Four-way vehicle using electromagnet and permanent magnet device

Abstract

The invention relates to the technical field of four-way vehicles for storage, and particularly discloses a four-way vehicle using an electromagnet and permanent magnet device, which comprises a four-way vehicle reversing mechanism, a four-way vehicle jacking mechanism, a four-way vehicle walking mechanism and a four-way vehicle body, the four-way vehicle reversing mechanism, the four-way vehicle jacking mechanism and the four-way vehicle walking mechanism are all arranged on the four-way vehicle body; the four-way vehicle walking mechanism comprises a driving motor, a speed reducer, a transmission shaft, a gear box, a bearing box and wheels; the four-direction car jacking mechanism comprises a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet, a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet and a pallet fork. The four-way vehicle reversing mechanism comprises a fifth electromagnet, a sixth electromagnet, a seventh electromagnet, an eighth electromagnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet, an eighth permanent magnet and a reversing cross beam.

Description

Technical Field

[0001] The present application relates to the technical field of four-way vehicles for storage, and in particular to a four-way vehicle using an electromagnet and a permanent magnet device. Background Art

[0002] The lifting structure and reversing structure of the existing four-way shuttle car mostly adopt mechanical structure or hydraulic structure. These mechanisms are relatively complex, so that the four-way car uses more parts, and most of them are machined parts, which are greatly affected by the machining accuracy. If a hydraulic structure is used, there will be a risk of oil leakage. Moreover, because of the complex structure and the large number of parts, the production cost is bound to increase, and the assembly skills of the assemblers are required to be high. At the same time, the complex structure and the large number of parts make the four-way car larger in size, affecting the overall planning during storage and use. Summary of the invention

[0003] The purpose of the present application is to provide a four-way shuttle using an electromagnet and a permanent magnet device, so as to solve the problem that the lifting structure and the reversing structure of the four-way shuttle in the prior art mostly adopt mechanical structure or hydraulic structure. These mechanisms are relatively complex, so that the four-way shuttle uses more parts, and most of them are machined parts, which are greatly affected by the machining accuracy. If a hydraulic structure is used, there will be a risk of oil leakage; and because of the complex structure and the large number of parts, the production cost is bound to increase, and the assembly skills of the assemblers are required to be high. At the same time, the complex structure and the large number of parts make the four-way shuttle larger in size, affecting the overall planning during storage and use.

[0004] To achieve the above-mentioned purpose, the embodiment of the present application provides a four-way vehicle using an electromagnet and a permanent magnet device, including: a four-way vehicle reversing mechanism, a four-way vehicle lifting mechanism, a four-way vehicle running mechanism and a four-way vehicle body, wherein:

[0005] The four-way vehicle reversing mechanism, the four-way vehicle lifting mechanism, and the four-way vehicle running mechanism are all arranged on the four-way vehicle body;

[0006] The four-way vehicle running mechanism includes a driving motor, a reducer, a transmission shaft, a gear box, a bearing box and wheels;

[0007] The four-way vehicle lifting mechanism comprises a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet, a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet and a fork;

[0008] The first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are arranged on the vehicle body bottom plate and connected to the vehicle body of the four-way vehicle. The first permanent magnet and the second permanent magnet are arranged on the cargo fork of the four-way vehicle, and the third permanent magnet and the fourth permanent magnet on the other side are arranged on the cargo fork on the other side.

[0009] The four-way vehicle reversing mechanism comprises a fifth electromagnet, a sixth electromagnet, a seventh electromagnet, an eighth electromagnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet, an eighth permanent magnet and a reversing beam;

[0010] The fifth electromagnet and the sixth electromagnet are connected to the reversing beam, and the seventh electromagnet and the eighth electromagnet on the other side are connected to the reversing beam on the other side. Guide seats are provided at both ends of the reversing beam, and one end of the guide seat is connected to the vehicle body bottom plate and fixed on the four-way vehicle body.

[0011] Optionally, the four-way vehicle body is a rectangular structure, including a body floor and body side panels, wherein the body floor and body side panels are connected by sheet metal bending and welding, or connected by mortise and tenon type and bolt fasteners, or are integrally die-cast.

[0012] Optionally, the transmission shaft includes an output transmission shaft and a walking transmission shaft, the gearbox includes an output gearbox, a first walking gearbox, a second walking gearbox, a third walking gearbox, and a fourth walking gearbox, the bearing box includes a first walking bearing box, a second walking bearing box, a third walking bearing box, and a fourth walking bearing box, and the wheels include a first Y-direction walking driving wheel, a second Y-direction walking driving wheel, a third Y-direction walking driving wheel, a fourth Y-direction walking driving wheel, a first Y-direction walking driven wheel, a second Y-direction walking driven wheel, a third Y-direction walking driven wheel, a fourth Y-direction walking driven wheel, a first X-direction walking driving wheel, a second X-direction walking driving wheel, a third X-direction walking driving wheel, a fourth X-direction walking driving wheel, a first X-direction walking driven wheel, a second X-direction walking driven wheel, a third X-direction walking driven wheel, and a fourth X-direction walking driven wheel.

[0013] Optionally, the drive motor is connected to the reducer, and the drive motor is also connected to the output gearbox, the output gearbox is arranged on the vehicle body bottom plate, and the output transmission shaft and the first telescopic cross universal coupling and the second telescopic cross universal coupling are respectively arranged in different directions of the output gearbox.

[0014] Optionally, the first running gearbox and the third running gearbox are connected via the running transmission shaft, the first running gearbox and the output gearbox are connected via the output transmission shaft, the second running gearbox is connected to the output gearbox via the second telescopic cross universal coupling, and the fourth running gearbox is connected to the output gearbox via the first telescopic cross universal coupling.

[0015] Optionally, the third Y-direction running driving wheel is fixed on the wheel axle by a setting expansion sleeve, the wheel axle is connected to the fourth running gear box, the third Y-direction running driving wheel, the fourth Y-direction running driving wheel and the setting reversing beam are connected by the fourth running gear box, and the first Y-direction running driving wheel on the other side, the second Y-direction running driving wheel and the reversing beam on the other side are connected by the second running gear box.

[0016] Optionally, the third Y-direction running driven wheel, the fourth Y-direction running driven wheel and the reversing beam are connected through a fourth running bearing box; the first Y-direction running driven wheel, the second Y-direction running driven wheel and the reversing beam on the other side are connected through a second running bearing box.

[0017] Optionally, the first X-direction running driving wheel, the second X-direction running driving wheel and the vehicle body bottom plate and the vehicle body side plate are connected through a first running gear box; the third X-direction running driving wheel, the fourth X-direction running driving wheel and the vehicle body bottom plate and the vehicle body side plate on the other side are connected through a third running gear box.

[0018] Optionally, the first X-direction running driven wheel, the second X-direction running driven wheel and the vehicle body bottom plate and the vehicle body side plate are connected through a first running bearing box; the third X-direction running driven wheel, the fourth X-direction running driven wheel and the vehicle body bottom plate and the vehicle body side plate on the other side are connected through a third running bearing box.

[0019] The embodiments of the present application have the following advantages:

[0020] 1. The lifting weight of the four-way shuttle can be easily modified by changing the size and number of the electromagnets and permanent magnets.

[0021] 2. By changing the current of the electromagnet, the electromagnetic force of the electromagnet can be changed, thereby changing the lifting height and lifting weight of the four-way shuttle.

[0022] 3. By changing the current direction of the electromagnet, the movement direction of the four-way vehicle roof lifting mechanism and the reversing mechanism can be changed.

[0023] 4. The use of electromagnets and permanent magnets can simplify the internal structure of the four-way shuttle, reduce the number of parts and components, and reduce processing costs.

[0024] 5. Since the internal structure of the four-way shuttle is simplified and the number of parts is reduced, the volume of the four-way shuttle is greatly reduced.

[0025] 6. The performance of the electromagnet and permanent magnet is relatively stable, which reduces the failure rate of the four-way shuttle.

[0026] 7. The setting of electromagnet and permanent magnet is relatively simple, which brings convenience to assembly and maintenance.

[0027] 8. The use of electromagnets and permanent magnets can greatly reduce the noise generated by the working parts of the four-way shuttle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings described below are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0029] Figure 1 A schematic diagram of the three-dimensional structure of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0030] Figure 2 A schematic diagram of the travel direction of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0031] Figure 3 A schematic structural diagram of a four-way vehicle reversing mechanism of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0032] Figure 4 A schematic structural diagram of a four-way vehicle lifting mechanism of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0033] Figure 5 A schematic diagram of a four-way vehicle from the bottom perspective of a four-way vehicle using an electromagnet and a permanent magnet device provided by at least one embodiment of the present application;

[0034] Figure 6 A schematic diagram of a four-way vehicle running mechanism of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0035] Figure 7 A schematic diagram of a four-way vehicle running mechanism of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0036] Figure 8 A front view of a four-way vehicle lifting mechanism of a four-way vehicle using an electromagnet and a permanent magnet device provided in at least one embodiment of the present application;

[0037] Fig. 9 A diagram of components of a four-way vehicle reversing mechanism of a four-way vehicle using an electromagnet and a permanent magnet device is provided for at least one embodiment of the present application.

[0038] Description of reference numerals:

[0039] 1 four-way vehicle reversing mechanism, 2 four-way vehicle lifting mechanism, 3 four-way vehicle running mechanism, 4 four-way vehicle body, 101 guide seat, 102 reversing beam, 103 fifth electromagnet, 105 sixth electromagnet, 107 seventh electromagnet, 109 eighth electromagnet, 104 fifth permanent magnet, 106 sixth permanent magnet, 108 seventh permanent magnet, 110 eighth permanent magnet, 201 first permanent magnet, 203 second permanent magnet, 206 third permanent magnet, 208 fourth permanent magnet, 202 first electromagnet, 204 second Electromagnet, 205 third electromagnet, 207 fourth electromagnet, 107 seventh electromagnet, 108 seventh permanent magnet, 110 eighth permanent magnet, 201 first permanent magnet, 202 first electromagnet, 209 fork, 402 vehicle side panel, 301 drive motor, 302 first running bearing box, 303 reducer, 304 output gear box, 305 output transmission shaft, 306 first running gear box, 307 second running gear box, 308 running transmission shaft, 309 second running bearing box, 310 third Running gear box, 311 third running bearing box, 312 fourth running bearing box, 313 fourth running gear box, 314 first X-direction running driven wheel, 315 second X-direction running driven wheel, 326 third X-direction running driven wheel, 327 fourth X-direction running driven wheel, 316 first retractable cross universal coupling, 319 second retractable cross universal coupling, 317 first X-direction running driving wheel, 318 second X-direction running driving wheel, 324 third X-direction running driving wheel, 325 fourth X-direction running driving wheel driving wheel, 320 first Y-direction driving wheel, 321 second Y-direction driving wheel, 330 third Y-direction driving wheel, 333 fourth Y-direction driving wheel, 322 first Y-direction driven wheel, 323 second Y-direction driven wheel, 328 third Y-direction driven wheel, 329 fourth Y-direction driven wheel, 331 expansion sleeve, 332 wheel axle, 201 permanent magnet, 202 electromagnet, 209 fork, 401 vehicle body bottom plate, 101 guide seat, 102 reversing beam, 401 vehicle body bottom plate. DETAILED DESCRIPTION

[0040] The following is a description of the implementation of the present application by specific specific embodiments. People familiar with the technology can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "set", "install", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0042] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0043] The present application embodiment provides a four-way vehicle using an electromagnet and a permanent magnet device, referring to Figures 1 to 9 ,include:

[0044] A four-way vehicle reversing mechanism 1, a four-way vehicle lifting mechanism 2, a four-way vehicle running mechanism 3 and a four-way vehicle body 4. The four-way vehicle reversing mechanism 1, the four-way vehicle lifting mechanism 2 and the four-way vehicle running mechanism 3 are all arranged on the four-way vehicle body 4.

[0045] Specifically, the four-way vehicle reversing mechanism 1 switches the running direction of the four-way vehicle, and the four-way vehicle can move forward and backward in the X direction and the Y direction respectively, and realizes four-directional operation. The four-way vehicle lifting mechanism 2 can lift or put down the goods and pallets on the four-way vehicle shelf, and the four-way vehicle can complete the actions of picking up goods from the warehouse and putting goods into the warehouse. The four-way vehicle running mechanism 3 provides power input for the running of the four-way vehicle, and at the same time, the input power can be transmitted to each wheel through transmission to ensure the running action of the four-way vehicle. The four-way vehicle body 4 is the main body of the four-way vehicle, and all the components of the four-way vehicle are arranged on the four-way vehicle body 4. The four-way vehicle reversing mechanism 1, the four-way vehicle lifting mechanism 2 and the four-way vehicle running mechanism 3 all rely on the four-way vehicle body 4 to work normally.

[0046] In some embodiments, the four-way vehicle body 4 is a rectangular structure, including a vehicle body bottom plate 401 and a vehicle body side plate 402, wherein the vehicle body bottom plate 401 and the vehicle body side plate 402 are connected by sheet metal bending and welding, or connected by mortise and tenon type plus bolt fasteners, or are integrally die-cast, so as to ensure the overall structural strength of the four-way vehicle body 4.

[0047] In some embodiments, the connection method between the body bottom plate 401 and the body side plate 402 in the four-way vehicle body 4 may be a mortise and tenon connection with bolt fasteners or a one-piece die-casting method for the entire body, in addition to welding.

[0048] Specifically, the four-way vehicle body 4 is the main frame of the four-way vehicle, and other components of the four-way vehicle are arranged on the four-way vehicle body 4.

[0049] In some embodiments, the four-way vehicle running mechanism 3 includes a driving motor 301, a reducer 303, a transmission shaft, a gear box, a bearing box and wheels.

[0050] Specifically, the four-way vehicle running mechanism 3 provides power and transmission for the running of the four-way vehicle, so that the four-way vehicle can run in the four-way vehicle shelf warehouse to realize the outbound and inbound transportation of goods.

[0051] In some embodiments, the transmission shaft includes an output transmission shaft 305 and a running transmission shaft 308, the gear box includes an output gear box 304, a first running gear box 306, a second running gear box 307, a third running gear box 310, and a fourth running gear box 313, the bearing box includes a first running bearing box 302, a second running bearing box 309, a third running bearing box 311, and a fourth running bearing box 312, and the wheel includes a first Y-direction running driving wheel 320, a second Y-direction running driving wheel 321, and a third Y-direction running driving wheel 322. The first Y-direction driving wheel 330, the fourth Y-direction driving wheel 333, the first Y-direction driving wheel 322, the second Y-direction driving wheel 323, the third Y-direction driving wheel 328, the fourth Y-direction driving wheel 329, the first X-direction driving wheel 317, the second X-direction driving wheel 318, the third X-direction driving wheel 324, the fourth X-direction driving wheel 325, the first X-direction driving wheel 314, the second X-direction driving wheel 315, the third X-direction driving wheel 326, and the fourth X-direction driving wheel 327.

[0052] In some embodiments, the drive motor 301 is connected to the reducer 303, and the drive motor 301 is also connected to the output gearbox 304, the output gearbox 304 is arranged on the vehicle body bottom plate 401, and the output transmission shaft 305 and the first retractable cross universal joint 316 and the second retractable cross universal joint 319 are respectively arranged in different directions of the output gearbox 304.

[0053] In some embodiments, the first running gearbox 306 and the third running gearbox 310 are connected via the running transmission shaft 308, the first running gearbox 306 and the output gearbox 304 are connected via the output transmission shaft 305, the second running gearbox 307 is connected to the output gearbox 304 via the second telescopic cross universal coupling 319, and the fourth running gearbox 313 is connected to the output gearbox 304 via the first telescopic cross universal coupling 316.

[0054] In some embodiments, the third Y-direction running driving wheel 330 is fixed on the wheel shaft 332 by means of a setting expansion sleeve 331, the wheel shaft 332 is connected to the fourth running gear box 313, and the other wheels all adopt the same structure, and the fourth running gear box 313 is connected to the reversing beam 102, that is, the third Y-direction running driving wheel 330, the fourth Y-direction running driving wheel 333 and the setting reversing beam 102 are connected by means of the fourth running gear box 313, and the first Y-direction running driving wheel 320, the second Y-direction running driving wheel 321 and the reversing beam 102 on the other side are connected by means of the second running gear box 307; similarly, the third Y-direction running driven wheel 328, the fourth Y-direction running driven wheel 329 and the reversing beam 102 are connected by means of the fourth running bearing box 312; similarly, the first Y-direction running driven wheel 322 on the other side , the second Y-direction running driven wheel 323 and the reversing beam 102 are connected through the second running bearing box 309; similarly, the first X-direction running driving wheel 317, the second X-direction running driving wheel 318 and the vehicle body bottom plate 401 and the vehicle body side plate 402 are connected through the first running gear box 306; similarly, the third X-direction running driving wheel 324 and the fourth X-direction running driving wheel 325 on the other side are connected to the vehicle body bottom plate 401 and the vehicle body side plate 402 through the third running gear box 310; similarly, the first X-direction running driven wheel 314, the second X-direction running driven wheel 315 and the vehicle body bottom plate 401 and the vehicle body side plate 402 are connected through the first running bearing box 302; similarly, the third X-direction running driven wheel 326 and the fourth X-direction running driven wheel 327 on the other side are connected to the vehicle body bottom plate 401 and the vehicle body side plate 402 through the third running bearing box 311.

[0055] In some embodiments, the four-way vehicle lifting mechanism 2 includes a first permanent magnet 201, a second permanent magnet 203, a third permanent magnet 206, a fourth permanent magnet 208, a first electromagnet 202, a second electromagnet 204, a third electromagnet 205, a fourth electromagnet 207 and a fork.

[0056] In some embodiments, the first electromagnet 202, the second electromagnet 204, the third electromagnet 205, and the fourth electromagnet 207 are arranged on the vehicle body bottom plate 401 and connected to the four-way vehicle body 1, the first permanent magnet 201 and the second permanent magnet 203 are arranged on the four-way vehicle fork 209, and the third permanent magnet 206 and the fourth permanent magnet 208 on the other side are arranged on the fork on the other side.

[0057] Specifically, the electromagnets and permanent magnets in the present application are super strong electromagnets and super strong permanent magnets. The four-way vehicle lifting mechanism 2 uses the interaction force of the electromagnets and permanent magnets to lift or lower the pallets and goods when the four-way vehicle enters the shelf, thereby completing the warehousing and storage of goods inside the shelf.

[0058] In some embodiments, the four-way vehicle reversing mechanism 1 includes a fifth electromagnet 103, a sixth electromagnet 105, a seventh electromagnet 107, an eighth electromagnet 109, a fifth permanent magnet 104, a sixth permanent magnet 106, a seventh permanent magnet 108, an eighth permanent magnet 110 and a reversing beam.

[0059] In some embodiments, the fifth electromagnet 103, the sixth electromagnet 105 are connected to the reversing beam 102, the seventh electromagnet 107 and the eighth electromagnet 109 on the other side are connected to the reversing beam on the other side, and guide seats 101 are provided at both ends of the reversing beam, and one end of the guide seat 101 is connected and fixed to the vehicle body 4 with the vehicle bottom plate 401.

[0060] Specifically, the four-way vehicle reversing mechanism 1 uses the interaction force between the electromagnet and the permanent magnet to ensure the power switching of the four-way vehicle in the X direction and the Y direction, thereby realizing operation in different directions.

[0061] Working principle of four-way vehicle travel:

[0062] like Figure 6 , Figure 7 As shown, a drive motor 301 is provided in the running mechanism 3 of the four-way vehicle. When the drive motor 301 is powered on, it can output the rated speed and torque to provide power input for the four-way vehicle. At the same time, a brake is provided inside the drive motor 301. The function of the brake is to lock the drive motor 301 when the four-way vehicle does not need the power input of the drive motor 301, so as to prevent the motor shaft from rotating and causing the vehicle to slip or park inaccurately.

[0063] A reducer 303 is arranged between the driving motor 301 and the output gearbox 304. The function of the reducer 303 is to reduce the rotation speed and increase the torque at the same time. That is, when the driving motor 301 is input to the reducer 303 at a certain rotation speed and torque, the rotation speed output by the reducer 303 to the output gearbox 304 will be reduced, and the output torque will be increased. The increased torque can provide greater power for the operation of the four-way vehicle.

[0064] The power input by the driving motor 301 is respectively output to the output transmission shaft 305 connected to the output gear box 304, the first telescopic cross universal coupling 316 and the second telescopic cross universal coupling 319 after passing through the reducer 303 and the output gear box 304.

[0065] The driving power is output to the first running gear box 306 through the output transmission shaft 305, and then output to the first X-direction running driving wheel 317 and the second X-direction running driving wheel 318 through the first running gear box 306, and at the same time, output to the third X-direction running driving wheel 324 and the fourth X-direction running driving wheel 325 through the running transmission shaft 308 and the third running gear box 310. The first running bearing box 302 is provided with bearings inside to ensure that the first X-direction running driven wheel 314 and the second X-direction running driven wheel 315 can be fixed on the body 4 of the four-way vehicle and can rotate at the same time; similarly, the third running bearing box 311 is also provided with bearings inside to ensure that the third X-direction running driven wheel 326 and the fourth X-direction running driven wheel 327 can be fixed on the body 4 of the four-way vehicle and can rotate at the same time. When the four X-direction driving wheels 317, 318, 324, and 325 rotate, the four X-direction driven wheels are driven to rotate and run on the track, thereby realizing the operation of the four-way vehicle in the X direction.

[0066] The driving power is output to the fourth running gear box 313 through the first retractable cross universal coupling 316, and then output to the third Y-direction running driving wheel 330 and the fourth Y-direction running driving wheel 333 through the fourth running gear box 313; similarly, the driving power is output to the second running gear box 307 through the second retractable cross universal coupling 319, and then output to the first Y-direction running driving wheel 320 and the second Y-direction running driving wheel 321 through the second running gear box 307. The second running bearing box 309 is provided with bearings inside to ensure that the first Y-direction running driven wheel 322 and the second Y-direction running driven wheel 323 can be fixed on the body 4 of the four-way vehicle and can rotate at the same time; similarly, the fourth running bearing box 312 is also provided with bearings inside to ensure that the third Y-direction running driven wheel 328 and the fourth Y-direction running driven wheel 329 can be fixed on the body 4 of the four-way vehicle and can rotate at the same time. When the four Y-direction driving wheels rotate, the four Y-direction driven wheels are driven to rotate and run on the track, thereby realizing the operation of the four-way vehicle in the Y direction.

[0067] Working principle of four-way vehicle lifting:

[0068] like Figure 4 , Figure 5 , Figure 8As shown, the first permanent magnet 201 , the second permanent magnet 203 , the third permanent magnet 206 , and the fourth permanent magnet 208 are connected to the fork 209 , and the first electromagnet 202 , the second electromagnet 204 , the third electromagnet 205 , and the fourth electromagnet 207 are arranged on the vehicle body bottom plate 401 .

[0069] During setting, the N poles of the first permanent magnet 201, the second permanent magnet 203, the third permanent magnet 206, and the fourth permanent magnet 208 face downward. When the first electromagnet 202, the second electromagnet 204, the third electromagnet 205, and the fourth electromagnet 207 are energized with a current of a certain magnitude and direction, the upper ends of the first electromagnet 202, the second electromagnet 204, the third electromagnet 205, and the fourth electromagnet 207 are N poles. Since the lower ends of the permanent magnets are N poles, according to the property that like magnetic poles repel each other, the four permanent magnets and the connected fork 209 will be subjected to an upward force and move upward, thereby completing the lifting action of the pallet and the goods.

[0070] When the current directions of the first electromagnet 202, the second electromagnet 204, the third electromagnet 205 and the fourth electromagnet 207 are changed, the upper ends of the first electromagnet 202, the second electromagnet 204, the third electromagnet 205 and the fourth electromagnet 207 are S poles, and according to the property of attraction between opposite poles, the first permanent magnet 201, the second permanent magnet 203, the third permanent magnet 206, the fourth permanent magnet 208 and the connected fork 209 will be subjected to a downward force and move downward to a low position to reset.

[0071] Working principle of four-way vehicle reversing:

[0072] like Figure 3 , Figure 5 , Figure 6 , Fig. 9 The fifth permanent magnet 104 , the sixth permanent magnet 106 , the seventh permanent magnet 108 , and the eighth permanent magnet 110 are arranged on the vehicle body bottom plate 401 , and the fifth electromagnet 103 , the sixth electromagnet 105 , the seventh electromagnet 107 , and the eighth electromagnet 109 are arranged on the reversing beam 102 .

[0073] When set, the N poles of the fifth permanent magnet 104, the sixth permanent magnet 106, the seventh permanent magnet 108, and the eighth permanent magnet 110 are facing upwards. When the fifth electromagnet 103, the sixth electromagnet 105, the seventh electromagnet 107, and the eighth electromagnet 109 are energized with a current of a certain magnitude and direction, the lower ends of the fifth electromagnet 103, the sixth electromagnet 105, the seventh electromagnet 107, and the eighth electromagnet 109 are S poles. Since the upper ends of the permanent magnets are N poles, according to the property of attraction between opposite magnetic poles, the fifth electromagnet 103, the sixth electromagnet 105, the seventh electromagnet 107, the eighth electromagnet 109 and the connected commutation beam 102 will be subjected to a downward force and move downward.

[0074] Because the second running gear box 307, the fourth running gear box 313, the second running bearing box 309 and the fourth running bearing box 312 are connected to the reversing beam 102, when the reversing beam 102 moves downward, the second running gear box 307, the fourth running gear box 313, the second running bearing box 309 and the fourth running bearing box 312 will move downward together.

[0075] When the second running gear box 307, the fourth running gear box 313, the second running bearing box 309 and the fourth running bearing box 312 move downward, the Y-direction running driving wheel and the Y-direction running driven wheel will also move downward together, replacing the X-direction running driving wheel and the X-direction running driven wheel to contact the Y-direction running track surface, completing the switching action from X-direction running to Y-direction running.

[0076] When the current directions of the fifth electromagnet 103, the sixth electromagnet 105, the seventh electromagnet 107 and the eighth electromagnet 109 are changed, the lower ends of the fifth electromagnet 103, the sixth electromagnet 105, the seventh electromagnet 107 and the eighth electromagnet 109 are N poles. Since the upper end of the permanent magnet is the N pole, according to the property of repulsion of like magnetic poles, the fifth electromagnet 103, the sixth electromagnet 105, the seventh electromagnet 107, the eighth electromagnet 109 and the connected reversing beam 102 will be subjected to an upward force to move upward, and at the same time drive the Y-direction running active wheel and the Y-direction running driven wheel to move upward and leave the Y-direction running track surface. At this time, the X-direction running active wheel and the X-direction running driven wheel will contact the X-direction running track surface, completing the reversing action from Y-direction running to X-direction running.

[0077] Guide seats 101 are provided at both ends of the reversing beam 102. One end of the guide seat 101 is connected and fixed to the body 4 of the four-way vehicle. The guide seat 101 can ensure that the guide beam 102 can move up and down perpendicular to the body bottom plate 401 when the four-way vehicle is reversing, ensuring the smoothness of the reversing action.

[0078] The first telescopic cross universal coupling 316 and the second telescopic cross universal coupling 319 can realize axial telescopic adjustment along with the up and down movement of the reversing beam 102, so as to ensure that the reversing beam 102 is in a low position or a high position, and the driving power can be transmitted to the Y-direction running driving wheel.

[0079] In summary, compared with the prior art, the beneficial effects of the technical solution of this application include:

[0080] 1. The lifting weight of the four-way shuttle can be easily modified by changing the size and number of the electromagnets and permanent magnets.

[0081] 2. By changing the current of the electromagnet, the electromagnetic force of the electromagnet can be changed, thereby changing the lifting height and lifting weight of the four-way shuttle.

[0082] 3. By changing the current direction of the electromagnet, the movement direction of the four-way vehicle roof lifting mechanism and the reversing mechanism can be changed.

[0083] 4. The use of electromagnets and permanent magnets can simplify the internal structure of the four-way shuttle, reduce the number of parts and components, and reduce processing costs.

[0084] 5. Since the internal structure of the four-way shuttle is simplified and the number of parts is reduced, the volume of the four-way shuttle is greatly reduced.

[0085] 6. The performance of the electromagnet and permanent magnet is relatively stable, which reduces the failure rate of the four-way shuttle.

[0086] 7. The setting of electromagnet and permanent magnet is relatively simple, which brings convenience to assembly and maintenance.

[0087] 8. The use of electromagnets and permanent magnets can greatly reduce the noise generated by the working parts of the four-way shuttle.

[0088] Note that, unless otherwise directly stated, all features disclosed in this specification (including any attached claims, abstracts and drawings) may be replaced by alternative features for achieving the same, equivalent or similar purposes. Therefore, unless otherwise explicitly stated, each feature disclosed is only an example of a group of equivalent or similar features. Where used, further, preferably, further and more preferably are simple beginnings for elaborating another embodiment based on the aforementioned embodiment, and the content of the further, preferably, further or more preferably followed by the combination with the aforementioned embodiment constitutes a complete construction of another embodiment. Several further, preferably, further or more preferably settings following the same embodiment can be arbitrarily combined to form another embodiment.

[0089] In the implementation of functions and steps, the corresponding functions and steps in various embodiments may also occur in a different order than shown. For example, two consecutive functions and steps may actually be performed or implemented substantially in parallel, and they may sometimes be performed or implemented in the opposite order, depending on the functions involved.

[0090] Although the present application has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made to the present application. Therefore, these modifications or improvements made without departing from the spirit of the present application all fall within the scope of protection claimed in the present application.

Claims

1. A four-way vehicle using an electromagnet and a permanent magnet device, characterized in that: include: A four-way vehicle reversing mechanism (1), a four-way vehicle lifting mechanism (2), a four-way vehicle running mechanism (3) and a four-way vehicle body (4), wherein: The four-way vehicle reversing mechanism (1), the four-way vehicle lifting mechanism (2), and the four-way vehicle running mechanism (3) are all arranged on the four-way vehicle body (4); The four-way vehicle running mechanism (3) comprises a driving motor (301), a reducer (303), a transmission shaft, a gear box, a bearing box and wheels; The four-way vehicle lifting mechanism (2) comprises a first permanent magnet (201), a second permanent magnet (203), a third permanent magnet (206), a fourth permanent magnet (208), a first electromagnet (202), a second electromagnet (204), a third electromagnet (205), a fourth electromagnet (207) and a fork; The first electromagnet (202), the second electromagnet (204), the third electromagnet (205), and the fourth electromagnet (207) are arranged on a vehicle body bottom plate (401) and connected to a four-way vehicle body (1); the first permanent magnet (201) and the second permanent magnet (203) are arranged on a four-way vehicle cargo fork (209); and the third permanent magnet (206) and the fourth permanent magnet (208) on the other side are arranged on the cargo fork on the other side; The four-way vehicle reversing mechanism (1) comprises a fifth electromagnet (103), a sixth electromagnet (105), a seventh electromagnet (107), an eighth electromagnet (109), a fifth permanent magnet (104), a sixth permanent magnet (106), a seventh permanent magnet (108), an eighth permanent magnet (110) and a reversing beam; The fifth electromagnet (103) and the sixth electromagnet (105) are connected to the reversing beam (102), and the seventh electromagnet (107) and the eighth electromagnet (109) on the other side are connected to the reversing beam on the other side. Guide seats (101) are provided at both ends of the reversing beam, and one end of the guide seat (101) is connected to a vehicle body bottom plate (401) and fixed on the four-way vehicle body (4).

2. The four-way vehicle using an electromagnet and a permanent magnet device according to claim 1, characterized in that: The four-way vehicle body (4) is a rectangular structure, comprising a vehicle body bottom plate (401) and a vehicle body side plate (402), wherein the vehicle body bottom plate (401) and the vehicle body side plate (402) are connected by sheet metal bending and welding, or connected by mortise and tenon type bolt fasteners, or are integrally die-cast.

3. The four-way vehicle using the electromagnet and permanent magnet device according to claim 1, characterized in that: The transmission shaft comprises an output transmission shaft (305) and a running transmission shaft (308); the gear box comprises an output gear box (304), a first running gear box (306), a second running gear box (307), a third running gear box (310), and a fourth running gear box (313); the bearing box comprises a first running bearing box (302), a second running bearing box (309), a third running bearing box (311), and a fourth running bearing box (312); the wheel comprises a first Y-direction running driving wheel (320), a second Y-direction running driving wheel (321), a third Y-direction running driving wheel (322), and a fourth Y-direction running driving wheel (323). Wheel (330), the fourth Y-direction running active wheel (333), the first Y-direction running driven wheel (322), the second Y-direction running driven wheel (323), the third Y-direction running driven wheel (328), the fourth Y-direction running driven wheel (329), the first X-direction running active wheel (317), the second X-direction running active wheel (318), the third X-direction running active wheel (324), the fourth X-direction running active wheel (325), the first X-direction running driven wheel (314), the second X-direction running driven wheel (315), the third X-direction running driven wheel (326), and the fourth X-direction running driven wheel (327).

4. The four-way vehicle using the electromagnet and permanent magnet device according to claim 3, characterized in that: The drive motor (301) is connected to the reducer (303), and the drive motor (301) is also connected to the output gear box (304). The output gear box (304) is arranged on the vehicle body bottom plate (401), and the output transmission shaft (305) and the first telescopic cross universal coupling (316) and the second telescopic cross universal coupling (319) are respectively arranged in different directions of the output gear box (304).

5. The four-way vehicle using the electromagnet and permanent magnet device according to claim 3, characterized in that: The first running gearbox (306) and the third running gearbox (310) are connected via the running transmission shaft (308), the first running gearbox (306) and the output gearbox (304) are connected via the output transmission shaft (305), the second running gearbox (307) is connected to the output gearbox (304) via the second telescopic cross universal coupling (319), and the fourth running gearbox (313) is connected to the output gearbox (304) via the first telescopic cross universal coupling (316).

6. The four-way vehicle using the electromagnet and permanent magnet device according to claim 3, characterized in that: The third Y-direction driving wheel (330) is fixed on the wheel shaft (332) through a set expansion sleeve (331); the wheel shaft (332) is connected to a fourth running gear box (313); the third Y-direction driving wheel (330), the fourth Y-direction driving wheel (333) and the set reversing beam (102) are connected through the fourth running gear box (313); the first Y-direction driving wheel (320) on the other side, the second Y-direction driving wheel (321) and the reversing beam (102) on the other side are connected through a second running gear box (307).

7. The four-way vehicle using the electromagnet and permanent magnet device according to claim 6, characterized in that: The third Y-direction running driven wheel (328), the fourth Y-direction running driven wheel (329) and the reversing beam (102) are connected via a fourth running bearing box (312); the first Y-direction running driven wheel (322), the second Y-direction running driven wheel (323) and the reversing beam (102) on the other side are connected via a second running bearing box (309).

8. The four-way vehicle using the electromagnet and permanent magnet device according to claim 6, characterized in that: The first X-direction running driving wheel (317), the second X-direction running driving wheel (318), the vehicle body bottom plate (401), and the vehicle body side plate (402) are connected via a first running gear box (306); the third X-direction running driving wheel (324), the fourth X-direction running driving wheel (325) on the other side, the vehicle body bottom plate (401), and the vehicle body side plate (402) are connected via a third running gear box (310).

9. The four-way vehicle using an electromagnet and a permanent magnet device according to claim 6, characterized in that: The first X-direction running driven wheel (314), the second X-direction running driven wheel (315), the vehicle body bottom plate (401), and the vehicle body side plate (402) are connected via a first running bearing box (302); the third X-direction running driven wheel (326), the fourth X-direction running driven wheel (327) on the other side, the vehicle body bottom plate (401), and the vehicle body side plate (402) are connected via a third running bearing box (311).

Images