A four-way shuttle based on a cam rocker arm reversing mechanism

Abstract

This utility model discloses a four-way shuttle based on a cam rocker arm reversing mechanism, belonging to the technical field of automated logistics and warehousing equipment. It includes a vehicle body, X-axis and Y-axis traveling wheels, a drive mechanism, a lifting and reversing mechanism, a transmission mechanism, and a battery. The lifting and reversing mechanism uses a reversing motor and a reversing gearbox, and drives the lifting frame through an eccentric wheel transmission structure to achieve the lifting and reversing function of the X-axis traveling wheels. The drive mechanism synchronously drives the X-axis and Y-axis traveling wheels through a composite transmission method of gears, sprockets, and universal couplings. This utility model sets the lifting synchronous transmission shaft to a side-mounted position and optimizes the motor arrangement direction to avoid penetrating the battery structure, thereby improving battery capacity and ease of quick battery replacement. Simultaneously, it adopts a guide rail and eccentric wheel linkage structure to achieve precise reversing, smooth operation, and strong load-bearing capacity. It is suitable for various warehousing and logistics scenarios such as automated warehouses and goods-to-person systems, and has advantages such as compact structure, convenient maintenance, and strong adaptability.

Description

Technical Field

[0001] This utility model relates to the field of logistics and warehousing automation equipment technology, and in particular to a four-way shuttle based on a cam rocker arm reversing mechanism. Background Technology

[0002] Huzhou Yinfeng Robotics Co., Ltd. disclosed a four-way shuttle structure in its utility model patent "A Pallet Four-Way Shuttle" (patent number: 202122027360.9) applied for in 2021. The structure features a centrally located lifting synchronous transmission shaft, which runs directly through the battery and connects to the reduction gearboxes on the left and right sides to achieve synchronous transmission of lifting movements.

[0003] However, this centrally located driveshaft layout has the following drawbacks:

[0004] First, because the lifting synchronous drive shaft runs through the battery area, it restricts the battery installation space, resulting in limited battery capacity and affecting the equipment's endurance. Second, in application scenarios that require quick battery replacement, this structure disrupts the integrity and regularity of the battery's shape, increasing the difficulty of battery replacement and reducing maintenance efficiency. In addition, this layout also brings many inconveniences during equipment maintenance, affecting overall operation and maintenance efficiency.

[0005] Meanwhile, the axis of the walking motor and the lifting motor in this patent is arranged along the X direction, which further compresses the available installation space for the battery, restricting the battery's shape design and making it difficult to achieve standardized and modular design.

[0006] Therefore, there is an urgent need to provide an improved four-way shuttle structure, which can solve the problems of limited battery capacity, inconvenient quick replacement, difficult maintenance, and irregular battery shape in the existing technology by optimizing the layout of the drive shaft and the arrangement of the motor, thereby improving the practicality and adaptability of the equipment. Utility Model Content

[0007] To solve the above problems, this utility model provides a four-way shuttle based on a cam rocker arm reversing mechanism.

[0008] The technical solution adopted in this utility model is as follows:

[0009] A four-way shuttle based on a cam rocker arm reversing mechanism includes a vehicle body, X-axis and Y-axis wheels mounted on the periphery of the vehicle body, a drive mechanism installed inside the vehicle body, a lifting reversing mechanism controlling the X-axis wheels, a transmission mechanism located between the drive mechanism and the X-axis and Y-axis wheels, and a battery supplying power to the drive mechanism and the lifting reversing mechanism. The lifting reversing mechanism includes a reversing motor and a reversing gearbox connected to the reversing motor. The reversing gearbox is connected to a reversing transmission mechanism equipped with an eccentric wheel. The reversing transmission mechanism uses a combination of shaft transmission, gear transmission, and eccentric wheel transmission to drive lifting frames located on the left and right sides of the vehicle body to rise and fall relative to the vehicle body. The X-axis wheels are mounted on the lifting frames. The drive mechanism includes a drive motor and a drive gearbox connected to the drive motor. The drive gearbox is connected to a wheel transmission mechanism. The wheel transmission mechanism uses a combination of gear transmission, shaft transmission, and sprocket and chain transmission to drive a set of X-axis wheels located on the front and rear sides of the vehicle body and a set of Y-axis wheels located on the left and right sides of the vehicle body to rotate.

[0010] Furthermore, the vehicle body includes a vehicle frame and a cover plate installed on the top surface of the vehicle frame. The cover plate has a disassembly port at the corresponding position of the battery to facilitate battery removal.

[0011] Furthermore, the output shaft of the commutation motor extends into the commutation gearbox and is equipped with a first commutation bevel gear; the commutation main shaft passes through the commutation gearbox and is rotatably connected to the commutation gearbox via bearings; a second commutation bevel gear that meshes with the first commutation bevel gear is installed on the shaft section of the commutation main shaft inside the commutation gearbox; both ends of the commutation main shaft are connected to the lifting frame via a set of commutation transmission gearboxes and an eccentric wheel transmission structure fixedly installed inside the vehicle body.

[0012] Furthermore, five meshing spur gears are symmetrically arranged inside the reversing gearbox; the outermost spur gear of any one of the five spur gears is fixedly connected to the end of the reversing main shaft, and a through hole for the reversing main shaft to enter is provided on one side of the reversing gearbox; eccentric wheels are rotatably mounted on the sides of the two spur gears located in the middle position of the five spur gears, and the eccentric wheels are exposed outside the reversing gearbox, and a circular hole for the eccentric wheel shaft is provided on the other side of the reversing gearbox.

[0013] Furthermore, the two reversing spur gears in the middle position of the five reversing drive spur gears are arranged so that their rotation directions are opposite.

[0014] Furthermore, four first guide rails are fixedly installed on the front and rear sides of the vehicle body; second guide rails are provided at both ends of the inner side of the lifting frame, and the lifting frame is slidably installed on the front and rear sides of the vehicle body through the cooperation of the first guide rails and the second guide rails, and a gap is left between the lifting frame and the vehicle body; a set of eccentric wheel mating plates and several tension sprockets are fixedly installed on the side of the lifting frame near the vehicle body, and waist-shaped holes are opened on the eccentric wheel mating plates, and the wheel body of the eccentric wheel is located in the waist-shaped holes.

[0015] Furthermore, the output shaft of the drive motor extends into the drive gearbox, and a first drive spur gear is mounted on the shaft body of the output shaft, and a first drive bevel gear is mounted on the shaft end; the wheel transmission mechanism includes an X-axis wheel transmission mechanism and a Y-axis wheel transmission mechanism; the X-axis wheel transmission mechanism includes an X-axis drive shaft, which passes through the drive gearbox and is rotatably connected to the drive gearbox via bearings. A second drive bevel gear that meshes with the first drive bevel gear is mounted on the shaft body section of the X-axis drive shaft inside the drive gearbox, and the two ends of the X-axis drive shaft are connected via... The retractable universal coupling is connected to the axle of the X-direction traveling wheel via a drive transmission. The Y-direction wheel transmission mechanism includes a Y-direction drive shaft, which passes through a drive gearbox and is rotatably connected to the drive gearbox via bearings. A second drive spur gear that meshes with the first drive spur gear is installed on the shaft section of the Y-direction drive shaft inside the drive gearbox. Y-direction drive sprockets are installed at both ends of the Y-direction drive shaft. A transmission sprocket is installed on the axle of the Y-direction traveling wheel inside the vehicle body. The Y-direction drive shaft is connected to the axle of the Y-direction traveling wheel via the Y-direction drive sprocket, the transmission sprocket, and the chain.

[0016] Furthermore, on both the front and rear sides of the vehicle body, there are waist-shaped holes at the connection points between the retractable universal coupling and the axle of the X-direction traveling wheel.

[0017] Furthermore, this eccentric wheel mechanism four-way shuttle has four X-axis traveling wheels on the front and rear sides of the vehicle body, with two X-axis traveling wheels on one side forming a group; each group of X-axis traveling wheels includes one X-axis driving traveling wheel and one X-axis driven traveling wheel. The axle of the X-axis driving traveling wheel is connected to the drive mechanism via a wheel transmission mechanism. Both the X-axis driving and driven traveling wheels have a first inter-wheel transmission sprocket mounted on their axles and are connected via an inter-wheel transmission chain. This eccentric wheel mechanism four-way shuttle has eight Y-axis traveling wheels on the left and right sides of the vehicle body, with four Y-axis traveling wheels on one side forming a group, and arranged symmetrically in pairs; each group of Y-axis traveling wheels includes two Y-axis driving traveling wheels and two Y-axis driven traveling wheels. The axle of any Y-axis driving traveling wheel is connected to the drive mechanism via a wheel transmission mechanism. Both Y-axis driving traveling wheels have a second inter-wheel transmission sprocket mounted on their axles and are connected via an inter-wheel transmission chain; the two Y-axis driven traveling wheels are rotatably mounted on the vehicle body.

[0018] Furthermore, the lifting frames on the left and right sides of the vehicle body are fixedly connected to each other by support plates on the left and right sides of the vehicle body. The bottom of the support plate is provided with a guide column, and a guide seat that cooperates with the guide column is installed on the vehicle body; an anti-slip plate is installed on the upper surface of the support plate.

[0019] The beneficial effects of this utility model are:

[0020] This utility model provides a four-way shuttle based on a cam rocker arm reversing mechanism. By optimizing the mechanical transmission structure, reversing control method, and overall layout design, it solves the problems of limited battery capacity, inconvenient quick battery replacement, difficult maintenance, and irregular shape in existing four-way shuttles, and has the following significant advantages:

[0021] 1. Compact structure and high space utilization: The side-mounted lifting synchronous drive shaft structure completely avoids the battery installation area, avoiding the space limitation problem caused by the traditional center-mounted drive shaft passing through the battery, greatly improving the battery installation space and capacity, and improving the overall space utilization of the equipment.

[0022] 2. Supports rapid battery replacement, improving operation and maintenance efficiency: Since the drive shaft avoids the battery area, the battery shape is more regular, which facilitates standardized design. It is suitable for automatic battery replacement systems commonly found in automated warehouses, significantly improving equipment endurance and operation and maintenance efficiency.

[0023] 3. Precise and reliable reversing control, improving operational stability: The introduction of an eccentric wheel mechanism realizes the lifting and reversing function of the X-axis traveling wheels, replacing the traditional hydraulic or pneumatic drive method. It has a simple structure, fast response speed, and stable and reliable reversing action, effectively improving the operating accuracy and adaptability of the shuttle under complex working conditions.

[0024] 4. High efficiency in power transmission and superior walking performance: The drive mechanism adopts a composite transmission method of gear + sprocket + universal coupling, combined with multi-stage transmission of bevel gear and spur gear, to achieve efficient synchronous drive of the X and Y direction walking wheels, ensuring that the equipment maintains good power output and driving stability even when running at high speed.

[0025] 5. Modular design facilitates maintenance and expansion: Major functional components such as drive motors, commutator motors, and gearboxes adopt modular installation structures, which are convenient to disassemble and assemble and have high maintenance efficiency; at the same time, the overall structure has good scalability, which is convenient for functional upgrades or load adjustments according to different application scenarios.

[0026] 6. Reasonable guiding structure for smoother and safer operation: The lifting frame is slidably connected to the vehicle body via guide rails, and works with guide columns and guide seats to ensure a stable movement trajectory during lifting, avoiding shaking or deviation, and improving the safety and reliability of equipment operation.

[0027] 7. Strong load-bearing capacity and wide range of applications: The number of X-axis and Y-axis traveling wheels is reasonably configured and symmetrically distributed, which has strong load-bearing capacity and good driving stability. It is suitable for various automated warehousing systems, such as automated warehouses, goods-to-person picking systems, intelligent sorting centers and other scenarios.

[0028] In summary, this utility model has a reasonable structural design, complete functions, and stable operation. It not only improves the overall performance of the four-way shuttle, but also significantly enhances its practicality and adaptability in automated warehousing systems, and has good prospects for promotion and application. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the four-way shuttle based on the cam rocker arm reversing mechanism of this utility model.

[0030] Figure 2 , Figure 3 and Figure 4 This is a schematic diagram of the internal structure of the four-way shuttle based on the cam rocker arm reversing mechanism of this utility model.

[0031] Figure 5 This utility model Figure 4 Cross-sectional view at point CC;

[0032] Figure 6 This utility model Figure 4 Cross-sectional view at point AA;

[0033] Figure 7 This is a schematic diagram showing the installation position of the guide structure of the support plate of this utility model;

[0034] In the diagram, 1—vehicle body, 11—vehicle frame, 12—cover plate, 13—disassembly port, 14—guide post, 15—guide seat, 16—waist-shaped hole, 17—first guide rail; 2—X-direction traveling wheel, 21—X-direction driving traveling wheel, 22—X-direction driven traveling wheel, 23—first wheel-to-wheel transmission sprocket; 3—Y-direction traveling wheel, 31—Y-direction driving traveling wheel, 32—Y-direction driven traveling wheel, 33—second wheel-to-wheel transmission sprocket, 34—transmission sprocket; 4—drive mechanism, 41—drive motor, 42—drive gearbox, 43—first drive spur gear, 44—first drive bevel gear; 5—lifting and reversing mechanism, 51—reversing motor, 52—reversing gearbox, 53—first… 54—Reversing bevel gear; 55—Second reversing bevel gear; 56—Reversing transmission gearbox; 561—First reversing transmission spur gear; 562—Second reversing transmission spur gear; 563—Third reversing transmission spur gear; 564—Fourth reversing transmission spur gear; 565—Fifth reversing transmission spur gear; 566—Eccentric wheel; 6—Transmission mechanism; 61—X-direction drive shaft; 62—Second drive bevel gear; 63—Retractable universal coupling; 64—Y-direction drive shaft; 65—Second drive spur gear; 66—Y-direction drive sprocket; 7—Battery; 8—Lifting frame; 81—Second guide rail; 82—Eccentric wheel mating plate; 83—Tensioning sprocket; 84—Support plate. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] This utility model provides a four-way shuttle based on a cam rocker arm reversing mechanism, such as Figure 1 As shown, the four-way shuttle based on the cam rocker arm reversing mechanism includes a body 1, and X-axis traveling wheels 2 and Y-axis traveling wheels 3 mounted on the periphery of the body 1; as Figures 2 to 4 As shown, the vehicle body 1 is equipped with a drive mechanism 4, a lifting and reversing mechanism 5 that controls the X-axis traveling wheel 2, a transmission mechanism 6 located between the drive mechanism 4 and the X-axis traveling wheel 2 and the Y-axis traveling wheel 3, and a battery 7 that supplies power to the drive mechanism 4 and the lifting and reversing mechanism 5. This eccentric wheel mechanism four-way shuttle vehicle solves the problems of limited battery capacity, inconvenient quick replacement, difficult maintenance, and irregular shape in the prior art by optimizing the layout of the transmission shaft and the arrangement of the motor.

[0037] For ease of understanding, the components of this four-way shuttle based on a cam rocker arm reversing mechanism are described in detail below:

[0038] Body 1 structure: such as Figure 1 and Figure 2 As shown, the vehicle body 1 in this embodiment is composed of a vehicle frame 11 and a cover plate 12 installed on its top. The cover plate 12 has a disassembly port 13 at the corresponding position of the battery 7, which facilitates the quick replacement of the battery 7.

[0039] Wheels: such as Figures 2 to 4 As shown, the eccentric wheel mechanism four-way shuttle has four X-direction traveling wheels 2 on the front and rear sides of the vehicle body 1. The two X-direction traveling wheels 2 on one side form a group. Each group of X-direction traveling wheels 2 includes an X-direction active traveling wheel 21 and an X-direction driven traveling wheel 22. The axle of the X-direction active traveling wheel 21 is connected to the drive mechanism 4 through the wheel transmission mechanism 6. The axles of the X-direction active traveling wheel 21 and the X-direction driven traveling wheel 22 are both equipped with a first wheel-to-wheel transmission sprocket 23 and are connected by a wheel-to-wheel transmission chain.

[0040] This four-way shuttle based on a cam rocker arm reversing mechanism has eight Y-axis traveling wheels 3 on the left and right sides of the vehicle body 1. The four Y-axis traveling wheels 3 on one side form a group and are arranged symmetrically in pairs. Each group of Y-axis traveling wheels 3 includes two Y-axis driving traveling wheels 31 and two Y-axis driven traveling wheels 32. The axle of one of the Y-axis driving traveling wheels 31 is connected to the drive mechanism 4 via a wheel transmission mechanism 6. The axles of the two Y-axis driving traveling wheels 31 are each equipped with a second inter-wheel transmission sprocket 33 and are connected by an inter-wheel transmission chain. The two Y-axis driven traveling wheels 32 are rotatably mounted on the vehicle body 1. This arrangement of X-axis traveling wheels 2 and Y-axis traveling wheels 3 gives the equipment good load-bearing capacity and operational stability.

[0041] Drive mechanism 4: Drives the X-axis traveling wheel 2 and the Y-axis traveling wheel 3, such as... Figures 2 to 4 As shown, the drive mechanism 4 in this embodiment includes a drive motor 41 and a drive gearbox 42 that is connected to the drive motor 41. The drive gearbox 42 is connected to the wheel transmission mechanism 6. The wheel transmission mechanism 6 adopts a combination of gear transmission structure, shaft transmission structure and sprocket chain transmission structure to drive a set of X-direction traveling wheels 2 located on the front and rear sides of the vehicle body 1 and a set of Y-direction traveling wheels 3 located on the left and right sides of the vehicle body 1 to rotate, thereby achieving efficient synchronous drive.

[0042] Specifically, such as Figures 2 to 4 As shown, the output shaft of the drive motor 41 extends into the drive gearbox 42, and a first drive spur gear 43 is installed on the shaft body of the output shaft, and a first drive bevel gear 44 is installed on the shaft end; the first drive spur gear 43 is used to drive the Y-direction drive wheel 31, and the first drive bevel gear 44 is used to drive the X-direction drive wheel 21.

[0043] like Figures 2 to 4As shown, the wheel transmission mechanism 6 in this embodiment includes an X-axis wheel transmission mechanism and a Y-axis wheel transmission mechanism. The X-axis wheel transmission mechanism includes an X-axis drive shaft 61, which passes through a drive gearbox 42 and is rotatably connected to the drive gearbox 42 via bearings. A second drive bevel gear 62, meshing with a first drive bevel gear 44, is mounted on the shaft section of the X-axis drive shaft within the drive gearbox 42, enabling the output shaft of the drive motor 41 to drive the X-axis drive shaft 61 to rotate. Considering that the X-axis active wheels 21 need to be raised and lowered, in this embodiment, both ends of the X-axis drive shaft 61 are connected to the axles of the two X-axis active wheels 21 via retractable universal couplings 63. Figure 3 As shown, on the front and rear sides of the vehicle body 1, at the connection between the retractable universal coupling 63 and the wheel axle of the X-direction traveling wheel 2, a waist-shaped hole 16 is opened to enable the X-direction active traveling wheel 21 to be raised and lowered while the drive motor 41 can drive the X-direction active traveling wheel 21.

[0044] The Y-axis wheel transmission mechanism includes a Y-axis drive shaft 64, which intersects the X-axis drive shaft 61 in a cross shape. Similarly, the shaft passes through the drive gearbox 42 and is rotatably connected to the drive gearbox 42 via bearings. A second drive spur gear 65, which meshes with the first drive spur gear 43, is installed on the shaft section of the Y-axis drive shaft 64 within the drive gearbox 42, so that the output shaft of the drive motor 41 drives the X-axis drive shaft 61 to rotate while simultaneously driving the Y-axis drive shaft 64 to rotate synchronously. Y-axis drive sprockets 66 are installed at both ends of the Y-axis drive shaft 64. The axles of the two Y-axis active wheels 31 are equipped with transmission sprockets 34 within the vehicle body 1. The Y-axis drive shaft 64 is connected to the axles of the two Y-axis active wheels 31 via the Y-axis drive sprockets 66, transmission sprockets 34, and chain, thereby enabling the drive motor 41 to drive the Y-axis active wheels 31.

[0045] Lifting reversing mechanism: For the X and Y direction reversing of a four-way shuttle based on a cam rocker arm reversing mechanism, such as... Figures 2 to 4 As shown, the reversing mechanism includes a reversing motor 51 and a reversing gearbox 52 that is connected to the reversing motor 51. The reversing gearbox 52 is connected to a reversing transmission mechanism with an eccentric wheel. The reversing transmission mechanism uses a combination of shaft transmission, gear transmission, and eccentric wheel transmission to drive the lifting frames 8 located on the left and right sides of the vehicle body 1 to rise and fall relative to the vehicle body 1. The X-axis traveling wheel 2 is installed on the lifting frame 8, thereby realizing the rising and falling of the X-axis traveling wheel 2 and satisfying the reversing travel of the four-way shuttle car with the eccentric wheel mechanism.

[0046] Specifically, such as Figures 2 to 4As shown, the output shaft of the commutator motor 51 extends into the commutator gearbox 52 and is equipped with a first commutator bevel gear 53; the commutator main shaft 54 ​​passes through the commutator gearbox 52 and is rotatably connected to the commutator gearbox 52 through bearings. A second commutator bevel gear 55 that meshes with the first commutator bevel gear 53 is installed on the shaft section of the commutator main shaft 54 ​​inside the commutator gearbox 52; the commutator motor 51 drives the commutator main shaft 54 ​​to rotate in the forward or reverse direction through the cooperation of the first commutator bevel gear 53 and the second commutator bevel gear 55.

[0047] like Figures 2 to 4 As shown, both ends of the reversing main shaft 54 ​​extend into a set of reversing transmission gearboxes 56 fixedly installed inside the vehicle body 1. One side of the reversing transmission gearbox 56 has a through hole for the reversing main shaft 54 ​​to enter. Symmetrically arranged within the reversing transmission gearbox 56 are a first reversing transmission spur gear 561, a second reversing transmission spur gear 562, a third reversing transmission spur gear 563, a fourth reversing transmission spur gear 564, and a fifth reversing transmission spur gear 565, which mesh with each other. All of these gears are rotatably mounted within the reversing transmission gearbox 56 via shafts. Furthermore, the second reversing transmission spur gear 562 and the fourth reversing transmission spur gear 564 rotate in opposite directions. The fifth reversing transmission spur gear 565, located on the far right, is fixedly connected to the end of the reversing main shaft 54. Meanwhile, as... Figure 5 As shown, the second reversing drive spur gear 562 and the fourth reversing drive spur gear 564 rotate simultaneously inward or outward. An eccentric wheel 566 is rotatably mounted on the side of both the second and fourth reversing drive spur gears 562 and 564. The eccentric wheel 566 protrudes outside the reversing drive gearbox 56, and a circular hole for the axle of the eccentric wheel 566 is provided on the other side of the reversing drive gearbox 56. When the reversing drive spur gears rotate, the eccentric wheel 566 drives the lifting frame 8 to rise and fall smoothly on both sides of the vehicle body 1, realizing the lifting action of the X-direction traveling wheel 2 and completing the switching between the X and Y directions.

[0048] Lifting frame 8: For the installation of the lifting frame 8, such as... Figure 3 As shown, in this embodiment, four first guide rails 17 are fixedly installed on the front and rear sides of the vehicle body 1; second guide rails 81 are provided at both ends of the inner side of the lifting frame 8, and the lifting frame 8 is slidably installed on the front and rear sides of the vehicle body 1 through the cooperation of the first guide rails 17 and the second guide rails 81; the lifting frames 8 on the left and right sides of the vehicle body 1 are fixedly connected to each other by support plates on the left and right sides of the vehicle body 1. A gap is left between the lifting frame 8 and the vehicle body 1, which is used to accommodate the installation of the first inter-wheel transmission sprocket 23 on the X-direction traveling wheel 2 and the eccentric wheel 566.

[0049] like Figure 3 and Figure 6 As shown, the eccentric wheel mating structure in this embodiment is a set of eccentric wheel mating plates 82 fixedly installed on the lifting frame 8. The eccentric wheel mating plate 82 has an oblong hole, and the wheel body of the eccentric wheel 566 is located in the oblong hole. When the eccentric wheel 566 rotates eccentrically through the second reversing transmission spur gear 562 and the fourth reversing transmission spur gear 564, the lifting frame 8 is laterally limited by the first guide rail 17 and the second guide rail 81. Then, the eccentric wheel 566 drives the lifting frame 8 to rise and fall relative to the vehicle body 1 through the eccentric wheel mating plate 82.

[0050] In addition, to ensure the stability of the inter-wheel drive chain transmission between the X-direction driving wheel 21 and the X-direction driven wheel 22, such as Figures 2 to 4 As shown, several tension sprockets 83 are fixedly installed on the side of the lifting frame 8 near the vehicle body 1. The lifting frames 8 on the front and rear sides of the vehicle body 1 rise and fall synchronously, thereby driving the support plate to rise and fall, as shown. Figure 7 As shown, a guide post 14 is provided at the bottom of the support plate, and a guide seat 15 that cooperates with the guide post 14 is installed on the vehicle body 1 to ensure that the lifting and lowering process of the support plate is smooth and reliable. An anti-slip plate is provided on the upper surface of the support plate to enhance the load-bearing stability of palletized goods.

[0051] In summary, this four-way shuttle based on a cam-rocker arm reversing mechanism, by setting the X-axis drive shaft 61, Y-axis drive shaft 64, and reversing main shaft 54 ​​to a side-mounted configuration, completely avoids the battery 7 area. This avoids the space constraints caused by the traditional centrally located drive shaft passing through the battery, improves battery capacity and overall shape regularity, supports rapid battery replacement, and significantly enhances maintenance efficiency. Furthermore, the use of a reversing transmission mechanism with an eccentric wheel 566 instead of a traditional hydraulic or pneumatic reversing structure makes reversing control more precise and reliable, and the overall structure of the equipment more compact and adaptable.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A four-way shuttle based on a cam rocker arm reversing mechanism, comprising a vehicle body, X-axis and Y-axis traveling wheels mounted on the periphery of the vehicle body, a drive mechanism installed inside the vehicle body, a lifting reversing mechanism controlling the X-axis traveling wheels, a transmission mechanism located between the drive mechanism and the X-axis and Y-axis traveling wheels, and a battery supplying power to the drive mechanism and the lifting reversing mechanism; characterized in that: The lifting and reversing mechanism includes a reversing motor and a reversing gearbox that is connected to the reversing motor. The reversing gearbox is connected to a reversing transmission mechanism with an eccentric wheel. The reversing transmission mechanism uses a combination of shaft transmission structure, gear transmission structure and eccentric wheel transmission structure to drive the lifting frames located on the left and right sides of the vehicle body to rise and fall relative to the vehicle body. The X-axis traveling wheel is installed on the lifting frame. The drive mechanism includes a drive motor and a drive gearbox that is connected to the drive motor. The drive gearbox is connected to the wheel drive mechanism. The wheel drive mechanism uses a combination of gear drive structure, shaft drive structure, and sprocket and chain drive structure to drive a set of X-direction wheels located on the front and rear sides of the vehicle body and a set of Y-direction wheels located on the left and right sides of the vehicle body to rotate.

2. The four-way shuttle vehicle based on the cam rocker arm reversing mechanism according to claim 1, characterized in that: The vehicle body includes a vehicle frame and a cover plate installed on the top surface of the vehicle frame. The cover plate has a disassembly port at the corresponding position of the battery to facilitate battery removal.

3. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 1, characterized in that: The output shaft of the commutating motor extends into the commutating gearbox and is equipped with a first commutating bevel gear. The reversing spindle passes through the reversing gearbox and is rotatably connected to the reversing gearbox via bearings. A second reversing bevel gear that meshes with the first reversing bevel gear is installed on the shaft section of the reversing spindle inside the reversing gearbox. The two ends of the reversing main shaft are connected to the lifting frame through a set of reversing transmission gearboxes and eccentric wheel transmission structures fixedly installed inside the vehicle body.

4. The four-way shuttle vehicle based on the cam rocker arm reversing mechanism according to claim 3, characterized in that: Five intermeshing spur gears are symmetrically arranged inside the reversing gearbox. The outermost of any one of the five reversing drive spur gears is fixedly connected to the end of the reversing main shaft, and a through hole is provided on one side of the reversing drive gearbox to allow the reversing main shaft to enter. Two of the five reversing drive spur gears located in the middle position have eccentric wheels rotatably mounted on their sides. The eccentric wheels are exposed outside the reversing drive gearbox, and the other side of the reversing drive gearbox has a round hole that matches the shaft of the eccentric wheel.

5. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 4, characterized in that: The two reversing spur gears in the middle position of the five reversing drive spur gears are arranged so that their rotation directions are opposite.

6. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 4, characterized in that: Four first guide rails are fixedly installed on the front and rear sides of the vehicle body; the inner two ends of the lifting frame are provided with second guide rails, and the lifting frame is slidably installed on the front and rear sides of the vehicle body through the cooperation of the first guide rails and the second guide rails, with a gap between the lifting frame and the vehicle body. The lifting frame is fixedly installed with a set of eccentric wheel mating plates and several tension sprockets on the side close to the vehicle body. The eccentric wheel mating plates have waist-shaped holes, and the wheel body of the eccentric wheel is located in the waist-shaped holes.

7. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 1, characterized in that: The output shaft of the drive motor extends into the drive gearbox, and a first drive spur gear is installed on the shaft body of the output shaft, and a first drive bevel gear is installed on the shaft end; The wheel drive mechanism includes an X-axis wheel drive mechanism and a Y-axis wheel drive mechanism; The X-axis wheel drive mechanism includes an X-axis drive shaft that passes through a drive gearbox and is rotatably connected to the drive gearbox via bearings. A second drive bevel gear that meshes with a first drive bevel gear is mounted on the shaft section of the X-axis drive shaft inside the drive gearbox. Both ends of the X-axis drive shaft are connected to the wheel axle of the X-axis traveling wheel via a retractable universal coupling. The Y-axis wheel drive mechanism includes a Y-axis drive shaft that passes through a drive gearbox and is rotatably connected to the drive gearbox via bearings. A second drive spur gear that meshes with a first drive spur gear is mounted on the shaft section of the Y-axis drive shaft inside the drive gearbox. Y-axis drive sprockets are mounted at both ends of the Y-axis drive shaft. A transmission sprocket is mounted on the axle of the Y-axis travel wheel inside the vehicle body. The Y-axis drive shaft is connected to the axle of the Y-axis travel wheel via the Y-axis drive sprocket, the transmission sprocket, and the chain.

8. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 7, characterized in that: The front and rear sides of the vehicle body are provided with waist-shaped holes at the connection points between the retractable universal coupling and the axle of the X-direction traveling wheel.

9. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 1, characterized in that: The eccentric wheel mechanism four-way shuttle has four X-axis traveling wheels on the front and rear sides of the vehicle body. The two X-axis traveling wheels on one side form a group. Each group of X-axis traveling wheels includes one X-axis driving traveling wheel and one X-axis driven traveling wheel. The axle of the X-axis driving traveling wheel is connected to the drive mechanism through a wheel transmission mechanism. The axles of both the X-axis driving traveling wheel and the X-axis driven traveling wheel are equipped with a first wheel-to-wheel transmission sprocket and are connected by a wheel-to-wheel transmission chain. This eccentric wheel mechanism four-way shuttle has a total of eight Y-axis traveling wheels on the left and right sides of the vehicle body. The four Y-axis traveling wheels on one side are arranged in a group and are symmetrically arranged in pairs. Each group of Y-axis traveling wheels includes two Y-axis driving traveling wheels and two Y-axis driven traveling wheels. The axle of any Y-axis driving traveling wheel is connected to the drive mechanism through a wheel transmission mechanism. The axles of the two Y-axis driving traveling wheels are equipped with a second inter-wheel transmission sprocket and are connected through an inter-wheel transmission chain. The two Y-axis driven traveling wheels are rotatably mounted on the vehicle body.

10. The four-way shuttle vehicle based on a cam rocker arm reversing mechanism according to claim 1, characterized in that: The lifting frames on the left and right sides of the vehicle body are fixedly connected by support plates on the left and right sides of the vehicle body. The bottom of the support plate is provided with a guide column, and the vehicle body is equipped with a guide seat that cooperates with the guide column; the upper surface of the support plate is equipped with an anti-slip plate.

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