阅读说明：本技术 一种双驱动行走装置 (Dual-drive walking device ) 是由 吕星 陈刘波 汪泳 何力 熊浩 贾英男 于 2021-09-22 设计创作，主要内容包括：本发明是一种双驱动行走装置,包括轨道系统、双立柱、行走底座、行走机构和导向机构；轨道系统由天轨和地轨构成,天轨与地轨平行设置,天轨架设于空中为矩形条状轨道,地轨固定设于地面为工字形轨道,天轨和地轨的横向为双立柱的行走路线；双立柱的两个立柱的顶部分别通过导向机构与天轨滑动连接,两个立柱的底部分别固定安装在行走底座的两端；行走底座设于地轨上,行走机构的主动行走机构位于行走底座内部,其通过两个驱动电机分别带动夹持地轨的两个驱动轮转动产生驱动力矩,从动行走机构设于双立柱的两侧,且与立柱固定连接,其通过行走轮贴合于地轨上表面按照行走路线进行行走。本发明特别适用于仓储、出入库物流中对货品进行多工位间输送。(The invention relates to a dual-drive traveling device which comprises a track system, dual-upright columns, a traveling base, a traveling mechanism and a guide mechanism, wherein the dual-upright columns are arranged on the track system; the track system consists of a sky track and a ground track, the sky track and the ground track are arranged in parallel, the sky track is erected in the air and is a rectangular strip track, the ground track is fixedly arranged on the ground and is an I-shaped track, and the horizontal direction of the sky track and the ground track is a double-column walking route; the tops of two upright columns of the double upright columns are respectively connected with the sky rail in a sliding way through a guide mechanism, and the bottoms of the two upright columns are respectively fixedly arranged at the two ends of the walking base; the walking base is arranged on the ground rail, the driving walking mechanism of the walking mechanism is positioned inside the walking base, the driving walking mechanism drives two driving wheels for clamping the ground rail to rotate respectively through two driving motors to generate driving torque, the driven walking mechanism is arranged on two sides of the double-upright post and is fixedly connected with the upright post, and the driven walking mechanism is attached to the upper surface of the ground rail through walking wheels to walk according to a walking route. The invention is particularly suitable for multi-station conveying of goods in storage and warehouse-in and warehouse-out logistics.)

1. A dual-drive walking device is characterized in that: the dual-drive traveling device comprises a track system, dual-upright columns, a traveling base, a traveling mechanism and a guide mechanism;

the track system consists of a sky track and a ground track, the sky track and the ground track are arranged in parallel, the sky track is erected in the air through a plurality of sky track frame bodies and is a rectangular strip track, the ground track is fixedly arranged on the ground and is an I-shaped track, and the horizontal direction of the sky track and the ground track is a double-upright-column walking route;

the double upright columns are two upright columns vertically arranged at intervals, the tops of the two upright columns are respectively connected with the overhead rail in a sliding manner through a guide mechanism, and the bottoms of the two upright columns are respectively fixedly arranged at two ends of the walking base;

the walking base is of a rhombic frame structure, the inside of the walking base is hollow, and the walking base is arranged on the ground rail; the walking mechanism is composed of a driving walking mechanism and a driven walking mechanism, the driving walking mechanism is located inside the walking base and respectively drives two driving wheels for clamping the ground rail to rotate through two driving motors to generate driving torque, the driven walking mechanism is arranged on two sides of the double-column and fixedly connected with the column, and the driven walking mechanism is attached to the upper surface of the ground rail through walking wheels to walk according to a walking route.

2. A dual drive traveling apparatus according to claim 1, characterized in that: the guide mechanism is composed of a support piece and rollers, the support piece is of an M-shaped frame structure, the bottom of one end of the support piece is fixedly connected with the tops of the two stand columns of the double stand columns, the two sides of the bottom of the other end of the support piece are provided with four rollers capable of clamping the head rail, the four rollers are horizontally arranged and are rotatably connected with the support piece, and the wheel bodies of the rollers are in contact with the end faces of the two sides of the head rail.

3. A dual drive traveling apparatus according to claim 1, characterized in that: the active walking mechanism consists of a first mounting plate, an adjusting seat, a motor mounting plate, a driving motor and a driving wheel;

the first mounting plate is vertically arranged, one side of the first mounting plate is fixedly connected with the walking base, the bottom of the other side of the first mounting plate is symmetrically provided with two hinged shafts, the first mounting plate is rotatably connected with the bottom of the adjusting seat through the two hinged shafts, the top of the adjusting seat is symmetrically provided with two front connecting shafts, and the two front connecting shafts are connected with the mounting plate through waist-shaped holes in the adjusting seat;

two motor mounting plates are symmetrically arranged in the middle of the adjusting seat, the two motor mounting plates are arranged at intervals, one ends of the two motor mounting plates are respectively and rotatably connected with the adjusting seat through rotating shafts, and the other ends of the two motor mounting plates are provided with adjusting components for adjusting the distance between the two motor mounting plates;

two driving motors are fixedly installed on the two motor installation plates respectively, the driving motors are rotatably connected with driving wheels horizontally arranged at the bottoms of the motor installation plates through driving shafts, and wheel bodies of the two driving wheels can adjust the distance between the two motor installation plates through an adjusting assembly to clamp the end faces of the two sides of the ground rail.

4. A dual drive traveling apparatus according to claim 3, characterized in that: the adjusting assembly is composed of a pin shaft and an adjusting shaft, the other ends of the two motor mounting plates are respectively provided with a through hole, the pin shaft is arranged in the through hole, the part of the pin shaft inserted into the through hole is provided with a through hole, one end of the adjusting shaft penetrates through the through holes of the two motor mounting plates and the through hole on the pin shaft, and a nut is in threaded connection with the adjusting shaft.

5. A dual drive traveling apparatus according to claim 1, characterized in that: the driven travelling mechanism consists of a second mounting plate, a fixed block, a travelling wheel mounting plate, an adjusting plate, a locking sheet, a travelling wheel and an adjusting shaft;

the two second mounting plates are triangular plate bodies, symmetrically arranged on two sides of the ground rail in parallel and fixedly connected with the upright post, and fixedly connected through a fixed block with a gap;

the walking wheel mounting plates are rhombic plate bodies and are symmetrically arranged in the gap between the second mounting plates, the two walking wheel mounting plates are fixedly connected through the peripheral connecting rods, and a gap for mounting the walking wheels and the adjusting shaft is reserved;

the two groups of walking wheels are vertically arranged between the two walking wheel mounting plates through a walking wheel shaft and are positioned at two ends in a gap between the two walking wheel mounting plates, and the bottom of a wheel body of each walking wheel can be in contact with the upper end surface of the ground rail;

the adjusting shaft is arranged between the two groups of travelling wheels, both ends of the adjusting shaft penetrate through the travelling wheel mounting plates, and the adjusting shaft is fixedly connected with the second mounting plate through an adjusting plate and a locking sheet;

the adjusting plate and the locking sheet are respectively positioned at two sides of the second mounting plate and fixedly connected with the second mounting plate through bolts.

6. A dual drive traveling apparatus according to claim 5, characterized in that: a plurality of waist-shaped holes are formed in the adjusting plate, the locking sheet and the second mounting plate, and the travelling wheels, the adjusting plate and the travelling wheel mounting plate can vertically move relative to the second mounting plate through the waist-shaped holes;

the top in the clearance between two second mounting panels still is equipped with locking Assembly, and locking Assembly comprises locking frame and locking regulation pole, and locking frame is located the fixed block top, its both ends respectively with two second mounting panel fixed connection, the vertical setting of locking regulation pole, its bottom pass locking frame and fixed block in proper order, and with fixed block threaded connection, the bottom and the regulating spindle butt of locking regulation pole.

7. A dual drive traveling apparatus according to claim 1, characterized in that: the bottom of the driven travelling mechanism is also provided with four groups of transverse guide mechanisms;

the transverse guide mechanism is composed of a guide wheel and a guide wheel shaft, the guide wheel is horizontally arranged and is in the same direction with the driving wheel, the guide wheel is rotatably connected with the second mounting plate through the guide wheel shaft, and the wheel body of the guide wheel can be in contact with the end faces of the two sides of the ground rail.

8. A dual drive traveling apparatus according to claim 1, characterized in that: the bottom of the driven travelling mechanism is also provided with four groups of longitudinal guide mechanisms;

the longitudinal guide mechanism is composed of an eccentric guide wheel and a guide wheel shaft, the eccentric guide wheel is vertically arranged and is in the same direction with the walking wheel, the eccentric guide wheel is rotatably connected with the second mounting plate through the guide wheel shaft, and the wheel body of the eccentric guide wheel can be in contact with the top end face and the bottom end face of two sides of the ground rail.

9. A dual drive traveling apparatus according to claim 1, characterized in that: the two side end faces of the sky rail are also provided with antifriction strips, and the end at the top of the sky rail is also provided with a buffer block.

10. A dual drive traveling apparatus according to claim 1, characterized in that: the ground rail is fixedly arranged on the ground through a ground rail adjusting device, the height of the ground rail can be adjusted, and a limiting device is further arranged at the end of the top of the ground rail.

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a dual-drive walking device.

Background

At present, in the storage and warehouse-in and warehouse-out logistics of articles in various industries, multi-station transportation of goods is often required; thus requiring the device to have a reciprocating function. The traditional walking device mostly adopts a mode of combining a driving mechanism and an attaching weight mechanism into a whole, so that the walking device has a reciprocating function. However, the conventional traveling device has a simple structure, and when the load is large, the required driving torque is large, so that a large-power driving mechanism is required, the large-power driving mechanism occupies a large space, cannot be adjusted in the operation process, and is prone to failure, and therefore the operation efficiency of equipment is influenced to a large extent.

Disclosure of Invention

The invention overcomes the defects in the prior art and provides the dual-drive traveling device which has the advantages of simple structure, safe and reliable operation, large driving torque, stable and quick starting and braking and high stopping precision.

The technical scheme adopted by the invention is as follows:

a dual-drive traveling device comprises a track system, two upright posts, a traveling base, a traveling mechanism and a guide mechanism; the track system consists of a sky track and a ground track, the sky track and the ground track are arranged in parallel, the sky track is erected in the air through a plurality of sky track frame bodies and is a rectangular strip track, the ground track is fixedly arranged on the ground and is an I-shaped track, and the horizontal direction of the sky track and the ground track is a double-upright-column walking route; the double upright columns are two upright columns vertically arranged at intervals, the tops of the two upright columns are respectively connected with the overhead rail in a sliding manner through a guide mechanism, and the bottoms of the two upright columns are respectively fixedly arranged at two ends of the walking base; the walking base is of a rhombic frame structure, the inside of the walking base is hollow, and the walking base is arranged on the ground rail; the walking mechanism is composed of a driving walking mechanism and a driven walking mechanism, the driving walking mechanism is located inside the walking base and respectively drives two driving wheels for clamping the ground rail to rotate through two driving motors to generate driving torque, the driven walking mechanism is arranged on two sides of the double-column and fixedly connected with the column, and the driven walking mechanism is attached to the upper surface of the ground rail through walking wheels to walk according to a walking route.

Furthermore, the guiding mechanism comprises a supporting piece and rollers, the supporting piece is of an M-shaped frame structure, the bottom of one end of the supporting piece is fixedly connected with the tops of the two upright posts of the double upright posts, the two sides of the bottom of the other end of the supporting piece are provided with four rollers capable of clamping the head rail, the four rollers are horizontally arranged and are rotatably connected with the supporting piece, and the wheel bodies of the rollers are in end surface contact with the two sides of the head rail.

Furthermore, the active walking mechanism consists of a first mounting plate, an adjusting seat, a motor mounting plate, a driving motor and a driving wheel; the first mounting plate is vertically arranged, one side of the first mounting plate is fixedly connected with the walking base, the bottom of the other side of the first mounting plate is symmetrically provided with two hinged shafts, the first mounting plate is rotatably connected with the bottom of the adjusting seat through the two hinged shafts, the top of the adjusting seat is symmetrically provided with two front connecting shafts, and the two front connecting shafts are connected with the mounting plate through waist-shaped holes in the adjusting seat; two motor mounting plates are symmetrically arranged in the middle of the adjusting seat, the two motor mounting plates are arranged at intervals, one ends of the two motor mounting plates are respectively and rotatably connected with the adjusting seat through rotating shafts, and the other ends of the two motor mounting plates are provided with adjusting components for adjusting the distance between the two motor mounting plates; two driving motors are fixedly installed on the two motor installation plates respectively, the driving motors are rotatably connected with driving wheels horizontally arranged at the bottoms of the motor installation plates through driving shafts, and wheel bodies of the two driving wheels can adjust the distance between the two motor installation plates through an adjusting assembly to clamp the end faces of the two sides of the ground rail.

Furthermore, the adjusting assembly is composed of a pin shaft and an adjusting shaft, the other ends of the two motor mounting plates are respectively provided with a through hole, the pin shaft is arranged in the through hole, the part of the pin shaft inserted into the through hole is provided with a through hole, one end of the adjusting shaft penetrates through the through holes of the two motor mounting plates and the through hole on the pin shaft, and the adjusting shaft is in threaded connection with a nut.

Further, the driven travelling mechanism consists of a second mounting plate, a fixed block, a travelling wheel mounting plate, an adjusting plate, a locking sheet, a travelling wheel and an adjusting shaft; the two second mounting plates are triangular plate bodies, symmetrically arranged on two sides of the ground rail in parallel and fixedly connected with the upright post, and fixedly connected through a fixed block with a gap; the walking wheel mounting plates are rhombic plate bodies and are symmetrically arranged in the gap between the second mounting plates, the two walking wheel mounting plates are fixedly connected through the peripheral connecting rods, and a gap for mounting the walking wheels and the adjusting shaft is reserved; the two groups of walking wheels are vertically arranged between the two walking wheel mounting plates through a walking wheel shaft and are positioned at two ends in a gap between the two walking wheel mounting plates, and the bottom of a wheel body of each walking wheel can be in contact with the upper end surface of the ground rail; the adjusting shaft is arranged between the two groups of travelling wheels, both ends of the adjusting shaft penetrate through the travelling wheel mounting plates, and the adjusting shaft is fixedly connected with the second mounting plate through an adjusting plate and a locking sheet; the adjusting plate and the locking sheet are respectively positioned at two sides of the second mounting plate and fixedly connected with the second mounting plate through bolts.

Furthermore, a plurality of waist-shaped holes are formed in the adjusting plate, the locking sheet and the second mounting plate, and the travelling wheels, the adjusting plate and the travelling wheel mounting plate can vertically move relative to the second mounting plate through the waist-shaped holes; the top in the clearance between two second mounting panels still is equipped with locking Assembly, and locking Assembly comprises locking frame and locking regulation pole, and locking frame is located the fixed block top, its both ends respectively with two second mounting panel fixed connection, the vertical setting of locking regulation pole, its bottom pass locking frame and fixed block in proper order, and with fixed block threaded connection, the bottom and the regulating spindle butt of locking regulation pole.

Further, the bottom of the driven travelling mechanism is also provided with four groups of transverse guide mechanisms; the transverse guide mechanism is composed of a guide wheel and a guide wheel shaft, the guide wheel is horizontally arranged and is in the same direction with the driving wheel, the guide wheel is rotatably connected with the second mounting plate through the guide wheel shaft, and the wheel body of the guide wheel can be in contact with the end faces of the two sides of the ground rail.

Furthermore, the bottom of the driven travelling mechanism is also provided with four groups of longitudinal guide mechanisms; the longitudinal guide mechanism is composed of an eccentric guide wheel and a guide wheel shaft, the eccentric guide wheel is vertically arranged and is in the same direction with the walking wheel, the eccentric guide wheel is rotatably connected with the second mounting plate through the guide wheel shaft, and the wheel body of the eccentric guide wheel can be in contact with the top end face and the bottom end face of two sides of the ground rail.

Furthermore, the two side end faces of the sky rail are provided with antifriction strips, and the end at the top of the sky rail is provided with a buffer block.

Further, the ground rail is fixedly arranged on the ground through a ground rail adjusting device, the height of the ground rail can be adjusted, and a limiting device is further arranged at the end of the top of the ground rail.

The invention has the beneficial effects that:

this dual drive running gear simple structure, its rail system adopts sky rail cooperation ground rail, sky rail and ground rail parallel arrangement, it is aerial for rectangular strip track that the sky rail is located, the ground rail is fixed to be located ground and is the I-shaped track, the horizontal line of walking that is of sky rail and ground rail, it adopts the double-column structure, guiding mechanism and sky rail sliding connection are passed through respectively at the top of two stands, the bottom of two stands is fixed mounting respectively at the both ends of walking base, and then make this dual drive running gear operation safe and reliable, and it is less to occupy the space. The dual-drive traveling device adopts the two driving motors to respectively drive the two driving wheels for clamping the ground rail to rotate to generate driving torque, so that larger driving torque can be generated, and meanwhile, the driven traveling mechanisms are arranged on two sides of the double-column and are attached to the upper surface of the ground rail through traveling wheels to travel according to traveling routes. In addition, the double-drive traveling device is also provided with a transverse guide mechanism and a longitudinal guide mechanism, so that the double-drive traveling device is stable and quick in starting and braking, and high in stopping precision, and is particularly suitable for multi-station conveying of goods in storage and warehouse-in and warehouse-out logistics. The dual-drive traveling device adopts a dual-upright-column structure, so that the device can bear larger load and higher traveling speed, and can realize short-time acceleration and deceleration and improve the working efficiency.

Drawings

Fig. 1 and 2 are schematic overall structures of the present invention;

fig. 3, 4 and 5 are schematic structural views of the active walking mechanism of the present invention;

FIG. 6 is a schematic structural view of the driven traveling mechanism of the present invention;

in fig. 1 to 6, 1 to a head rail, 2 to a ground rail, 3 to a head rail frame body, 4 to a column, 5 to a guide mechanism, 6 to a traveling base, 7 to a driving traveling mechanism, 8 to a driven traveling mechanism, 9 to a support member, 10 to a roller, 11 to a first mounting plate, 12 to an adjusting seat, 13 to a motor mounting plate, 14 to a driving motor, 15 to a driving wheel, 16 to a hinge shaft, 17 to a front connecting shaft, 18 to a rotating shaft, 19 to a driving shaft, 20 to a hinge shaft, 21 to an adjusting shaft, 22 to a nut, 23 to a second mounting plate, 24 to a fixed block, 25 to a traveling wheel mounting plate, 26 to an adjusting plate, 27 to a locking piece, 28 to a traveling wheel, 29 to an adjusting shaft, 30 to a peripheral connecting rod, 31 to a traveling wheel shaft, 32 to a kidney-shaped hole, 33 to a locking frame, 34 to a locking adjusting rod, 35 to a guide wheel, 36 to an eccentric guide wheel, 37 to an abrasion reducing bar, 38 to a buffer block, 39 to a ground rail adjusting device, 40-a limiting device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1-6, the invention relates to a dual-drive traveling device, which comprises a track system, dual-upright posts, a traveling base 6, a traveling mechanism and a guide mechanism 5.

The track system comprises a sky track 1 and a ground track 2, the sky track 1 and the ground track 2 are arranged in parallel, the sky track 1 is erected in the air through a plurality of sky track frame bodies 3 and is a rectangular strip track, the ground track 2 is fixedly arranged on the ground and is an I-shaped track, and the horizontal traveling routes of the sky track 1 and the ground track 2 are double columns. The double-column is two vertical columns 4 arranged at intervals, the tops of the two vertical columns 4 are respectively connected with the sky rail 1 in a sliding mode through guide mechanisms 5, and the bottoms of the two vertical columns 4 are respectively fixedly installed at the two ends of the walking base 6. The track system and the double-upright-column structure occupy small space, and the whole structure is stable, so that the double-drive traveling device is particularly suitable for narrow roadway space while the whole operation is safe and reliable. The section of the top rail 1 is rectangular and can bear large bending moment without deformation, the section of the ground rail 2 is an I-shaped rail and can bear the weight of the double-drive walking device and large acceleration and deceleration loads, and the double upright posts are stable in structure and can bear large lifting loads without deformation.

The walking base 6 is of a rhombic frame structure, the walking base 6 is hollow inside, and the walking base 6 is arranged on the ground rail 2. The traveling mechanism is composed of a driving traveling mechanism 7 and a driven traveling mechanism 8, the driving traveling mechanism 7 is located inside the traveling base 6, the driving traveling mechanism 7 drives two driving wheels 15 for clamping the ground rail 2 to rotate respectively through two driving motors 14 to generate driving torque, the driven traveling mechanism 8 is arranged on two sides of the double-upright-column and is fixedly connected with the upright-column 4, and the driven traveling mechanism is attached to the upper surface of the ground rail 2 through traveling wheels 28 to travel according to a traveling route.

The specific structure of the guide mechanism 5:

the guide mechanism 5 is composed of a support member 9 and rollers 10, the support member 9 is of an M-shaped frame structure, the bottom of one end of the support member 9 is fixedly connected with the tops of the two upright posts 4 of the double upright posts, four rollers 10 capable of clamping the sky rail 1 are arranged on two sides of the bottom of the other end of the support member 9, the four rollers 10 are horizontally arranged and are rotatably connected with the support member 9, and wheel bodies of the rollers 10 are in end surface contact with two sides of the sky rail 1. The guide mechanism 5 can ensure that the top of the double-column moves on the traveling route of the sky rail 1, so that the shaking generated in the traveling process of the top of the double-column is prevented, and the stability of the double-column in the traveling process is ensured. The load born by the double-upright post is transmitted to the sky rail 1 through the guide mechanism 5, and meanwhile, the guide mechanism 5 ensures the running stability and synchronism of the double-upright post and the running mechanism.

The specific structure of the active running mechanism 7:

the active walking mechanism 7 is composed of a first mounting plate 11, an adjusting seat 12, a motor mounting plate 13, a driving motor 14 and a driving wheel 15. The first mounting plate 11 is vertically arranged, one side of the first mounting plate 11 is fixedly connected with the walking base 6, and two articulated shafts 16 are symmetrically arranged at the bottom of the other side of the first mounting plate 11; the first mounting plate 11 is rotatably connected to the bottom of the adjusting seat 12 by two hinge shafts 16. Two front connecting shafts 17 are symmetrically arranged at the top of the adjusting seat 12, and the two front connecting shafts 17 are connected with the mounting plate through the waist-shaped holes 32 on the adjusting seat 12. The middle part symmetry of adjusting seat 12 is equipped with two motor mounting panels 13, and two motor mounting panels 13 intervals set up, and the one end of two motor mounting panels 13 is connected with adjusting seat 12 rotation through pivot 18 respectively, and the other end is equipped with the adjusting part who adjusts interval between two motor mounting panels 13. Two driving motor 14 are fixed mounting respectively on two motor mounting panels 13, and driving motor 14 rotates with the drive wheel 15 that is located motor mounting panel 13 bottom level and sets up through drive shaft 19 and is connected, and the wheel body of two drive wheels 15 passes through adjusting part and adjusts the both sides terminal surface that interval can press from both sides tight ground rail 2 between two motor mounting panels 13.

The adjusting assembly is composed of a pin shaft 20 and an adjusting shaft 21, through holes are respectively formed in the other ends of the two motor mounting plates 13, the pin shaft 20 is arranged in each through hole, through holes are formed in the portions, inserted into the through holes, of the pin shafts 20, one end of the adjusting shaft 21 penetrates through the through holes of the two motor mounting plates 13 and the through holes in the pin shafts 20, and a nut 22 is connected to the adjusting shaft 21 in a threaded mode.

The driving running mechanism 7 is a main power source of the dual-drive running device, and two driving motors 14 are adopted to respectively drive two driving wheels 15 for clamping the ground rail 2 to rotate to generate driving torque, so that larger driving torque can be generated, and the requirement of large load is met. The contact angle of driving wheel 15 and ground rail 2 can be adjusted through adjusting seat 12 to initiative running gear 7, is connected with adjusting seat 12 rotation through motor mounting panel 13, and the interval between two motor mounting panels 13 is adjusted to the cooperation adjusting part for two driving wheels 15 can real-time centre gripping ground rail 2, guarantee the stability of operation. In addition, the active walking mechanism 7 with the structure is more convenient to maintain.

The adjusting component of the active walking mechanism 7 can be adjusted to keep a horizontal angle with the ground rail 2, so that the smooth running of the active walking mechanism 7 on the ground rail 2 is ensured, and no clamping stagnation is generated; meanwhile, the horizontal gap between the two driving wheels 15 can be adjusted, the clamping force of the driving wheels 15 on the guide rail 2 is ensured, and sufficient walking driving torque is generated.

The specific structure of the driven traveling mechanism 8:

the driven travelling mechanism 8 is composed of a second mounting plate 23, a fixed block 24, a travelling wheel mounting plate 25, an adjusting plate 26, a locking sheet 27, a travelling wheel 28 and an adjusting shaft 29. The second mounting panel 23 is a triangular plate, the second mounting panels 23 are symmetrically arranged on two sides of the ground rail 2 in parallel and are fixedly connected with the upright post 4, and the two second mounting panels 23 are fixedly connected with each other through the fixing block 24 and are left with gaps. The walking wheel mounting plates 25 are rhombic plate bodies, the walking wheel mounting plates 25 are symmetrically arranged in gaps between the second mounting plates 23, the two walking wheel mounting plates 25 are fixedly connected through the peripheral connecting rods 30, and gaps for mounting walking wheels 28 and adjusting shafts 29 are reserved. The walking wheel 28 is two sets of, and walking wheel 28 can vertically locate between two walking wheel mounting panels 25 through walking wheel axle 31, and is located the both ends in the clearance between two walking wheel mounting panels 25, and walking wheel 28's wheel body bottom can contact with the up end of ground rail 2. The adjusting shaft 29 is arranged between the two groups of travelling wheels 28, and both ends of the adjusting shaft 29 penetrate through the travelling wheel mounting plates and are fixedly connected with the second mounting plate 23 through the adjusting plate 26 and the locking sheet 27. The adjusting plate 26 and the locking plate 27 are respectively located on two sides of the second mounting plate 23, and the adjusting plate 26, the locking plate 27 and the second mounting plate 23 are fixedly connected through bolts. The driven travelling mechanism 8 can enable the double-column and the load to act on the ground rail 2 through the travelling wheels 28, and meanwhile, the driven travelling mechanism 8 can ensure that the bottoms of the double-column move on the travelling route of the ground rail 2 through driving torque.

In order to adjust the position of the travelling wheel 28, a plurality of waist-shaped holes 32 are formed in the adjusting plate 26, the locking piece 27 and the second mounting plate 23, and the travelling wheel 28, the adjusting plate 26 and the travelling wheel mounting plate 25 can vertically move relative to the second mounting plate 23 through the waist-shaped holes 32; meanwhile, a locking assembly is further arranged at the top in the gap between the two second mounting plates 23 and comprises a locking frame 33 and a locking adjusting rod 34, the locking frame 33 is located above the fixing block 24, two ends of the locking frame are fixedly connected with the two second mounting plates 23 respectively, the locking adjusting rod 34 is vertically arranged, the bottom of the locking adjusting rod penetrates through the locking frame 33 and the fixing block 24 in sequence and is in threaded connection with the fixing block 24, and the bottom of the locking adjusting rod 34 is abutted to the adjusting shaft 29. When the position of the travelling wheel 28 needs to be adjusted, firstly, bolts among the adjusting plate 26, the locking sheet 27 and the second mounting plate 23 are loosened; so that the road wheels 28, the adjustment plate 26 and the road wheel mounting plate 25 can move vertically relative to the second mounting plate 23 through the oblong holes 32. Then, the locking adjusting rod 34 is rotated to drive the adjusting shaft 29 to vertically move, so that the position of the travelling wheel 28, the adjusting plate 26 and the travelling wheel mounting plate 25 is adjusted, and finally, bolts among the adjusting plate 26, the locking sheet 27 and the second mounting plate 23 are tightened.

The adjusting assembly of the driven travelling mechanism 8 can realize the real-time swinging function, so that the travelling wheels 28 are always in contact with the upper surface of the ground rail 2; meanwhile, the adjusting assembly can also adjust the height dimension of the walking wheels 28 through the locking adjusting rod 34.

The working principle of the dual-drive walking device is as follows:

when the double-drive traveling device is used, a cargo carrying platform is arranged between two vertically spaced upright columns 4 of the double upright columns to carry cargos; the two driving motors 14 of the driving travelling mechanism 7 are controlled to operate by the electric control system, the two driving motors 14 drive the two driving wheels 15 to rotate to generate driving torque after operating, the travelling base 6 can drive the double-column to move on the travelling route of the ground rail 2, the travelling wheels 28 of the driven travelling mechanisms 8 on the two sides of the double-column travel on the upper surface of the ground rail 2 while the double-column moves on the travelling route of the ground rail 2, and meanwhile, the rollers 10 of the guide mechanisms 5 on the tops of the double-column travel on the end surfaces on the two sides of the sky rail 1.

Because the ground rail 2 adopts an I-shaped rail, the stability of the dual-drive traveling device in traveling on the ground rail 2 is further ensured. And the bottom of the driven travelling mechanism 8 is also provided with a transverse guide mechanism and a longitudinal guide mechanism. The transverse guide mechanisms are four groups, each transverse guide mechanism is composed of a guide wheel 35 and a guide wheel shaft, the guide wheels 35 are horizontally arranged and are in the same direction with the driving wheel 15, the guide wheels are rotatably connected with the second mounting plate 23 through the guide wheel shafts, and wheel bodies of the guide wheels 35 can be in contact with the end faces of the two sides of the ground rail 2. The longitudinal guide mechanisms are also four groups, each longitudinal guide mechanism comprises an eccentric guide wheel 36 and a guide wheel shaft, the eccentric guide wheels 36 are vertically arranged and are in the same direction with the travelling wheels 28, the eccentric guide wheels 36 are rotatably connected with the second mounting plate 23 through the guide wheel shafts, and wheel bodies of the eccentric guide wheels 36 can be in contact with the top end surfaces and the bottom end surfaces of the two sides of the ground rail 2. The stability of the dual-drive traveling device running on the ground rail 2 can be further ensured through the transverse guide mechanism and the longitudinal guide mechanism.

After the dual-drive traveling device reaches a designated position, the electric control system controls the two driving motors 14 of the driving traveling mechanism 7 to stop running, and the dual-drive traveling device slowly travels by one end distance according to the self gravity, the load and the friction force between each wheel body and the sky rail 1 and the ground rail 2 and then stops. In order to reduce the abrasion of the idler wheel 10 to the sky rail 1, the end surfaces of two sides of the sky rail 1 are also provided with abrasion reducing strips 37, and meanwhile, in order to prevent the double-drive traveling device from exceeding the traveling route of the sky rail 1 and the ground rail 2, the end of the top of the sky rail 1 is also provided with a buffer block 38; the end of the top of the ground rail 2 is also provided with a limiting device 40. In addition, in order to prevent the poor flatness of the ground, the ground rail 2 is deformed due to the excessive gravity load, and the ground rail 2 can be fixed on the ground through the ground rail adjusting device 39 with adjustable height.