherein the lifting base is fixedly connected to the upper end of the first frame or the second frame; A fixed base, the fixed base is fixedly connected to the upper side of the wheel frame, a plurality of the hinged rods are hinged between the end of the fork arm, the lifting base, the fixed base and the connecting end block, and the hinged rods located at the end of the fork arm, the lifting base, the fixed base and one side of the connecting end block are located on the same vertical plane and form a hexagonal shape; when the connecting end block approaches the end of the fork arm, the lifting base is lifted; when the connecting end block is away from the end of the fork arm, the lifting base is lowered; A subordinate lifting base and a subordinate fixed base are hinged on one end of the fork arm away from the connecting end block through a hinged rod. The lifting base is fixedly connected to the upper end of the first frame or the second frame and is parallel to the lifting base, and the hinged rod is parallel to the hinged rod on one side of the trapezoid; the subordinate fixed base is fixedly connected to the upper side of the wheel frame and is parallel to the fixed base.

9. A four-way shuttle vehicle for pallets with an articulated vehicle body main frame as claimed in claim 7, characterized in that: The number of the jacking assemblies is two, and the jacking assemblies are symmetrically arranged along the center of the vehicle body main frame; The secondary commutator, the first telescopic universal joint, the first double universal joint, the main track running assembly and the sub-track running assembly located at the upper end of the first frame are symmetrically arranged along the center of the first frame with the secondary commutator, the first telescopic universal joint, the first double universal joint, the main track running assembly and the sub-track running assembly located at the upper end of the first frame on the second frame.

10. A rail rack, characterized in that: A pallet four-way shuttle vehicle comprising a main track, a reversing track, a sub-track, a support frame, and an articulated vehicle body main frame as described in any one of claims 5 to 9, wherein the reversing track is located between the main tracks, and the sub-track is located between the support frames; the driving wheel hub and the driven wheel hub can both roll along the reversing track or the sub-track, and the main track driving running wheel and the main track driven running wheel can both 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 reversing track and the sub-track for the installation of the main track and for the main track driving wheel and the main track driven wheel to travel, and the longitudinal section width of the gap is smaller than the center distance between two adjacent driving wheel hubs or driven wheel hubs; The driving wheel hub, the driven wheel hub, the main track driving running wheel and the main track driven running wheel are all coaxially fixedly provided with a guide wheel rim on one end close to the center of the vehicle body main frame.

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