CN212221321U

CN212221321U - Conveying vehicle with jacking traveling device provided with horizontal guide wheels

Info

Publication number: CN212221321U
Application number: CN201921889148.XU
Authority: CN
Inventors: 王燏斌
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-12-25
Anticipated expiration: 2029-11-05

Abstract

The invention provides a conveying vehicle with a jacking travelling device and a horizontal guide wheel, wherein a conveying system in logistics storage comprises a convex track and a conveying vehicle, a guide rail comprises a bearing surface and two guide surfaces on two sides, the upper plane of the guide rail is the bearing surface, the convex track comprises a transverse track, a longitudinal track and a longitudinal and transverse reversing interface, the longitudinal and transverse reversing interface comprises a bearing point, and the bearing point is positioned at the intersection of the transverse guide rail and the longitudinal guide rail; the conveying vehicle comprises a vehicle body, a stand column, a hoisting device, a lifting appliance and a traveling device; the walking device comprises a walking wheel frame, a walking wheel, a walking and rotating device and a horizontal guide wheel device. The advantages are that: when the intersection is rotated and reversed, the travelling wheels are only slightly higher than the bearing surface, the guide wheels can be not higher than the bearing surface, and the jacking device only needs a very small stroke; the reversing jacking device of the conveying vehicle can not interfere with the articles stored on the rail surface, and when the walking device reverses, the walking wheel carrier rotates outwards, and can not interfere with the articles on the lifting appliance in the cavity.

Description

Conveying vehicle with jacking traveling device provided with horizontal guide wheels

Technical Field

The invention relates to a conveying vehicle with a jacking travelling device and a horizontal guide wheel, belonging to the technical field of conveying vehicles with tracks in logistics storage.

Background

The existing conveying vehicle with horizontal guide wheels in logistics storage mainly has two structures, namely an article placing structure on the frame of the conveying vehicle and an article placing structure in the frame of the conveying vehicle, the conveying vehicle with the article placed on the frame is difficult to automatically take and place the article on the position below the frame, and external hoisting equipment is needed; article are at the delivery wagon in the frame, its running gear is when turning to (X, Y direction conversion), at present mainly there is through setting up climbing mechanism in the running gear outside, make the leading wheel of delivery wagon and walking wheel all break away from the track back through climbing mechanism, running gear just can rotate 90 degrees and commutate, and the delivery wagon needs to move to article above or when passing through article in the empty wagon state in addition, the outside climbing mechanism of running gear can produce the aridity with the article of placing between two tracks on the track face, can't pass.

Disclosure of Invention

The invention provides a conveying vehicle with a jacking travelling device and a horizontal guide wheel, which aims to overcome the defects in the prior art and has the main advantages that: the top of the vehicle body of the conveying vehicle is provided with a hoisting device which can hoist the articles below the vehicle frame; at the intersection, notches are formed on the longitudinal and transverse rails correspondingly when the guide wheels rotate, the travelling wheels only need to be slightly higher than the bearing surface, the guide wheels can not be higher than the bearing surface, namely, when reversing, the jacking device only needs a minimum stroke, and the notches on the rails do not influence the travelling of the conveying vehicle; the walking device is arranged at the bottoms of the four stand columns at the corner of the conveying vehicle, the reversing jacking device of the walking device is supported at the intersection of the longitudinal and transverse guide rails, the middle bearing is positioned at the center of the walking wheel carrier, when the walking device runs on the longitudinal and transverse rails, the walking device cannot interfere with the articles stored on the rail surface, and when the walking device reverses, the walking wheel carrier rotates outwards, the walking wheel carrier cannot interfere with the articles on the lifting appliance in the cavity, so that the article placing distance can be reduced, and the storage space utilization rate is improved.

The technical solution of the invention is as follows: the conveying system 1 in logistics storage comprises a convex track 2 and a conveying vehicle 3, the convex track 2 consists of two guide rails 4, the guide rails 4 comprise a bearing surface 4-1 and two side guide surfaces 4-2, the upper plane of the guide rails 4 is the bearing surface 4-1, the convex track 2 comprises a transverse track 2X, a longitudinal track 2Y and a longitudinal and transverse reversing interface 2-1, the transverse track 2X comprises two transverse guide rails 4X, the longitudinal track 2Y comprises two longitudinal guide rails 4Y, the longitudinal and transverse reversing interface 2-1 comprises a bearing point 2-1-1, the bearing point 2-1-1 is positioned at the intersection of the transverse guide rail 4X and the longitudinal guide rail 4Y, the transverse guide rail 4X is provided with a transverse notch 4X-1 in front of the bearing point 2-1-1, the longitudinal guide rail 4Y is provided with a longitudinal notch 4Y-1 in front of the bearing point 2-1-1, setting the length of the transverse gap 4X-1 and the longitudinal gap 4Y-1 as a; the conveying vehicle 3 comprises a vehicle body 3-1, upright columns 3-2, a hoisting device 3-3, a lifting appliance 3-4 and a walking device 5, wherein the four upright columns 3-2 are positioned at four corners of the vehicle body 3-1, the bottoms of the upright columns 3-2 comprise reversing jacking devices 6, each reversing jacking device 6 comprises a middle bearing 6-1, a supporting point 6-2 and jacking power 6-3, the supporting point 6-2 is positioned at the bottom of the middle bearing 6-1, the middle bearing 6-1 is driven to do vertical jacking motion through the jacking power 6-3, and the supporting point 6-2 supports or is separated from the convex track 2; the lifting device 3-3 is positioned at the top of the vehicle body 3-1, the vehicle body 3-1 comprises a cavity 3-1-1, the lifting appliance 3-4 comprises a grabbing device 3-4-1, the lifting appliance 3-4 lifts an article 7 below the vehicle body 3-1 through the lifting device 3-3 and places the article 7 in the cavity 3-1-1 on the lifting appliance 3-4 through the lifting device 3-3, or places the article 7 in the cavity 3-1-1 on the lifting appliance 3-4 below the vehicle body 3-1 through the lifting device 3-3; the traveling device 5 arranged at the bottom of the upright post 3-2 comprises a traveling wheel frame 5-1, traveling wheels 5-2, a traveling slewing gear 5-3 and a horizontal guide wheel device 5-4, two traveling wheels 5-2 traveling on a bearing surface 4-1 are arranged on the traveling wheel frame 5-1, the center distance of the two traveling wheels 5-2 is set to be L, the traveling of the transport vehicle 3 along the X direction is realized by the traveling of the traveling wheels 5-2 on a transverse track 2X, the traveling of the transport vehicle 3 along the Y direction is realized by the traveling of the traveling wheels 5-2 on a longitudinal track 2Y, the rotation of the traveling wheel frame 5-1 relative to the upright post 3-2 is realized by the traveling slewing gear 5-3, and the horizontal guide wheel device 5-4 comprises two guide wheels 5-1, guide wheel frames 5-4-2, A guiding rotary device 5-4-3 and a central frame 5-4-4, wherein the two guiding wheels 5-4-1 and the guiding rotary device 5-4-3 are both fixed on a guiding wheel frame 5-4-2, the central frame 5-4-4 is sleeved on a middle support 6-1, the diameter of the guiding wheel 5-4-1 is set as D, l is more than a and more than D, the guide wheel 5-4-1 runs along the guide surface 4-2 at the two sides of the guide rail 4, the horizontal guide wheel device 5-4 is arranged at the center of the connecting line of the centers of the two travelling wheels 5-2, namely, the central connecting line of the two horizontal guide wheel devices 5-4 is vertical to the central connecting line of the two walking wheels 5-2, and the horizontal guide wheel devices 5-4 rotate through the guide rotating devices 5-4-3; the walking and slewing device 5-3 comprises an upright post interface 5-3-1 and a wheel carrier interface 5-3-2, the upright post interface 5-3-1 is arranged on an upright post 3-2, the wheel carrier interface 5-3-2 is arranged on a walking wheel carrier 5-1, an intermediate bearing 6-1 in the reversing jacking device 6 is positioned at the center of the walking wheel carrier 5-1 and the center of a guide wheel carrier 5-4-2, the guide wheel carrier 5-4-2 is positioned below the walking wheel carrier 5-1, when the walking device 5 runs to the conveying vehicle 3 with the vertical and horizontal reversing interface 2-1 and needs to be reversed, the reversing jacking device 6 jacks, and the supporting point 6-2 is supported on the supporting point 2-1-1 through the intermediate bearing 6-1, at the moment, the weight of the whole conveying vehicle 3 comprises the weight of a lifting appliance 3-4 containing an article 7 in the lifting appliance 3-4, the weight acts on a bearing point 2-1-1 through four supporting points 6-2, a walking wheel 5-2 is slightly higher than a bearing surface 4-1, the walking device 5 is rotated for 90 degrees through a walking rotating device 5-3, a horizontal guide wheel device 5-4 is rotated for 90 degrees through a guide rotating device 5-4-3, and the rapid reversing operation of the walking device 5 between the transverse direction and the longitudinal direction is realized.

The invention has the advantages that: at the intersection, notches are formed on the longitudinal and transverse rails correspondingly when the guide wheels rotate, the travelling wheels only need to be slightly higher than the bearing surface, the guide wheels can be not higher than the bearing surface, namely, the jacking device only needs a minimum stroke during reversing, and the notches on the rails do not influence the passing of a conveying vehicle; running gear's switching-over jacking device supports in the intersection of guide rail with great ease, switching-over jacking device supporting center promptly, and running gear can not interfere with the article of keeping in on the track face when moving on the track with great ease, and running gear is when the switching-over moreover, and the walking wheel carrier is all outwards rotatory, can not interfere with the article on the lifting tool in the cavity, and the distance that reducible article were put improves storage space utilization.

Drawings

FIG. 1 is a schematic structural diagram of a traveling device 5 of a transport vehicle 3 in a transport system 1 running on a transverse track 2X to a vertical and horizontal reversing interface 2-1, and is also a schematic structural diagram of a lifting appliance 3-4 of the transport vehicle 3 lifting an article 7 below a vehicle body 3-1 through a lifting device 3-3 and placing the article in a cavity 3-1-1;

FIG. 2 is a view from the direction A of FIG. 1, and is also a schematic structural view of the traveling wheels 5-2 of the traveling devices 5 traveling on the bearing surface 4-1 of the transverse guide rail 4X, each traveling device 5 including two guide wheels 5-4-1, the guide wheels 5-4-1 passing through the longitudinal gap 4Y-1;

fig. 3 is a view from direction B of fig. 1, and is also a schematic structural view of the convex rail 2 composed of two guide rails 4, including a transverse rail 2X, a longitudinal rail 2Y and a longitudinal-transverse reversing interface 2-1, and is also a schematic structural view of the transport vehicle 3 including four sets of traveling devices 5, each set of traveling device 5 including two traveling wheels 5-2, and is also a schematic structural view of the bearing point 2-1-1 located at the intersection of the transverse guide rail 4X and the longitudinal guide rail 4Y, and the transport vehicle 3 supporting the supporting point 6-2 on the bearing point 2-1-1 during reversing;

FIG. 4 is a partial view of FIG. 1, which is also a schematic structural view of the reversing jacking device 6 for making the supporting point 6-2 leave the bearing point 2-1-1 when the traveling wheel 5-2 of the traveling device 5 travels on the bearing surface 4-1 of the transverse guide rail 4X, and is also a schematic structural view of the center distance L of the two traveling wheels 5-2 being greater than the length a of the transverse gap 4X-1, in which the reversing jacking device 6 is driven by a cylinder, or by a motor or hydraulic pressure, and in which the slewing device 5-3 is driven by a motor, or by a hydraulic or pneumatic element;

FIG. 5 is a view A-A of FIG. 4, which is also a schematic structural view of the two guide wheels 5-4-1 and the guide rotating device 5-4-3 both fixed on the guide wheel frame 5-4-2, the center frame 5-4-4 sleeved on the middle support 6-1, and a schematic structural view of the guide wheel 5-4-1 with the diameter D < the length a of the longitudinal gap 4Y-1;

FIG. 6 is a schematic structural diagram of a screw of the left and right follow-up devices 5-4-3A penetrating into a hole of the traveling wheel carrier 5-1 and tightening by a nut to make the guide wheel carrier 5-4-2 and the traveling wheel carrier 5-1 capable of synchronously rotating and synchronously lifting, and is also a schematic structural diagram of the conveying vehicle 3 running to the longitudinal and transverse reversing interface 2-1, wherein one set of the traveling devices 5;

FIG. 7 is a schematic structural diagram of the middle support 6-1 of the reversing jacking device 6 being pushed out downwards so that the supporting point 6-2 is supported on the bearing point 2-1-1;

FIG. 8 is a schematic structural view showing that after the supporting point 6-2 is supported on the bearing point 2-1-1, the four sets of intermediate bearings 6-1 of the transport vehicle 3 are continuously and synchronously ejected downwards, so that the transport vehicle 3 integrally rises, and the traveling wheel carrier 5-1 with the traveling wheels 5-2 and the guide wheel carrier 5-4-2 synchronously rises to be separated from the transverse track 2X;

FIG. 9 is a schematic structural view showing the traveling wheel 5-2 rotating above the longitudinal rail 2Y after the traveling slewing device 5-3 makes the traveling wheel carrier 5-1, the guiding slewing device 5-4-3 and the guiding wheel 5-4-1 rotate 90 degrees;

FIG. 10 is a schematic structural diagram of a traveling wheel 5-2 of the traveling device 5 running on a longitudinal rail 2Y to a longitudinal and transverse reversing connector 2-1, and is also a structure in which a jacking power 6-3 of the reversing jacking device 6 adopts hydraulic pressure as power, and an oil inlet and outlet connector is arranged at the upper part of the jacking power 6-3;

FIG. 11 shows that the middle support 6-1 of the reversing jacking device 6 is pushed out downwards, so that the support point 6-2 is supported on the bearing point 2-1-1, the guide wheel frame 5-4-2 is lifted synchronously with the middle support 6-1 through the center frame 5-4-4, the screw of the left and right follow-up device 5-4-3A goes deep into the hole of the walking wheel frame 5-1 and continues to be pushed out downwards, so that the walking wheel frame 5-1 and the walking wheel 5-2 are higher than the longitudinal rail 2Y; the guide rod of the left and right follow-up device 5-4-3A is inserted into the hole of the walking wheel carrier 5-1, namely relative to the intermediate bearing 6-1, the guide wheel 5-4-1 can rotate but needs to be lifted synchronously with the intermediate bearing 6-1, relative to the walking wheel carrier 5-1, the guide wheel 5-4-1 can be lifted but needs to be rotated synchronously with the walking wheel carrier 5-1;

FIG. 12 is a schematic structural view of the walking and swiveling device 5-3 enabling the walking wheel frame 5-1 to drive the guide wheel 5-4-1 to swivel 90 degrees, and the walking wheel 5-2 to rotate to the transverse track 2X;

FIG. 13 shows that the middle support 6-1 retracts upwards, the traveling wheels 5-2 descend to the bearing surface 4-1, the traveling device 5 moves leftwards after the supporting point 6-2 is separated from the bearing point 2-1-1, the traveling device 5 supports the load transmitted by the upright post 3-2 by the traveling wheels 5-2 on the left side at the moment, and the traveling wheels 5-2 on the right side pass through the transverse gap 4X-1;

fig. 14 is a schematic structural view of an inner transverse planar track 2XA-1 located between two transverse rails 4X, and is also a schematic structural view of an outer transverse planar track 2XA-2 located outside of two transverse rails 4X;

fig. 15 is a schematic structural view of the inner longitudinal plane rail 2YA-1 located between the two longitudinal rails 4Y constituting the longitudinal rail 2Y, and is also a schematic structural view of the outer longitudinal plane rail 2YA-2 located outside the two longitudinal rails 4Y;

FIG. 16 is a schematic structural view showing that when the traveling device 5 of the transport vehicle 3 travels to the vertical and horizontal direction changing interface 2-1, the intermediate bearing 6-1 is located at the normal position 6-1-1, and at this time, the guide wheel frame 5-4-2 is hung on the traveling wheel frame 5-1 through the follower device 5-4-3A;

FIG. 17 is a schematic view of the structure of the intermediate support 6-1 lifted downward from the normal position 6-1-1 to the contact position 6-1-2;

FIG. 18 is a schematic structural view of the intermediate support 6-1 being lifted further downward from the contact position 6-1-2 to the XY revolving position 6-1-3, with the road wheel 5-2 higher than the rail 2;

FIG. 19 is a schematic structural view of the walking and rotating device 5-3 rotating 90 degrees, the walking and rotating device 5-3 driving the guiding and rotating device 5-4-3 to rotate, and the guiding wheel 5-4-1 rotating 90 degrees through the transverse gap 4X-1 or the longitudinal gap 4Y-1;

fig. 20 is a schematic structural view of the conveyor car 3 running on the longitudinal rails 2Y to the illustrated position;

FIG. 21 is the view from A-A of FIG. 20, also showing the structure of the intermediate support 6-1 in the normal position 6-1-1;

FIG. 22 is a schematic structural view showing that the reversing jack-up device 6 is lowered to make the middle support 6-1 return to the plane 6-1-4 from the normal position 6-1-1, and at this time, the support point 6-2 is supported on the bearing point 2-1-1, and the lowest part of the guide wheel 5-4-1 is higher than the rail 2;

FIG. 23 is a schematic view of the walking and turning device 5-3 turning 90 degrees, the walking and turning device 5-3 driving the guiding and turning device 5-4-3 to turn 90 degrees;

FIG. 24 is a schematic structural view of the reversing jack 6 retracted, the intermediate bearing 6-1 rotated from the plane 6-1-4 to the normal position 6-1-1, the traveling wheels 5-2 dropped on the inner longitudinal plane rail 2YA-1, and the supporting points 6-2 still supported on the bearing points 2-1-1;

FIG. 25 is a schematic view of the reverse jacking device 6 being raised further to move the intermediate support 6-1 from the contact position 6-1-2 to the highest position 6-1-5 and simultaneously raise the lowest point of the guide wheel 5-4-1 above the plane rail 2A;

FIG. 26 is a view A-A of FIG. 25, also showing the structure of the center support 6-1 of the reverse jack 6, which raises the guide wheels 5-4-1 by the center frame 5-4-4 when the center support is raised;

fig. 27 is a schematic structural view of the conveyance vehicle 3 driving out of the longitudinal rail 2Y into the longitudinal plane rail 2 YA;

FIG. 28 is a schematic view showing that when four traveling devices 5 in the transporting vehicle 3 rotate, the traveling wheel carrier 5-1 in the top view projection of the vehicle body 3-1 rotates outward, and the traveling wheel carrier 5-1 rotates without interfering with the articles 7 on the lifting device 3-4 in the cavity 3-1-1 of the vehicle body 3-1;

fig. 29 shows that after the four traveling devices 5 rotate 90 degrees, the traveling wheel carriers 5-1 of the four traveling devices 5 are switched from the transverse guide rail 4X to the longitudinal guide rail 4Y;

FIG. 30 is the view from A-A of FIG. 29, also showing the empty wagon 3 traveling along the longitudinal track 2Y without interfering with the articles 7 stored on the longitudinal platform 4Y-2;

FIG. 31 shows that the traveling unit 5 alternately supports a load by two traveling wheels 5-2 and can span a gap having a distance less than the center distance L between the two traveling wheels 5-2;

fig. 1 shows a conveying system including a male rail 2 and a conveying vehicle 3; 2 is a convex track, which is composed of two guide rails 4 and comprises a transverse track 2X, a longitudinal track 2Y and a longitudinal and transverse reversing interface 2-1; 2X is a transverse rail comprising two transverse rails 4X; 4X is a transverse guide rail; 2Y is a longitudinal rail comprising two longitudinal guide rails 4Y; 4Y is a longitudinal rail; 2-1 is a vertical and horizontal reversing interface, which comprises a bearing point 2-1-1; 2-1-1 is a bearing point; 2A are planar rails, including transverse planar rails 2XA and longitudinal planar rails 2 YA; 2XA is a transverse planar track comprising an inner transverse planar track 2XA-1 and an outer transverse planar track 2 XA-2; 2XA-1 is an inner transverse planar track; 2XA-2 is an outer transverse planar track; 2YA is a longitudinal planar rail comprising an inner longitudinal planar rail 2YA-1 and an outer longitudinal planar rail 2 YA-2; 2YA-1 is the inner longitudinal planar track; 2YA-2 is the outer longitudinal planar track; the 3 is a conveying vehicle which comprises a vehicle body 3-1, a column 3-2, a hoisting device 3-3, a lifting appliance 3-4 and a traveling device 5; 3-1 is a vehicle body, comprising a cavity 3-1-1; 3-1-1 is a cavity; 3-2 is a column; 3-3 is a lifting device; 3-4 is a lifting appliance, comprising a gripping device 3-4-1; 3-4-1 is a gripping device; 4 is a guide rail which comprises a bearing surface 4-1 and two guide surfaces 4-2 at two sides; 4-1 is a bearing surface; 4X-1 is a transverse notch; 4Y-1 is a longitudinal notch; 4-2 is a guide surface; 5 are walking devices at the bottoms of the four upright posts 3-2, and comprise walking wheel frames 5-1, walking wheels 5-2, a rotating device 5-3 and a horizontal guide wheel device 5-4; 5-1 is a walking wheel carrier; 5-2 is a walking wheel; 5-3 is a turning device; 5-4 is a horizontal guide wheel device which comprises two guide wheels 5-4-1, a guide wheel frame 5-4-2, a guide rotary device 5-4-3 and a center frame 5-4-4; 5-4-1 is a guide wheel; 5-4-2 is a guide lifting device; 5-4-3 is a guiding and rotating device; 5-4-3A is a follow-up device; 5-4-4 is a center frame; the reversing jacking device 6 comprises a middle support 6-1, a supporting point 6-2 and jacking power 6-3; 6-1 is an intermediate support; 6-2 is the support point; 6-3 is jacking power; 6-1-1 is the normal bit; 6-1-2 is the contact position; 6-1-3 is the XY transposition site; 6-1-4 is a planar return bit; 6-1-5 is the highest order; 7 is an article; and 8 is a plane follow-up device.

Detailed Description

The conveying system 1 in logistics storage comprises a convex track 2 and a conveying vehicle 3, the convex track 2 consists of two guide rails 4, the guide rails 4 comprise a bearing surface 4-1 and two side guide surfaces 4-2, the upper plane of the guide rails 4 is the bearing surface 4-1, the convex track 2 comprises a transverse track 2X, a longitudinal track 2Y and a longitudinal and transverse reversing interface 2-1, the transverse track 2X comprises two transverse guide rails 4X, the longitudinal track 2Y comprises two longitudinal guide rails 4Y, the longitudinal and transverse reversing interface 2-1 comprises a bearing point 2-1-1, the bearing point 2-1-1 is positioned at the intersection of the transverse guide rail 4X and the longitudinal guide rail 4Y, the transverse guide rail 4X is provided with a transverse notch 4X-1 in front of the bearing point 2-1-1, the longitudinal guide rail 4Y is provided with a longitudinal notch 4Y-1 in front of the bearing point 2-1-1, setting the length of the transverse gap 4X-1 and the longitudinal gap 4Y-1 as a;

the conveying vehicle 3 comprises a vehicle body 3-1, upright columns 3-2, a hoisting device 3-3, a lifting appliance 3-4 and a walking device 5, wherein the four upright columns 3-2 are positioned at four corners of the vehicle body 3-1, the bottoms of the upright columns 3-2 comprise reversing jacking devices 6, each reversing jacking device 6 comprises a middle bearing 6-1, a supporting point 6-2 and jacking power 6-3, the supporting point 6-2 is positioned at the bottom of the middle bearing 6-1, the middle bearing 6-1 is driven to do vertical jacking motion through the jacking power 6-3, and the supporting point 6-2 supports or is separated from the convex track 2; the lifting device 3-3 is positioned at the top of the vehicle body 3-1, the vehicle body 3-1 comprises a cavity 3-1-1, the lifting appliance 3-4 comprises a grabbing device 3-4-1, the lifting appliance 3-4 lifts an article 7 below the vehicle body 3-1 through the lifting device 3-3 and places the article 7 in the cavity 3-1-1 on the lifting appliance 3-4 through the lifting device 3-3, or places the article 7 in the cavity 3-1-1 on the lifting appliance 3-4 below the vehicle body 3-1 through the lifting device 3-3; the traveling device 5 arranged at the bottom of the upright post 3-2 comprises a traveling wheel frame 5-1, traveling wheels 5-2, a traveling slewing gear 5-3 and a horizontal guide wheel device 5-4, two traveling wheels 5-2 traveling on a bearing surface 4-1 are arranged on the traveling wheel frame 5-1, the center distance of the two traveling wheels 5-2 is set to be L, the traveling of the transport vehicle 3 along the X direction is realized by the traveling of the traveling wheels 5-2 on a transverse track 2X, the traveling of the transport vehicle 3 along the Y direction is realized by the traveling of the traveling wheels 5-2 on a longitudinal track 2Y, the rotation of the traveling wheel frame 5-1 relative to the upright post 3-2 is realized by the traveling slewing gear 5-3, and the horizontal guide wheel device 5-4 comprises two guide wheels 5-1, guide wheel frames 5-4-2, A guiding rotary device 5-4-3 and a central frame 5-4-4, wherein the two guiding wheels 5-4-1 and the guiding rotary device 5-4-3 are both fixed on a guiding wheel frame 5-4-2, the central frame 5-4-4 is sleeved on a middle support 6-1, the diameter of the guiding wheel 5-4-1 is set as D, l is more than a and more than D, the guide wheel 5-4-1 runs along the guide surface 4-2 at the two sides of the guide rail 4, the horizontal guide wheel device 5-4 is arranged at the center of the connecting line of the centers of the two travelling wheels 5-2, namely, the central connecting line of the two horizontal guide wheel devices 5-4 is vertical to the central connecting line of the two walking wheels 5-2, and the horizontal guide wheel devices 5-4 rotate through the guide rotating devices 5-4-3; the walking and slewing device 5-3 comprises an upright post interface 5-3-1 and a wheel carrier interface 5-3-2, the upright post interface 5-3-1 is arranged on an upright post 3-2, the wheel carrier interface 5-3-2 is arranged on a walking wheel carrier 5-1, an intermediate bearing 6-1 in the reversing jacking device 6 is positioned at the center of the walking wheel carrier 5-1 and the center of a guide wheel carrier 5-4-2, the guide wheel carrier 5-4-2 is positioned below the walking wheel carrier 5-1, when the walking device 5 runs to the conveying vehicle 3 with the vertical and horizontal reversing interface 2-1 and needs to be reversed, the reversing jacking device 6 jacks, and the supporting point 6-2 is supported on the supporting point 2-1-1 through the intermediate bearing 6-1, at the moment, the weight of the whole conveying vehicle 3 comprises the weight of a lifting appliance 3-4 containing an article 7 in the lifting appliance 3-4, the weight acts on a bearing point 2-1-1 through four supporting points 6-2, a walking wheel 5-2 is slightly higher than a bearing surface 4-1, the walking device 5 is rotated for 90 degrees through a walking rotating device 5-3, a horizontal guide wheel device 5-4 is rotated for 90 degrees through a guide rotating device 5-4-3, and the rapid reversing operation of the walking device 5 between the transverse direction and the longitudinal direction is realized.

The guiding rotary device 5-4-3 in the horizontal guide wheel device 5-4 is a follow-up device 5-4-3A, and the horizontal guide wheel device 5-4 synchronously rotates along with the walking rotary device 5-3 through the follow-up device 5-4-3A.

The walking wheel frame 5-1 and the guide wheel frame 5-4-2 are fixedly connected into a whole through a follow-up device 5-4-3A, namely, the horizontal guide wheel device 5-4 synchronously rotates and synchronously ascends along with the walking and rotating device 5-3 through the follow-up device 5-4-3A.

The guide wheel frame 5-4-2 is synchronously lifted along with the middle support 6-1 through the central frame 5-4-4.

The convex tracks 2 comprise plane tracks 2A, the upper planes of the plane tracks 2A are as high as the bearing surfaces 4-1 of the guide rails 4, the plane tracks 2A comprise transverse plane tracks 2XA and longitudinal plane tracks 2YA, the transverse plane tracks 2XA comprise inner transverse plane tracks 2XA-1 and outer transverse plane tracks 2XA-2, the inner transverse plane tracks 2XA-1 are located between the two longitudinal guide rails 4Y forming the longitudinal tracks 2Y, the outer transverse plane tracks 2XA-2 are located on the outer sides of the two longitudinal guide rails 4Y, and the conveying trolley 3 enters or exits the longitudinal tracks 2Y at any position of the longitudinal tracks 2Y through the transverse plane tracks 2 XA; the longitudinal plane rails 2YA include an inner longitudinal plane rail 2YA-1 and an outer longitudinal plane rail 2YA-2, the inner longitudinal plane rail 2YA-1 is located between two transverse guide rails 4X constituting the transverse rail 2X, and the outer longitudinal plane rail 2YA-2 is located outside the two transverse guide rails 4X; the transport vehicle 3 enters and exits the transverse rail 2X or the longitudinal rail 2Y at any position of the transverse rail 2X or the longitudinal rail 2Y through the longitudinal plane rail 2YA or the transverse plane rail 2 XA;

the middle bearing 6-1 comprises a normal position 6-1-1, a contact position 6-1-2, an XY rotation position 6-1-3, a plane rotation position 6-1-4 and a highest position 6-1-5 in the vertical direction relative to the upright post 3-2, when the delivery wagon 3 runs on the transverse track 2X or the longitudinal track 2Y, the middle bearing 6-1 is positioned at the normal position 6-1-1, namely the supporting point 6-2 is slightly higher than the upper plane of the guide rail 4; when the supporting point 6-2 runs from top to bottom and just touches the bearing point 2-1-1, the position of the middle bearing 6-1 is a contact position 6-1-2; the transfer car 3 is reversed between the transverse track 2X and the longitudinal track 2Y, the walking wheel 5-2 is slightly higher than the convex track 2, the middle bearing 6-1 is positioned at the XY revolving position 6-1-3, and the supporting point 6-2 is supported on the bearing point 2-1-1; the transfer car 3 is reversed between the convex track 2 and the plane track 2A, the lowest position of the guide wheel 5-4-1 is higher than the upper plane of the convex track 2 and the plane track 2A, the supporting point 6-2 is still supported on the bearing point 2-1-1, and the position of the middle support 6-1 is the plane return position 6-1-4; when the transport vehicle 3 runs on the plane track 2A, the lowest positions of the supporting points 6-2 and the guide wheels 5-4-1 are higher than the upper planes of the convex track 2 and the plane track 2A, and the position of the middle support 6-1 at the moment is the highest position 6-1-5; the follow-up device 5-4-3A is a plane follow-up device 8, the horizontal guide wheel device 5-4 synchronously rotates along with the walking and rotating device 5-3 through the plane follow-up device 8, the middle support 6-1 rotates from a normal position 6-1-1 to a contact position 6-1-2, the contact position 6-1-2 to an XY rotating position 6-1-3, the XY rotating position 6-1-3 to a plane rotating position 6-1-4, or from the plane rotating position 6-1-4 to the XY rotating position 6-1-3, the XY rotating position 6-1-3 to the contact position 6-1-2, the guide wheel frame 5-4-2 is lifted synchronously with the walking wheel frame 5-1 through the plane follow-up device 8, namely the central frame 5-4-4 moves on the middle support 6-1; when the supporting point 6-2 returns to the contact position 6-1-2 from the contact position 6-1-2 to the highest position 6-1-5 or from the highest position 6-1-5 to the contact position 6-1-2, the guide wheel frame 5-4-2 synchronously ascends and descends along with the supporting point 6-2 through the central frame 5-4-4.

When the four traveling devices 5 in the conveying vehicle 3 rotate, the traveling wheel frame 5-1 in the overhead projection of the vehicle body 3-1 rotates outwards, namely the traveling wheel frame 5-1 does not interfere with an article 7 on a lifting appliance 3-4 in the cavity 3-1-1 of the vehicle body 3-1 when rotating.

A transverse platform 4X-2 is arranged between two transverse guide rails 4X in the transverse track 2X, and the empty delivery wagon 3 does not interfere with the articles 7 stored on the transverse platform 4X-2 when running along the transverse track 2X; the longitudinal rails 4Y of the longitudinal rail 2Y include a longitudinal platform 4Y-2 therebetween, and the empty wagon 3 does not interfere with the articles 7 stored on the longitudinal platform 4Y-2 while traveling along the longitudinal rail 2Y.

The transverse track 2X, the longitudinal track 2Y and the plane track 2A are allowed to have gaps with the length smaller than L.

The invention is further described with reference to the following figures

As shown in fig. 1 to 6, a conveying system 1 in logistics storage comprises a convex rail 2 and a conveying vehicle 3, the convex rail 2 is composed of two guide rails 4, the guide rails 4 comprise a bearing surface 4-1 and two side guide surfaces 4-2, the upper plane of the guide rails 4 is the bearing surface 4-1, the convex rail 2 comprises a transverse rail 2X, a longitudinal rail 2Y and a longitudinal and transverse reversing interface 2-1, the transverse rail 2X comprises two transverse guide rails 4X, the longitudinal rail 2Y comprises two longitudinal guide rails 4Y, the longitudinal and transverse reversing interface 2-1 comprises a bearing point 2-1-1, the bearing point 2-1-1 is located at the intersection of the transverse guide rail 4X and the longitudinal guide rail 4Y, the transverse guide rail 4X is provided with a transverse gap 4X-1 in front and back of the bearing point 2-1-1, the longitudinal guide rail 4Y is provided with a longitudinal gap 4Y-1 in front and back of the bearing point 2-1-1, setting the length of the transverse gap 4X-1 and the longitudinal gap 4Y-1 as a; the conveying vehicle 3 comprises a vehicle body 3-1, upright columns 3-2, a hoisting device 3-3, a lifting appliance 3-4 and a walking device 5, wherein the four upright columns 3-2 are positioned at four corners of the vehicle body 3-1, the bottoms of the upright columns 3-2 comprise reversing jacking devices 6, each reversing jacking device 6 comprises a middle bearing 6-1, a supporting point 6-2 and jacking power 6-3, the supporting point 6-2 is positioned at the bottom of the middle bearing 6-1, the middle bearing 6-1 is driven to do vertical jacking motion through the jacking power 6-3, and the supporting point 6-2 supports or is separated from the convex track 2; the lifting device 3-3 is positioned at the top of the vehicle body 3-1, the vehicle body 3-1 comprises a cavity 3-1-1, the lifting appliance 3-4 comprises a grabbing device 3-4-1, the lifting appliance 3-4 lifts an article 7 below the vehicle body 3-1 through the lifting device 3-3 and places the article 7 in the cavity 3-1-1 on the lifting appliance 3-4 through the lifting device 3-3, or places the article 7 in the cavity 3-1-1 on the lifting appliance 3-4 below the vehicle body 3-1 through the lifting device 3-3; the traveling device 5 arranged at the bottom of the upright post 3-2 comprises a traveling wheel frame 5-1, traveling wheels 5-2, a traveling slewing gear 5-3 and a horizontal guide wheel device 5-4, two traveling wheels 5-2 traveling on a bearing surface 4-1 are arranged on the traveling wheel frame 5-1, the center distance of the two traveling wheels 5-2 is set to be L, the traveling of the transport vehicle 3 along the X direction is realized by the traveling of the traveling wheels 5-2 on a transverse track 2X, the traveling of the transport vehicle 3 along the Y direction is realized by the traveling of the traveling wheels 5-2 on a longitudinal track 2Y, the rotation of the traveling wheel frame 5-1 relative to the upright post 3-2 is realized by the traveling slewing gear 5-3, and the horizontal guide wheel device 5-4 comprises two guide wheels 5-1, guide wheel frames 5-4-2, A guiding rotary device 5-4-3 and a central frame 5-4-4, wherein the two guiding wheels 5-4-1 and the guiding rotary device 5-4-3 are both fixed on a guiding wheel frame 5-4-2, the central frame 5-4-4 is sleeved on a middle support 6-1, the diameter of the guiding wheel 5-4-1 is set as D, l is more than a and more than D, the guide wheel 5-4-1 runs along the guide surface 4-2 at the two sides of the guide rail 4, the horizontal guide wheel device 5-4 is arranged at the center of the connecting line of the centers of the two travelling wheels 5-2, namely, the central connecting line of the two horizontal guide wheel devices 5-4 is vertical to the central connecting line of the two walking wheels 5-2, and the horizontal guide wheel devices 5-4 rotate through the guide rotating devices 5-4-3; the walking and slewing device 5-3 comprises an upright post interface 5-3-1 and a wheel carrier interface 5-3-2, the upright post interface 5-3-1 is arranged on an upright post 3-2, the wheel carrier interface 5-3-2 is arranged on a walking wheel carrier 5-1, an intermediate bearing 6-1 in the reversing jacking device 6 is positioned at the center of the walking wheel carrier 5-1 and the center of a guide wheel carrier 5-4-2, the guide wheel carrier 5-4-2 is positioned below the walking wheel carrier 5-1, when the walking device 5 runs to the conveying vehicle 3 with the vertical and horizontal reversing interface 2-1 and needs to be reversed, the reversing jacking device 6 jacks, and the supporting point 6-2 is supported on the supporting point 2-1-1 through the intermediate bearing 6-1, at the moment, the weight of the whole conveying vehicle 3 comprises the weight of a lifting appliance 3-4 containing articles 7 in the lifting appliance 3-4, the weight acts on a bearing point 2-1-1 through four supporting points 6-2, a walking wheel 5-2 is slightly higher than a bearing surface 4-1, the walking device 5 is rotated for 90 degrees through a walking rotating device 5-3, a horizontal guide wheel device 5-4 is rotated for 90 degrees through a guide rotating device 5-4-3, and the rapid reversing operation of the walking device 5 between the transverse direction and the longitudinal direction is realized; the guiding rotary device 5-4-3 in the horizontal guide wheel device 5-4 is a follow-up device 5-4-3A, and the horizontal guide wheel device 5-4 synchronously rotates along with the walking rotary device 5-3 through the follow-up device 5-4-3A.

As shown in fig. 6 to 9, the traveling wheel frame 5-1 and the guiding wheel frame 5-4-2 are fixedly connected into a whole through the following device 5-4-3A, that is, the horizontal guiding wheel device 5-4 not only synchronously rotates but also synchronously ascends and descends along with the traveling revolving device 5-3 through the following device 5-4-3A, and when the transport vehicle 3 on the transverse track 2X needs to be reversed to the transverse track 2X, the method mainly comprises the following operation steps:

1) the conveying vehicle 3 runs to the longitudinal and transverse reversing interface 2-1;

2) the reversing jacking device 6 descends to enable the supporting point 6-2 to be supported on the bearing point 2-1-1;

3) the reversing jacking device 6 continuously descends by a set height to enable the travelling wheel 5-2 to be higher than the transverse track 2X, and at the moment, the guide wheel frame 5-4-2 synchronously ascends by the same set height;

4) the walking and rotating device 5-3 and the guiding and rotating device 5-4-3 rotate for 90 degrees;

5) the reversing jacking device 6 is reset, the travelling wheels 5-2 fall on the longitudinal track 2Y, and the guide wheels 5-4-1 are synchronously reset, so that the conveying vehicle 3 finishes reversing operation.

As shown in fig. 10 to 13, the guiding wheel frame 5-4-2 is lifted synchronously with the middle support 6-1 through the center frame 5-4-4, and when the transport vehicle 3 on the longitudinal rail 2Y needs to be reversed to the longitudinal rail 2Y, the method mainly comprises the following operation steps:

2) the reversing jacking device 6 descends by a set height to enable the supporting point 6-2 to be supported on the bearing point 2-1-1, and at the moment, the guide wheel frame 5-4-2 synchronously descends by the same set height;

3) the reversing jacking device 6 continues to descend, so that the travelling wheels 5-2 are higher than the longitudinal rail 2Y;

5) the reversing jacking device 6 is reset, the walking wheels 5-2 fall on the transverse track 2X, and the guide wheels 5-4-1 are synchronously reset, so that the conveying vehicle 3 finishes reversing operation.

As shown in fig. 14 to 15, the male track 2 includes a plane track 2A, an upper plane of the plane track 2A is equal to the height of the bearing surface 4-1 of the guide rail 4, the plane track 2A includes a transverse plane track 2XA and a longitudinal plane track 2YA, the transverse plane track 2XA includes an inner transverse plane track 2XA-1 and an outer transverse plane track 2XA-2, the inner transverse plane track 2XA-1 is located between two transverse guide rails 4X constituting the transverse track 2X, the outer transverse plane track 2XA-2 is located outside the two transverse guide rails 4X, and the transport vehicle 3 enters and exits the longitudinal track 2Y at any position of the longitudinal track 2Y through the transverse plane track 2 XA; the longitudinal plane rails 2YA include an inner longitudinal plane rail 2YA-1 and an outer longitudinal plane rail 2YA-2, the inner longitudinal plane rail 2YA-1 is located between two longitudinal guide rails 4Y forming the longitudinal rail 2Y, and the outer longitudinal plane rail 2YA-2 is located outside the two longitudinal guide rails 4Y;

the transport vehicle 3 is moved in and out of the lateral rails 2X or the longitudinal rails 2Y at any position of the lateral rails 2X or the longitudinal rails 2Y by the longitudinal planar rails 2YA or the lateral planar rails 2 XA.

As shown in fig. 16 to 19, the intermediate bearing 6-1 includes a normal position 6-1-1, a contact position 6-1-2, an XY turn position 6-1-3, a plane turn position 6-1-4 and an uppermost position 6-1-5 in the vertical direction relative to the upright 3-2, and when the transport vehicle 3 runs on the transverse rail 2X or the longitudinal rail 2Y, the intermediate bearing 6-1 is located at the normal position 6-1-1, that is, the support point 6-2 is slightly higher than the upper plane of the guide rail 4; when the supporting point 6-2 runs from top to bottom and just touches the bearing point 2-1-1, the position of the middle bearing 6-1 is a contact position 6-1-2; the transfer car 3 is reversed between the transverse track 2X and the longitudinal track 2Y, the walking wheel 5-2 is slightly higher than the convex track 2, the middle bearing 6-1 is positioned at the XY revolving position 6-1-3, and the supporting point 6-2 is supported on the bearing point 2-1-1; the transfer car 3 is reversed between the convex track 2 and the plane track 2A, the lowest position of the guide wheel 5-4-1 is higher than the upper plane of the convex track 2 and the plane track 2A, the supporting point 6-2 is still supported on the bearing point 2-1-1, and the position of the middle support 6-1 is the plane return position 6-1-4; when the transport vehicle 3 runs on the plane track 2A, the lowest positions of the supporting points 6-2 and the guide wheels 5-4-1 are higher than the upper planes of the convex track 2 and the plane track 2A, and the position of the middle support 6-1 at the moment is the highest position 6-1-5; the follow-up device 5-4-3A is a plane follow-up device 8, the horizontal guide wheel device 5-4 synchronously rotates along with the walking and rotating device 5-3 through the plane follow-up device 8, the middle support 6-1 rotates from a normal position 6-1-1 to a contact position 6-1-2, the contact position 6-1-2 to an XY rotating position 6-1-3, the XY rotating position 6-1-3 to a plane rotating position 6-1-4, or from the plane rotating position 6-1-4 to the XY rotating position 6-1-3, the XY rotating position 6-1-3 to the contact position 6-1-2, the guide wheel frame 5-4-2 is lifted synchronously with the walking wheel frame 5-1 through the plane follow-up device 8, namely the central frame 5-4-4 moves on the middle support 6-1; when the supporting point 6-2 returns to the contact position 6-1-2 from the contact position 6-1-2 to the highest position 6-1-5 or from the highest position 6-1-5 to the contact position 6-1-2, the guide wheel frame 5-4-2 synchronously ascends and descends along with the supporting point 6-2 through the central frame 5-4-4, and when the conveying vehicle 3 on the transverse track 2X needs to be reversed to the longitudinal track 2Y, the method mainly comprises the following operation steps:

2) the reversing jacking device 6 descends to enable the middle support 6-1 to be supported from the normal position 6-1-1 to the contact position 6-1-2, and at the moment, the supporting point 6-2 is supported on the bearing point 2-1-1;

3) the reversing jacking device 6 continues to descend, so that the middle support 6-1 is from the contact position 6-1-2 to the XY rotation position 6-1-3, the walking wheel 5-2 is higher than the track 2, and the guide wheel frame 5-4-2 synchronously ascends along with the walking wheel frame 5-1 through the plane follow-up device 8;

4) the walking and rotating device 5-3 rotates for 90 degrees, the walking and rotating device 5-3 drives the guiding and rotating device 5-4-3 to rotate, and the guide wheel 5-4-1 rotates for 90 degrees through the transverse gap 4X-1 or the longitudinal gap 4Y-1;

5) retracting the reversing jacking device 6, enabling the middle support 6-1 to rotate from the XY rotation position 6-1-3 to the normal position 6-1-1, enabling the walking wheel 5-2 to fall on the longitudinal rail 2Y, enabling the guide wheel 5-4-1 to be located at the normal position, and enabling the supporting point 6-2 to be still supported on the bearing point 2-1-1 at the moment;

6) the reversing jacking device 6 continues to rise to enable the supporting point 6-2 to recover from the contact position 6-1-2 to the normal position 6-1-1,

at this point, the transfer car 3 completes the reversing operation.

As shown in fig. 20 to 27, when the transport vehicle 3 on the convex track 2 needs to be switched to the flat track 2A, the method mainly includes the following steps:

1) the transport vehicle 3 runs to a set position on the convex track 2;

3) the reversing jacking device 6 continues to descend, so that the middle support 6-1 rotates from the contact position 6-1-2 to the plane rotation position 6-1-4, and the lowest part of the guide wheel 5-4-1 is higher than the rail 2;

4) the walking and slewing device 5-3 rotates for 90 degrees, and the walking and slewing device 5-3 drives the guiding and slewing device 5-4-3 to rotate for 90 degrees;

5) the reversing jacking device 6 retracts, the middle support 6-1 rotates from the plane position 6-1-4 to the normal position 6-1-1, the walking wheel 5-2 falls on the plane track 2A, and at the moment, the supporting point 6-2 is still supported on the bearing point 2-1-1;

6) the reversing jacking device 6 continues to rise, so that the middle support 6-1 is lifted from the contact position 6-1-2 to the highest position 6-1-5,

at this point, the transfer car 3 completes the reversing operation.

As shown in fig. 28 to 29, when the four traveling devices 5 in the transport vehicle 3 rotate, the traveling wheel frame 5-1 in the plan projection of the vehicle body 3-1 all rotates outward, i.e., the traveling wheel frame 5-1 rotates without interfering with the articles 7 on the lifting device 3-4 in the cavity 3-1-1 of the vehicle body 3-1.

As shown in fig. 30, the cross rail 2X includes a cross platform 4X-2 between two cross rails 4X, and the empty wagon 3 does not interfere with the article 7 stored on the cross platform 4X-2 when running along the cross rail 2X; the longitudinal rails 4Y of the longitudinal rail 2Y include a longitudinal platform 4Y-2 therebetween, and the empty wagon 3 does not interfere with the articles 7 stored on the longitudinal platform 4Y-2 while traveling along the longitudinal rail 2Y.

As shown in fig. 31, notches having a length less than L are allowed in the transverse rail 2X, the longitudinal rail 2Y, and the planar rail 2A.

Claims

1. A conveying vehicle with a jacking traveling device provided with horizontal guide wheels is characterized in that a conveying system (1) in logistics storage comprises a convex rail (2) and a conveying vehicle (3), the convex rail (2) consists of two guide rails (4), the guide rails (4) comprise a bearing surface (4-1) and two side guide surfaces (4-2), the upper plane of each guide rail (4) is the bearing surface (4-1), the convex rail (2) comprises a transverse rail (2X), a longitudinal rail (2Y) and a longitudinal and transverse reversing interface (2-1), the transverse rail (2X) comprises two transverse guide rails (4X), the longitudinal rail (2Y) comprises two longitudinal guide rails (4Y), the longitudinal and transverse reversing interface (2-1) comprises a bearing point (2-1-1), and the bearing point (2-1-1) is located at the intersection of the transverse guide rails (4X) and the longitudinal guide rails (4Y), transverse notches (4X-1) are formed in the front and back of the bearing point (2-1-1) of the transverse guide rail (4X), longitudinal notches (4Y-1) are formed in the front and back of the bearing point (2-1-1) of the longitudinal guide rail (4Y), and the length of the transverse notches (4X-1) and the length of the longitudinal notches (4Y-1) are set to be a; the conveying vehicle (3) comprises a vehicle body (3-1), upright columns (3-2), a hoisting device (3-3), a lifting appliance (3-4) and a walking device (5), wherein the four upright columns (3-2) are positioned at four corners of the vehicle body (3-1), the bottom of each upright column (3-2) comprises a reversing jacking device (6), each reversing jacking device (6) comprises a middle bearing (6-1), a supporting point (6-2) and jacking power (6-3), the supporting point (6-2) is positioned at the bottom of the middle bearing (6-1), the middle bearing (6-1) is enabled to do vertical jacking motion through the jacking power (6-3), and the supporting point (6-2) supports or separates from the convex rail (2); the lifting device (3-3) is positioned at the top of the vehicle body (3-1), the vehicle body (3-1) comprises a cavity (3-1-1), the lifting appliance (3-4) comprises a grabbing device (3-4-1), the lifting appliance (3-4) lifts an article (7) below the vehicle body (3-1) through the lifting device (3-3) and places the article in the cavity (3-1-1), or places the article (7) on the lifting appliance (3-4) in the cavity (3-1-1) below the vehicle body (3-1) through the lifting device (3-3); the traveling device (5) arranged at the bottom of the upright post (3-2) comprises a traveling wheel frame (5-1), traveling wheels (5-2), a traveling slewing gear (5-3) and a horizontal guide wheel device (5-4), wherein two traveling wheels (5-2) traveling on a bearing surface (4-1) are arranged on the traveling wheel frame (5-1), the center distance of the two traveling wheels (5-2) is set to be L, the traveling of the traveling wheels (5-2) on a transverse track (2X) is used for realizing the traveling of the transport vehicle (3) along the X direction, the traveling wheels (5-2) on a longitudinal track (2Y) are used for realizing the traveling of the transport vehicle (3) along the Y direction, and the traveling slewing gear (5-3) is used for realizing the rotation of the traveling wheel frame (5-1) relative to the upright post (3-2), the horizontal guide wheel device (5-4) comprises two guide wheels (5-4-1), a guide wheel frame (5-4-2), a guide rotating device (5-4-3) and a central frame (5-4-4), the two guide wheels (5-4-1) and the guide rotating device (5-4-3) are fixed on the guide wheel frame (5-4-2), the central frame (5-4-4) is sleeved on the middle support (6-1), the diameter of the guide wheel (5-4-1) is set to be D, L is larger than a and larger than D, the guide wheels (5-4-1) run along the guide surfaces (4-2) at the two sides of the guide rail (4), the horizontal guide wheel device (5-4) is installed at the center of the central connecting line of the two rows of travelling wheels (5-2), namely, the central connecting line of the two horizontal guide wheel devices (5-4) is vertical to the central connecting line of the two walking wheels (5-2), and the horizontal guide wheel devices (5-4) rotate through the guide rotating devices (5-4-3); the walking and slewing device (5-3) comprises an upright post interface (5-3-1) and a wheel carrier interface (5-3-2), the upright post interface (5-3-1) is installed on an upright post (3-2), the wheel carrier interface (5-3-2) is installed on a walking wheel carrier (5-1), a middle bearing (6-1) in the reversing jacking device (6) is positioned at the center of the walking wheel carrier (5-1) and the center of a guide wheel carrier (5-4-2), the guide wheel carrier (5-4-2) is positioned below the walking wheel carrier (5-1), when the walking device (5) runs to the conveying vehicle (3) with the longitudinal and transverse reversing interface (2-1) and needs to be reversed, the reversing jacking device (6) acts in a jacking mode, and the supporting point (6-2) is supported at the supporting point (2-1) through the middle bearing (6-1) -1), wherein the weight of the whole transport vehicle (3) comprises the weight of the sling (3-4) containing the articles (7) in the sling (3-4), the weight acts on the bearing point (2-1-1) through four supporting points (6-2), the travelling wheels (5-2) are slightly higher than the bearing surface (4-1), the travelling device (5) rotates for 90 degrees through the travelling and rotating device (5-3), and the horizontal guide wheel device (5-4) rotates for 90 degrees through the guiding and rotating device (5-4-3), so that the rapid reversing operation of the travelling device (5) between the transverse direction and the longitudinal direction is realized.

2. The conveying vehicle with the horizontal guide wheels as the jacking travelling device according to claim 1, wherein the guide rotating device (5-4-3) in the horizontal guide wheel device (5-4) is a follow-up device (5-4-3A), and the horizontal guide wheel device (5-4) synchronously rotates along with the travelling rotating device (5-3) through the follow-up device (5-4-3A).

3. The conveying vehicle with the horizontal guide wheels as claimed in claim 2, wherein the traveling wheel carrier (5-1) and the guide wheel carrier (5-4-2) are fixedly connected into a whole through a follow-up device (5-4-3A), i.e. the horizontal guide wheel device (5-4) rotates synchronously and also lifts synchronously with the traveling and rotating device (5-3) through the follow-up device (5-4-3A).

4. The conveying vehicle with horizontal guide wheels for the jacking travelling device according to claim 2, wherein the guide wheel frame (5-4-2) is synchronously lifted along with the middle support (6-1) through the central frame (5-4-4).

5. The conveyor car with horizontal guide wheels of the jacking travelling device according to claim 1, the rail is characterized in that the convex rail (2) comprises a plane rail (2A), the upper plane of the plane rail (2A) is equal to the height of a bearing surface (4-1) of the guide rail (4), the plane rail (2A) comprises a transverse plane rail (2 XA) and a longitudinal plane rail (2 YA), the transverse plane rail (2 XA) comprises an inner transverse plane rail (2 XA-1) and an outer transverse plane rail (2 XA-2), the inner transverse plane rail (2 XA-1) is positioned between two longitudinal guide rails (4Y) forming the longitudinal rail (2Y), the outer transverse plane rail (2 XA-2) is positioned at the outer sides of the two longitudinal guide rails (4Y), and the conveying vehicle (3) enters or exits the longitudinal rail (2Y) at any position of the longitudinal rail (2Y) through the transverse plane rail (2 XA); the longitudinal plane rails (2 YA) comprise inner longitudinal plane rails (2 YA-1) and outer longitudinal plane rails (2 YA-2), the inner longitudinal plane rails (2 YA-1) are positioned between two transverse guide rails (4X) forming the transverse rails (2X), and the outer longitudinal plane rails (2 YA-2) are positioned at the outer sides of the two transverse guide rails (4X);

the transport vehicle (3) passes through the longitudinal plane rail (2 YA) or the transverse plane rail (2 XA) and enters or exits the transverse rail (2X) or the longitudinal rail (2Y) at any position of the transverse rail (2X) or the longitudinal rail (2Y).

6. A trolley according to claim 4 or 5 with horizontal guide wheels for jacking travelling gear, characterized in that the intermediate bearing (6-1) comprises a normal position (6-1-1), a contact position (6-1-2), an XY swivel position (6-1-3), a plane swivel position (6-1-4) and an uppermost position (6-1-5) in the vertical direction with respect to the upright (3-2), the intermediate bearing (6-1) is located in the normal position (6-1-1) when the trolley (3) runs on the transverse track (2X) or the longitudinal track (2Y), i.e. the support point (6-2) is slightly higher than the upper plane of the guide rail (4); when the supporting point (6-2) runs from top to bottom and just touches the bearing point (2-1-1), the position of the middle bearing (6-1) is a contact position (6-1-2); the transfer car (3) is reversed between the transverse track (2X) and the longitudinal track (2Y), the walking wheels (5-2) are slightly higher than the convex tracks (2), the middle bearing (6-1) is positioned at an XY rotation position (6-1-3), and the supporting point (6-2) is supported on the bearing point (2-1-1); the transfer car (3) is reversed between the convex track (2) and the plane track (2A), the lowest position of the guide wheel (5-4-1) is higher than the upper plane of the convex track (2) and the plane track (2A), the supporting point (6-2) is still supported on the bearing point (2-1-1), and the position of the middle support (6-1) is the plane reversal position (6-1-4); when the transport vehicle (3) runs on the plane track (2A), the lowest position of the supporting point (6-2) and the guide wheel (5-4-1) is higher than the upper planes of the convex track (2) and the plane track (2A), and the position of the middle bearing (6-1) is the highest position (6-1-5); the follow-up device (5-4-3A) is a plane follow-up device (8), the horizontal guide wheel device (5-4) synchronously rotates along with the walking and rotating device (5-3) through the plane follow-up device (8), the middle support (6-1) moves from a normal position (6-1-1) to a contact position (6-1-2), a contact position (6-1-2) to an XY rotating position (6-1-3) and an XY rotating position (6-1-3) to a plane rotating position (6-1-4), or moves from the plane rotating position (6-1-4) to the XY rotating position (6-1-3) and the XY rotating position (6-1-3) to the contact position (6-1-2), the guide wheel carrier (5-4-2) synchronously moves up and down along with the walking wheel carrier (5-1) through the plane follow-up device (8), namely, the central frame (5-4-4) moves on the middle support (6-1); when the supporting point (6-2) returns to the contact position (6-1-2) from the contact position (6-1-2) to the highest position (6-1-5) or from the highest position (6-1-5), the guide wheel carrier (5-4-2) synchronously ascends and descends along with the supporting point (6-2) through the central frame (5-4-4).

7. The conveying vehicle with the jacking travelling devices and the horizontal guide wheels as claimed in claim 6, wherein when four travelling devices (5) in the conveying vehicle (3) rotate, the parts of the travelling wheel carriers (5-1) in the top projection of the vehicle body (3-1) rotate outwards, i.e. the travelling wheel carriers (5-1) do not interfere with articles (7) on the lifting tools (3-4) in the cavity (3-1-1) of the vehicle body (3-1) when rotating.

8. The conveyor with horizontal guide wheels of a jacking travelling device according to claim 7, wherein a transverse platform (4X-2) is included between two transverse guide rails (4X) in the transverse track (2X), and the empty conveyor (3) does not interfere with the articles (7) stored on the transverse platform (4X-2) when running along the transverse track (2X); a longitudinal platform (4Y-2) is arranged between two longitudinal guide rails (4Y) in the longitudinal rail (2Y), and the empty delivery wagon (3) does not interfere with the objects (7) stored on the longitudinal platform (4Y-2) when running along the longitudinal rail (2Y).

9. The conveyor car with horizontal guide wheels of a jacking traveling device according to claim 8, wherein the transverse rails (2X), the longitudinal rails (2Y) and the plane rails (2A) are allowed to have gaps with a length less than L.