Jacking device for four-way vehicle and four-way vehicle

Abstract

The embodiment of the invention provides a jacking device for a four-way vehicle and the four-way vehicle. The jacking device comprises a plurality of jacking frames and a plurality of jacking trays, the jacking frames are coupled to a vehicle body of the four-way vehicle and slidably connected with the vehicle body in the vertical direction, the jacking trays are coupled to the jacking frames, each jacking tray of the jacking trays comprises a jacking plate and a plurality of pairs of guide shafts, each pair of guide holes comprises a first guide hole and a second guide hole, and the first guide hole and the second guide hole are communicated with each other. The section, perpendicular to the axis, of the first guide hole is circular, and the section, perpendicular to the axis, of the second guide hole is long circular, so that the paired guide shafts of the jacking plate slide in the corresponding paired guide holes in the vertical direction. Therefore, the requirement for the precision of the center distance of the guide shafts in the machining process of the jacking tray can be reduced, and the smoothness of relative sliding of the jacking tray and the jacking frame can be improved.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of logistics transportation, and in particular to a lifting device for a four-way vehicle and a four-way vehicle. Background Art

[0002] The four-way vehicle is a kind of automated storage and handling equipment. It can move horizontally or vertically between shelves and accurately transport goods to the designated location. The four-way vehicle can also autonomously navigate, plan paths and cleverly avoid obstacles, and seamlessly connect with the warehouse management system to achieve automated cargo storage and management. Summary of the invention

[0003] In a first aspect of the present disclosure, a jacking device for a four-way vehicle is provided. The jacking device comprises: a plurality of jacking frames coupled to a vehicle body of the four-way vehicle and slidably connected with the vehicle body in a vertical direction, comprising: a first jacking frame, the first jacking frame comprising two pairs of guide holes formed on a first side of the first jacking frame away from the ground, and the two pairs of guide holes are arranged along an extension direction of the first jacking frame, and a second jacking frame, the second jacking frame comprising two pairs of guide holes formed on a first side of the second jacking frame away from the ground, and the two pairs of guide holes are arranged along an extension direction of the second jacking frame, a plurality of jacking trays coupled to the plurality of jacking frames, each jacking tray of the plurality of jacking trays It includes: a lifting plate, which is arranged on a first side of a plurality of lifting frames and extends along a first horizontal direction, and a plurality of pairs of guide shafts, which are coupled on a side of the lifting plate facing the lifting frames, wherein each pair of guide shafts of the plurality of pairs of guide shafts are at least partially arranged in a pair of guide holes of a corresponding lifting frame of the plurality of lifting frames, and wherein each pair of guide holes of the two pairs of guide holes includes a first guide hole and a second guide hole, wherein a cross section of the first guide hole perpendicular to the axis is circular, and a cross section of the second guide hole perpendicular to the axis is oblong, so that the paired guide shafts of the lifting plate slide in the corresponding paired guide holes along a vertical direction.

[0004] In some embodiments, a major axis of a cross section of the second guide hole extends along the first horizontal direction.

[0005] In some embodiments, the first guide holes of the first pair of guide holes of the first lifting frame are aligned with the second guide holes of the second pair of guide holes of the second lifting frame along the first horizontal direction, and the second guide holes of the first pair of guide holes of the first lifting frame are aligned with the first guide holes of the second pair of guide holes of the second lifting frame along the first horizontal direction.

[0006] In some embodiments, the lifting device further includes: a bushing, which is arranged between the guide shaft and the corresponding guide hole and attached to the hole wall of the guide hole.

[0007] In some embodiments, the lifting tray further includes: a plurality of mounting plates, each of the plurality of mounting plates being coupled to an end of a corresponding guide shaft facing the lifting plate and being fixedly connected to the lifting plate via fasteners.

[0008] In some embodiments, the lifting tray includes: a mounting hole formed on the lifting plate, adapted to extend in a vertical direction and penetrate two opposite sides of the lifting plate to accommodate a fastener passing therethrough, and a predetermined gap is left between the fastener and the hole wall of the mounting hole.

[0009] In some embodiments, the lifting device also includes: a linear guide rail, coupled to the side of the lifting frame facing the vehicle body and suitable for extending in a vertical direction; and a slider, coupled to the vehicle body, at least partially arranged in the linear guide rail and suitable for sliding relative to the linear guide rail along the extension direction of the linear guide rail.

[0010] In some embodiments, the jacking device further includes: a pre-tightening assembly, arranged between the jacking tray and the vehicle body, including: a tension spring, one end of which is coupled to the jacking plate and the other end of which is coupled to the vehicle body.

[0011] In some embodiments, the pre-tensioning assembly further includes: a pair of spring struts, respectively arranged at both ends of the tension spring and coupled with the tension spring; and a pair of lock nuts, respectively coupled to the vehicle body or the lifting plate, and respectively engaged with the threaded pair of spring struts.

[0012] In some embodiments, the lifting device also includes: a lifting mechanism, arranged between the car body and the lifting frame, and suitable for driving the lifting frame to slide in the vertical direction, the lifting mechanism includes: a cam rocker, arranged between the lifting frame and the car body, and suitable for rotating around the rotation axis to drive the lifting frame to slide in the vertical direction between a lower limit position, a middle position and an upper limit position; and a driving assembly, coupled to the car body, suitable for driving the cam rocker to rotate around the rotation axis.

[0013] In some embodiments, the lifting frame includes a driving groove formed on a side of the lifting frame facing the bracket; and the cam rocker includes: a rotating end, rotatably coupled to the bracket and coupled to the driving assembly to rotate around the rotating axis driven by the driving assembly; and a driving end, arranged in the driving groove and coupled to a side of the rotating axis deviated from the rotating end, so as to drive the lifting frame to slide in the vertical direction by contacting the inner wall of the driving groove.

[0014] In a second aspect of the present disclosure, a four-way vehicle is provided. The four-way vehicle comprises: a vehicle body; at least two sets of sub-lane wheels coupled to the vehicle body and adapted to drive the four-way vehicle to move in a first horizontal direction; a jacking device according to any one of claims 1 to 4, coupled to the vehicle body; and at least two sets of mother lane wheels coupled to a jacking frame of the jacking device and adapted to drive the four-way vehicle to move in a second horizontal direction when the jacking frame is in a lower limit position.

[0015] It should be understood that the contents described in this content section are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0017] Figure 1 The overall structural schematic diagram of a four-way vehicle according to some embodiments of the present disclosure is shown;

[0018] Figure 2 shows a top view of a four-way vehicle according to some embodiments of the present disclosure;

[0019] Figure 3 A schematic diagram of the internal structure of a four-way vehicle according to some embodiments of the present disclosure is shown;

[0020] Figure 4 A schematic diagram of the overall structure of a jacking frame according to some embodiments of the present disclosure is shown;

[0021] Figure 5 A top view of a jacking frame according to some embodiments of the present disclosure is shown;

[0022] Figure 6 A four-way vehicle according to some embodiments of the present disclosure is shown. Figure 3 Enlarged view of detail I;

[0023] Figure 7 A schematic diagram showing a lifting mechanism of a lifting device according to some embodiments of the present disclosure is shown;

[0024] Fig. 8A A schematic diagram showing a jacking frame in a lower limit position relative to a vehicle body according to some embodiments of the present disclosure is shown;

[0025] Figure 8B A schematic diagram showing a jacking frame in a lower middle position relative to a vehicle body according to some embodiments of the present disclosure;

[0026] Figure 8C A schematic diagram showing a jacking frame in an upper limit position relative to a vehicle body according to some embodiments of the present disclosure is shown;

[0027] Fig. 9 A four-way vehicle according to some embodiments of the present disclosure is shown. Figure 2 Sectional view along line AA;

[0028] Fig.10The jacking frame according to some embodiments of the present disclosure is shown in Figure 5 Sectional view along line BB;

[0029] Fig.11 A schematic diagram showing the overall structure of a lifting tray of a lifting device according to some embodiments of the present disclosure is shown;

[0030] Fig. 12A A four-way vehicle according to some embodiments of the present disclosure is shown. Fig. 9 Enlarged view of detail II;

[0031] Fig. 12B A four-way vehicle according to some embodiments of the present disclosure is shown. Fig. 9 Enlarged view of detail III;

[0032] Fig.13 A schematic diagram of a bushing according to some embodiments of the present disclosure is shown;

[0033] Fig.14A A schematic diagram of the internal structure of a four-way vehicle according to some embodiments of the present disclosure is shown;

[0034] Fig. 14B According to some embodiments of the present disclosure, Fig.14A The enlarged view of detail VI;

[0035] Fig. 14C According to some embodiments of the present disclosure, Fig.14A Enlarged view of detail VII;

[0036] Fig.15 The lifting tray according to some embodiments of the present disclosure is shown in Fig.11 Enlarged view of detail IV;

[0037] Fig.16 A schematic diagram of the overall structure of a guide shaft according to some embodiments of the present disclosure is shown;

[0038] Fig.17 The lifting tray according to the embodiment of the present disclosure is shown in Fig.11 Enlarged view of detail V in the middle;

[0039] Fig.18 The lifting tray according to some embodiments of the present disclosure is shown in Fig.11 Sectional view along line CC;

[0040] Fig.19 The lifting tray according to some embodiments of the present disclosure is shown in Fig.18 A magnified view of detail IX; and

[0041] Fig. 20The lifting device according to some embodiments of the present disclosure is shown in Figure 7 Enlarged view of detail VIII. DETAILED DESCRIPTION

[0042] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0043] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this article, and any type of embodiment may be included under any section / subsection. In addition, the embodiments described in any section / subsection may be combined in any manner with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0044] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may be included below. The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below.

[0045] As briefly mentioned above, the lifting pallet of the current four-way vehicle is guided by a guide shaft. Since the overall length of the lifting pallet is relatively long, the center distance error of the guide shafts arranged at both ends of the length direction of the lifting pallet is relatively large. In addition, during the operation of the four-way vehicle, there is cargo on the top of the lifting pallet, which causes the lifting pallet to further deform. As a result, the lifting pallet is easily stuck with the guide hole, resulting in the lifting pallet being unable to descend by gravity. If the gap between the guide hole and the guide shaft is simply increased, the lifting pallet will shake when carrying the cargo and walking. And because the weight of the cargo lifted by the lifting pallet is very large (for example, in "tons"), the shaking of the lifting pallet and the cargo poses certain safety hazards and is likely to cause deformation or wear of the guide shaft (hole).

[0046] According to the jacking device for a four-way vehicle and the four-way vehicle provided by the present disclosure, the above-mentioned problems and other potential problems existing in the traditional solution are solved or at least partially solved. According to some embodiments of the jacking device for a four-way vehicle of the present disclosure, a pair of guide holes are provided on each of at least two jacking frames, and the cross section of the first guide hole in the pair of guide holes perpendicular to the axis is circular, and the interface of the second guide hole perpendicular to the axis is oblong. Thus, the paired guide shafts at both ends of the jacking tray can be inserted into the first guide hole and the second guide hole respectively, and when the jacking frame jacks the tray in the vertical direction, the guide shafts can slide in the corresponding guide holes.

[0047] In this way, the cooperation between the first guide hole with a circular cross section and the corresponding guide shaft can position the lifting tray and reduce the shaking during the lifting of the lifting tray. The cooperation between the second guide hole with an oblong cross section and the guide shaft can, on the one hand, reduce the requirements for the accuracy of the guide shaft center distance during the processing of the lifting tray, so that the guide hole and the guide shaft can be more smoothly coupled during the assembly of the lifting tray and the lifting frame. On the other hand, it can also reduce the jamming of the guide shaft and the guide hole caused by the deformation of the lifting tray. In this way, the smoothness of the lifting tray during the lifting in the vertical direction can be improved.

[0048] Figure 1 shows a schematic diagram of the overall structure of a four-way vehicle according to some embodiments of the present disclosure, Figure 2 FIG. 2 shows a top view of a four-way vehicle according to some embodiments of the present disclosure. Figure 1 and Figure 2 As shown, the four-way vehicle generally includes a vehicle body 1, at least two sets of sub-lane wheels 7 coupled to the vehicle body 1, and at least two sets of mother lane wheels 8 coupled to the vehicle body 1 (such as Figure 3 As shown) and a lifting device arranged on the vehicle body 1.

[0049] Figure 3 FIG. 4 shows a schematic diagram of the internal structure of a four-way vehicle according to some embodiments of the present disclosure. Figure 3 As shown, two sub-lane wheels 7 of each group of sub-lane wheels 7 are coaxially arranged on opposite sides of the vehicle body 1, and the power mechanism in the four-way vehicle is coupled to the sub-lane wheels 7 and is suitable for driving the sub-lane wheels 7 to rotate so as to drive the four-way vehicle to move along the first horizontal direction H1. In some embodiments, at least two groups of sub-lane wheels 7 include four groups of sub-lane wheels 7, and the four groups of sub-lane wheels 7 are sequentially coupled to the four-way vehicle along a direction perpendicular to their own axes. Thus, the power mechanism in the four-way vehicle can drive the four-way vehicle to move along the first horizontal direction H1 by driving at least one group of sub-lane wheels 7 in the four groups of sub-lane wheels 7 to rotate.

[0050] like Figure 3As shown, similar to the arrangement of at least two groups of sub-lane wheels 7, each group of mother lane wheels 8 is coaxially arranged on opposite sides of the four-way vehicle, and the axis of the mother lane wheel 8 has a predetermined non-zero angle with the axis of the sub-lane wheel 7. In this way, the mother lane wheel 8 can be driven by the internal power mechanism of the four-way vehicle to drive the four-way vehicle to move along the second horizontal direction H2 having a predetermined non-zero angle with the first horizontal direction H1.

[0051] In some embodiments, the second horizontal direction H2 and the first horizontal direction H1 may be perpendicular to each other, that is, the axis of the mother lane wheel 8 and the axis of the child lane wheel 7 are arranged perpendicular to each other. In some other embodiments, there may be any other appropriate angle between the second horizontal direction H2 and the first horizontal direction H1, such as 45°, 60°, 75°, etc. The following mainly describes the manner in which the second horizontal direction H2 is perpendicular to the first horizontal direction H1, but it should be understood that the case in which the second horizontal direction H2 and the first horizontal direction H1 have other angles is similar, and the present disclosure does not limit this.

[0052] In some embodiments, two groups of mother roadway wheels 8 may be provided, and the two groups of mother roadway wheels 8 are arranged in a direction perpendicular to their own axes. In order to facilitate the switching of the four-way vehicle in the second horizontal direction H2 and the first horizontal direction H1, the mother roadway wheels 8 may be arranged on a lifting frame of the jacking device, and rise and fall with the lifting frame in a vertical direction V perpendicular to the second horizontal direction H2 and the first horizontal direction H1 (the lifting frame will be described in detail below in the present disclosure).

[0053] When the mother roadway wheel 8 lifting frame is at the lowest position (also called the lower limit position) in the vertical direction V, the mother roadway wheel 8 is in contact with the ground, so that the mother roadway wheel 8 can drive the four-way vehicle to move along the second horizontal direction H2 (for example, forward and backward). If the mother roadway wheel 8 is lifted along the vertical direction V with the lifting frame, the mother roadway wheel 8 is off the ground, and the sub-roadway wheel 7 is in contact with the ground, and can drive the four-way vehicle to move along the first horizontal direction H1 (for example, left and right).

[0054] As 2 and Figure 3 As shown, the jacking device includes a plurality of jacking frames 2 and a plurality of jacking trays 3 arranged on the plurality of jacking frames 2. The plurality of jacking frames 2 include at least a first jacking frame and a second jacking frame, the first jacking frame and the second jacking frame are arranged on opposite sides of the vehicle body 1 along a first horizontal direction H1, and the first jacking frame and the second jacking frame extend respectively along a second horizontal direction H2.

[0055] In some embodiments, the plurality of jacking frames 2 may further include a third jacking frame, a fourth jacking frame, etc. The plurality of jacking frames 2 are arranged at intervals along the second horizontal direction H2. For example, the first jacking frame and the second jacking frame may be arranged on opposite sides of the vehicle body 1 in the second horizontal direction H2, and the third jacking frame 2 may be arranged between the first jacking frame and the second jacking frame. The arrangement of the plurality of jacking frames 2 may evenly support the bottom of the jacking tray 3, thereby reducing the deformation of the jacking tray 3 during lifting of heavy objects.

[0056] Figure 4 shows a schematic diagram of the overall structure of a jacking frame according to some embodiments of the present disclosure, Figure 5 FIG. 2 shows a top view of a jacking frame according to some embodiments of the present disclosure. Figure 4 and Figure 5 As shown, the lifting frame 2 includes a connecting arm and a pair of functional parts coupled to both ends of the connecting arm. In some embodiments, the connecting arm and the pair of functional parts can be integrally formed. In some other embodiments, the connecting arm and the pair of functional parts can also be connected by means such as screw connection, clamping connection, etc. The connecting arm extends along the second horizontal direction H2 and is slidably connected to the vehicle body 1 along the vertical direction V. The mother roadway wheel 8 of the four-way vehicle is coupled to the fixed part and is rotationally connected to the fixed part. In this way, during the sliding of the lifting frame 2 relative to the vehicle body 1 along the vertical direction V, the lifting frame 2 can drive the mother roadway wheel 8 to rise and fall synchronously.

[0057] Return to reference Figure 3 ,like Figure 3 As shown, in some embodiments, the mother lane wheel 8 can be driven by the power mechanism in the four-way vehicle to rotate around its own axis. In some embodiments, the power mechanism can include a first motor, a speed gear set and a transmission structure (such as a transmission shaft, a universal joint, etc.). The power output by the first motor can be output to the mother lane wheel 8 through the speed gear set and the transmission structure. In this way, the mother lane wheel 8 can drive the four-way vehicle to move along the second horizontal direction H2. In some embodiments, the power mechanism can be coupled with a pair of mother lane wheels 8 among multiple pairs of mother lane wheels 8 (that is, two-wheel drive). In some other embodiments, the power mechanism can also be coupled with two or more pairs of mother lane wheels 8 among multiple pairs of mother lane wheels 8, and the present disclosure does not limit this.

[0058] Figure 6 A four-way vehicle according to some embodiments of the present disclosure is shown. Figure 3 The enlarged view of detail I is as follows: Figure 4As shown, in some embodiments, the lifting device includes a linear guide rail 24 and a slider 25 that cooperates with the linear guide rail 24. The linear guide rail 24 is coupled to the side of the lifting frame 2 facing the vehicle body 1 and extends along the vertical direction V. The slider 25 is coupled to the side of the vehicle body 1 facing the lifting frame 2 and is at least partially embedded in the linear guide rail 24. In this way, the slider 25 can slide relative to the linear guide rail 24 along the vertical direction V, and then the lifting frame 2 can slide relative to the vehicle body 1 along the vertical direction V under the limitation of the linear guide rail 24 and the slider 25.

[0059] Figure 7 FIG. 2 shows a schematic diagram of a lifting mechanism of a lifting device according to some embodiments of the present disclosure. Figure 4 and Figure 7 And refer to Figure 3 As shown, in some embodiments, the lifting device further includes a lifting mechanism, which is arranged between the car body 1 and the lifting frame 2, and includes a cam rocker 5 rotatably coupled to the side of the car body 1 facing the lifting frame 2 and a driving assembly arranged in the car body 1. The cam rocker 5 includes a rotating end 51 and a driving end 52 coupled to the rotating end 51, the rotating end 51 is coupled to the side of the car body 1 facing the lifting frame 2, and the rotating axis of the rotating end 51 extends toward the lifting frame 2. The rotating end 51 is coupled to the driving assembly and is suitable for rotating around its own axis under the drive of the driving assembly. The driving end 52 is arranged on the side of the rotating end 51 facing the lifting frame 2, and is arranged to deviate from the rotating axis of the rotating part. The lifting frame 2 is also provided with a driving groove 26, and the driving groove 26 extends along the second horizontal direction H2. The driving part is arranged in the driving groove 26 and abuts against at least one side wall of the driving groove 26. When the driving assembly works and drives the cam rocker 5 to rotate, the cam rocker 5 abuts against the side wall of the driving groove 26, thereby driving the lifting frame 2 to slide along the vertical direction V.

[0060] In some embodiments, the driving assembly includes a second motor and a transmission shaft coupled to the output shaft of the second motor, and the transmission shaft can simultaneously drive the cam swing rod 5 of the vehicle body 1 to rotate twice, so as to achieve the synchronous lifting and lowering of the lifting frames 2 on both sides of the vehicle body 1. In some embodiments, a plurality of cam swing rods 5 are provided, and the plurality of cam swing rods 5 are mutually transmitted through a gear set. For example, two cam swing rods 5 are provided on the same side of the vehicle body 1, and the two cam swing rods 5 are mutually coupled through a gear set. In this way, the two cam swing rods 5 arranged on the same side of the vehicle body 1 can rotate in opposite directions, thereby lifting the corresponding lifting frames 2.

[0061] Fig. 8A , Figure 8B , Figure 8C Schematic diagrams of the jacking frame relative to the vehicle body in the lower limit position, the middle position and the upper limit position according to some embodiments of the present disclosure are respectively shown. Fig. 8AAs shown in FIG. 1 , the jacking frame 2 is at the lower limit position, and the mother roadway wheel 8 is at the lowest position of the lifting stroke. At this time, the mother roadway wheel 8 is in contact with the ground, so that the mother roadway wheel 8 can drive the four-way vehicle to move along the second horizontal direction H2. The driving assembly drives the cam rocker 5 to rotate (for example, rotate 90°), and the cam rocker 5 drives the jacking frame 2 to lift a predetermined distance and reach Figure 8B The middle position shown. In the middle position, the main roadway wheel 8 is lifted off the ground. During this period, the sub-roadway wheel 7 is in contact with the ground, so that the sub-roadway wheel 7 can drive the four-way vehicle to move along the first horizontal direction H1 under the drive of the power mechanism. As the driving assembly continues to drive the cam rocker 5 to rotate (for example, continue to rotate 90°), the lifting frame 2 is lifted to Figure 8C The upper limit position is shown, during which the first side of the lifting frame 2 pushes the lifting pallet 3 to lift up, so as to lift the goods placed on the lifting pallet 3.

[0062] Fig. 9 A four-way vehicle according to some embodiments of the present disclosure is shown. Figure 2 The cross-sectional view along line AA in the figure is as follows: Fig.10 The jacking frame according to some embodiments of the present disclosure is shown in Figure 5 The cross-sectional view along line BB in Fig. Fig. 9 and 10 As shown, the jacking frame 2 also includes at least two pairs of guide holes, which are respectively formed on the first side of the two functional parts away from the ground and extend along the vertical direction V. Each pair of guide holes includes a first guide hole 21 and a second guide hole 22, wherein the cross section of the first guide hole 21 perpendicular to the axis is circular, and the cross section of the second guide hole 22 perpendicular to the axis is oblong. In some embodiments, the first guide hole 21 and the second guide hole 22 are respectively arranged on both sides of the axis of the mother roadway wheel 8. The paired guide holes are suitable for cooperation with the paired guide shafts 32 of the jacking tray 3 to limit the sliding of the jacking tray 3 relative to the jacking frame 2 along the vertical direction V. The cooperation between the jacking tray 3 and the jacking frame 2 will be described in detail below.

[0063] Fig.11 FIG. 4 shows a schematic diagram of the overall structure of a lifting tray 3 of a lifting device according to some embodiments of the present disclosure, such as Fig.11 As shown, the lifting pallet 3 includes a lifting plate 31 and a plurality of pairs of guide shafts 32 arranged on the side of the lifting plate 31 facing the lifting frame 2. The lifting pallet 3 extends along the first horizontal direction H1 and overlaps the first side of the plurality of lifting frames 2 facing away from the ground. The plurality of pairs of guide shafts 32 correspond to the plurality of lifting frames 2 respectively and are aligned along the vertical direction V. The plurality of lifting pallets 3 are sequentially arranged on the first side of the lifting frame 2 along the second horizontal direction H2. In some embodiments, the plurality of lifting pallets 3 include two lifting pallets 3, which are arranged along the second horizontal direction H2 and spaced apart by a predetermined distance. In this way, the cargo on the four-way vehicle can be stably lifted.

[0064] Fig. 12A , Fig. 12B The four-way vehicle according to some embodiments of the present disclosure is shown respectively. Fig. 9 The enlarged view of details II and III. Fig. 12A and Fig. 12B As shown, the pair of guide shafts 32 of the lifting tray 3 can be inserted into the pair of guide holes of the lifting frame 2. Through the mutual cooperation between the guide shafts 32 and the guide holes, the lifting tray 3 can be lifted and lowered relative to the lifting frame 2 in the height direction. Specifically, the first guide shaft of the pair of guide shafts 32 can be inserted into the first guide hole 21 of the pair of guide holes. The mutual cooperation between the first guide shaft and the first guide hole 21 can improve the stability of the lifting tray 3 during the sliding along the vertical direction V, and reduce the shaking of the lifting tray 3 during the lifting of goods. The second guide shaft of the pair of guide shafts 32 is inserted into the second guide hole 22. Since the cross-section of the second guide hole 22 perpendicular to the axis is an oblong, the precision requirement for the axis spacing of the guide shafts 32 on the lifting tray 3 can be reduced during the assembly of the lifting tray 3, so that the second guide shaft is more convenient to be assembled into the second guide hole 22. In addition, the cooperation between the second guide shaft and the second guide hole 22 can also reduce the occurrence of blockage when the lifting tray 3 slides relative to the lifting frame 2, and reduce the failure rate of the lifting plate 31 during operation.

[0065] Fig.13 Schematic diagram of a bushing according to some embodiments of the present disclosure is shown. Fig.13 Combined with Fig. 12A and Fig. 12B As shown, in some embodiments, bushings 23a, 23b are further arranged in the guide hole, and the bushings 23a, 23b are arranged between the inner wall of the guide hole and the guide shaft 32, and fit with the inner wall of the guide hole. Specifically, the cross section of the bushing 23a arranged in the first guide hole 21 perpendicular to the axis is circular, and the cross section of the bushing 23b arranged in the second guide hole 22 is oblong. The bushing fills the gap between the guide hole and the guide shaft 32, which can reduce the shaking of the lifting plate relative to the vehicle body 1, increase the friction of the guide plate sliding relative to the vehicle body 1, and reduce the wear of the guide shaft 32 and the inner wall of the guide hole.

[0066] In some embodiments, since the lifting tray 3 extends along the first horizontal direction H1, the axis spacing accuracy of the guide shaft 32 along the second direction in the lifting tray 3 is more difficult to control. In this case, the second guide hole 22 can also be arranged so that the long axis of the cross section perpendicular to the axis extends along the first horizontal direction H1, thereby further facilitating the coupling of the lifting tray 3 with the lifting frame 2.

[0067] Fig.14A shows a schematic diagram of the internal structure of a four-way vehicle according to some embodiments of the present disclosure, Fig. 14B, Fig. 14C According to some embodiments of the present disclosure, Fig.14A The enlarged view of details VI and VII. FIG. 14A to FIG. 14C As shown, in some embodiments, the two pairs of guide holes corresponding to the same lifting tray 3 in the two lifting frames 2 are arranged in opposite directions. Specifically, the first guide hole 21 in the first pair of guide holes of the first lifting frame is aligned with the second guide hole 22 in the second pair of guide holes of the second lifting frame along the first horizontal direction H1, and the second guide hole 22 in the first pair of guide holes of the first lifting frame is aligned with the first guide hole 21 in the second pair of guide holes of the second lifting frame along the first horizontal direction H1. In this way, the two guide shafts 32 along the second horizontal direction H2 on the lifting tray 3 can be inserted into the first guide hole 21 and the second guide hole 22 respectively, and the two guide shafts 32 along the first horizontal direction H1 of the lifting tray 3 can be inserted into the first guide hole 21 and the second guide hole 22 respectively. Thereby, the convenience of installing the lifting tray 3 is improved.

[0068] Fig.15 The lifting tray 3 according to some embodiments of the present disclosure is shown in FIG. Fig.11 The enlarged view of detail IV, Fig.16 FIG. 2 shows a schematic diagram of the overall structure of the guide shaft 32 according to some embodiments of the present disclosure. Fig.17 The lifting tray 3 according to the embodiment of the present disclosure is shown in FIG. Fig.11 The enlarged view of detail V in the figure. Figures 15 to 17 As shown, in some embodiments, the lifting tray 3 further includes a plurality of mounting plates 33, which are respectively coupled to the ends of the plurality of guide shafts 32 of the lifting tray 3 facing the lifting plate 31, and the mounting plates 33 are fixed to the lifting plate 31 by fasteners 34. For example, in some embodiments, the lifting plate 31 is provided with a plurality of mounting holes 35, which extend along the vertical direction V and penetrate the lifting plate 31, and the fasteners 34 (e.g., bolts) pass through the mounting holes 35 and are threadedly connected to the mounting plates 33, so that the fasteners 34 cooperate with the threads of the mounting plates 33, thereby fixing the guide shafts 32 to the mounting plates 33.

[0069] Fig.18 The lifting tray 3 according to some embodiments of the present disclosure is shown in FIG. Fig.11 Cross-sectional view along line CC. Fig.19 Shows Fig.18 A magnified view of detail IX. Fig.18 and Fig.19As shown, in some embodiments, the diameter of the mounting hole 35 is larger than the outer diameter of the fastener 34, that is, there is a predetermined gap between the mounting hole 35 and the fastener 34. Therefore, when the user fixes the guide shaft 32 on the lifting plate 31, the user can fine-tune the installation position of the guide shaft 32 according to the gap between the mounting hole 35 and the fastener 34, so that the position of the guide shaft 32 matches the guide hole, thereby reducing the jamming of the guide shaft 32 and the guide hole during the lifting of the lifting tray 3 in the height direction.

[0070] Fig. 20 The lifting device according to some embodiments of the present disclosure is shown in Figure 7 The enlarged view of detail VIII in Figure 1. Figure 7 and Fig. 20 As shown, in some embodiments, the jacking device further includes a pre-tightening assembly 4, which is arranged between the vehicle body 1 and the jacking tray 3, and is suitable for providing a tensile force to the jacking tray 3, so that a predetermined pre-tightening force is maintained between the jacking tray 3 and the jacking frame 2. The pre-tightening assembly 4 includes a tension spring 41, a pair of spring struts 42 respectively coupled to the two ends of the tension spring 41, and a pair of lock nuts 43 coupled to the spring struts 42. The lock nuts 43 are threadedly matched with the spring struts 42, and are suitable for fixing the spring struts 42 on the jacking plate 31 or the vehicle body 1. Thus, through the threaded matching of the lock nuts 43 and the spring struts 42, the stretching length of the tension spring 41 can be adjusted, and then the tension spring 41 provides a corresponding tensile force to the jacking tray 3, ensuring that the jacking tray 3 can be stably placed on the first surface of the jacking frame 2, reducing the abnormal noise caused by the collision of the jacking tray 3 with the vehicle body 1 or the jacking frame 2 due to vibration during the four-way vehicle is unloaded.

[0071] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.

Claims

1. A lifting device for a four-way vehicle, comprising: A plurality of jacking frames (2) are coupled to the vehicle body (1) of the four-way vehicle and are slidably connected with the vehicle body (1) along a vertical direction (V), comprising: a first lifting frame, wherein the first lifting frame comprises two pairs of guide holes formed on a first side of the first lifting frame facing away from the ground, and the two pairs of guide holes are arranged along an extension direction of the first lifting frame, and a second lifting frame, wherein the second lifting frame comprises two pairs of guide holes formed on a first side of the second lifting frame facing away from the ground, and the two pairs of guide holes are arranged along an extension direction of the second lifting frame, A plurality of lifting trays (3) are coupled to the plurality of lifting frames (2), each of the plurality of lifting trays (3) comprising: a lifting plate (31) arranged on the first side of the plurality of lifting frames (2) and extending along a first horizontal direction (H1); and A plurality of pairs of guide shafts (32) are coupled to a side of the lifting plate (31) facing the lifting frame (2), each pair of guide shafts (32) of the plurality of pairs of guide shafts (32) being at least partially arranged in a pair of guide holes of a corresponding lifting frame (2) of the plurality of lifting frames (2), and Each pair of guide holes of the two pairs of guide holes comprises a first guide hole (21) and a second guide hole (22), wherein the cross section of the first guide hole (21) perpendicular to the axis is circular, and the cross section of the second guide hole (22) perpendicular to the axis is oblong, so that the paired guide shafts (32) of the lifting plate (31) can slide along the vertical direction (V) in the corresponding paired guide holes.

2. The jacking device according to claim 1, wherein the major axis of the cross section of the second guide hole (22) extends along the first horizontal direction (H1).

3. The jacking device according to claim 2, wherein the first guide hole (21) of the first pair of guide holes of the first jacking frame is aligned with the second guide hole (22) of the second pair of guide holes of the second jacking frame along a first horizontal direction (H1), and the second guide hole (22) of the first pair of guide holes of the first jacking frame is aligned with the first guide hole (21) of the second pair of guide holes of the second jacking frame along the first horizontal direction (H1).

4. The lifting device according to any one of claims 1 to 3, further comprising: The bushing (23a, 23b) is arranged between the guide shaft (32) and the corresponding guide hole, and is attached to the hole wall of the guide hole.

5. The lifting device according to claim 1, wherein the lifting tray (3) further comprises: A plurality of mounting plates (33), each mounting plate (33) of the plurality of mounting plates (33) is coupled to the end of the corresponding guide shaft (32) facing the lifting plate (31) and is fixedly connected to the lifting plate (31) via a fastener (34).

6. The lifting device according to claim 1, wherein the lifting tray (3) comprises: The mounting hole (35) is formed on the lifting plate (31), and is suitable for extending along the vertical direction (V) and penetrating the opposite sides of the lifting plate (31) to accommodate the fastener (34) passing therethrough, and a predetermined gap is left between the fastener (34) and the hole wall of the mounting hole (35).

7. The lifting device according to claim 1, wherein the lifting device further comprises: A linear guide rail (24), coupled to a side of the lifting frame (2) facing the vehicle body (1) and adapted to extend along a vertical direction (V); as well as A slider (25) is coupled to the vehicle body (1), is at least partially arranged in the linear guide rail (24) and is adapted to slide relative to the linear guide rail (24) along an extension direction of the linear guide rail (24).

8. The lifting device according to any one of claims 1-3 and 5-7, further comprising: The pre-tightening assembly (4) is arranged between the lifting tray (3) and the vehicle body (1), and comprises: A tension spring (41) has one end coupled to the lifting plate (31) and the other end coupled to the vehicle body (1).

9. The lifting device according to claim 8, wherein the pre-tightening assembly further comprises: A pair of spring struts (42) are respectively arranged at two ends of the tension spring (41) and coupled with the tension spring (41); as well as A pair of lock nuts (43) are respectively coupled to the vehicle body (1) or the lifting plate (31), and are respectively threadedly matched with the pair of spring pillars (42).

10. The lifting device according to any one of claims 1-3, 5-7 and 9, further comprising: A lifting mechanism is arranged between the vehicle body (1) and the lifting frame (2), and is suitable for driving the lifting frame (2) to slide along a vertical direction (V), and the lifting mechanism comprises: a cam rocker (5), arranged between the lifting frame (2) and the vehicle body (1), and adapted to rotate about a rotation axis to drive the lifting frame (2) to slide along a vertical direction (V) between a lower limit position, a middle position and an upper limit position; and A driving assembly is coupled to the vehicle body (1) and is suitable for driving the cam rocker (5) to rotate around the rotation axis.

11. The lifting device according to claim 10, wherein the lifting frame (2) comprises a driving groove (26) formed on a side of the lifting frame (2) facing the support; and The cam rocker (5) comprises: A rotating end (51) is rotatably coupled to the bracket and coupled to the driving assembly so as to rotate around a rotating axis driven by the driving assembly; as well as The driving end (52) is arranged in the driving groove (26) and is coupled to a side of the rotating end (51) that deviates from the rotating axis, so as to drive the lifting frame (2) to slide along the vertical direction (V) by contacting the inner wall of the driving groove (26).

12. A four-way vehicle comprising: Vehicle body (1); At least two groups of sub-lane wheels (7) are coupled to the vehicle body (1) and are suitable for driving the four-way vehicle to move along a first horizontal direction (H1); A lifting device according to any one of claims 1 to 11, coupled to the vehicle body (1); and At least two groups of mother roadway wheels (8) are coupled to the lifting frame (2) of the lifting device and are suitable for driving the four-way vehicle to move along the second horizontal direction (H2) when the lifting frame (2) is located at the lower limit position.

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