Four-way vehicle carrying cargo jacking mechanism

Abstract

The invention discloses a four-way vehicle carrying a cargo jacking mechanism in the field of four-way vehicles, the four-way vehicle comprises the jacking mechanism, a transmission device, walking wheels and a reversing mechanism, the jacking mechanism comprises a jacking supporting plate, a sliding jacking block and a servo motor, the servo motor is connected with the sliding jacking block and drives the sliding jacking block to slide on a frame strip guide rail, and the transmission device is connected with the transmission device. The jacking supporting plate is installed in a jacking sliding groove in the sliding jacking block through a jacking rod frame. A reversing mechanism is installed on the walking wheels. The four-way vehicle is provided with the jacking mechanism, the jacking mechanism drives the sliding jacking block to move horizontally through the arranged servo motor, vertical movement of the jacking rod frame on the sliding jacking block is achieved, the jacking mechanism is simplified, the application range of the four-way vehicle is expanded, the universality of the four-way vehicle is greatly improved, all the structures are arranged compactly, and the structure is compact. The thickness of the four-way vehicle is reduced, and the cargo storage efficiency can be further improved in a multi-layer working environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of four-way vehicles, in particular to a four-way vehicle with a cargo lifting mechanism. BACKGROUND

[0002] At present, with the improvement of productivity, the requirements for the logistics transportation efficiency of the warehouse and the volume rate of the cargo storage are also increasing. In order to meet the demand, the domestic introduces and further develops the intensive rack storage system, and the four-way shuttle cargo transportation vehicle is the core of the efficient storage of this type of storage system. Since the transportation efficiency of the four-way shuttle vehicle is affected by the lifting system, a lifting transportation mechanism for the four-way vehicle is designed and invented.

[0003] In the field of four-way vehicle technology, multiple motor drives (walking, lifting drive) are often used, resulting in heavy vehicle body and high cost. There are some problems in the lifting transportation system of the cargo, such as synchronization and stability problems during lifting, especially four-corner lifting, which is easy to cause the lifting plate to tilt and be stuck, Based on the development trend of miniaturization and increasing cargo capacity of four-way vehicles, considering the instability of the lifting mechanism, the present application aims to design a four-way vehicle with a cargo lifting mechanism suitable for lighter and smaller four-way vehicles and more stable loading operation. SUMMARY

[0004] The purpose of the present application is to provide a four-way vehicle with a cargo lifting mechanism, which is compact in structure and reduces the thickness of the four-way vehicle.

[0005] To solve the above technical problems, the following technical solutions are adopted: The present application provides a four-way vehicle with a cargo lifting mechanism, comprising: a lifting mechanism installed in a housing, including a lifting plate, a sliding lifting block and a servo motor, the servo motor is connected with the sliding lifting block and drives the sliding lifting block to slide on the frame strip guide, the frame strip guide is arranged on the inner bottom of the housing, the lifting plate is installed in the lifting slot on the sliding lifting block through the lifting rod frame, the lifting rod frame is also installed on the fixed buckle, the fixed buckle is used to limit the sliding of the lifting rod frame parallel to the frame strip guide, the sliding lifting block moves in the frame strip guide, so that the lifting rod frame moves relatively in the lifting slot in the direction perpendicular to the inner housing bottom, thereby realizing the lifting movement of the lifting plate; A transmission device is connected to the power device and the walking wheel, which is used to transmit the power output by the power device to the walking wheel; A reversing mechanism is installed on the walking wheel, which is used for the state conversion of the walking wheel.

[0006] Optionally, two sliding jacking blocks are provided, and the two sliding jacking blocks are arranged in parallel, and the bottom of the sliding jacking block is provided with a sliding wheel matched with the frame strip guide rail.

[0007] Optionally, the two sliding jacking blocks are connected together through a connecting plate, the servo motor is installed on a motor rack, and the motor rack is installed on the inner bottom of the shell. The servo motor is connected with the connecting plate through a lead screw and a stroke nut, the output shaft of the servo motor is connected with the lead screw through a shaft coupling, the stroke nut is threadedly matched with the lead screw and connected with the connecting plate, and the servo motor drives the stroke nut to move on the lead screw by driving the lead screw to rotate, so as to push the connecting plate and drive the sliding jacking block to move on the frame strip guide rail.

[0008] Optionally, the jacking sliding groove is a long hole structure penetrating through both sides of the sliding jacking block in a slanting direction, and the jacking sliding groove is provided with horizontal sliding grooves at both ends, and the horizontal sliding grooves are parallel to the bottom of the shell and serve as dead points when the jacking mechanism starts and stops.

[0009] Optionally, the jacking rod frame comprises jacking rods, fixing rods, jacking columns and gaskets, two jacking rods and two fixing rods form a rectangular structure, the two ends of the jacking rods extend from the top corners of the rectangular structure, one end of each of four jacking columns is arranged at the four top corners of the rectangular structure, the gaskets are installed at the other end of the jacking columns, and the jacking support plates are connected with the gaskets.

[0010] Optionally, two jacking support plates are provided, and the two jacking support plates are arranged in parallel, and each jacking support plate is connected with two gaskets.

[0011] Optionally, the jacking rod is provided with a jacking shaft head on the extended edge extending from the top corner of the rectangular structure, the jacking shaft head is installed on a fixing buckle, the fixing buckle is installed on the inner bottom of the shell and located at the side of the frame strip guide rail, a long slot is formed in the fixing buckle, the jacking rod moves in the jacking sliding groove, and the jacking shaft head moves in the long slot when the jacking rod frame moves up and down.

[0012] Optionally, the jacking rod is located in the jacking sliding groove with the side length of the rectangular structure, and the fixing rod is located at the outer side of the sliding jacking block, so that the jacking rod frame is limited to move in the direction parallel to the jacking rod by the fixing rod arranged at the outer side of the sliding jacking block.

[0013] Optionally, the reversing mechanism comprises a reversing drive motor, a reversing slot block and a cam, a bearing is installed on the transmission shaft of the walking wheel, the bearing is arranged in the round rectangular hole of the reversing slot block, the cam is installed in the round rectangular hole, the cam is located below the bearing and is in contact with the bearing, the cam is connected with the output shaft of the reversing drive motor, the cam is driven to rotate by the reversing drive motor, the long side end of the cam is in contact with the bearing or the short side end of the cam is in contact with the bearing; When the long side end of the cam in contact with the bearing, the walking wheel is lifted off the ground; When the short side end of the cam in contact with the bearing, the walking wheel contacts the ground.

[0014] Optionally, a support column is arranged inside the shell, one end of the support column is installed at the bottom of the shell, and the other end is installed at the top of the shell, a through hole is formed in the top of the shell for the extension of the supporting plate; The walking wheel comprises X-direction walking wheels and Y-direction walking wheels, a plurality of X-direction walking wheels are uniformly arranged on the opposite outer sides of the shell, and a plurality of Y-direction walking wheels are uniformly arranged on the other opposite outer sides of the shell; The transmission device comprises X-direction transmission rods and Y-direction transmission rods, the two ends of the X-direction transmission rods are respectively connected with the X-direction walking wheels through chains, and the two ends of the Y-direction transmission rods are respectively connected with the Y-direction walking wheels through chains; The X-direction transmission rods are installed on the X mounting blocks arranged on the inner bottom of the shell, and the Y-direction transmission rods are installed on the Y mounting blocks arranged on the inner bottom of the shell; The power device comprises at least one walking drive motor, the output end of the walking drive motor is connected with the X-direction transmission rods through gear set one and connected with the Y-direction transmission rods through gear set two.

[0015] Compared with the prior art, the present application has the following advantages: 1、The four-way vehicle provided by the present application is provided with a jacking mechanism, the jacking mechanism drives the horizontal movement of the sliding jacking block through the servo motor, realizes the vertical movement of the jacking rod frame on the sliding jacking block, simplifies the jacking mechanism, expands the application range of the device, greatly improves the universality of the present application, arranges the structures compactly, reduces the thickness of the four-way vehicle, and further improves the cargo storage efficiency in a multi-layer working environment.

[0016] 2、The four-way vehicle provided by the present application uses a single motor for walking drive, saves the internal space of the four-way vehicle, can further realize the miniaturization of the four-way vehicle, and can provide space conditions for expanding other modules.

[0017] 3、The four-way vehicle can realize right-angle turning through the difference in position between the X group of walking wheels and the Y group of walking wheels in the vertical direction controlled by the cam driven by the motor, and through the mode of one group of walking and one group of idling.

[0018] 4、The four-way vehicle can realize cargo jacking through the cooperation of the screw rod, the nut and the driving motor, the transverse and longitudinal displacement of the supporting plate is limited by the fixed buckle with lifting function, and the stable, simple and efficient mechanical structure is used to realize the cargo jacking of the four-way vehicle, so that the problems of different step and instability caused by four-corner jacking are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the external structure schematic diagram of the four-way vehicle in the embodiment of the present application; Figure 2 is one of the internal structure schematic diagrams of the four-way vehicle in the embodiment of the present application; Figure 3 is the second internal structure schematic diagram of the four-way vehicle in the embodiment of the present application; Figure 4 is one of the structure schematic diagrams of the jacking mechanism in the embodiment of the present application; Figure 5 is the second structure schematic diagram of the jacking mechanism in the embodiment of the present application; Figure 6 is the third structure schematic diagram of the jacking mechanism in the embodiment of the present application; Figure 7 is one of the structure schematic diagrams of the jacking rod frame in the embodiment of the present application; Figure 8 is the second structure schematic diagram of the jacking rod frame in the embodiment of the present application; Figure 9 is the force structure schematic diagram of the jacking mechanism during lifting in the embodiment of the present application; Figure 10 is the connection schematic diagram of the servo motor and the connecting plate in the embodiment of the present application; Figure 11 is the structure schematic diagram of the reversing mechanism on the walking wheel in the embodiment of the present application; Figure 12 is one of the enlarged structure schematic diagrams of the reversing mechanism in the embodiment of the present application; Figure 13 is the second enlarged structure schematic diagram of the reversing mechanism in the embodiment of the present application.

[0020] EXPLANATION OF REFERENCE NUMERALS: 1, housing; 2, jacking support plate; 3, fixed buckle; 4, jacking rod frame; 5, jacking column; 6, sliding jacking block; 7, frame strip guide rail; 8, connecting plate; 9, motor rack; 10, servo motor; 11, jacking sliding groove; 12, jacking rod; 13, screw rod; 14, stroke nut; 15, shaft coupling; 16, sliding wheel; 17, gasket; 18, jacking shaft head; 19, fixed rod; 20, support column; 21, Y direction walking wheel; 22, X direction transmission rod; 23, Y direction transmission rod; 24, X direction walking wheel; 25, walking drive motor; 26, Y mounting block; 27, X mounting block; 28, reversing drive motor; 29, reversing groove block; 30, cam; 31, bearing; 32, chain. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use.

[0022] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more. In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0023] Example one

[0024] The embodiment provides a four-way vehicle with a cargo lifting mechanism, which comprises a shell 1, a lifting mechanism, a power device, a transmission device, walking wheels and a reversing mechanism, the lifting mechanism is installed in the shell 1, a lifting support plate 2 on the lifting mechanism extends out of the shell 1, the lifting support plate 2 moves up and down in the vertical direction, and the lifting support plate 2 realizes the carrying of the cargo on the lifting support plate 2. The transmission device is connected with the walking wheels and the power device, the driving force of the power device is transmitted to the walking wheels, the walking wheels are uniformly arranged on the outer side of the shell 1, the reversing mechanism is installed on each walking wheel, the use state of the walking wheels at different positions is changed through the reversing mechanism, and the reversing function of the whole four-way vehicle is realized.

[0025] As shown in Figure 1 , Figure 2 , Figure 4 , Figure 8 The lifting mechanism comprises the lifting support plate 2, a sliding lifting block 6 and a servo motor 10, the servo motor 10 is connected with the sliding lifting block 6 and drives the sliding lifting block 6 to slide on a frame strip guide rail 7, the frame strip guide rail 7 is arranged on the inner bottom of the shell 1, the lifting support plate 2 is installed in a lifting sliding groove 11 on the sliding lifting block 6 through a lifting rod frame 4, the lifting rod frame 4 is also installed on a fixing buckle 3, the fixing buckle 3 is used for limiting the lifting rod frame 4 to move in the direction parallel to the frame strip guide rail 7, the sliding lifting block 6 moves in the frame strip guide rail 7, so that the lifting rod frame 4 moves relatively in the lifting sliding groove 11 in the direction perpendicular to the inner shell bottom, thereby realizing the lifting movement of the lifting support plate 2. The reversing mechanism drives the cam 30 to rotate through a reversing drive motor 28, realizes the different use states of the walking wheels, and specifically, the cam 30 has a long side and a short side, the cam 30 is driven to rotate through the drive motor, the long side of the cam 30 cooperates with the walking wheel, the walking wheel is lifted to be separated from the ground, in use, the walking wheel is lifted to be idled, when the short side of the cam 30 cooperates with the walking wheel, the walking wheel contacts the ground and drives the shell 1 to walk, the lifting of the walking wheels at different positions of the shell 1 is controlled, and the steering function of the four-way vehicle in walking is realized.

[0026] The horizontal movement of the sliding lifting block 6 is driven, the vertical movement of the lifting rod frame 4 is realized, the structure is simple, the layout between structures is compact, the thickness of the device is reduced, the applicability of the device is improved, compared with the body thickness of other competitive products on the market which is generally 180-200mm, the four-way vehicle can be reduced to 145mm. In a multi-layer working environment, the cargo storage efficiency can be further improved.

[0027] Embodiment two

[0028] The embodiment provides a four-way vehicle with a cargo lifting mechanism. A through hole is formed in the top plate of a shell 1. The through hole has the same shape as the lifting plate 2 and is slightly larger than the lifting plate 2. The lifting plate 2 extends out of the through hole to lift the cargo. Four support columns 20 are arranged in the shell 1. One end of the support column 20 is arranged at the inner bottom of the shell 1, and the other end is arranged at the inner top of the shell 1. The support column 20 improves the stability of the shell 1 and avoids affecting the internal structure of the shell 1 when the cargo falls on the top plate of the shell 1.

[0029] As shown in Figure 2 , Figure 5 , Figure 6 Two sliding lifting blocks 6 are arranged in the shell 1. The two sliding lifting blocks 6 are arranged in parallel on two frame strip guide rails 7. A plurality of sliding wheels 16 are arranged at the bottom of the sliding lifting block 6. The sliding wheels 16 are matched with the frame strip guide rails 7 to reduce the moving resistance. A servo motor 10 is arranged on a motor rack 9. The motor rack 9 is fixed to the inner bottom of the shell 1 and located between the two frame strip guide rails 7. Two adjacent sides of the two sliding lifting blocks 6 are connected by a connecting plate 8. The two sliding lifting blocks 6 are connected by the connecting plate 8. The connecting plate 8 has an L-shaped structure. One end of the connecting plate 8 is perpendicular to the two sliding lifting blocks 6 and is fixed between the two sliding lifting blocks 6. The other end of the connecting plate 8 is parallel to the two sliding lifting blocks 6 and is fixed between the two sliding lifting blocks 6. The connecting plate 8 is connected with the servo motor 10 through a lead screw 13 and a stroke nut 14. The servo motor 10 is coaxially connected with the lead screw 13 through a shaft coupling 15. The servo motor 10 drives the lead screw 13 to rotate clockwise and counterclockwise. The lead screw 13 is coaxially matched with the stroke nut 14. The threaded holes on the stroke nut 14 and the threaded holes on one side of the connecting plate 8 are matched and fixed. When the servo motor 10 works, the lead screw 13 rotates in the stroke nut 14 and drives the stroke nut 14 and the connecting plate 8 to reciprocate. The two sides of the connecting plate 8 are connected with the two sliding lifting blocks 6. Therefore, under the driving action of the motor, the stroke nut 14, the connecting plate 8 and the sliding lifting blocks 6 reciprocate along the axial direction of the lead screw 13.

[0030] The sliding lifting block 6 is provided with a through lifting chute 11. The lifting chute 11 is in a slope type. The initial section and the end section are flat. The length of the vertical projection of the initial section, the middle section and the end section of the lifting chute 11 to the bottom plate is less than the total working length of the lead screw 13 and the stroke nut 14. The lead screw 13 and the stroke nut 14 can reach the upper and lower limit positions required by the lifting movement. Each sliding lifting block 6 has two lifting chutes 11 which are equal in height and congruent.

[0031] The jacking rod frame 4 comprises the jacking rods 12, the fixed rods 19, the jacking columns 5 and the pads 17, two jacking rods 12 and two fixed rods 19 form a rectangular structure, the jacking rods 12 are longer, the two ends of the jacking rods 12 extend from the top corners of the rectangular structure, the jacking columns 5 are vertically installed at the four top corners of the rectangular structure, the pads 17 are installed at the top of the jacking columns 5, the jacking columns 5 are provided with four, the top of each jacking column 5 is provided with a pad 17, the pad 17 is fixedly connected with the jacking plate 2, the jacking plate 2 is a long rectangular structure, provided with two, the two jacking plates 2 are arranged in parallel, and each jacking plate 2 is fixedly connected with two pads 17. The jacking rods 12 are located in the jacking grooves 11 in the length of the rectangular structure, that is, the two jacking rods 12 are perpendicular to the sliding jacking blocks 6, the two fixed rods 19 are parallel to the sliding jacking blocks 6, and the two fixed rods 19 are located on the two outer sides of the sliding jacking blocks 6, so as to limit the movement of the jacking rod frame 4 in the horizontal direction parallel to the jacking rods 12.

[0032] As shown in Figure 6 , Figure 7 , Figure 8 , the end of the jacking rod 12 extending from the top corner is provided with a jacking shaft head 18, the four ends of the two jacking rods 12 are provided with the jacking shaft heads 18, the jacking shaft head 18 is installed on the fixed buckle 3, the bottom of the fixed buckle 3 is installed on the inner bottom of the shell 1, the vertical long slot is formed in the fixed buckle 3, and the jacking shaft head 18 moves in the long slot when the jacking rod 12 moves in the jacking groove 11. The movement of the jacking rod frame 4 in the horizontal direction parallel to the fixed rods 19 is limited by the fixed buckle 3, the fixed buckle 3 is provided with four, and the jacking rod frame 4 and the jacking plate 2 can only move in the vertical direction under the constraint of the four fixed buckles 3.

[0033] As shown in Figure 2 , Figure 7 , Figure 9 , Figure 10 , when the servo motor 10 is driven, the sliding jacking block 6 starts to move horizontally in the frame strip guide rail 7, the jacking groove 11 on the sliding jacking block 6 provides a driving force of the servo motor 10-screw rod 13-traveling nut 14 in the horizontal direction for the two ends of the jacking rod 12, but on the middle segment slope surface of the jacking groove 11, taking the jacking working state as an example, as shown in Figure 8As shown, the driving torque F1 provided by the servo motor 10 is used to overcome the gravity G of the lifting rod frame 4, the lifting support plate 2 and the cargo, the friction between the lifting rod 12 and the slope surface (calculated by the vertical pressure F2), and to provide the lifting rod frame 4 with a pushing force along the slope surface. At this time, the two ends of the lifting rod 12 are fixed by the horizontal limiting buckle 3 and cannot move horizontally, so that the lifting column 5 can only be lifted upward. The lifting shaft head 18 and the lifting rod 12 can also move up and down in the vertical direction of the fixed buckle 3, and cooperate with the lifting support plate 2 and the lifting column 5 to maintain the corresponding horizontal plane height. Therefore, when the servo motor 10 is driven, the screw rod 13 rotates to drive the travel nut 14, the connecting plate 8 where the travel nut 14 is located drives the two sliding lifting blocks 6 to move in the frame strip guide rail 7, the two sliding lifting blocks 6 lift the lifting rod frame 4, the lifting column 5 fixed on the lifting rod frame 4 is fixed with the lifting support plate 2 and is also lifted, and the two parallel lifting support plates 2 support the pallet with the cargo. At this time, the cargo lifting can be realized.

[0034] As shown in Figure 1 , Figure 2 , Figure 11 , Figure 12 , Figure 13 As shown, the side of the shell 1 is provided with a walking wheel, and the walking wheel is connected with a walking driving motor 25 through a transmission rod. A reversing mechanism is also installed on each walking wheel, and the reversing mechanism includes a reversing driving motor 28, a reversing slot block 29 and a cam 30. The reversing slot block 29 is arranged on the side of the shell 1 and is provided with a round rectangular hole. A bearing 31 is arranged on the rotating shaft of the walking wheel and is arranged in the round rectangular hole. The horizontal sides of the bearing 31 are in contact with the inner wall of the round rectangular hole, and the vertical sides of the bearing 31 are suspended. The cam 30 is arranged below the bearing 31 and is connected with the output shaft of the reversing driving motor 28. The reversing motor drives the cam 30 to rotate. The cam 30 has a long side and a short side. When the long side of the cam 30 is in contact with the shaft, the cam 30 lifts the bearing 31, so that the walking wheel connected with the bearing 31 is lifted and separated from the ground, and the four-way vehicle cannot be driven to walk. When the short side of the cam 30 is in contact with the bearing 31, the walking wheel is in a normal use state.

[0035] As shown in Figure 2 , Figure 3As shown, the walking wheels include X-direction walking wheels 24 arranged in the X direction of the shell 1 and Y-direction walking wheels 21 arranged in the Y direction, the X-direction walking wheels 24 are provided with four, every two X-direction walking wheels 24 are drivingly connected through an X-direction transmission rod 22, the X-direction walking wheels 24 are drivingly connected with the X-direction transmission rod 22 through a chain transmission, a sprocket is arranged on both ends of the X-direction transmission rod 22, and a sprocket is also arranged on the X-direction walking wheels 24, the two sprockets are connected through a chain 32, so that the X-direction transmission rod 22 drives the X-direction walking wheels 24 to rotate, the X-direction transmission rod 22 is fixed on both ends inside the shell 1 through an X mounting block 27, and the X mounting block 27 is fixed on the inner bottom of the shell 1.

[0036] The Y-direction walking wheels 21 are provided with eight, every four Y-direction walking wheels 21 are drivingly connected through a Y-direction transmission rod 23, the Y-direction walking wheels 21 are drivingly connected with the Y-direction transmission rod 23 through a chain transmission, every two Y-direction walking wheels 21 on one side are arranged close to each other, the Y-direction transmission rod 23 is located in the middle of the two Y-direction walking wheels 21 close to each other, sprockets are arranged on the Y-direction walking wheels 21 and the Y-direction transmission rod 23, three sprockets are connected through a chain, so that the Y-direction transmission rod 23 drives the Y-direction walking wheels 21 to rotate, and both ends of the Y-direction transmission rod 23 inside the shell 1 are fixed through a Y mounting block 26.

[0037] In the embodiment, the power device for driving the walking wheels to rotate is a walking driving motor 25, one or two walking driving motors 25 are installed in the shell, one walking driving motor 25 is connected with the walking wheels in the X direction and the Y direction through a gear set and a transmission rod.

[0038] As shown in the figure, Figure 3 when two walking driving motors 25 are arranged, the X-direction transmission rod 22 and the Y-direction transmission rod 23 are both provided with two, which are arranged above and below and cross each other, the output shaft of the walking driving motor 25 is connected with the X-direction transmission rod 22 through a gear set one and connected with the Y-direction transmission rod 23 through a gear set two, the X-direction transmission rod 22 and the Y-direction transmission rod 23 connected with the walking driving motor 25 are arranged adjacent to and cross each other, and the output shaft of the walking driving motor 25 is arranged at the cross position of the two, the gear set one is a straight gear set, a straight gear is installed on the X-direction transmission rod 22, and another straight gear matched with the straight gear is installed on the output shaft of the walking driving motor 25 and drivingly connected through the straight gears. The gear set two is a bevel gear set, a bevel gear is installed on the Y-direction transmission rod 23, and another bevel gear matched with the bevel gear is installed on the output shaft of the walking driving motor 25 and drivingly connected through the bevel gears, so that the movement of the four sides is driven by a single motor.

[0039] As shown in the figure, Figure 2As shown, when one walking driving motor is arranged, one X-direction transmission rod 22 and one Y-direction transmission rod 23 are arranged, one walking driving motor is connected with the X-direction transmission rod 22 and the Y-direction transmission rod 23 through gear set one and gear set two respectively, two ends of the X-direction transmission rod 22 are connected with one X-direction walking wheel 24 through chain sprocket respectively, two ends of the Y-direction transmission rod 23 are connected with two Y-direction walking wheels 21 through chain sprocket respectively, and one X-direction walking wheel 24 for supporting is arranged in the X direction of the shell, and one Y-direction walking wheel 21 for supporting is arranged in the Y direction of the shell.

[0040] In use, the walking driving motor 25 is started to drive the X-direction transmission rod 22 and the Y-direction transmission rod 23 to rotate, thereby driving the X-direction walking wheel 24 and the Y-direction walking wheel 21 to rotate, when the four-direction vehicle walks in the X direction, the reversing driving motor 28 works, so that the short side of the cam 30 on the X-direction walking wheel 24 contacts the bearing 31 on the X-direction walking wheel 24, at this time, the X-direction wheel system is lowered as a whole, contacts the ground to walk, and the long side of the cam 30 on the Y-direction walking wheel 21 contacts the bearing 31 on the Y-direction walking wheel 21, at this time, the Y-direction wheel system is separated from the ground to idle, at this time, the walking wheel state is as shown in the figure; when the four-direction vehicle walks in the Y direction, the reversing driving motor 28 works, the long side of the cam 30 contacts the X-wheel mounting bearing 31, at this time, the X-wheel system is lifted as a whole, separated from the ground to idle, and the Y-wheel system contacts the ground to walk.

[0041] The above only is the preferred embodiment of the present application, it should be pointed out, for ordinary skilled in the art, without departing from the technical principles of the present application, can also make several improvements and modifications, these improvements and modifications also should be considered as the protection scope of the present application.

Claims

1. A four-way vehicle equipped with a cargo lifting mechanism, characterized in that, include: A lifting mechanism, installed inside the housing, includes a lifting support plate, a sliding lifting block, and a servo motor. The servo motor is connected to the sliding lifting block and drives the sliding lifting block to slide on a frame guide rail. The frame guide rail is located at the inner bottom of the housing. The lifting support plate is installed in a lifting groove on the sliding lifting block via a lifting rod frame. The lifting rod frame is also installed on a fixing buckle, which restricts the sliding of the lifting rod frame on a direction parallel to the frame guide rail. The sliding lifting block moves within the frame guide rail, causing the lifting rod frame to move relative to the inner housing in the lifting groove in a direction perpendicular to the bottom of the inner housing, thereby realizing the lifting and lowering movement of the lifting support plate. A transmission device, connecting a power unit and a traveling wheel, is used to transmit the power output from the power unit to the traveling wheel; The walking wheel is equipped with a reversing mechanism, which is used to switch the walking wheel's usage state.

2. The four-way vehicle equipped with a cargo lifting mechanism according to claim 1, characterized in that, Two sliding lifting blocks are provided, and the two sliding lifting blocks are arranged in parallel. The bottom of each sliding lifting block is equipped with a sliding wheel, which cooperates with the frame guide rail.

3. The four-way vehicle equipped with a cargo lifting mechanism according to claim 2, characterized in that, The two sliding lifting blocks are connected together by a connecting plate, and the servo motor is mounted on a motor stand, which is installed at the bottom of the housing. The servo motor is connected to the connecting plate via a lead screw and a stroke nut. The output shaft of the servo motor is connected to the lead screw via a coupling. The stroke nut is threaded into the lead screw and connected to the connecting plate. The servo motor drives the lead screw to rotate, thereby driving the stroke nut to move on the lead screw, which in turn pushes the connecting plate and drives the sliding lifting block to move on the frame guide rail.

4. The four-way vehicle equipped with a cargo lifting mechanism according to claim 1, characterized in that, The lifting chute is an obliquely oriented elongated hole structure that runs through both sides of the sliding lifting block. Both ends of the lifting chute are provided with horizontal chutes, which are parallel to the bottom of the housing and serve as dead points at the start and end positions of the lifting mechanism.

5. The four-way vehicle equipped with a cargo lifting mechanism according to claim 1, characterized in that, The lifting rod frame includes lifting rods, fixing rods, lifting columns, and shims. Two lifting rods and two fixing rods form a rectangular structure, and both ends of the lifting rods extend from the top corners of the rectangular structure. One end of each of the four lifting columns is located at one of the four top corners of the rectangular structure. The shims are installed at the other end of the lifting columns, and the lifting support plate is connected to the shims.

6. The four-way vehicle equipped with a cargo lifting mechanism according to claim 5, characterized in that, There are two lifting plates, which are arranged in parallel, and each lifting plate is connected to two gaskets.

7. The four-way vehicle equipped with a cargo lifting mechanism according to claim 5, characterized in that, The lifting rod extends from the top corner of the rectangular structure and has a lifting shaft head on its extended side. The lifting shaft head is mounted on the fixing buckle, which is installed on the inner bottom of the housing and located on the side of the frame guide rail. The fixing buckle has an elongated slot. When the lifting rod frame moves up and down, the lifting rod moves in the lifting slide groove, and the lifting shaft head moves in the elongated slot.

8. The four-way vehicle equipped with a cargo lifting mechanism according to claim 5, characterized in that, The lifting rod is located within the lifting groove along the side length of the rectangular structure. The fixing rod is located on the outer side of the sliding lifting block, and the fixing rod restricts the movement of the lifting rod frame in a direction parallel to the lifting rod by being located on the outer side of the sliding lifting block.

9. The four-way vehicle equipped with a cargo lifting mechanism according to claim 1, characterized in that, The reversing mechanism includes a reversing drive motor, a reversing slot block, and a cam. A bearing is mounted on the drive shaft of the traveling wheel. The bearing is disposed in a rounded rectangular hole in the reversing slot block. The cam is mounted in the rounded rectangular hole and is located below the bearing, where it contacts and engages with the bearing. The cam is connected to the output shaft of the reversing drive motor. The cam is driven to rotate by the reversing drive motor, so that either the long end or the short end of the cam contacts the bearing. When the long side end of the cam rotates to contact the bearing, the walking wheel is lifted off the ground; When the cam rotates to the point where its short end contacts the bearing, the walking wheel contacts the ground.

10. The four-way vehicle equipped with a cargo lifting mechanism according to claim 1, characterized in that, The housing is equipped with a support column inside, one end of which is installed at the bottom of the housing and the other end is installed at the top of the housing. The top of the housing has a through hole for the tray to extend out. The traveling wheels include X-axis traveling wheels and Y-axis traveling wheels. A plurality of X-axis traveling wheels are evenly arranged on opposite outer sides of the housing, and a plurality of Y-axis traveling wheels are evenly arranged on the other opposite outer side of the housing. The transmission device includes an X-axis transmission rod and a Y-axis transmission rod. The two ends of the X-axis transmission rod are respectively connected to the X-axis traveling wheel via chains, and the two ends of the Y-axis transmission rod are respectively connected to the Y-axis traveling wheel via chains. The bottom of the housing is equipped with an X mounting block for mounting the X-axis transmission rod and a Y mounting block for mounting the Y-axis transmission rod. The power unit includes at least one walking drive motor. The output end of the walking drive motor is connected to the X-axis transmission rod through a gear set one and to the Y-axis transmission rod through a gear set two.

Images