Jacking type four-way vehicle

Abstract

The invention belongs to the technical field of intelligent warehouse storage, and particularly relates to a jacking type four-way vehicle which comprises a vehicle body, a lifting cross beam mounting outer frame, transverse walking wheels, longitudinal walking wheels, walking wheel driving parts, walking wheel driving transmission assemblies, lifting cross beam driving parts, lifting cross beam driving transmission assemblies, lifting cross beams, lifting swing arms, jacking plates and jacking wheels. According to the four-way vehicle, switching of transverse and longitudinal walking driving and walking modes of the four-way vehicle can be achieved only by arranging the two driving pieces, the lifting effect of driving the jacking plate can be achieved while the transverse and longitudinal walking modes are switched, the running speed is high, efficiency is high, safety is high, the structure is compact, the manufacturing cost is relatively low, and practicability is high. And the device can be more effectively suitable for high-density storage and efficient operation requirements, and assists unmanned narrow warehouses to achieve efficient and automatic goods stacking and carrying.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent warehousing, and particularly relates to a jacking four-way vehicle. BACKGROUND

[0002] With the rapid development of e-commerce, logistics, medicine and other industries, the demand for warehousing is increasing rapidly, but the traditional warehouse has low space utilization, poor manual stacking efficiency and high cost. In a narrow warehouse environment, ordinary warehousing robots are difficult to operate flexibly, and it is difficult to stack goods. In a multi-layer warehousing scene, there are problems such as poor connection in cross-layer handling. At the same time, labor costs are rising, and manual operation has disadvantages such as efficiency fluctuations, safety hazards and the like. In order to break through the space limit, improve the intelligent level of warehousing, realize cost reduction and efficiency increase, and meet the needs of high-density storage and efficient operation, a four-way mobile and cross-layer operation warehousing equipment, namely a four-way vehicle, is developed to help unmanned narrow warehouses to realize efficient and automated goods stacking and handling.

[0003] The existing four-way vehicle can generally move back and forth in two directions of horizontal and vertical directions, and some four-way vehicles also need to realize the lifting and landing action of goods through a jacking plate that can be lifted. The lifting structure of the existing four-way vehicle for controlling the jacking plate and the structure for controlling the horizontal and vertical movement are independent of each other, and the number of driving members used is relatively large, and the manufacturing cost is relatively high. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a jacking four-way vehicle.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] A jacking four-way vehicle comprises a vehicle body, a lifting cross beam mounting outer frame, horizontal walking wheels, vertical walking wheels, walking wheel driving members, walking wheel driving transmission assemblies, lifting cross beam driving members, lifting cross beam driving transmission assemblies, a lifting cross beam, a lifting swing arm, a jacking plate and jacking wheels.

[0007] A plurality of horizontal walking wheels are rotatably arranged on the front and rear sides of the vehicle body, and the axes of all the horizontal walking wheels are parallel to the front-rear direction of the vehicle body.

[0008] The left and right sides of the vehicle body are respectively provided with one lifting beam mounting frame, the inner side of each lifting beam mounting frame is provided with one lifting beam, the front and rear ends of each lifting beam mounting frame are respectively hinged with the middle part of one lifting swing arm, one end of each lifting swing arm is hinged with the corresponding lifting beam on the inner side of the lifting beam mounting frame connected with the lifting swing arm, the end of each lifting swing arm away from the lifting beam mounting frame is respectively provided with one longitudinal walking wheel and one lifting wheel, the swing axis of all the lifting swing arms, the axis of all the longitudinal walking wheels and the axis of all the lifting wheels are parallel to the left and right directions of the vehicle body;

[0009] The outer shell of the walking wheel driving member, the outer shell of the lifting beam driving member, the walking wheel driving transmission assembly and the lifting beam driving transmission assembly are arranged on the vehicle body; the driving end of the walking wheel driving member is connected with the walking wheel driving transmission assembly and simultaneously drives all the transverse walking wheels and all the longitudinal walking wheels to rotate; the driving end of the lifting beam driving member is connected with the lifting beam driving transmission assembly and simultaneously drives two lifting beams to lift together, each lifting beam simultaneously drives two lifting swing arms connected therewith to swing, and each lifting swing arm simultaneously drives the longitudinal walking wheel and the lifting wheel connected therewith to rise or fall;

[0010] When each lifting swing arm drives the corresponding longitudinal walking wheel to reach the lowest position, the height position of the lowest part of all the longitudinal walking wheels is lower than that of all the transverse walking wheels; when each lifting swing arm drives the corresponding longitudinal walking wheel to reach the highest position, the height position of the lowest part of all the longitudinal walking wheels is higher than that of all the transverse walking wheels;

[0011] The front and rear sides of the upper part of the vehicle body are respectively provided with one lifting plate, the length direction of the two lifting plates is parallel to the left and right directions of the vehicle body, one lifting plate located on the front side can be lifted by two corresponding lifting wheels located on the front side of the vehicle body, and one lifting plate located on the rear side can be lifted by two corresponding lifting wheels located on the rear side of the vehicle body.

[0012] The lower surface of each lifting plate is provided with two lifting wheel clamping seats, each lifting wheel clamping seat is provided with a lifting wheel guiding clamping groove and is used for clamping one corresponding lifting wheel.

[0013] The walking wheel driving transmission assembly comprises a spur gear transmission mechanism A, a bevel gear transmission mechanism A, a bevel gear transmission mechanism B, a spur gear transmission mechanism B, a chain wheel and chain transmission mechanism A and a chain wheel and chain transmission mechanism B.

[0014] The spur gear transmission mechanism A is provided with one group, the bevel gear transmission mechanism A and the bevel gear transmission mechanism B are respectively provided with two groups, the spur gear transmission mechanism B is provided with four groups, the spur gear transmission mechanism A has one input shaft and two coaxial output shafts, each group of the bevel gear transmission mechanism A has one input shaft, one output shaft parallel to the front-rear direction of the vehicle body and two output shafts parallel to the left-right direction of the vehicle body, each group of the bevel gear transmission mechanism B has one input shaft, one output shaft parallel to the front-rear direction of the vehicle body and one output shaft parallel to the left-right direction of the vehicle body, and each group of the spur gear transmission mechanism B has one input shaft and one output shaft parallel to the left-right direction of the vehicle body.

[0015] The input shaft of the spur gear transmission mechanism A is connected with the driving end of the walking wheel driving part, one of the output shafts of the spur gear transmission mechanism A is connected with the input shaft of the first group of the bevel gear transmission mechanism A, the other output shaft of the spur gear transmission mechanism A is connected with the input shaft of the second group of the bevel gear transmission mechanism A through a long transmission shaft A, one of the output shafts parallel to the left-right direction of the vehicle body of the two groups of the bevel gear transmission mechanism A is respectively connected with the input shaft of the corresponding group of the bevel gear transmission mechanism B through a long transmission shaft B, the output shaft parallel to the front-rear direction of the vehicle body of each group of the bevel gear transmission mechanism A and the output shaft parallel to the front-rear direction of the vehicle body of each group of the bevel gear transmission mechanism B are respectively connected with the wheel shafts of a plurality of the transverse walking wheels through a group of the chain wheel and chain transmission mechanism A, the other output shaft parallel to the left-right direction of the vehicle body of each group of the bevel gear transmission mechanism A and the other output shaft parallel to the left-right direction of the vehicle body of each group of the bevel gear transmission mechanism B are respectively connected with the input shaft of the corresponding group of the spur gear transmission mechanism B, and the output shaft of each group of the spur gear transmission mechanism B is respectively connected with the wheel shaft of one corresponding longitudinal walking wheel through a group of the chain wheel and chain transmission mechanism B.

[0016] The axis direction of the driving end of the walking wheel driving part and the axis direction of the long transmission shaft A are parallel to the front-rear direction of the vehicle body, and the axis direction of each long transmission shaft B is parallel to the left-right direction of the vehicle body.

[0017] The axis of the output shaft of each group of the spur gear transmission mechanism B is respectively collinear with the swing axis of one corresponding lifting swing arm.

[0018] The lifting cross beam driving transmission assembly comprises a chain wheel and chain transmission mechanism C, a chain wheel and chain transmission mechanism D, a straight gear transmission mechanism C, an eccentric rotating arm and a driving column;

[0019] The chain wheel and chain transmission mechanism C is provided with one group, the chain wheel and chain transmission mechanism D and the straight gear transmission mechanism C are respectively provided with two groups, the chain wheel and chain transmission mechanism C has one input shaft and two coaxial output shafts, each group of the chain wheel and chain transmission mechanism D has one input shaft and one output shaft, each group of the straight gear transmission mechanism C has one input shaft parallel to the left-right direction of the vehicle body and a plurality of output shafts parallel to the left-right direction of the vehicle body, and each output shaft of each group of the straight gear transmission mechanism C is used as a lifting cross beam driving shaft.

[0020] The input shaft of the chain wheel and chain transmission mechanism C is connected with the driving end of the lifting cross beam driving part, one of the output shafts of the chain wheel and chain transmission mechanism C is connected with the input shaft of the first group of the chain wheel and chain transmission mechanism D, the other output shaft of the chain wheel and chain transmission mechanism C is connected with the input shaft of the second group of the chain wheel and chain transmission mechanism D through the long transmission shaft C, the output shafts of the two groups of the chain wheel and chain transmission mechanism D are respectively connected with the input shafts of the corresponding groups of the straight gear transmission mechanism C, and the ends of the lifting cross beam driving shafts of each group of the straight gear transmission mechanism C away from the vehicle body are respectively connected with one end of the eccentric rotating arm.

[0021] The other end of each eccentric rotating arm is respectively connected with the driving column, and the axis of each driving column is parallel to and not collinear with the axes of all the lifting cross beam driving shafts.

[0022] The axes of the driving end of the lifting cross beam driving part and the long transmission shaft C are parallel to the left-right direction of the vehicle body.

[0023] Each group of the straight gear transmission mechanism C has two output shafts, that is, two lifting cross beam driving shafts, and the rotating directions of the two lifting cross beam driving shafts of each group of the straight gear transmission mechanism C are opposite.

[0024] The inner side of each lifting cross beam mounting outer frame is provided with a plurality of guide shafts, the axis of each guide shaft is perpendicular to the horizontal plane, the lifting cross beam of the inner side of each lifting cross beam mounting outer frame is respectively penetrated by the guide shafts of the inner side of the same lifting cross beam mounting outer frame, and a guide shaft penetrating hole for penetrating the corresponding guide shaft is respectively formed in each lifting cross beam.

[0025] The vehicle body main body and the two lifting cross beam mounting outer frames are connected into an integral whole, and a plurality of radar detectors are mounted on the integral whole.

[0026] The present application has the advantages and positive effects that:

[0027] The present application can realize the driving and walking mode switching of the lateral and longitudinal walking of the four-way vehicle by only arranging two driving members, can realize the lifting effect of driving the lifting plate while switching the lateral and longitudinal walking modes, has high running speed, high efficiency, high safety, compact structure, relatively lower manufacturing cost, and can be more effectively applied to high-density storage and efficient operation requirements, and helps unmanned narrow warehouses to realize efficient automatic goods stacking and carrying. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present application;

[0029] Figure 2 It is a schematic diagram of the overall top view structure of the present application;

[0030] Figure 3 It is a schematic diagram of the setting structure of the lifting cross beam driving member, the lifting cross beam driving transmission assembly, the lifting swing arm, the longitudinal walking wheel and the lifting wheel of the present application;

[0031] Figure 4 It is a structural schematic diagram of the lifting plate of the present application;

[0032] Figure 5 It is a partial structural schematic diagram of the walking wheel driving member and the walking wheel driving transmission assembly of the present application;

[0033] Figure 6 It is Figure 2 the enlarged view of A;

[0034] Figure 7 It is a structural schematic diagram of the lifting cross beam of the present application;

[0035] Figure 8 It is a structural schematic diagram of the lifting cross beam driving shaft, the eccentric swing arm and the driving column of the present application.

[0036] In the diagram: 1 is the main body of the vehicle; 2 is the outer frame for mounting the lifting crossbeam; 3 is the transverse traveling wheel; 4 is the longitudinal traveling wheel; 5 is the traveling wheel drive component; 6 is the lifting crossbeam drive component; 7 is the lifting crossbeam; 701 is the drive shaft slot; 702 is the guide shaft through hole; 8 is the lifting swing arm; 9 is the lifting plate; 901 is the lifting wheel holder; 902 is the lifting wheel guide slot; 10 is the lifting wheel.

[0037] 11 is a spur gear transmission mechanism A, 12 is a bevel gear transmission mechanism A, 13 is a bevel gear transmission mechanism B, 14 is a spur gear transmission mechanism B, 15 is a sprocket and chain transmission mechanism A, 16 is a sprocket and chain transmission mechanism B, 17 is a long drive shaft A, and 18 is a long drive shaft B.

[0038] 19 is the sprocket and chain drive mechanism C, 20 is the sprocket and chain drive mechanism D, 21 is the spur gear drive mechanism C, 2101 is the lifting beam drive shaft, 22 is the eccentric rotating arm, 23 is the drive column, 24 is the long drive shaft C, 25 is the guide shaft, and 26 is the radar detector. Detailed Implementation

[0039] The following is in conjunction with the appendix Figures 1-8 The present invention will be described in further detail below.

[0040] A type of lift-up four-way vehicle, such as Figures 1-8 As shown, this embodiment includes a vehicle body 1, a lifting beam mounting frame 2, a transverse traveling wheel 3, a longitudinal traveling wheel 4, a traveling wheel drive component 5, a traveling wheel drive transmission assembly, a lifting beam drive component 6, a lifting beam drive transmission assembly, a lifting beam 7, a lifting swing arm 8, a lifting plate 9, and a lifting wheel 10.

[0041] Four transverse travel wheels 3 are rotatably provided on the front and rear sides of the vehicle body 1, that is, a total of eight transverse travel wheels 3 are provided. The axes of all transverse travel wheels 3 are parallel to the front and rear directions of the vehicle body 1.

[0042] Each of the left and right sides of the vehicle body 1 has a corresponding lifting crossbeam mounting frame 2. Each lifting crossbeam mounting frame 2 has a corresponding lifting crossbeam 7 on its inner side. Each lifting crossbeam mounting frame 2 also has a lifting swing arm 8 hinged to its middle section at both its front and rear ends. One end of each lifting swing arm 8 is hinged to the corresponding lifting crossbeam 7 on the inner side of the lifting crossbeam mounting frame 2 to which it is connected. Each lifting swing arm 8 has a longitudinal traveling wheel 4 and a lifting wheel 10 at its end away from the lifting crossbeam mounting frame 2. The swing axes of all lifting swing arms 8, the axes of all longitudinal traveling wheels 4, and the axes of all lifting wheels 10 are parallel to the left and right directions of the vehicle body 1. In this embodiment, the axes of the longitudinal traveling wheels 4 and the axes of the lifting wheels 10 on each lifting swing arm 8 are collinear.

[0043] The housings of the walking wheel driving member 5 and the lifting beam driving member 6, the walking wheel driving transmission assembly and the lifting beam driving transmission assembly are respectively arranged on the vehicle body 1. In this embodiment, the walking wheel driving member 5 and the lifting beam driving member 6 are both commercially available servo motor products, and are respectively controlled by the controller of the four-way vehicle. The driving end of the walking wheel driving member 5 is connected with the walking wheel driving transmission assembly, and simultaneously drives all the lateral walking wheels 3 and all the longitudinal walking wheels 4 to rotate. The driving end of the lifting beam driving member 6 is connected with the lifting beam driving transmission assembly, and simultaneously drives the two lifting beams 7 to lift together. Each lifting beam 7 simultaneously drives the two lifting swing arms 8 connected thereto to swing, and each lifting swing arm 8 simultaneously drives the longitudinal walking wheel 4 and the lifting wheel 10 connected thereto to lift up or fall down.

[0044] The four-way vehicle in this embodiment is suitable for walking on corresponding lateral tracks and longitudinal tracks, wherein the lateral walking wheels 3 are used for walking on the lateral tracks, and the longitudinal walking wheels 4 are used for walking on the longitudinal tracks. The outer periphery of part of the lateral walking wheels 3 and the longitudinal walking wheels 4 in this embodiment can be further extended with a guide plate arranged in cooperation with the corresponding track, so as to ensure stable walking on the track. When each lifting swing arm 8 drives the corresponding longitudinal walking wheel 4 to reach the lowest position, the height position of the lowest part of all the longitudinal walking wheels 4 is lower than the height position of the lowest part of all the lateral walking wheels 3. When each lifting swing arm 8 drives the corresponding longitudinal walking wheel 4 to reach the highest position, the height position of the lowest part of all the longitudinal walking wheels 4 is higher than the height position of the lowest part of all the lateral walking wheels 3. When the height position of the lowest part of all the longitudinal walking wheels 4 is lower than the height position of the lowest part of all the lateral walking wheels 3, it is the longitudinal walking mode, and when the height position of the lowest part of all the longitudinal walking wheels 4 is higher than the height position of the lowest part of all the lateral walking wheels 3, it is the lateral walking mode.

[0045] The front and rear positions of the upper part of the vehicle body 1 are respectively provided with a lifting plate 9, and the length direction of the two lifting plates 9 is parallel to the left-right direction of the vehicle body 1. The lifting plate 9 located at the front side can be lifted up by the two corresponding lifting wheels 10 located at the front side of the vehicle body 1, and the lifting plate 9 located at the rear side can be lifted up by the two corresponding lifting wheels 10 located at the rear side of the vehicle body 1. When each lifting swing arm 8 drives the lifting wheel 10 to lift up, the lifting wheel 10 further drives the lifting plate 9 to lift up, so as to realize the lifting effect of the lifting plate 9 while switching the lateral-longitudinal walking mode; when each lifting swing arm 8 drives the lifting wheel 10 to fall down, the lifting plate 9 falls back.

[0046] Specifically, as shown in FIG. 1, the four-way vehicle comprises a vehicle body 1, a plurality of lateral walking wheels 3 arranged on the left and right sides of the vehicle body 1, a plurality of longitudinal walking wheels 4 arranged on the front and rear sides of the vehicle body 1, a plurality of lifting swing arms 8 arranged on the left and right sides of the vehicle body 1, and a plurality of lifting wheels 10 arranged on the front and rear sides of the vehicle body 1. Figure 4As shown, two lifting wheel clamping seats 901 are arranged on the lower surface of each lifting plate 9 in the embodiment, and each lifting wheel clamping seat 901 is provided with a lifting wheel guide clamping groove 902 for clamping a corresponding lifting wheel 10, so that the lifting wheel 10 can stably and reliably drive the lifting plate 9 to rise. In the embodiment, the lifting plate 9 can be further provided with a corresponding lifting and guiding structure on the vehicle body 1, or the vehicle body 1 is formed with a limiting and restraining structure for the lifting wheel clamping seat 901, so as to further ensure the stable and accurate lifting of the lifting plate 9. In the embodiment, the wheel body of the lifting wheel 10 is made of 40Cr material, which can ensure the required hardness of the lifting wheel 10 and the service life.

[0047] Specifically, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 and Figure 6 , the walking wheel driving transmission assembly in the embodiment includes a straight gear transmission mechanism A11, a bevel gear transmission mechanism A12, a bevel gear transmission mechanism B13, a straight gear transmission mechanism B14, a chain wheel and chain transmission mechanism A15, and a chain wheel and chain transmission mechanism B16.

[0048] In the embodiment, the straight gear transmission mechanism A11 is provided with one set, the bevel gear transmission mechanism A12 and the bevel gear transmission mechanism B13 are respectively provided with two sets, and the straight gear transmission mechanism B14 is provided with four sets. The specific setting structures of the straight gear transmission mechanism A11, the bevel gear transmission mechanism A12, the bevel gear transmission mechanism B13, the straight gear transmission mechanism B14, the chain wheel and chain transmission mechanism A15, and the chain wheel and chain transmission mechanism B16 in the embodiment all adopt prior art, wherein the straight gear transmission mechanism A11 mainly includes two straight gears, the bevel gear transmission mechanism A12 mainly includes three bevel gears, the bevel gear transmission mechanism B13 mainly includes two bevel gears, the straight gear transmission mechanism B14 mainly includes two straight gears, the chain wheel and chain transmission mechanism A15 mainly includes two chain wheels and one chain, and the chain wheel and chain transmission mechanism B16 mainly includes two chain wheels and one chain. The straight gear transmission mechanism A11 has one input shaft and two coaxial output shafts, each set of bevel gear transmission mechanism A12 has one input shaft, one output shaft parallel to the front-to-back direction of the vehicle body 1, and two output shafts parallel to the left-to-right direction of the vehicle body 1, each set of bevel gear transmission mechanism B13 has one input shaft, one output shaft parallel to the front-to-back direction of the vehicle body 1, and one output shaft parallel to the left-to-right direction of the vehicle body 1, and each set of straight gear transmission mechanism B14 has one input shaft and one output shaft parallel to the left-to-right direction of the vehicle body 1.

[0049] The input shaft of the spur gear transmission mechanism A11 is connected with the driving end of the walking wheel driving member 5, one of the output shafts of the spur gear transmission mechanism A11 is connected with the input shaft of the first set of bevel gear transmission mechanism A12, the other output shaft of the spur gear transmission mechanism A11 is connected with the input shaft of the second set of bevel gear transmission mechanism A12 through the long transmission shaft A17, one of the output shafts of the two sets of bevel gear transmission mechanism A12 which are parallel to the left-right direction of the vehicle body main body 1 is connected with the input shaft of the corresponding set of bevel gear transmission mechanism B13 through the long transmission shaft B18 respectively, the output shaft of each set of bevel gear transmission mechanism A12 which is parallel to the front-rear direction of the vehicle body main body 1 and the output shaft of each set of bevel gear transmission mechanism B13 which is parallel to the front-rear direction of the vehicle body main body 1 are respectively connected with the wheel shafts of the two transverse walking wheels 3 through a set of chain wheel and chain transmission mechanism A15 respectively, the other output shaft of each set of bevel gear transmission mechanism A12 which is parallel to the left-right direction of the vehicle body main body 1 and the other output shaft of each set of bevel gear transmission mechanism B13 which is parallel to the left-right direction of the vehicle body main body 1 are respectively connected with the input shaft of the corresponding set of spur gear transmission mechanism B14, the output shaft of each set of spur gear transmission mechanism B14 is respectively connected with the wheel shaft of a corresponding longitudinal walking wheel 4 through a set of chain wheel and chain transmission mechanism B16 respectively.

[0050] The axis direction of the driving end of the walking wheel driving member 5 and the axis direction of the long transmission shaft A17 in the embodiment are parallel to the front-rear direction of the vehicle body main body 1, the axis direction of each long transmission shaft B18 is parallel to the left-right direction of the vehicle body main body 1. The axis of the output shaft of each set of spur gear transmission mechanism B14, that is, the axis of the input end sprocket of the chain wheel and chain transmission mechanism B16, is respectively collinear with the swing axis of a corresponding lifting swing arm 8, so as to ensure that the lifting swing arm 8 can swing reliably without interfering with the chain wheel and chain transmission mechanism B16.

[0051] Specifically, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 7 and Figure 8 , the lifting cross beam driving transmission assembly in the embodiment includes a chain wheel and chain transmission mechanism C19, a chain wheel and chain transmission mechanism D20, a spur gear transmission mechanism C21, an eccentric swing arm 22 and a driving column 23.

[0052] The chain-and-sprocket transmission mechanism C19 is provided with one set, the chain-and-sprocket transmission mechanism D20 and the spur gear transmission mechanism C21 are respectively provided with two sets. The specific setting structure of the chain-and-sprocket transmission mechanism C19, the chain-and-sprocket transmission mechanism D20 and the spur gear transmission mechanism C21 in the embodiment all adopts the prior art, wherein the chain-and-sprocket transmission mechanism C19 mainly includes two sprockets and a chain, the chain-and-sprocket transmission mechanism D20 mainly includes two sprockets and a chain, and the spur gear transmission mechanism C21 mainly includes four spur gears. The chain-and-sprocket transmission mechanism C19 has one input shaft and two coaxial output shafts, each chain-and-sprocket transmission mechanism D20 has one input shaft and one output shaft, and each spur gear transmission mechanism C21 has one input shaft parallel to the left-right direction of the vehicle body main body 1 and two output shafts parallel to the left-right direction of the vehicle body main body 1. Each output shaft of each spur gear transmission mechanism C21 is used as a lifting cross beam driving shaft 2101.

[0053] The input shaft of the chain-and-sprocket transmission mechanism C19 is connected with the driving end of the lifting cross beam driving member 6, one of the output shafts of the chain-and-sprocket transmission mechanism C19 is connected with the input shaft of the first chain-and-sprocket transmission mechanism D20, the other output shaft of the chain-and-sprocket transmission mechanism C19 is connected with the input shaft of the second chain-and-sprocket transmission mechanism D20 through the long transmission shaft C24, the output shafts of the two chain-and-sprocket transmission mechanisms D20 are respectively connected with the input shafts of the corresponding spur gear transmission mechanisms C21, and the ends of the lifting cross beam driving shafts 2101 of each spur gear transmission mechanism C21 away from the vehicle body main body 1 are respectively connected with one end of an eccentric rotating arm 22. The other end of each eccentric rotating arm 22 is respectively connected with a driving column 23, and the axis of each driving column 23 is parallel to and not collinear with the axes of all the lifting cross beam driving shafts 2101. The axis of the driving end of the lifting cross beam driving member 6 and the axis of the long transmission shaft C24 are parallel to the left-right direction of the vehicle body main body 1.

[0054] Two driving shaft insertion grooves 701 are respectively arranged on the side of each lifting cross beam 7 close to the vehicle body main body 1 for inserting the corresponding driving columns 23. In the embodiment, the outer periphery of the driving column 23 is sequentially sleeved with a copper sleeve and a guide wheel, so as to smoothly contact the driving shaft insertion groove 701 and realize driving. When the lifting cross beam driving shafts 2101 are driven to rotate, the eccentric rotating arms 22 drive the connected driving columns 23 to rotate around the axis of the corresponding lifting cross beam driving shaft 2101, and then the driving columns 23 drive the connected lifting cross beams 7 to lift. The rotating directions of the two lifting cross beam driving shafts 2101 of each spur gear transmission mechanism C21 are opposite, so that the lifting cross beams 7 are more evenly and stably stressed.

[0055] The inner side of each lifting cross beam mounting outer frame 2 is provided with two guide shafts 25, the axis of each guide shaft 25 is perpendicular to the horizontal plane, the lifting cross beam 7 on the inner side of each lifting cross beam mounting outer frame 2 is respectively penetrated by the guide shafts 25 on the inner side of the same lifting cross beam mounting outer frame 2, and the lifting cross beam 7 is respectively provided with a guide shaft penetrating hole 702 corresponding to the guide shaft 25, so that the lifting cross beam 7 is stable and reliable in lifting.

[0056] Specifically, eight radar detectors 26 are mounted on the whole formed by the connection of the vehicle body main body 1 and the two lifting cross beam mounting outer frames 2, which are respectively used for dynamically monitoring the front, rear, left and right directions of the four-way vehicle and the obliquely upper sides of the two sides of the transverse walking, and are safe and reliable. In the embodiment, the radar detectors 26 are all commercially available products, which are connected and communicated with the controller of the jacking four-way vehicle.

Claims

1. A lifting four-way vehicle, characterized in that: Includes the main body of the vehicle (1), the outer frame for mounting the lifting crossbeam (2), the transverse traveling wheel (3), the longitudinal traveling wheel (4), the traveling wheel drive component (5), the traveling wheel drive transmission component, the lifting crossbeam drive component (6), the lifting crossbeam drive transmission component, the lifting crossbeam (7), the lifting swing arm (8), the lifting plate (9), and the lifting wheel (10); A plurality of transverse wheels (3) are rotatably provided on the front and rear sides of the vehicle body (1), and the axes of all the transverse wheels (3) are parallel to the front and rear directions of the vehicle body (1). The vehicle body (1) has a lifting beam mounting frame (2) on each of its left and right sides. Each lifting beam mounting frame (2) has a lifting beam (7) on its inner side. The front and rear ends of each lifting beam mounting frame (2) are respectively hinged to the middle of a lifting arm (8). One end of each lifting arm (8) is hinged to the corresponding lifting beam (7) on the inner side of the lifting beam mounting frame (2) to which the lifting arm (8) is connected. Each lifting arm (8) has a longitudinal walking wheel (4) and a lifting wheel (10) on its end away from the lifting beam mounting frame (2) to which it is connected. The swing axis of all the lifting arms (8), the axis of all the longitudinal walking wheels (4), and the axis of all the lifting wheels (10) are parallel to the left and right directions of the vehicle body (1). The outer shell of the walking wheel drive component (5), the outer shell of the lifting beam drive component (6), the walking wheel drive transmission assembly, and the lifting beam drive transmission assembly are respectively disposed on the vehicle body (1); the driving end of the walking wheel drive component (5) is connected to the walking wheel drive transmission assembly and simultaneously drives all the transverse walking wheels (3) and all the longitudinal walking wheels (4) to rotate; the driving end of the lifting beam drive component (6) is connected to the lifting beam drive transmission assembly and simultaneously drives the two lifting beams (7) to rise and fall together, each lifting beam (7) simultaneously drives the two connected lifting swing arms (8) to swing, and each lifting swing arm (8) simultaneously drives the connected longitudinal walking wheel (4) and the lifting wheel (10) to rise or fall; When each of the lifting arms (8) drives the corresponding longitudinal traveling wheel (4) to the lowest position, the height position of the lowest point of all the longitudinal traveling wheels (4) is lower than the height position of the lowest point of all the transverse traveling wheels (3); when each of the lifting arms (8) drives the corresponding longitudinal traveling wheel (4) to the highest position, the height position of the lowest point of all the longitudinal traveling wheels (4) is higher than the height position of the lowest point of all the transverse traveling wheels (3). A lifting plate (9) is provided on the front and rear sides of the upper part of the vehicle body (1). The length direction of the two lifting plates (9) is parallel to the left and right direction of the vehicle body (1). The lifting plate (9) located on the front side can be lifted by two corresponding lifting wheels (10) located on the front side of the vehicle body (1), and the lifting plate (9) located on the rear side can be lifted by two corresponding lifting wheels (10) located on the rear side of the vehicle body (1).

2. A lifting four-way vehicle according to claim 1, characterized in that: Each of the lifting plates (9) has two lifting wheel holders (901) on its lower surface. Each lifting wheel holder (901) has a lifting wheel guide groove (902) for inserting a corresponding lifting wheel (10).

3. A lifting four-way vehicle according to claim 1, characterized in that: The driving transmission assembly for the walking wheel includes a spur gear transmission mechanism A (11), a bevel gear transmission mechanism A (12), a bevel gear transmission mechanism B (13), a spur gear transmission mechanism B (14), a sprocket and chain transmission mechanism A (15), and a sprocket and chain transmission mechanism B (16); The spur gear transmission mechanism A (11) is provided in one set, the bevel gear transmission mechanism A (12) and bevel gear transmission mechanism B (13) are provided in two sets respectively, and the spur gear transmission mechanism B (14) is provided in four sets. The spur gear transmission mechanism A (11) has one input shaft and two coaxial output shafts. Each set of the bevel gear transmission mechanism A (12) has one input shaft, one output shaft parallel to the front-rear direction of the vehicle body (1), and two output shafts parallel to the left-right direction of the vehicle body (1). Each set of the bevel gear transmission mechanism B (13) has one input shaft, one output shaft parallel to the front-rear direction of the vehicle body (1), and one output shaft parallel to the left-right direction of the vehicle body (1). Each set of the spur gear transmission mechanism B (14) has one input shaft and one output shaft parallel to the left-right direction of the vehicle body (1). The input shaft of the spur gear transmission mechanism A (11) is connected to the drive end of the walking wheel drive (5). One of the output shafts of the spur gear transmission mechanism A (11) is connected to the input shaft of the first set of bevel gear transmission mechanisms A (12). The other output shaft of the spur gear transmission mechanism A (11) is connected to the input shaft of the second set of bevel gear transmission mechanisms A (12) via a long transmission shaft A (17). One of the output shafts of the two sets of bevel gear transmission mechanisms A (12) parallel to the left-right direction of the vehicle body (1) is connected to the input shaft of the corresponding set of bevel gear transmission mechanisms B (13) via a long transmission shaft B (18). The output shafts of each set of bevel gear transmission mechanisms A (12) parallel to the front-back direction of the vehicle body (1) are connected to the input shaft of the corresponding set of bevel gear transmission mechanisms B (13). The output shafts of each set of bevel gear transmission mechanisms B (13), which are parallel to the front-rear direction of the vehicle body (1), are connected to the axles of several transverse traveling wheels (3) through a set of sprocket and chain transmission mechanisms A (15). The other output shaft of each set of bevel gear transmission mechanisms A (12), which is parallel to the left-right direction of the vehicle body (1), and the other output shaft of each set of bevel gear transmission mechanisms B (13), which is parallel to the left-right direction of the vehicle body (1), are connected to the input shaft of the corresponding set of spur gear transmission mechanisms B (14). The output shaft of each set of spur gear transmission mechanisms B (14) is connected to the axle of a corresponding longitudinal traveling wheel (4) through a set of sprocket and chain transmission mechanisms B (16).

4. A lifting four-way vehicle according to claim 3, characterized in that: The axial direction of the driving end of the walking wheel drive (5) and the axial direction of the long transmission shaft A (17) are parallel to the front-rear direction of the vehicle body (1), and the axial direction of each of the long transmission shafts B (18) is parallel to the left-right direction of the vehicle body (1).

5. A lifting four-way vehicle according to claim 3, characterized in that: The axis of the output shaft of each set of spur gear transmission mechanism B (14) is collinear with the swing axis of the corresponding lifting arm (8).

6. A lifting four-way vehicle according to claim 1, characterized in that: The lifting beam drive transmission assembly includes a sprocket and chain transmission mechanism C (19), a sprocket and chain transmission mechanism D (20), a spur gear transmission mechanism C (21), an eccentric rotating arm (22), and a drive column (23); The sprocket and chain transmission mechanism C (19) is provided in one set, and the sprocket and chain transmission mechanism D (20) and the spur gear transmission mechanism C (21) are provided in two sets respectively. The sprocket and chain transmission mechanism C (19) has one input shaft and two coaxial output shafts. Each set of the sprocket and chain transmission mechanism D (20) has one input shaft and one output shaft. Each set of the spur gear transmission mechanism C (21) has one input shaft parallel to the left and right direction of the vehicle body (1) and several output shafts parallel to the left and right direction of the vehicle body (1). Each output shaft of each set of the spur gear transmission mechanism C (21) serves as a lifting beam drive shaft (2101). The input shaft of the sprocket and chain drive mechanism C (19) is connected to the drive end of the lifting beam drive (6). One output shaft of the sprocket and chain drive mechanism C (19) is connected to the input shaft of the first set of sprocket and chain drive mechanisms D (20). The other output shaft of the sprocket and chain drive mechanism C (19) is connected to the input shaft of the second set of sprocket and chain drive mechanisms D (20) via a long drive shaft C (24). The output shafts of the two sets of sprocket and chain drive mechanisms D (20) are respectively connected to the corresponding input shafts. The input shafts of a set of spur gear transmission mechanisms C (21) are connected. The end of each lifting beam drive shaft (2101) of each set of spur gear transmission mechanisms C (21) that is away from the main body of the vehicle (1) is respectively connected to one end of an eccentric rotary arm (22). The other end of each eccentric rotary arm (22) is respectively installed with a drive column (23). The axis of each drive column (23) is parallel to and not collinear with the axis of all the lifting beam drive shafts (2101). Each of the lifting beams (7) has several drive shaft slots (701) on one side near the vehicle body (1) for inserting the corresponding drive columns (23); when each of the lifting beam drive shafts (2101) is driven to rotate, each of the eccentric rotating arms (22) drives the connected drive columns (23) to rotate around the axis of the corresponding lifting beam drive shaft (2101), and then each of the drive columns (23) drives the corresponding connected lifting beams (7) to rise and fall.

7. A lifting four-way vehicle according to claim 6, characterized in that: The axis of the drive end of the lifting beam drive (6) and the axis of the long transmission shaft C (24) are both parallel to the left and right directions of the vehicle body (1).

8. A lifting four-way vehicle according to claim 6, characterized in that: Each of the spur gear transmission mechanisms C(21) has two output shafts, that is, two lifting beam drive shafts (2101), and the two lifting beam drive shafts (2101) of each of the spur gear transmission mechanisms C(21) rotate in opposite directions.

9. A lifting four-way vehicle according to claim 1, characterized in that: Each of the lifting beam mounting frames (2) has a number of guide shafts (25) on its inner side. The axis of each guide shaft (25) is perpendicular to the horizontal plane. The lifting beam (7) on the inner side of each lifting beam mounting frame (2) is passed through by each of the guide shafts (25) on the inner side of the same lifting beam mounting frame (2). Each lifting beam (7) has a guide shaft through hole (702) for the corresponding guide shaft (25) to pass through.

10. A lifting four-way vehicle according to claim 1, characterized in that: Several radar detectors (26) are installed on the whole body (1) connected to the outer frame (2) of the two lifting beams.

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