Four-way shuttle vehicle jacking reversing mechanism

Abstract

The utility model provides a four-way shuttle vehicle jacking and reversing mechanism which comprises a jacking plate installed on a vehicle frame of a four-way shuttle vehicle, a jacking and reversing frame capable of vertically moving relative to the vehicle frame and a jacking and reversing unit driving the jacking and reversing frame to vertically move relative to the vehicle frame. The jacking plate can be lifted by the jacking reversing frame and can vertically move along with the jacking reversing frame to pick and place goods, one of a main directional wheel and a sub-directional wheel of the four-directional shuttle vehicle is mounted on the vehicle frame and can vertically move along with the vehicle frame, and the other one can vertically move along with the jacking reversing frame; the threaded lead screw rotates through the electric driving mechanism, and the push rod can slide in the linear groove and the jacking reversing path groove at the same time so that the jacking reversing frame can vertically move relative to the vehicle frame. The power mode is full mechanical operation, power is transmitted through the threaded lead screw and the lead screw sleeve, vertical movement of the jacking reversing frame relative to the vehicle frame is achieved by arranging the push rod, the jacking reversing path groove and the linear groove, the problem of oil leakage pollution is effectively solved, and reliability is high.

Description

Technical Field

[0001] The utility model belongs to the field of shuttle vehicles, and in particular relates to a lifting and reversing mechanism of a four-way shuttle vehicle. Background Art

[0002] In order to improve the utilization rate of storage space and realize high-density storage in warehouses, a shuttle rack system with four-way shuttles as the main equipment came into being. It adds high-precision guide rails to traditional racks, allowing the four-way shuttles to move freely in the racks.

[0003] The four-way shuttle vehicles on the market basically use hydraulic systems for picking up goods and reversing. For example, CN201910068096.8 discloses that the lifting plate is lifted by the second lifting cylinder to lift the goods, and the first lifting cylinder is used to control the lifting of the lateral drive wheel or the longitudinal drive wheel; or CN202110221113.4 discloses that the upper cover is lifted by the lifting hydraulic cylinder to lift the goods, and the reversing hydraulic cylinder drives the reversing bracket to switch between the first bracket position and the second bracket position to realize the reversing function of the four-way shuttle vehicle. The above-mentioned technical solution is provided with multiple hydraulic cylinders, and the pipe layout is cumbersome. There are problems such as hydraulic oil leakage and pressure relief. In severe cases, the oil contaminates the goods, and it is not suitable for use in vertical warehouses such as food, medicine, and precision instruments; and the synchronization of the matching multiple hydraulic cylinders has certain control difficulties. Utility Model Content

[0004] The utility model aims to solve the technical problems existing in the prior art and aims to provide a lifting and reversing mechanism for a four-way shuttle vehicle.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a four-way shuttle vehicle lifting and reversing mechanism, comprising a lifting plate installed on the vehicle frame of the four-way shuttle vehicle, a lifting and reversing frame that can move vertically relative to the vehicle frame, and a lifting and reversing unit that drives the lifting and reversing frame to move vertically relative to the vehicle frame, the lifting plate can be lifted by the lifting and reversing frame and move vertically therewith to pick up and place goods, one of the main wheel and the sub-wheel of the four-way shuttle vehicle is installed on the vehicle frame and can move vertically therewith, and the other can move vertically with the lifting and reversing frame; the lifting and reversing unit comprises a threaded screw rotatably connected to the vehicle frame or the lifting and reversing frame , and a screw sleeve threadedly connected to the threaded screw and capable of sliding along the length direction of the threaded screw, the threaded screw is connected to an electric drive mechanism for driving it to rotate, a push rod is fixedly connected to the outer side of the screw sleeve, the jacking and reversing frame is provided with a jacking and reversing path groove extending horizontally and vertically, a linear groove parallel to the axis of the threaded screw is provided at a position corresponding to the jacking and reversing path groove on the vehicle frame, and the push rod on the outer side of the screw sleeve is simultaneously inserted into the jacking and reversing path groove and the linear groove; the threaded screw is rotated by the electric drive mechanism, and the push rod can slide in the linear groove and the jacking and reversing path groove at the same time, so that the jacking and reversing frame moves vertically relative to the vehicle frame.

[0006] The above technical scheme drives the threaded screw to rotate through the electric drive mechanism, and the rotation of the threaded screw drives the screw sleeve to move along its axial direction. When the screw sleeve drives the push rod to move in the linear groove of the vehicle frame, it will drive the jacking and reversing frame with the jacking and reversing path groove to achieve up and down movement, and the jacking and reversing frame lifts the jacking plate to move up and down to pick up and place goods; and by making the jacking and reversing frame move vertically relative to the vehicle frame, one of the main wheel and the sub-wheel can move with the jacking and reversing frame to land on the ground or leave the ground, and the other can move with the vehicle frame to land on the ground or leave the ground, thereby realizing the reversing function of the four-way shuttle vehicle, and the reversing and picking up and placing of goods share a set of jacking and reversing mechanisms, and both reversing and jacking can be achieved through the jacking and reversing path groove, without the need to set two path grooves, thereby simplifying the overall structure of the four-way shuttle vehicle.

[0007] The power mode of the utility model is fully mechanical operation. Power is transmitted by a threaded screw and a screw sleeve. By arranging a push rod, a jacking reversing path groove and a linear groove, the vertical movement of the jacking reversing frame relative to the vehicle frame is realized, which effectively solves the problem of oil leakage pollution and has high reliability.

[0008] In a preferred embodiment of the present invention, a lifting and reversing frame and a lifting and reversing unit are respectively arranged on both sides of the vehicle frame, and both ends of the lifting plate can be connected to the two lifting and reversing frames respectively.

[0009] Compared with the above technical solution in which a lifting and reversing frame and a lifting and reversing unit are arranged in the middle, this solution makes the vertical movement of the lifting plate smoother, more stable and has a stronger bearing capacity.

[0010] In a preferred embodiment of the present invention, a lifting plate is connected to each of the two side ends of the vehicle frame, and the two lifting plates can be connected to the two ends of the lifting and reversing frame respectively.

[0011] Compared with setting a lifting plate in the middle, the above technical solution sets a lifting plate on each side, which is more evenly stressed, more stable, and convenient for taking and placing goods.

[0012] In a preferred embodiment of the utility model, the threaded screw includes a positive threaded screw and a negative threaded screw arranged in parallel, both the positive threaded screw and the negative threaded screw are threadedly connected with a screw sleeve, two lifting and reversing path grooves are provided on the lifting and reversing frame, and the push rods on the positive threaded screw and the negative threaded screw are inserted into the corresponding lifting and reversing path grooves and the straight line grooves.

[0013] In the above technical solution, when the threaded screw rotates, the push rods connected to the screw sleeves slide synchronously in the two lifting and reversing path grooves. Compared with one lifting and reversing path groove, this solution has more support points, making the relative vertical movement of the lifting and reversing frame and the vehicle frame smoother and more stable.

[0014] In a preferred embodiment of the utility model, the lifting and reversing frame is a rectangular frame structure, the threaded screw and the screw sleeve are located in the rectangular frame, the screw sleeve is clamped in the rectangular frame and can slide therein, a push rod is fixed on each side of the screw sleeve, and lifting and reversing path grooves are provided on both side walls of the rectangular frame, and the push rods on both sides of the screw sleeve are inserted into the corresponding lifting and reversing path grooves and straight grooves.

[0015] The above technical solution provides lifting and reversing path grooves and push rods on both side walls of the lifting and reversing frame, which provides better support for the screw sleeve, makes the movement of the screw sleeve smoother, and further improves the relative vertical movement of the lifting and reversing frame and the vehicle frame to be smoother and more stable.

[0016] In another preferred embodiment of the utility model, a mounting hole for mounting the drive shaft of the main wheel / sub-wheel is provided on the lifting and reversing frame, and a vertical slide groove extending vertically is provided on the vehicle frame. The drive shaft of the main wheel / sub-wheel passes through the mounting hole and the vertical slide groove and can slide vertically in the vertical slide groove.

[0017] In the above technical solution, under the action of the transmission shaft and the mounting hole, the main wheel / sub-wheel moves vertically with the lifting and reversing frame, and the vertical slide groove is the space reserved for the transmission shaft. When the lifting and reversing frame moves up and down, the vehicle frame will not hit the transmission shaft.

[0018] In another preferred embodiment of the utility model, a telescopic righting rod is fixedly connected to the lower end of the jacking plate, and the lower end of the telescopic righting rod passes through a guide hole on the jacking reversing frame and is fixedly connected to the vehicle frame. When the jacking reversing frame lifts the jacking plate for vertical movement, the telescopic righting rod is extended and retracted.

[0019] In the above technical solution, the telescopic straightening rod straightens the jacking plate and the jacking reversing frame, so that the vertical movement of the jacking plate and the jacking reversing frame is smoother, which can prevent the jacking plate and the jacking reversing frame from tilting.

[0020] In another preferred embodiment of the utility model, the jacking and reversing path groove includes a middle horizontal straight section located in the middle, a first oblique line segment and a second oblique line segment inclined upward and downward from the middle horizontal straight section, an upper horizontal straight section connected to the upper end of the first oblique line segment, and a lower horizontal straight section connected to the lower end of the second oblique line segment, the inclination direction of the first oblique line segment and the second oblique line segment are the same; and / or the push rod is provided with a bearing that can slide in the jacking and reversing path groove and the straight line groove.

[0021] According to the above technical solution, when it is necessary to pick up and place goods, the bolt screw rotates to make the push rod move in the middle horizontal straight section, the first oblique section and the upper horizontal straight section of the jacking and reversing path groove, thereby realizing the vertical movement of the jacking and reversing frame to lift the jacking plate to pick up and place goods; when the four-way shuttle vehicle needs to change direction, the bolt screw rotates to make the push rod move in the middle horizontal straight section, the second oblique section and the lower horizontal straight section of the jacking and reversing path groove, thereby realizing the vertical movement of the jacking and reversing frame, thereby realizing the reversing function of the four-way shuttle vehicle; and picking up goods and reversing do not interfere with each other.

[0022] In another preferred embodiment of the utility model, the electric drive mechanism includes a servo motor that can rotate forward and reverse, a reducer coaxially fixed to the output shaft of the servo motor, a first pulley coaxially fixed to the output shaft of the reducer, a second pulley coaxially fixed to the threaded screw, and a synchronous belt arranged outside the first pulley and the second pulley for connecting the two.

[0023] In the above technical solution, the power source is a servo motor, which can be precisely controlled and effectively achieve higher synchronization; and the power output by the servo motor is transmitted through a belt and pulley transmission mechanism, so that the installation position of the servo motor is flexible.

[0024] In another preferred embodiment of the utility model, the threaded screw is supported by a support seat and is rotatably connected thereto; when the threaded screw is rotatably connected to the vehicle frame, the support seat is fixedly connected to the vehicle frame, the servo motor is fixedly mounted on the outside of the vehicle frame, and the outer wall of the vehicle frame is provided with a notch for the synchronous belt to pass through; when the threaded screw is rotatably connected to the jacking and reversing frame, the support seat is fixedly connected to the jacking and reversing frame, and the servo motor is mounted on the outside of the vehicle frame through a servo motor bracket fixedly connected to the jacking and reversing frame, and the outer wall of the vehicle frame is provided with a through-frame hole for the servo motor bracket to pass through, and a notch for the synchronous belt to pass through.

[0025] The above technical solution provides two implementation methods of rotationally connecting the threaded screw to the vehicle frame and the threaded screw to the jacking and reversing frame. When the jacking and reversing frame moves vertically relative to the vehicle frame, the jacking and reversing frame and the vehicle frame will not interfere with the jacking and reversing unit.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 It is a structural schematic diagram of a four-way shuttle lifting and reversing mechanism in an embodiment.

[0029] Figure 2 Schematic diagram of the structure of the vehicle frame in the embodiment.

[0030] Figure 3 It is a structural schematic diagram of the jacking reversing frame and its internal components in the embodiment.

[0031] Figure 4 Schematic diagram of the structure of the lifting and reversing unit in the embodiment.

[0032] Figure 5 is along Figure 1 Schematic diagram of AA sectioning in Figure 1 At this time, the bearing is located in the upper horizontal section of the outermost side of the lifting and reversing path groove.

[0033] Figure 6 is along Figure 1 Schematic diagram of AA sectioning in Figure 2 At this time, the bearing is located in the innermost lower horizontal section of the jacking reversing path groove.

[0034] Figure 7 is along Figure 1 Schematic diagram of AA sectioning in Figure 3 At this time, the bearing is located in the middle horizontal straight section of the jacking reversing path groove.

[0035] Figure 8 Schematic diagram of the connection between the jacking plate and the telescopic righting rod in the embodiment.

[0036] The figure marks in the drawings of the specification include: threaded screw 1, positive threaded screw 101, negative threaded screw 102, telescopic straightening rod 2, upper straightening rod 201, lower straightening rod 202, screw sleeve 3, support seat 4, push rod 5, bearing 6, electric drive mechanism 7, reducer 8, servo motor 9, first pulley 10, second pulley 11, synchronous belt 12, jacking and reversing frame 13, jacking plate 14, vehicle frame 15, main wheel 16, sub-wheel 17, jacking and reversing path groove 18, middle horizontal straight section 181, first oblique line section 182, second oblique line section 183, upper horizontal straight section 184, lower horizontal straight section 185, straight groove 19, rectangular groove 20, mounting hole 21, vertical slide groove 22, guide hole 23, notch 24, gap 25, transmission shaft 26. DETAILED DESCRIPTION

[0037] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "vertical", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be understood as a limitation on the present invention.

[0039] In the description of the present utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection of two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0040] This embodiment provides a four-way shuttle lifting and reversing mechanism, such as Figure 1-Figure 4 As shown, in a preferred embodiment, the lifting and reversing mechanism includes a lifting plate 14 installed on the vehicle frame 15 of the four-way shuttle vehicle, a lifting and reversing frame 13 that can move vertically relative to the vehicle frame 15, and a lifting and reversing unit that drives the lifting and reversing frame 13 to move vertically relative to the vehicle frame 15, and the lifting plate 14 can be lifted by the lifting and reversing frame 13 and move vertically therewith to pick up and place goods. Preferably, a lifting and reversing frame 13 and a lifting and reversing unit are respectively arranged on the front and rear sides of the vehicle frame 15, and the front and rear ends of the lifting plate 14 can be connected to the two lifting and reversing frames 13 respectively; a lifting plate 14 is respectively connected to the left and right ends of the vehicle frame 15, and the two lifting plates 14 can be connected to the left and right ends of the lifting and reversing frame 13 respectively.

[0041] One of the main wheel 16 and the sub-wheel 17 of the four-way shuttle is installed on the vehicle frame 15 and can move vertically therewith, and the other can move vertically with the lifting and reversing frame 13. For example, the sub-wheel 17 is installed on the vehicle frame 15, and the main wheel 16 is installed on the lifting and reversing frame 13. The lifting and reversing frame 13 is provided with a mounting hole 21 for mounting a transmission shaft 26 of the main wheel 16. The vehicle frame 15 is provided with a vertically extending vertical slide groove 22. The transmission shaft 26 of the main wheel 16 passes through the mounting hole 21 and the vertical slide groove 22 and can slide vertically in the vertical slide groove 22. When the lifting and reversing frame 13 moves vertically relative to the vehicle frame 15, under the action of the transmission shaft 26 and the mounting hole 21, the main wheel 16 moves vertically with the lifting and reversing frame 13, and the transmission shaft 26 slides vertically in the vertical slide groove 22 without hitting the vehicle frame 15.

[0042] The lifting and reversing unit includes a threaded screw 1 rotatably connected to the vehicle frame 15, and a screw sleeve 3 threadedly connected to the threaded screw 1 and capable of sliding along the length direction of the threaded screw 1. The threaded screw 1 is connected to an electric drive mechanism 7 driving the threaded screw 1 to rotate, and a push rod 5 perpendicular to the threaded screw 1 is fixedly connected to the outer side of the screw sleeve 3. The lifting and reversing frame 13 is provided with a lifting and reversing path groove 18 extending horizontally and vertically, and a linear groove 19 parallel to the axis of the threaded screw 1 is provided at a position corresponding to the lifting and reversing path groove 18 on the vehicle frame 15. The push rod 5 on the outer side of the screw sleeve 3 is inserted into the lifting and reversing path groove 18 and the linear groove 19 at the same time. The threaded screw 1 is rotated by the electric drive mechanism 7, and the push rod 5 can slide in the linear groove 19 and the lifting and reversing path groove 18 at the same time, so that the lifting and reversing frame 13 moves vertically relative to the vehicle frame 15. Preferably, the push rod 5 is provided with a bearing 6 capable of sliding in the lifting and reversing path groove 18 and the linear groove 19 . The bearing 6 is a needle bearing, which facilitates the smooth sliding of the push rod 5 in the lifting and reversing path groove 18 and the linear groove 19 .

[0043] Combination Figure 5 As shown, for example, initially the main wheel 16 is off the ground and the sub-wheel 17 is on the ground, so that the sub-track driving can be realized. When it is necessary to pick up and place goods, the electric drive mechanism 7 rotates the threaded screw 1, and the push rod 5 slides horizontally in the linear groove 19. Since the lifting reversing path groove 18 extends horizontally and vertically, under the action of the lifting reversing path groove 18, the lifting reversing frame 13 moves vertically relative to the vehicle frame 15. Figure 6 As shown, when the threaded screw 1 rotates forward, the lifting reversing frame 13 lifts the lifting plate 14 and moves upward with it, and the lifting plate 14 realizes the lifting and picking operation; when the threaded screw 1 rotates reversely, the lifting reversing frame 13 lifts the lifting plate 14 and moves downward with it, and the lifting plate 14 realizes the releasing operation, and the recovery Figure 5 status.

[0044] like Figure 5 and Figure 7 As shown, by making the threaded screw 1 rotate in the reverse direction, the lifting reversing frame 13 moves downward, the main wheel 16 moves downward with the lifting reversing frame 13, the main wheel 16 falls to the ground, and the threaded screw 1 continues to rotate in the reverse direction. Since the main wheel 16 falls to the ground and has a support point, the vehicle frame 15 moves upward (the lifting reversing frame 13 moves downward relative to the vehicle frame 15), and the sub-wheel 17 moves upward with the vehicle frame 15 and leaves the ground, so that the main road can be driven. Similarly, when switching from driving on the main road to driving on the sub-road, by making the threaded screw 1 rotate in the forward direction, the vehicle frame 15 moves downward, the sub-wheel 17 moves downward with the vehicle frame 15, and the sub-wheel 17 falls to the ground, and the threaded screw 1 continues to rotate in the forward direction. Since the sub-wheel 17 falls to the ground and has a support point, the lifting reversing frame 13 moves upward (the vehicle frame 15 moves downward relative to the lifting reversing frame 13), the main wheel 16 moves upward with the lifting reversing frame 13 and leaves the ground, so that the sub-road can be driven.

[0045] like Figure 3-Figure 5 As shown, in a preferred embodiment, the threaded screw 1 includes a positive threaded screw 101 and a negative threaded screw 102 arranged in parallel, the positive threaded screw 101 and the negative threaded screw 102 are coaxially fixed and driven by a set of electric drive mechanisms 7; of course, the positive threaded screw 101 and the negative threaded screw 102 can also be separately arranged and driven by two sets of electric drive mechanisms 7 respectively. The positive threaded screw 101 and the negative threaded screw 102 are both threadedly connected with a screw sleeve 3, and the lifting reversing frame 13 is provided with two symmetrical lifting reversing path grooves 18, and the push rods 5 on the positive threaded screw 101 and the negative threaded screw 102 are inserted into the corresponding lifting reversing path grooves 18 and the linear grooves 19. When the positive thread screw 101 and the negative thread screw 102 rotate in the same direction, the two screw sleeves 3 move away from or close to each other, so that the push rods 5 connected to them can slide synchronously in the left and right lifting and reversing path grooves 18, making the relative vertical movement of the lifting and reversing frame 13 and the vehicle frame 15 smoother and more stable.

[0046] like Figure 2 and Figure 3 As shown, in another preferred embodiment, the lifting reversing frame 13 is a rectangular frame structure, the vehicle frame 15 has a rectangular groove 20, the lifting reversing frame 13 is located in the rectangular groove 20, and the lifting reversing frame 13 can only move vertically in the rectangular groove 20, and cannot move horizontally. The threaded screw 1 and the screw sleeve 3 are located in the lifting reversing frame 13 of the rectangular frame structure, and the screw sleeve 3 is clamped in the lifting reversing frame 13 and can slide horizontally therein; a push rod 5 is fixed on each side of the screw sleeve 3, and a lifting reversing path groove 18 is set on the front and rear side walls of the lifting reversing frame 13, and the push rods 5 and bearings 6 on both sides of the screw sleeve 3 are inserted into the corresponding lifting reversing path groove 18 and linear groove 19. When the screw sleeve 3 moves on the threaded screw 1, the bearings 6 on both sides thereof slide synchronously in the lifting and reversing path grooves 18 on the two side walls thereof, respectively, so as to provide better support for the screw sleeve 3, make the movement of the screw sleeve 3 smoother, and further improve the relative vertical movement of the lifting and reversing frame 13 and the vehicle frame 15 to be smoother and more stable.

[0047] like Figure 5 As shown, in a preferred embodiment, the lifting reversing path groove 18 includes a middle horizontal straight section 181 located in the middle, a first oblique line section 182 and a second oblique line section 183 that are inclined upward and downward from the middle horizontal straight section 181, an upper horizontal straight section 184 connected to the upper end of the first oblique line section 182, and a lower horizontal straight section 185 connected to the lower end of the second oblique line section 183. The first oblique line section 182 and the second oblique line section 183 have the same inclination direction, and preferably the first oblique line section 182 and the second oblique line section 183 are parallel, and the lifting reversing path groove 18 is a "double Z groove". When two lifting reversing path grooves 18 are arranged symmetrically, the first oblique line section 182 and the second oblique line section 183 are inclined upward and outward.

[0048] like Figure 5 As shown, for example, initially, the push rod 5 and the bearing 6 are located in the middle horizontal straight section 181 in the middle of the lifting reversing path groove 18, and the bearing 6 is also located in the middle of the linear groove 19, and the sub-directional wheel 17 is on the ground, so that the sub-directional road travel can be realized. By rotating the threaded screw 1, the positive threaded screw 101 and the negative threaded screw 102 rotate in the same direction to drive the screw sleeve 3 to move in the opposite direction, and the screw sleeve 3 drives the push rod 5 and the bearing 6 to move together. When the bearing 6 moves in the linear groove 19 of the vehicle frame 15, it will drive the lifting reversing frame 13 with the lifting reversing path groove 18 to move up and down. When the bearing 6 reaches the inner side of the linear groove 19, the lifting reversing frame 13 moves upward according to the shape of the lifting reversing path groove 18, and then drives the lifting plate 14 to move upward, so as to realize the lifting and picking operation; at this time, the sub-directional wheel 17 is still on the ground, and the sub-directional road travel can also be realized. When the bearing 6 reaches the center of the linear groove 19, the lifting reversing frame 13 and the lifting plate 14 fall down to realize the cargo release; at this time, the sub-directional wheel 17 falls to the ground, and the sub-directional road driving can also be realized. When the bearing 6 reaches the outside of the linear groove 19, the lifting reversing frame 13 realizes downward movement according to the shape of the lifting reversing path groove 18, and when moving downward, it drives the main directional wheel 16 to fall to the ground, and the sub-directional wheel 17 leaves the ground with the vehicle frame 15, realizing the main directional road reversal, and the main directional wheel 16 falls to the ground to realize the main directional road driving.

[0049] like Figure 4 As shown, in the utility model, the electric drive mechanism 7 includes a servo motor 9 that can be rotated forward and reverse, a reducer 8 coaxially fixed to the output shaft of the servo motor 9, a first pulley 10 coaxially fixed to the output shaft of the reducer 8, a second pulley 11 coaxially fixed to the threaded screw 1, and a synchronous belt 12 provided outside the first pulley 10 and the second pulley 11 for connecting the two. The first pulley 10, the second pulley 11 and the synchronous belt 12 constitute a belt and pulley transmission mechanism. The second pulley 11 is located in the middle of the threaded screw 1, and its right end is coaxially fixed to the positive threaded screw 101, and its left end is coaxially fixed to the negative threaded screw 102.

[0050] The servo motor 9 drives the reducer 8 to work, the reducer 8 drives the first pulley 10 to rotate, the first pulley 10 drives the second pulley 11 to rotate through the synchronous belt 12, and the second pulley 11 drives the positive thread screw 101 and the negative thread screw 102 to rotate in the same direction at the same time.

[0051] like Figure 1 , Figure 3 and Figure 4As shown, in the present invention, the threaded screw 1 is supported by a support seat 4 and is rotatably connected thereto. Preferably, a support seat 4 is provided at each end of the positive threaded screw 101, and a support seat 4 is also provided at each end of the negative threaded screw 102. The lower end of the support seat 4 is fixedly connected to the vehicle frame 15, and the servo motor 9 is fixedly installed on the outer side of the vehicle frame 15. A notch 24 is provided on the outer wall of the vehicle frame 15 for the synchronous belt 12 to pass through. A notch 25 is provided at a position corresponding to the notch 24 of the jacking reversing frame 13. The synchronous belt 12 passes through the notch 24 and the notch 25 and is connected to the second pulley 11 in the jacking reversing frame 13. When the jacking reversing frame 13 moves vertically relative to the vehicle frame 15, the jacking reversing unit does not move vertically therewith, and the jacking reversing unit moves vertically with the vehicle frame 15. The notch 24 and the notch 25 are spaces reserved for the synchronous belt 12. When the jacking reversing frame 13 moves up and down, it will not hit the synchronous belt 12.

[0052] It should be noted that the lifting and reversing unit can also move vertically with the lifting and reversing frame 13, but not with the vehicle frame 15. At this time, the threaded screw 1 is rotationally connected to the lifting and reversing frame 13, and the support seat 4 is fixed to the lifting and reversing frame 13. At this time, the servo motor 9 can be installed on the outside of the vehicle frame 15 through the motor bracket fixed to the lifting and reversing frame 13. The outer wall of the vehicle frame 15 is provided with a through-frame hole for the servo motor bracket to pass through. The through-frame hole is a space reserved for the servo motor 9 bracket, so that the motor bracket will not be hit when the lifting and reversing frame 13 moves up and down.

[0053] like Figure 8 As shown, in another preferred embodiment, a telescopic righting rod 2 is fixedly connected to the lower end of the jacking plate 14, and preferably a telescopic righting rod 2 is respectively arranged at both ends of the length direction of the jacking plate 14, and the lower end of the telescopic righting rod 2 passes through the guide hole 23 on the jacking reversing frame 13 and is fixedly connected to the vehicle frame 15. When the jacking reversing frame 13 and the jacking plate 14 move vertically relative to the vehicle frame 15, the telescopic righting rod 2 is telescoped. The telescopic righting rod 2 includes an upper righting rod 201 fixedly connected to the lower end of the jacking plate 14, and a lower righting rod 202 whose lower end passes through the guide hole 23 on the jacking reversing frame 13 and is fixedly connected to the vehicle frame 15, and the lower righting rod 202 is inserted into the upper righting rod 201 and can slide vertically therein.

[0054] like Figure 5 As shown, initially, the bearing 6 is located in the middle horizontal straight section 181 of the lifting reversing path groove 18, and the lifting plate 14 is in contact with the top of the lifting reversing frame 13; Figure 6 As shown in FIG. 1 , when the lifting reversing frame 13 moves upward, the telescopic straightening rod 2 extends, and the lifting reversing frame 13 lifts the lifting plate 14 and moves upward accordingly; then, when the lifting reversing frame 13 moves downward, as shown in FIG. Figure 5 As shown, the telescopic straightening rod 2 is shortened, and the lifting reversing frame 13 lifts the lifting plate 14 and moves downward until the lower end of the lifting plate 14 contacts the upper end of the vehicle frame 15; Figure 7 As shown, as the lifting and reversing frame 13 continues to move downward, under the limiting effect of the vehicle frame 15, the telescopic straightening rod 2 does not extend or retract, and the lifting plate 14 cannot continue to move downward.

[0055] The jacking and reversing mechanism of the utility model is provided with two sets of jacking and reversing units, and the power source is two servo motors 9, which can be precisely controlled and effectively make the synchronization higher. The high-strength threaded screw 1 can carry a larger load, and slides in the jacking and reversing path groove 18 and the straight groove 19 through the bearing 6. It has a long service life and high structural reliability, and can cope with the impact force on the body of the four-way shuttle car in extreme situations; and the jacking and reversing frame 13 and the jacking and reversing unit are assembled centrally and can be installed in a modular manner, which is convenient and time-saving to install, saves vehicle body space, has a neat layout, is simple to repair and maintain, and does not require oil to work.

[0056] In the description of this specification, the description with reference to the terms "preferred embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0057] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A four-way shuttle lifting and reversing mechanism, characterized in that: The invention comprises a lifting plate installed on the vehicle frame of the four-way shuttle vehicle, a lifting reversing frame capable of vertically moving relative to the vehicle frame, and a lifting reversing unit capable of driving the lifting reversing frame to vertically move relative to the vehicle frame, wherein the lifting plate can be lifted by the lifting reversing frame and vertically move therewith to pick up and place goods, and one of the main wheel and the sub-wheel of the four-way shuttle vehicle is installed on the vehicle frame and vertically move therewith, and the other can vertically move with the lifting reversing frame; The lifting and reversing unit comprises a threaded screw rotatably connected to the vehicle frame or the lifting and reversing frame, and a screw sleeve threadedly connected to the threaded screw and capable of sliding along the length direction of the threaded screw, the threaded screw is connected to an electric drive mechanism driving the screw to rotate, a push rod is fixedly connected to the outer side of the screw sleeve, the lifting and reversing frame is provided with a lifting and reversing path groove extending horizontally and vertically, a linear groove parallel to the axis of the threaded screw is provided at a position corresponding to the lifting and reversing path groove on the vehicle frame, and the push rod on the outer side of the screw sleeve is simultaneously inserted into the lifting and reversing path groove and the linear groove; The threaded screw is rotated by an electric drive mechanism, and the push rod can slide in the linear groove and the lifting and reversing path groove at the same time, so that the lifting and reversing frame moves vertically relative to the vehicle frame.

2. A four-way shuttle lifting and reversing mechanism according to claim 1, characterized in that: A lifting and reversing frame and a lifting and reversing unit are respectively arranged on both sides of the vehicle frame, and the two ends of the lifting plate can be connected to the two lifting and reversing frames respectively.

3. A four-way shuttle lifting and reversing mechanism according to claim 1, characterized in that: One lifting plate is connected to each of the two side ends of the vehicle frame, and the two lifting plates can be connected to the two ends of the lifting reversing frame respectively.

4. A four-way shuttle lifting and reversing mechanism according to claim 1, characterized in that: The threaded screw includes a positive threaded screw and a negative threaded screw arranged in parallel, and the positive threaded screw and the negative threaded screw are both threadedly connected with the screw sleeve, and the lifting and reversing frame is provided with two lifting and reversing path grooves, and the push rods on the positive threaded screw and the negative threaded screw are inserted into the corresponding lifting and reversing path grooves and the straight line grooves.

5. A four-way shuttle lifting and reversing mechanism according to claim 1, characterized in that: The lifting and reversing frame is a rectangular frame structure, the threaded screw and the screw sleeve are located in the rectangular frame, the screw sleeve is clamped in the rectangular frame and can slide therein, a push rod is fixed on each side of the screw sleeve, and the lifting and reversing path grooves are provided on the two side walls of the rectangular frame, and the push rods on both sides of the screw sleeve are inserted into the corresponding lifting and reversing path grooves and straight grooves.

6. A four-way shuttle lifting and reversing mechanism according to claim 1, characterized in that: The lifting and reversing frame is provided with a mounting hole for mounting the transmission shaft of the main wheel / sub-wheel, and the vehicle frame is provided with a vertical sliding groove extending vertically. The transmission shaft of the main wheel / sub-wheel passes through the mounting hole and the vertical sliding groove and can slide vertically in the vertical sliding groove.

7. The four-way shuttle lifting and reversing mechanism according to claim 1 is characterized in that: A telescopic righting rod is fixedly connected to the lower end of the jacking plate, and the lower end of the telescopic righting rod passes through a guide hole on the jacking reversing frame and is fixedly connected to the vehicle frame. When the jacking reversing frame lifts the jacking plate to move vertically, the telescopic righting rod is extended and retracted.

8. A four-way shuttle lifting and reversing mechanism according to any one of claims 1 to 7, characterized in that: The lifting reversing path groove includes a middle horizontal straight section located in the middle, a first oblique line section and a second oblique line section inclined upward and downward from the middle horizontal straight section, an upper horizontal straight section connected to the upper end of the first oblique line section, and a lower horizontal straight section connected to the lower end of the second oblique line section, wherein the first oblique line section and the second oblique line section have the same inclination direction; And / or the push rod is provided with a bearing capable of sliding in the lifting reversing path groove and the straight line groove.

9. A four-way shuttle lifting and reversing mechanism according to any one of claims 1 to 7, characterized in that: The electric drive mechanism includes a servo motor that can rotate forward and reverse, a reducer coaxially fixed to the output shaft of the servo motor, a first pulley coaxially fixed to the output shaft of the reducer, a second pulley coaxially fixed to the threaded screw, and a synchronous belt arranged outside the first pulley and the second pulley for connecting the two.

10. A four-way shuttle lifting and reversing mechanism according to claim 9, characterized in that: The threaded screw is supported by a support seat and is rotatably connected thereto; When the threaded screw is rotatably connected to the vehicle frame, the support seat is fixedly connected to the vehicle frame, the servo motor is fixedly mounted on the outside of the vehicle frame, and a notch is provided on the outer wall of the vehicle frame for the synchronous belt to pass through; When the threaded screw is rotationally connected to the lifting and reversing frame, the support seat is fixed to the lifting and reversing frame, and the servo motor is installed on the outside of the vehicle frame through a servo motor bracket fixed to the lifting and reversing frame. The outer wall of the vehicle frame is provided with a frame hole for the servo motor bracket to pass through, and a notch for the synchronous belt to pass through.

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