Shuttle vehicle walking device

Abstract

The utility model provides a shuttle vehicle walking device which is characterized in that the shuttle vehicle walking device comprises a walking vehicle frame, and a plurality of main rail wheels are rotationally installed on the front side and the rear side of the walking vehicle frame respectively; lifting plates are installed on the left side and the right side of the walking frame in a sliding mode respectively. A plurality of main rail wheels are rotationally mounted on the outer side of the lifting plate; a transmission shaft is rotationally mounted on the inner side of the walking frame; a bevel gear set is fixedly installed on each transmission shaft, each bevel gear set comprises a driving bevel gear and a driven bevel gear, the driving bevel gears are fixedly installed at the positions, close to the middles, of the transmission shafts, the driven bevel gears are fixedly installed on the main rail gears in the middles of the main rail gear sets, and the driving bevel gears and the driven bevel gears are meshed with each other. The driving of the main rail wheel and the vertical rail wheel of the machine is realized by one walking speed reducer, so that the machine can walk on different rails; a transverse transmission shaft enabling the main rail wheels and the sub-rail wheels to walk synchronously is omitted, so that the height of a vehicle body can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of shuttle cars, and particularly to a walking device for a shuttle car. Background Art

[0002] In recent years, with the development of the economy, logistics warehousing has gradually become mechanized and intelligent. The demand for unmanned intelligent warehouses has enabled the handling equipment in intelligent warehouses to rapidly develop towards specialization, miniaturization, and intelligence.

[0003] Four-way shuttle cars are essential equipment for intensive multi-layer unmanned warehousing. At present, the implementation solutions for shuttle cars in the industry mainly rely on chain and gear drives.

[0004] These two solutions have become pain points for customers and manufacturers because of the high maintenance costs and manufacturing costs during use.

[0005] To solve the problems of these two solutions, there have emerged devices mainly driven by chains in the market. For example, a shuttle car walking solution introduced in patent CN 212173417 U uses chains in most positions. Chain drive has a certain degree of flexibility, but this solution also has its own defects. In a dense intelligent warehouse, the cargo space is narrow and the internal space is limited. The shuttle car introduced in patent CN 212173417 U uses a specially customized double-output walking speed reducer, which makes the internal space of the vehicle body very compact and greatly affects the layout. Moreover, the customized speed reducer also greatly increases the manufacturing cost.

[0006] When using chain drive, this type of shuttle car structure has to use gears and a relatively long transmission shaft. The presence of the transmission shaft affects the layout of the main structure of the vehicle body, the total height of the vehicle body cannot be reduced, and the rigidity is greatly reduced. As a result, the vehicle body will have a large deformation when walking under load, affecting the service life of the equipment.

[0007] In view of the above problems, the present invention provides a solution that can reduce the height of the vehicle body, thereby reducing the height of the warehouse and the length of the storage location, and greatly reducing the manufacturing costs of the shelves and tracks.

[0008] The walking solution adopted by the present invention can be achieved using a general-purpose small speed reducer, thereby reducing the manufacturing cost of the shuttle car and improving the service life (general-purpose speed reducers have more reliable quality). Utility Model Content

[0009] In view of the above technical problems, the present invention provides a walking device for a shuttle car, which uses a single walking speed reducer to drive the main rail wheels and vertical rail wheels of the machine, thereby enabling the machine to walk on different tracks; the present invention eliminates the transverse transmission shaft that synchronizes the main rail wheels and sub-rail wheels, thereby greatly reducing the height of the vehicle body.

[0010] The technical solution adopted by the present invention is as follows: A shuttle car traveling device, characterized in that it includes a traveling frame, and a number of main track wheels are respectively rotatably installed on the front and rear sides of the traveling frame; lifting plates are respectively slidably installed on the left and right sides of the traveling frame; a number of main track wheels are rotatably installed on the outer sides of the lifting plates; a transmission shaft is rotatably installed on the inner side of the traveling frame; a bevel gear set is fixedly installed on each transmission shaft, and the bevel gear set includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly installed at the middle position of the transmission shaft, and the driven bevel gear is fixedly installed on the middle main track gear of the main track gear set. The driving bevel gear and the driven bevel gear are meshed with each other; the bevel gear set connects the transmission shaft and the main track gear set. The main track gear set is installed on the inner side of the traveling frame. The main track gear set includes eleven main track gears, and a plurality of main track gears are sequentially meshed and arranged in a row. The main track wheels on the front and rear sides of the traveling frame are fixedly connected to the main track gears in the main track gear set through shafts; the first, third, ninth, and eleventh main track gears are respectively fixedly connected to the main track wheels, and the seventh main track gear is fixedly connected to the driven bevel gear of the bevel gear set; the two transmission shafts are connected by a power distribution belt; the power distribution belt is installed on the support plate on the inner side of the traveling frame;

[0011] A traveling speed reducer is fixedly installed on the support plate on the inner side of the traveling frame. The motor shaft of the traveling speed reducer is connected to the power distribution belt; the transmission shaft is connected to the main track wheel on the outer side of the lifting plate through a telescopic universal joint.

[0012] Preferably, a lifting device is further included.

[0013] Preferably, the lifting device is a first lifting mechanism, and the first lifting mechanism is fixedly installed on the traveling frame; the first lifting mechanism includes a lifting support plate, a lifting motor, a lifting transmission box assembly, and a lifting shaft. The lifting support plate is fixedly connected to the traveling frame by screws; the lifting motor is fixedly installed on the inner side plate of the traveling frame, and its motor is fixedly connected to the input shaft of the lifting transmission box assembly through a coupling. The lifting transmission box assembly is fixedly installed on the lifting support plate, and the lifting shaft is installed on the lifting transmission box assembly.

[0014] Preferably, the lifting device is a second lifting mechanism. The second lifting mechanism includes a driving motor, a synchronous pulley, and a synchronous belt. A number of synchronous pulleys are connected by the synchronous belt, and a driving motor is installed on one of the synchronous pulleys.

[0015] Preferably, an eccentric wheel drive shaft and an eccentric wheel mechanism are further included; the eccentric wheel mechanism is fixedly installed on the synchronous pulley of the second lifting mechanism through the eccentric wheel drive shaft.

[0016] Preferably, the eccentric wheel mechanism includes an eccentric wheel disc, and an eccentric shaft is arranged inside the eccentric wheel disc.

[0017] Preferably, the telescopic universal joint includes a telescopic sleeve. A rhombic column is slidably installed between two telescopic sleeves. A spring A is provided at each end of the rhombic column, and the spring A generates an elastic force. A universal block is installed at the outer end of the telescopic sleeve, and the universal block is used to connect to the transmission shaft.

[0018] Preferably, it further includes a vertical rail gear. The vertical rail gear is rotatably installed in a circular hole on the side of the traveling frame. The vertical rail gear meshes with the main rail gear on the main rail gear set. The vertical rail gear is connected to the drive shaft through a telescopic universal joint.

[0019] Preferably, the vertical rail connecting seat includes a sliding rail. A groove is provided on the upper side of the sliding rail. An installation seat is provided below the sliding rail, and a vertical rail wheel is installed inside the installation seat. A spring B is provided on the upper surface of the sliding rail, and the other end of the spring B is connected to the traveling frame. A drive wheel is rotatably installed inside the sliding rail. The drive wheel is connected to the drive shaft through a synchronous belt. The drive wheel contacts the vertical rail wheel and is used to drive the vertical rail wheel to rotate.

[0020] Preferably, it further includes a drive electric cylinder. The bottom of the cylinder body of the drive electric cylinder is fixedly installed inside the traveling frame, and the end of its piston rod is fixedly connected to the clamping plate. The drive electric cylinder is clamped in the groove of the sliding rail.

[0021] The beneficial effects of the present invention compared with the prior art are as follows:

[0022] 1. The present invention uses a single traveling speed reducer to drive the main rail wheel and the vertical rail wheel of the machine, thereby enabling the machine to travel on different tracks.

[0023] 2. The present invention flexibly arranges the chain to drive the rotation of the drive shafts on both left and right sides.

[0024] 3. The present invention uses the drive shaft to drive the bevel gear to transmit power to the sub-rail wheel gearboxes at the four corners to drive the sub-rail wheels to travel.

[0025] 4. The present invention cancels the transverse drive shaft for synchronously driving the main rail wheel and the sub-rail wheel, thereby greatly reducing the height of the vehicle body.

[0026] 5. The present invention reduces the chain drive, making the travel more stable and enabling it to quickly and accurately reach the designated storage location.

[0027] 6. Through the setting of the telescopic universal joint, the present invention realizes the adjustment of the positions of the main rail wheel and the vertical rail wheel on the lifting plate, thereby maintaining power transmission.

[0028] 7. Through the setting of the eccentric wheel mechanism, the present invention realizes the adaptation of the main rail wheel to the main track and the sub-rail with different height differences. Description of the Drawings

[0029] Figure 1Structural schematic diagram of the overall structure of the present invention and its cross-section.

[0030] Figure 2 First-angle structural schematic diagram of the local structure of the present invention.

[0031] Figure 3 Second-angle structural schematic diagram of the local structure of the present invention.

[0032] Figure 4 First-angle structural schematic diagram of the lifting plate, telescopic sleeve and telescopic universal joint of the present invention.

[0033] Figure 5 Second-angle structural schematic diagram of the lifting plate, telescopic sleeve and telescopic universal joint of the present invention.

[0034] Figure 6 Structural schematic diagram of the telescopic universal joint, vertical rail connecting seat and vertical rail gear of the present invention.

[0035] Figure 7 Structural schematic diagram of the telescopic universal joint of the present invention.

[0036] Figure 8 Structural schematic diagram of the eccentric wheel drive shaft and the eccentric wheel mechanism of the present invention.

[0037] Figure 9 Overall structural schematic diagram of the third embodiment of the present invention.

[0038] Figure 10 Structural schematic diagram of the first lifting mechanism of the present invention.

[0039] Figure 11 Internal structural schematic diagram of the lifting transmission box assembly of the present invention.

[0040] Reference numerals in the drawings: 1 - traveling frame; 2 - lifting plate; 3 - main rail wheel; 4 - vertical rail wheel; 5 - transmission shaft; 6 - bevel gear set; 7 - main rail gear set; 8 - power distribution belt; 9 - traveling speed reducer; 10 - telescopic universal joint; 101 - telescopic sleeve; 102 - prismatic column; 103 - spring A; 104 - universal block; 11 - second lifting mechanism; 12 - vertical rail gear; 13 - vertical rail connecting seat; 131 - sliding rail; 132 - drive shaft; 133 - spring B; 134 - drive wheel; 14 - eccentric wheel drive shaft; 15 - eccentric wheel mechanism; 151 - eccentric wheel disc; 152 - eccentric shaft; 16 - drive electric cylinder; 17 - clamping plate; 18 - first lifting mechanism; 181 - lifting support plate; 182 - lifting motor; 183 - lifting transmission box assembly; 184 - lifting shaft. Detailed implementation manners

[0041] The technical solutions of the present invention will be further specifically described below through embodiments in conjunction with the accompanying drawings. In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0042] It should be noted that in this article, in the naming method, relational terms such as "......A" and "......B" or "......a" and "......b" are only used to distinguish one entity from another entity, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0043] Embodiment 1

[0044] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 A shuttle car traveling device as shown, which is characterized in that it includes a traveling frame 1, and a plurality of main track wheels 3 are respectively rotatably installed on the front and rear sides of the traveling frame 1; lifting plates 2 are respectively slidably installed on the left and right sides of the traveling frame 1; a plurality of main track wheels 3 are rotatably installed on the outer sides of the lifting plates 2; a transmission shaft 5 is rotatably installed inside the traveling frame 1; a bevel gear set 6 is fixedly installed on each transmission shaft 5, and the bevel gear set 6 includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly installed at a position close to the middle of the transmission shaft 5, and the driven bevel gear is fixedly installed on the middle main track gear of the main track gear set 7. The driving bevel gear and the driven bevel gear are meshed with each other; the bevel gear set 6 connects the transmission shaft 5 and the main track gear set 7. The main track gear set 7 is installed inside the traveling frame 1. The main track gear set 7 includes eleven main track gears, and a plurality of main track gears are sequentially meshed and arranged in a row. The main track wheels 3 on the front and rear sides of the traveling frame 1 are fixedly connected to the main track gears in the main track gear set 7 through shafts; the first, third, ninth, and eleventh main track gears are respectively fixedly connected to the main track wheels 3; the seventh main track gear is fixedly connected to the driven bevel gear of the bevel gear set 6; the two transmission shafts 5 are connected through a power distribution belt 8; the power distribution belt 8 is installed on the support plate inside the traveling frame 1;

[0045] A traveling speed reducer 9 is fixedly installed on the support plate inside the traveling frame 1. The motor shaft of the traveling speed reducer 9 is connected to the power distribution belt 8; the transmission shaft 5 is connected to the main track wheel 3 on the outer side of the lifting plate 2 through a telescopic universal joint 10.

[0046] In an alternative embodiment of the embodiment of the present invention, as Figure 1 , Figure 2 and Figure 3 shown, the two transmission shafts 5 are connected by a power distribution belt 8; the power distribution belt 8 is installed on a support plate inside the walking frame 1; the power distribution belt 8 can be a chain and sprockets, the sprockets are rotatably installed on the support plate inside the walking frame 1, and sprockets are also provided on the transmission shafts 5, and the chain is installed on multiple sprockets; the chain is used to transmit power and connect the two transmission shafts 5; the output shaft of the walking speed reducer 9 is fixedly connected to the sprocket rotatably installed on the support plate inside the walking frame 1.

[0047] In an alternative embodiment of the embodiment of the present invention, as Figure 1 , Figure 2 and Figure 3 shown, the power distribution belt 8 can be a timing pulley and a timing belt, the timing pulleys are rotatably installed on the support plate inside the walking frame 1, and timing pulleys are also provided on the transmission shafts 5, and the timing belt is installed on multiple timing pulleys; the timing belt is used to transmit power and connect the two transmission shafts 5; the output shaft of the walking speed reducer 9 is fixedly connected to the timing pulley rotatably installed on the support plate inside the walking frame 1; the walking speed reducer 9 is fixedly installed on the support plate inside the walking frame 1, and the motor shaft of the walking speed reducer 9 is connected to the power distribution belt 8; the transmission shaft 5 is connected to the main rail wheel 3 on the outside of the lifting plate 2 through a telescopic universal joint 10; specifically, the working of the walking speed reducer 9 drives the power distribution belt 8, which in turn drives the two transmission shafts 5 to rotate, and the two transmission shafts 5 drive the main rail wheel 3 on the outside of the lifting plate 2 to rotate through the telescopic universal joint 10; at the same time, the rotation of the transmission shaft 5 drives the main rail gear set 7 to rotate, which in turn drives the main rail wheels 3 on the front and rear sides of the walking frame 1 to rotate, thereby driving the machine to move.

[0048] In an alternative embodiment of the embodiment of the present invention, as Figure 4 shown, the lifting device is a second lifting mechanism 11. In order to drive the lifting plate 2 to move up and down, and further drive the main rail wheel 3 on the lifting plate 2 to contact the track, a second lifting mechanism 11 is further included. The second lifting mechanism 11 includes a driving motor, timing pulleys and a timing belt. The plurality of timing pulleys are connected by a timing belt, and a driving motor is installed on one of the timing pulleys.

[0049] In an alternative embodiment of the embodiment of the present invention, as Figure 8 , Figure 9 and Figure 10As shown, in order to drive the lifting plate 2 to move up and down, so as to drive the main track wheel 3 on the lifting plate 2 to contact the track, it further includes an eccentric wheel drive shaft 14 and an eccentric wheel mechanism 15; the eccentric wheel mechanism 15 is fixedly installed on the synchronous wheel of the second lifting mechanism 11 through the eccentric wheel drive shaft 14.

[0050] In an alternative embodiment of the embodiment of the present invention, as Figure 9 and Figure 10 shown, the eccentric wheel mechanism 15 includes an eccentric wheel disc 151, and an eccentric shaft 152 is provided on the eccentric wheel disc 151. At this time, the drive motor of the second lifting mechanism 11 drives the eccentric wheel drive shaft 14, and then drives the eccentric wheel mechanism 15 to rotate. The eccentric wheel mechanism 15 drives the eccentric shaft 152 to drive the lifting plate 2 to move downward through the rotation of the eccentric wheel disc 151, so that the main track wheel 3 installed on the lifting plate 2 contacts the guide rail.

[0051] In an alternative embodiment of the embodiment of the present invention, as Figure 9 and Figure 10 shown, when the height difference between the two guide rails is large, the drive motor of the second lifting mechanism 11 drives the eccentric wheel drive shaft 14, and then drives the eccentric wheel mechanism 15 to rotate. The eccentric wheel mechanism 15 drives the eccentric shaft 152 to rotate a large angle through the rotation of the eccentric wheel disc 151;

[0052] when the height difference between the two guide rails is small, the drive motor of the second lifting mechanism 11 drives the eccentric wheel drive shaft 14, and then drives the eccentric wheel mechanism 15 to rotate. The eccentric wheel mechanism 15 drives the eccentric shaft 152 to rotate a small angle through the rotation of the eccentric wheel disc 151;

[0053] The sliding distance of the lifting plate 2 is automatically adjusted through the above steps.

[0054] In an alternative embodiment of the embodiment of the present invention, as Figure 7 shown, in order to ensure the transmission of power, the telescopic universal joint 10 includes a telescopic sleeve 101. A rhombic column 102 is slidably installed between the two telescopic sleeves 101. A spring A 103 is provided at each end of the rhombic column 102, and the spring A 103 generates an elastic force; a universal joint block 104 is installed at the outer end of the telescopic sleeve 101, and the universal joint block 104 is used to connect the transmission shaft 5; the group of telescopic universal joints 10 is installed between the transmission shaft 5 and the vertical track wheel 4, and the other group of telescopic universal joints 10 is installed between the vertical track gear 12 and the drive shaft 132; the telescopic universal joint 10 is used to convert power; when the main track wheels 3 and the vertical track wheels 4 on the left and right sides of the walking frame 1 move up and down, the relative position between the two telescopic sleeves 101 of the telescopic universal joint 10 is adjusted by moving away from or approaching each other.

[0055] In an alternative embodiment of the embodiment of the present invention, as Figure 6As shown in the figure, it further includes a vertical rail gear 12. The vertical rail gear 12 is rotatably installed in a round hole on the side of the traveling vehicle frame 1. The vertical rail gear 12 meshes with the main rail gears on the main rail gear set 7. The vertical rail gear 12 is connected to the drive shaft 132 through a telescopic universal joint 10. Specifically, one end of the vertical rail gear 12 and one end of the vertical rail connection base 13 are respectively rotatably connected to the universal blocks 104 at both ends of the telescopic universal joint 10.

[0056] In an alternative embodiment of the embodiment of the present invention, as Figure 6 shown, the vertical rail connection base 13 includes a sliding rail 131. A groove is provided on the upper side of the sliding rail 131, and a mounting seat is provided below the sliding rail 131. A vertical rail wheel 4 is installed inside the mounting seat. A spring B 133 is provided on the upper surface of the sliding rail 131, and the other end of the spring B 133 is connected to the traveling vehicle frame 1. The spring B 133 is used to overcome the gaps between the connecting parts. Specifically, the spring B 133 generates an elastic force to assist in pushing the vertical rail wheel 4 so that the vertical rail wheel 4 contacts the vertical rail. A drive wheel 134 is rotatably installed inside the sliding rail 131. The drive wheel 134 is connected to the drive shaft 132 through a synchronous belt. The drive wheel 134 contacts the vertical rail wheel 4 and is used to drive the vertical rail wheel 4 to rotate.

[0057] In an alternative embodiment of the embodiment of the present invention, as Figure 3 shown, it further includes a drive electric cylinder 16. The bottom of the cylinder body of the drive electric cylinder 16 is fixedly installed inside the traveling vehicle frame 1, and the end of its piston rod is fixedly connected to a clamping plate 17. The drive electric cylinder 16 is clamped in the groove of the sliding rail 131. Specifically, the main rail gear set 7 drives the vertical rail gear 12, and then the telescopic universal joint 10 drives the drive shaft 132. The drive shaft 132 drives the drive wheel 134 to rotate. The drive wheel 134 drives the vertical rail wheel 4 to rotate, thereby driving the machine to move up and down.

[0058] Working principle: When the machine is working, the traveling speed reducer 9 works to drive the power distribution belt 8 to drive the transmission shaft 5 to rotate. The transmission shaft 5 drives the main rail gear set 7 through the bevel gear set 6, and then drives the main rail wheels 3 on the front and rear sides of the traveling vehicle frame 1 to rotate, thereby driving the entire machine to move. When the machine needs to change the track, the motor on the second lifting mechanism 11 drives the second lifting mechanism 11, which then drives the eccentric wheel drive shaft 14 to drive the eccentric wheel mechanism 15, and then drives the entire lifting plate 2 to drive the main rail wheel 3 installed on the lifting plate 2 to move downward so that the main rail wheel 3 contacts the track. Then, the traveling speed reducer 9 drives the power distribution belt 8 to drive the transmission shaft 5. The transmission shaft 5 drives the telescopic universal joint 10, which then drives the main rail wheel 3 installed on the lifting plate 2 to rotate, thereby driving the entire machine to move.

[0059] When the machine needs to move vertically up and down, the clamping plate 17 contracts to drive the driving electric cylinder 16, which in turn drives the vertical rail connecting seat 13 to move outward, driving the vertical rail wheel 4 to contact the vertical rail. The main rail gear set 7 drives the vertical rail gear 12, which drives the drive shaft 132, which drives the drive wheel 134, which drives the vertical rail wheel 4 to rotate, thereby driving the entire machine to move up and down.

[0060] Embodiment 2

[0061] In an alternative embodiment of the present invention, the second lifting mechanism 11, the eccentric wheel drive shaft 14, and the eccentric wheel mechanism 15 can be replaced by an electric cylinder. The end of the piston rod of the electric cylinder is fixedly connected to the lifting plate 2, and the bottom of its cylinder body is fixedly connected to the walking frame 1. The electric cylinder works to drive the lifting plate 2 to move up and down, thereby adjusting the contact between the main rail wheel 3 installed on the lifting plate 2 and the sub-guide rail.

[0062] Embodiment 3

[0063] Please refer to Figure 9 、 Figure 10 and Figure 11 The lifting device is the first lifting mechanism 18, and the first lifting mechanism 18 is fixedly installed on the walking frame 1; the first lifting mechanism 18 includes a lifting support plate 181, a lifting motor 182, a lifting transmission box assembly 183, and a lifting shaft 184. The lifting support plate 181 is fixedly connected to the walking frame 1 by screws; the lifting motor 182 is fixedly installed on the inner side plate of the walking frame 1, and its motor is fixedly connected to the input shaft of the lifting transmission box assembly 183 through a coupling. The lifting transmission box assembly 183 is fixedly installed on the lifting support plate 181, and the lifting shaft 184 is installed on the lifting transmission box assembly 183. By the operation of the lifting motor 182, the internal work of the lifting transmission box assembly 183 is driven, thereby driving the lifting shaft 184 to rotate; the lifting shaft 184 is slidably installed in the groove of the lifting plate 2, thereby driving the lifting plate 2 to move upward; specifically, a large gear is provided inside the lifting transmission box assembly 183, and the large gear is fixedly connected to the output shaft of the lifting motor 182 through a coupling; the large gear meshes with the small gear under the eccentric wheel, and the eccentric shaft on the eccentric wheel is fixedly connected to the lifting shaft 184; by driving the large gear by the lifting motor 182, the eccentric wheel is driven to rotate, thereby driving the lifting shaft 184 to rotate around the center of the eccentric wheel, thereby driving the lifting plate 2 to move up and down.

Claims

1. A shuttle car traveling device, characterized in that, It includes a walking frame (1), on the front and rear sides of the walking frame (1), a number of main track wheels (3) are respectively rotatably installed; on the left and right sides of the walking frame (1), lifting plates (2) are respectively slidably installed; on the outer sides of the lifting plates (2), a number of main track wheels (3) are rotatably installed; inside the walking frame (1), a transmission shaft (5) is rotatably installed; on each transmission shaft (5), a bevel gear set (6) is fixedly installed. The bevel gear set (6) includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly installed at a position near the middle of the transmission shaft (5), and the driven bevel gear is fixedly installed on the middle main track gear of the main track gear set (7). The driving bevel gear and the driven bevel gear are meshed with each other; the bevel gear set (6) connects the transmission shaft (5) and the main track gear set (7). The main track gear set (7) is installed inside the walking frame (1). The main track gear set (7) includes eleven main track gears. A plurality of main track gears are sequentially meshed and arranged in a row. The main track wheels (3) on the front and rear sides of the walking frame (1) are fixedly connected to the main track gears in the main track gear set (7) through shafts; the first, third, ninth, and eleventh main track gears are respectively fixedly connected to the main track wheels (3), and the seventh main track gear is fixedly connected to the driven bevel gear of the bevel gear set (6); the two transmission shafts (5) are connected through a power distribution belt (8); the power distribution belt (8) is installed on the support plate inside the walking frame (1); On the support plate inside the walking frame (1), a walking speed reducer (9) is fixedly installed. The motor shaft of the walking speed reducer (9) is connected to the power distribution belt (8); the transmission shaft (5) is connected to the main track wheel (3) on the outer side of the lifting plate (2) through a telescopic universal joint (10); The device further includes a lifting device. The lifting device is a second lifting mechanism (11). The second lifting mechanism (11) includes a driving motor, a synchronous pulley, and a synchronous belt. A number of synchronous pulleys are connected through the synchronous belt. A driving motor is installed on one of the synchronous pulleys; the second lifting mechanism (11) further includes an eccentric wheel drive shaft (14) and an eccentric wheel mechanism (15); the eccentric wheel mechanism (15) is fixedly installed on the synchronous pulley of the second lifting mechanism (11) through the eccentric wheel drive shaft (14); the eccentric wheel mechanism (15) includes an eccentric wheel disc (151), and an eccentric shaft (152) is arranged inside the eccentric wheel disc (151); The drive motor of the second lifting mechanism (11) drives the eccentric wheel drive shaft (14), which in turn drives the eccentric wheel mechanism (15) to rotate. The eccentric wheel mechanism (15) drives the eccentric shaft (152) to drive the lifting plate (2) to move downward through the rotation of the eccentric wheel disc (151), so that the main rail wheel (3) installed on the lifting plate (2) contacts the guide rail. When the height difference between the two guide rails is large, the drive motor of the second lifting mechanism (11) drives the eccentric wheel drive shaft (14), which in turn drives the eccentric wheel mechanism (15) to rotate. The eccentric wheel mechanism (15) drives the eccentric shaft (152) to rotate by a large angle through the rotation of the eccentric wheel disc (151). When the height difference between the two guide rails is small, the drive motor of the second lifting mechanism (11) drives the eccentric wheel drive shaft (14), which in turn drives the eccentric wheel mechanism (15) to rotate. The eccentric wheel mechanism (15) drives the eccentric shaft (152) to rotate by a small angle through the rotation of the eccentric wheel disc (151).

2. The shuttle car traveling device according to claim 1, characterized in that, The lifting device described above is the first lifting mechanism (18), and the first lifting mechanism (18) is fixedly installed on the traveling vehicle frame (1). The first lifting mechanism (18) includes a lifting support plate (181), a lifting motor (182), a lifting transmission box assembly (183), and a lifting shaft (184). The lifting support plate (181) is fixedly connected to the traveling vehicle frame (1) by screws. The lifting motor (182) is fixedly installed on the inner side plate of the traveling vehicle frame (1), and its motor is fixedly connected to the input shaft of the lifting transmission box assembly (183) through a coupling. The lifting transmission box assembly (183) is fixedly installed on the lifting support plate (181), and the lifting shaft (184) is installed on the lifting transmission box assembly (183).

3. The shuttle car traveling device according to claim 1, characterized in that, The telescopic universal joint (10) includes a telescopic sleeve (101). A rhombic column (102) is slidably installed between the two telescopic sleeves (101). A spring A (103) is provided at each end of the rhombic column (102), and the spring A (103) generates elastic force. A universal block (104) is installed at the outer end of the telescopic sleeve (101), and the universal block (104) is used to connect the transmission shaft (5).

4. The shuttle car traveling device according to claim 1, characterized in that, It further includes a vertical rail gear (12). The vertical rail gear (12) is rotatably installed in a round hole on the side of the traveling vehicle frame (1). The vertical rail gear (12) meshes with the main rail gear on the main rail gear set (7), and the vertical rail gear (12) is connected to the drive shaft (132) through the telescopic universal joint (10).

5. The shuttle car traveling device according to claim 1, characterized in that, The vertical rail connection seat (13) includes a sliding rail (131). A groove is provided on the upper side of the sliding rail (131), and a mounting seat is provided below the sliding rail (131). A vertical rail wheel (4) is installed inside the mounting seat. A spring B (133) is provided on the upper surface of the sliding rail (131), and the other end of the spring B (133) is connected to the traveling vehicle frame (1). A drive wheel (134) is rotatably installed inside the sliding rail (131). The drive wheel (134) is connected to the drive shaft (132) through a synchronous belt. The drive wheel (134) contacts the vertical rail wheel (4) and is used to drive the vertical rail wheel (4) to rotate.

6. The shuttle car traveling device according to claim 1, characterized in that, It further includes a driving electric cylinder (16), the bottom of the cylinder body of the driving electric cylinder (16) is fixedly installed inside the traveling vehicle frame (1), and the end of its piston rod is fixedly connected to the clamping plate (17); the driving electric cylinder (16) is stuck in the groove of the sliding rail (131).

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