Amphibious four-way shuttle vehicle guiding system

Abstract

The invention relates to an amphibious four-way shuttle vehicle guiding system which comprises a goods shelf body and an amphibious four-way shuttle vehicle, a ground rail for the amphibious four-way shuttle vehicle to walk is arranged on the ground below the goods shelf body, and a plurality of layers of flat rails for the amphibious four-way shuttle vehicle to walk are arranged on the goods shelf body. A flat wheel traveling wheel set is arranged at the bottom of the amphibious four-way shuttle vehicle, and a guide wheel set is arranged on the peripheral side of the amphibious four-way shuttle vehicle. A ground main channel guide assembly and a ground sub-channel guide assembly are arranged on the two sides of the ground track, a goods shelf main channel guide assembly and a goods shelf sub-channel guide plate are arranged on the two sides of the track face of the flat track, and a driving wheel with a skirt edge is changed into a flat wheel structure. Guide wheel sets matched with the guide assemblies are installed on the side edges of the vehicle, so that the amphibious four-way shuttle vehicle can stably run on rails of a goods shelf or the ground, the running stability is improved, the cost is saved, the use efficiency is improved, the space can be saved, and machining and maintaining are convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of four-way shuttles, and in particular to an amphibious four-way shuttle guiding system. Background Art

[0002] Refer to Figure 1 Figure 2 , which are two traditional three-dimensional warehouses of four-way shuttles. In the current shuttle three-dimensional warehouse, a track needs to be laid on the first floor to facilitate the shuttle to drive and pick up goods on it. In the existing automated three-dimensional warehouse, in order to improve the handling efficiency, a solution of storing goods on the upper layer and picking up goods on the lower layer is adopted. An AGV (Automated Guided Vehicle) works on the ground floor. Through a guiding device, the goods stored on the ground are transported to fixed storage locations according to a predetermined trajectory, and then an RGV (Rail Guided Vehicle) transports the goods to the storage locations on the shelves on the track by itself. Moreover, the AGV is relatively thick and will be higher than the overall height of the RGV, so the height difference between the first floor and the ground floor required will be larger, which will increase the cost and failure rate of the three-dimensional warehouse. Therefore, how to reduce the cost of the three-dimensional warehouse and how to improve the usage efficiency are problems to be solved urgently.

[0003] Refer to Figure 3 and Figure 4 , for the three-dimensional warehouse adopting the solution of storing goods on the upper layer and picking up goods on the lower layer, there are generally two types of shelf structures on the market. The first type is to use a special bracket of the AGV to act as the first-layer shelf on the ground. The first layer of this shelf will be higher than the traditional shelf track. Due to the height limitation of the AGV itself, the height of the first-layer track is about 236 mm from the bottom of the shelf. The second type of amphibious vehicle integrates the steering wheel structure of the AGV, the RGV, and the lifting structure of the tray. This method has a relatively complex structure and a high production cost, and the overall thickness of the vehicle cannot be thinned. This structure will make the space inside the vehicle compact and cannot be used in scenarios with a low track height and a narrow track.

[0004] In the existing technology, four-way shuttles generally adopt XY four-way wheel skirt edge guiding. Specifically, skirt edges are protruded outward on the inner sides of the driving wheels. In traditional shelves, since the four-way shuttle is stuck on both sides of the running track through the skirt edges of the two side wheels, similar to the relationship between train wheels and train tracks, as shown in Figure 5 and Figure 6 the arrow positions, to ensure that the vehicle will not deviate from the track during driving. This results in that the vehicle must have a running track during driving on each floor. Therefore, the first layer of the traditional shelf is provided with a layer of running track at a position about thirty or forty centimeters above the ground for the vehicle to drive. Currently, all related technologies are done in this way.

[0005] In the existing shelf tracks, there are high and low tracks between the main channel track and the sub-channel track, and there is a broken track phenomenon at the intersection between the sub-channel track and the main channel track.Figure 6 As shown in the figure, a is the sub-channel track, b is the main-channel track, and the disconnection is the gap between the two tracks. The purpose is to enable the skirted wheels on the traditional four-way shuttle vehicle to pass through freely. When the four-way shuttle vehicle passes at high speed, it will generate a relatively large noise, and at the same time, the vehicle will vibrate strongly, which causes great harm to the vehicle and the shelf, reducing the service life. In addition, when the skirted wheels are running at high speed, there is a risk of derailment, posing a certain safety hazard. Since the existing shelves run according to the existing tracks and cannot run on the ground without tracks, this causes a great waste of space. The reason for this problem is that the wheels of the four-way vehicle are not flat wheels and cannot run normally on the ground.

[0006] In summary, how to design a shelf and a four-way shuttle vehicle system that can save costs, improve the usage efficiency, improve the driving stability of the vehicle on the shelf, save shelf space, and facilitate processing and maintenance has become an urgent problem to be solved. Summary of the Invention

[0007] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide an amphibious four-way shuttle vehicle guiding system, which innovatively improves the structures of the shelf and the four-way shuttle vehicle, adopts two running modes of ground plus track, so as to save costs, improve the usage efficiency, and can also save space and facilitate processing and maintenance.

[0008] The above invention purpose of the present invention is achieved through the following technical solutions: An amphibious four-way shuttle vehicle guiding system includes a shelf body and an amphibious four-way shuttle vehicle. A ground track for the amphibious four-way shuttle vehicle to travel is provided on the ground below the shelf body, and a plurality of flat-track tracks for the amphibious four-way shuttle vehicle to travel are provided on the shelf body. A flat-wheel running wheel set is provided at the bottom of the amphibious four-way shuttle vehicle, and a guiding wheel set is provided on the periphery of the amphibious four-way shuttle vehicle.

[0009] As a further technical solution of the present invention: The ground track includes a ground main channel and a plurality of ground sub-channels vertically arranged on one side of the ground main channel; Ground main-channel guiding components are symmetrically arranged on both sides of the ground main channel, and ground sub-channel guiding components are symmetrically arranged on both sides of the ground sub-channels; When the amphibious four-way shuttle vehicle travels on the ground track, the flat-wheel running wheel set contacts the ground, and the guiding wheel set contacts the ground main-channel guiding component or the ground sub-channel guiding component.

[0010] As a further technical solution of the present invention: The flat-track track includes a main-channel track and a plurality of sub-channel tracks vertically arranged on one side of the main-channel track; On both sides of the main channel track, there are symmetrically arranged main channel guiding components of the shelves, and on both sides of the sub-channel track, there are symmetrically arranged sub-channel guiding plates of the shelves. When the amphibious four-way shuttle runs on the flat rail track, the flat wheel running wheel set contacts the track surface of the flat rail track, and the guiding wheel set contacts the main channel guiding component of the shelves or the sub-channel guiding plate of the shelves.

[0011] As a further technical solution of the present invention: the main channel track includes two mutually parallel main track rods, the main track rods are detachably fixed on the shelf body, the sub-channel track includes two mutually parallel sub-track rods, the sub-track rods are detachably fixed on the shelf body, and a plurality of the sub-track rods are perpendicular to the main track rods.

[0012] As a further technical solution of the present invention: the top surface of the main channel track and the top surfaces of a plurality of the sub-channel tracks are on the same horizontal plane.

[0013] As a further technical solution of the present invention: a goods support plate is arranged on the amphibious four-way shuttle, a battery is arranged inside the amphibious four-way shuttle, the goods support plate is arranged to be lifted on the amphibious four-way shuttle, and the battery is installed inside the amphibious four-way shuttle to provide power for the running of the amphibious four-way shuttle.

[0014] As a further technical solution of the present invention: the flat wheel running wheel set includes a first wheel set and a second wheel set; On both sides of the amphibious four-way shuttle along the X-axis direction, there are a first side and a third side respectively, and the first wheel set includes four groups of X-direction running wheels located outside the first side and the third side; On both sides of the amphibious four-way shuttle along the Y-axis direction, there are a second side and a fourth side respectively, and the second wheel set includes eight groups of Y-direction running wheels located outside the second side and the fourth side.

[0015] As a further technical solution of the present invention: the outer tangent plane of the guiding wheel set is located outside the outer side surface of the vehicle running wheels in the flat wheel running wheel set to prevent the lack of guiding and deviation correction functions during the running process.

[0016] As a further technical solution of the present invention: the guiding wheel set includes a horizontal guiding component, and the horizontal guiding component is arranged in four groups and is respectively installed at the four corners of the amphibious four-way shuttle for simultaneously controlling the guiding in the X direction and the Y direction.

[0017] As a further technical solution of the present invention: the guide wheel set further includes an X-axis guide assembly and a Y-axis guide assembly. The X-axis guide assembly is arranged on the side of the amphibious four-way shuttle along the X direction for controlling the guidance in the X direction, and the Y-axis guide assembly is arranged on the side of the amphibious four-way shuttle along the Y direction for controlling the guidance in the Y direction.

[0018] In summary, the present invention includes at least one of the following beneficial technical effects: 1. The present invention discloses an amphibious four-way shuttle guide system, which innovatively improves the structures of the shelf and the four-way shuttle. It adopts two operation modes of ground and track. For the shelf, a ground main channel guide assembly and a ground sub-channel guide assembly are arranged on both sides of the ground track, and a shelf main channel guide assembly and a shelf sub-channel guide plate are arranged on both sides of the track surface of the flat rail track. For the shuttle, the original driving wheel with a skirt is changed to a flat wheel structure, and a guide wheel set matching the above guide assemblies is installed on the side of the amphibious four-way shuttle, so that the amphibious four-way shuttle can stably run on the track or the ground of the shelf, improving the operation stability, saving costs, improving the use efficiency, and also saving space, being convenient for processing and maintenance.

[0019] 2. The present invention sets a ground main channel and several ground sub-channels for the amphibious four-way shuttle to travel on the bottom ground of the shelf body, and respectively arranges a ground main channel guide assembly and a ground sub-channel guide assembly on both sides of the ground main channel and the ground sub-channels, so that the vehicle can be directly placed on the ground and run on the ground, improving the space utilization rate between the ground and the first layer of the goods placement rack.

[0020] 3. The present invention sets multiple layers of flat rail tracks on the shelf body, changes the wheels of the amphibious four-way shuttle to a flat wheel structure, and arranges several bracket plates for guiding on both sides of the main channel track and a shelf sub-channel guide plate on both sides of the sub-channel track. When the new shuttle runs on the main channel track, the guide wheels on both sides of the new shuttle respectively contact the bracket plates on both sides of the main channel track. When the new shuttle runs on the sub-channel track, the guide wheels on both sides of the new shuttle respectively contact the shelf sub-channel guide plates on both sides of the sub-channel track.

[0021] Compared with the shelves in the prior art, its high and low rails are changed to flat rail structures, and the gap at the connection is reduced, so that the vehicle does not generate or generates very little vibration when passing through here. In addition, the four-way vehicle cancels the wheel skirts and changes to a flat wheel structure. Since there is no restriction of the wheel skirts, guide wheels need to be installed on both sides of the vehicle, and there should also be baffles on both sides of the shelf to block the guide wheels and prevent them from deflecting left and right. In order to save costs, the bracket beam of the original shelf is directly moved outwards to act as a guide wheel baffle, which improves the safety and stability of the vehicle driving and extends the service life. In this application, the new bracket plate not only functions as a support beam of the shelf, but also functions as a guiding function, serving two purposes with one plate and saving materials.

[0022] The flat rail track spacing of the present invention is small. On the market, vehicles change direction on the ground by rotating the wheels at the bottom (such as AGV), and the minimum track spacing required for direction change is the diagonal of the vehicle. The amphibious vehicle changes direction directly by lifting the wheels, and the minimum track spacing is the width of the wheels on both sides, saving space.

[0023] 4. The amphibious four-way shuttle vehicle in the present invention, compared with the four-way shuttle vehicle with skirted drive wheels in the prior art, is changed to a flat wheel running wheel set with a flat wheel structure, and a horizontal guiding component, an X-axis guiding component and a Y-axis guiding component are installed on the side of the amphibious four-way shuttle vehicle. When the amphibious four-way shuttle vehicle runs on the shelf track, the vehicle running wheels of the flat wheel running wheel set contact the track surface of the shelf track, and the guiding wheels of the guiding wheel set contact the guiding plate on the side of the shelf track to ensure that the vehicle can correct the driving trajectory in time when running on the track and on the ground. And the design of the guiding wheel set enables the vehicle to adapt to different track spacings and heights, and the vehicle body width is flexible. Compared with the amphibious vehicles on the market, the present invention adds external guiding wheels, does not require a complex steering wheel structure, and reduces the vehicle cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the traditional shelf in the background technology of the present invention.

[0025] Figure 2 It is a schematic diagram of the overall structure of the split-track shelf in the background technology of the present invention.

[0026] Figure 3 It is a schematic diagram of the shelf of the product storage and retrieval solution 1 in the background technology of the present invention.

[0027] Figure 4 It is a schematic diagram of the shelf of the product storage and retrieval solution 2 in the background technology of the present invention.

[0028] Figure 5 It is a schematic diagram of the positional relationship between the existing shuttle vehicle and the main channel rail in the background technology of the present invention.

[0029] Figure 6 is Figure 5 a partial enlarged schematic diagram in

[0030] Figure 7 a schematic diagram of the overall structure of the shelf body in the present invention.

[0031] Figure 8 a schematic diagram of the overall structure of the display floor track in the present invention.

[0032] Figure 9 a schematic diagram of the overall structure of the display guiding mounting seat in the present invention.

[0033] Figure 10 a schematic diagram of the overall structure of the main channel guiding plate in the present invention.

[0034] Figure 11 a schematic diagram of the overall structure of the sub-channel guiding assembly in the present invention.

[0035] Figure 12 a schematic diagram of the overall structure of the support seat in the present invention.

[0036] Figure 13 a schematic diagram of the overall structure of the flat rail track in the present invention.

[0037] Figure 14 a schematic diagram of the overall structure of the shelf body part in the present invention.

[0038] Figure 15 a schematic diagram of the structure of the new bracket plate in the present invention.

[0039] Figure 16 a top view of the amphibious four-way shuttle vehicle in the present invention.

[0040] Figure 17 a schematic diagram of the structure of the amphibious four-way shuttle vehicle traveling on the shelf in the present invention.

[0041] Figure 18 a vehicle state diagram of the amphibious four-way shuttle vehicle traveling along the X direction on the shelf track in the present invention.

[0042] Figure 19 a vehicle state diagram of the amphibious four-way shuttle vehicle traveling along the Y direction on the shelf track in the present invention.

[0043] Reference numerals: 1, shelf body; 11, ground track; 111, ground main passage; 112, ground sub-passage; 12, flat rail track; 121, main passage track; 1211, main track rod; 122, sub-passage track; 1221, sub-track rod; 13, column; 2, amphibious four-way shuttle vehicle; 21, flat wheel traveling wheel set; 22, guide wheel set; 23, goods support plate; 24, battery; 25, first side; 26, third side; 27, second side; 28, fourth side; 3, ground main passage guide assembly; 31, guide base; 32, guide part; 321, guide mounting seat; 3211, first bottom plate; 3212, first vertical plate; 3213, inclined transition plate; 3214, second vertical plate; 3215, fixed round hole; 3216, fixing plate; 3217, mounting round hole; 322, main passage guide plate; 3221, card slot; 4, ground sub-passage guide assembly; 41, support guide rod; 42, support seat; 421, second bottom plate; 422, bent sheet metal part; 423, mounting hole; 424, reinforcing rib plate; 425, fixing hole; 5, shelf sub-passage guide plate; 50, shelf main passage guide assembly; 51, new bracket plate; 52, guiding inclined surface; 53, connecting rod; 6, X-direction traveling wheel; 61, Y-direction traveling wheel; 7, horizontal guide assembly; 71, horizontal mounting frame; 72, horizontal guide wheel; 8, X-axis guide assembly; 81, X-direction mounting frame; 82, X-direction guide wheel; 9, Y-axis guide assembly; 91, Y-direction mounting frame; 92, Y-direction guide wheel. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0045] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "provided with", "sheathed / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. Embodiment

[0047] Refer to Figure 17 , the present invention discloses an amphibious four-way shuttle guiding system, including a shelf body 1 and an amphibious four-way shuttle 2. Refer to Figure 7 , on the ground below the shelf body 1, a ground track 11 for the amphibious four-way shuttle 2 to travel is provided, and on the shelf body 1, several flat rail tracks 12 for the amphibious four-way shuttle 2 to travel are provided. Refer to Figure 17 , at the bottom of the amphibious four-way shuttle 2, a flat wheel traveling wheel set 21 is provided, and on the periphery of the amphibious four-way shuttle 2, a guiding wheel set 22 is provided.

[0048] Refer to Figure 7 and Figure 8 , the wheels of the amphibious four-way shuttle 2 moving on the ground track 11 are flat wheels. The ground track 11 includes a ground main channel 111 and several ground sub-channels 112 vertically arranged on one side of the ground main channel 111; in this embodiment, the ground main channel 111 is set to one, and the ground sub-channels 112 are set to three and communicate with one side of the ground main channel 111.

[0049] Refer to Figure 8 , on both sides of the ground main channel 111, ground main channel guiding components 3 are symmetrically arranged respectively, and on both sides of the ground sub-channels 112, ground sub-channel guiding components 4 are symmetrically arranged respectively; when the amphibious four-way shuttle 2 travels on the ground track 11, the flat wheel traveling wheel set 21 contacts the ground, and the guiding wheel set 22 contacts the ground main channel guiding component 3 or the ground sub-channel guiding component 4.

[0050] Refer to Figure 8 , the ground main channel guiding component 3 includes guiding bases 31 respectively located on one side of the head and tail ends of the ground main channel 111 and several guiding parts 32 evenly spaced between the two guiding bases 31. The guiding part 32 includes two guiding mounting seats 321 and a main channel guiding plate 322 detachably fixed at both ends between the two guiding mounting seats 321, and the two guiding mounting seats 321 are detachably fixed on the ground.

[0051] Guide wheels are installed on the sides of the amphibious four-way shuttle vehicle 2. When the amphibious four-way shuttle vehicle 2 moves in the ground main channel 111, the guide wheels are in contact with the main channel guide plate 322. The distance between the guide base 31 and the guide part 32 and the distance between two adjacent guide parts 32 are the same as the widths of several sub-channels, and the distance span of the ground main channel 111 is also the same.

[0052] In this embodiment, the structure of the guide mounting seat 321 is the same as that of the guide base 31. Specifically, referring to Figure 9 , the guide mounting seat 321 includes a first bottom plate 3211, a first vertical plate 3212, an inclined transition plate 3213, and a second vertical plate 3214 that are vertically and fixedly connected to the side of the first bottom plate 3211. The first vertical plate 3212, the inclined transition plate 3213, and the second vertical plate 3214 are integrally formed and fixedly connected in sequence, and the first vertical plate 3212 and the second vertical plate 3214 are arranged perpendicular to each other.

[0053] Referring to Figure 9 , two fixing round holes 3215 are provided on the first bottom plate 3211. During installation, expansion bolts are used to pass through the two fixing round holes 3215 to fix the first bottom plate 3211 to the ground. A fixing plate 3216 is fixedly connected to a position at a certain height away from the upper surface of the first bottom plate 3211 on the inner sides of the first vertical plate 3212, the inclined transition plate 3213, and the second vertical plate 3214. An installation round hole 3217 is provided on the fixing plate 3216. When installing the main channel guide plate 322 between two guide mounting seats 321, the main channel guide plate 322 is lapped on the fixing plates 3216 of the two guide mounting seats 321, and the main channel guide plate 322 is fixed to the guide mounting seat 321 using bolts.

[0054] Among them, when the amphibious four-way shuttle vehicle 2 just enters the ground main channel 111, the guide wheels on both sides of the amphibious four-way shuttle vehicle 2 are in contact with the surface of the first vertical plate 3212 or the second vertical plate 3214. When continuing to drive, the guide wheels on both sides of the amphibious four-way shuttle vehicle 2 will be in contact with the side wall of the main channel guide plate 322 under the traction of the inclined transition plate 3213. Therefore, the inclined transition plate 3213 can play a role in guiding and limiting to prevent the vehicle from deviating, and the main channel guide plate 322 can play a role in guiding the vehicle and improving the driving stability of the vehicle.

[0055] In this embodiment, referring to Figure 7 , the shelf body 1 includes several upright columns 13 evenly spaced on the ground. Referring to Figure 10, a clamping groove 3221 matching with the upright column 13 is formed on one side of the main channel guide plate 322. When installing the guiding part 32, the two guiding mounting seats 321 are respectively fixed on both sides of the upright column 13, and the clamping groove 3221 on the main channel guide plate 322 is clamped on the upright column 13, and both ends of the main channel guide plate 322 are fixed on the guiding mounting seats 321. Such a setting increases the installation stability of the guiding part 32 and improves the service life of the ground main channel guiding assembly 3.

[0056] Referring to Figure 11 , the ground sub-channel guiding assembly 4 includes a supporting guiding rod 41, and a plurality of supporting seats 42 evenly spaced along the length direction of the supporting guiding rod 41 are detachably and fixedly connected to the bottom of the supporting guiding rod 41, and the supporting seats 42 are detachably fixed on the ground. Guide wheels are installed on the side of the amphibious four-way shuttle car 2, and when the amphibious four-way shuttle car 2 moves in the sub-channel, the guide wheels are in contact with the supporting guiding rod 41. In this embodiment, guiding mounting seats 321 are installed at both ends of the supporting guiding rod 41.

[0057] In this embodiment, referring to Figure 12 , the supporting seat 42 includes a second bottom plate 421 and a bent sheet metal part 422 vertically fixed on the second bottom plate 421. In this embodiment, the bent sheet metal part 422 is in a square shape, and a mounting hole 423 is formed at the top of the bent sheet metal part 422. A reinforcing rib plate 424 is fixedly connected to the second bottom plate 421, one side of the reinforcing rib plate 424 is fixed on the side wall of the bent sheet metal part 422, and the top of the end of the reinforcing rib plate 424 away from the second bottom plate 421 is higher than the top of the bent sheet metal part 422. The purpose of such a setting is to be able to support the supporting guiding rod 41 from the side to prevent the vehicle from damaging the supporting guiding rod 41 when hitting, and improve the service life of the supporting guiding rod 41.

[0058] Referring to Figure 12 , two fixing holes 425 are formed on the second bottom plate 421, and the two fixing holes 425 are distributed on both sides of the reinforcing rib plate 424. The setting of the fixing holes 425 facilitates fixing the second bottom plate 421 on the ground by using bolts. When installing the supporting guiding rod 41, the two supporting guiding rods 41 on both sides of the sub-channel are parallel to each other, and the supporting guiding rod 41 is lapped on the tops of the bent sheet metal parts 422 of a plurality of supporting seats 42 on the same straight line and connected by bolts.

[0059] One end of the support guide rod 41 is detachably fixed to the guide mounting seat 321 or the guide base 31 of the ground main channel guide assembly 3 by bolts, and the other end is detachably fixed to the guide mounting seat 321 by bolts. Multiple mutually parallel support guide rods 41 can not only be used to place goods, but also when the amphibious four-way shuttle 2 enters the sub-channel, the guide wheels on the opposite sides of the amphibious four-way shuttle 2 contact the side walls of the support guide rod 41 respectively, playing a guiding role. In this embodiment, the support guide rod 41 is composed of a square tube with a specification of 40cm×60cm×2cm.

[0060] In this embodiment, the width of the ground main channel 111 and the width of the sub-channel are both greater than the width of the amphibious four-way shuttle 2 (the distance between the two guide wheels on the opposite sides of the amphibious four-way shuttle 2). Specifically, the distance between the two guide wheels is smaller than the distance between the ground main channel 111 and the sub-channel, and there will be a 5mm margin on one side of the wheel, that is, the width of each ground main channel 111 or sub-channel is 10mm larger than the distance between the corresponding two guide wheels, so as to ensure that when the amphibious four-way shuttle 2 travels in the ground main channel 111 and the sub-channel, the guide wheels are in contact with the main channel guide plate 322 and the support guide rod 41 respectively.

[0061] Figure 8 It is a partial layout of the ground guide rail, where the x1 direction is the main channel direction of the vehicle. When the vehicle is traveling in the positive direction of x1, if it deviates to the left during driving, the left guide wheel on the amphibious four-way shuttle 2 will contact the a1 and a3 guide plates to correct the vehicle to continue to deviate and help the vehicle to stay straight. If the vehicle deviates to the right during driving, the right guide wheel on the amphibious four-way shuttle 2 will contact the a2 and a4 guide plates to correct the vehicle to continue to deviate and help the vehicle to stay straight. y1, y2, y3 are the shelf channel guide plates 5, and they serve as cargo placement racks. Taking y1 as an example, the goods are placed on the a5 and a6 shelves. The vehicle is in the main channel in the x1 direction. At the y1 intersection, the wheel reversal is completed and it enters the y1 positive direction track. At the same time, if the vehicle deviates to the left during driving, the left guide wheel on the amphibious four-way shuttle 2 will contact the a5 guide plate to correct the vehicle to continue to deviate and help the vehicle to stay straight. If the vehicle deviates to the right during driving, the right guide wheel on the amphibious four-way shuttle 2 will contact the a6 guide plate to correct the vehicle to continue to deviate and help the vehicle to stay straight. At the same time, the vehicle enters under the goods, and the vehicle is lifted to complete the lifting of the goods. The guide mounting seat 321 and the support seat 42 are welded together, and finally formed. Figure 8 Layout shown. Figure 8 This is only a partial layout and does not show the entire shelf area.

[0062] By providing a main passage and several sub-passages on the bottom ground of the shelf body 1 for the amphibious four-way shuttle vehicle 2 to travel, and respectively arranging main passage guiding components and sub-passage guiding components on both sides of the main passage and the sub-passages, the vehicle can be directly placed on the ground and travel on the ground, improving the space utilization rate between the ground and the first layer of the goods placement rack.

[0063] The present invention improves the safety and service life of the vehicle. The vehicle originally ran on the track and would jolt and possibly derail when passing through the broken track. After improvement, this situation will not occur on the ground. The support guiding rod 41 in the present invention not only serves as a guiding function when the amphibious four-way shuttle vehicle 2 moves in the sub-passage, but also several support guiding rods 41 form a goods placement rack. During use, the vehicle can directly carry goods in and place them on the goods placement rack, with one shelf having multiple uses.

[0064] The track spacing between the main track and the sub-track of the present invention is small. In the market, vehicles change direction on the ground by rotating the wheels at the bottom (such as an AGV vehicle). The minimum track spacing required for changing direction is the diagonal of the vehicle. The amphibious vehicle directly changes direction by lifting the wheels, and the minimum track spacing is the width of the wheels on both sides, saving space.

[0065] Refer to Figure 7 , the flat rail track 12 includes a main passage track 121 and several sub-passage tracks 122 vertically arranged on one side of the main passage track 121; on both sides of the main passage track 121, shelf main passage guiding components 50 are symmetrically arranged respectively, and on both sides of the sub-passage track 122, shelf sub-passage guiding plates 5 are symmetrically arranged respectively. When the amphibious four-way shuttle vehicle 2 travels on the flat rail track 12, the flat wheel traveling wheel set 21 contacts the track surface of the flat rail track 12, and the guiding wheel set 22 contacts the shelf main passage guiding component or the shelf sub-passage guiding plate 5.

[0066] Refer to Figure 13 , the main passage track 121 includes two mutually parallel main track rods 1211, and the main track rods 1211 are detachably fixed on the shelf body 1. The sub-passage track 122 includes two mutually parallel sub-track rods 1221, and the sub-track rods 1221 are detachably fixed on the shelf body 1. Several sub-track rods 1221 are perpendicular to the main track rods 1211. The top surface of the main passage track 121 and the top surfaces of several sub-passage tracks 122 are on the same horizontal plane.

[0067] In this embodiment, the wheels of the new shuttle vehicle moving on the flat rail track 12 are flat wheels. In this embodiment, the sub-track rod 1221 is provided with a card slot matching the size of the main track rod 1211, and the two main track rods 1211 are clamped in the card slots on several sub-track rods 1221 and are distributed on both sides of the main passage track 121.

[0068] Referring to Figure 13 , the main aisle guiding assembly 50 of the shelf includes a number of new bracket plates 51, and the number of new bracket plates 51 are evenly spaced along the length direction on the side of the main aisle track 121; the shelf body 1 includes a number of upright columns 13 arranged in an array, and the new bracket plates 51 are detachably fixed on the upright columns 13. At the head and tail ends of the main aisle track 121 along its length direction, one new bracket plate 51 is installed on each upright column 13, and two new bracket plates 51 are respectively installed on each upright column 13 between the head and tail ends of the main aisle track 121 along its length direction.

[0069] When the new shuttle vehicle travels on the main aisle track 121, the guide wheels on both sides of the new shuttle vehicle are respectively in contact with the inner wall surfaces of the new bracket plates 51 on both sides of the main aisle track 121. In this embodiment, referring to Figure 15 , a guiding inclined surface 52 is provided on one side of the new bracket plate 51. When the guide wheel of the new shuttle vehicle contacts the new bracket plate 51, the guide wheel will be guided on the inner wall surface of the new bracket plate 51 through the guiding inclined surface 52, increasing the accuracy of guiding.

[0070] The distance between the reference surface of the new bracket plate 51 and the reference surface of the main aisle track 121 is 10 mm. The two ends of the shelf sub-aisle guiding plate 5 along its length direction are respectively detachably and fixedly connected to the new bracket plates 51. A connecting rod 53 is fixed between the two upright columns 13 on both sides of the sub-aisle track 122 along its width direction.

[0071] In the present invention, the original bracket beam is moved outwards to make it close to the outside of the main aisle track 121 to act as a guiding plate for the vehicle guiding wheel to help the vehicle move. The distance between the reference surface 1 of the traditional shelf bracket plate and the reference surface 2 of the main aisle track 121 is 50 mm. As Figure 14 , the distance between the reference surface A1 of the new bracket plate 51 and the reference surface A2 of the main aisle track 1213 is 10 mm. Compared with the traditional shelf, it is translated inwards by 40 mm, so that it can contact the guide wheels on both sides of the four-way shuttle vehicle traveling on the main aisle track 121 and correct the deviation of the vehicle during driving. Figure 15 The arrow is the structure of the new bracket plate 51. Compared with the traditional bracket plate, the contact surface of the new bracket plate 51 is moved upwards to match the height of the vehicle guide wheel.

[0072] Motion process: Figure 13The layout of the guide rail is shown in part, wherein the x direction is the main channel direction of the vehicle. When the vehicle is traveling in the positive x direction, if it deviates to the left during the driving process, the left guide wheel on the amphibious four-way shuttle 2 will contact the a1 and a2 new type of bull leg plates 51, correct the vehicle to continue to deviate and help the vehicle to go straight. If the vehicle deviates to the right during the driving process, the right guide wheel on the amphibious four-way shuttle 2 will contact the a3 and a4 new type of bull leg plates 51, correct the vehicle to continue to deviate and help the vehicle to go straight. Y is the shelf channel guide plate 5, and serves as a cargo placement rack. In the main channel in the x direction, the vehicle completes wheel reversal at the y intersection and enters the y positive direction track. At the same time, if it deviates to the left during the driving process, the left guide wheel on the amphibious four-way shuttle 2 will contact the a5 guide plate, correct the vehicle to continue to deviate and help the vehicle to go straight. If the vehicle deviates to the right during the driving process, the right guide wheel on the amphibious four-way shuttle 2 will contact the a6 guide plate, correct the vehicle to continue to deviate and help the vehicle to go straight. At the same time, the vehicle enters under the cargo and lifts up to complete the cargo lifting.

[0073] The method comprises the following steps: arranging a multi-layer flat track 12 on the shelf body 1, changing the wheels of the new shuttle vehicle to a flat wheel structure, arranging a plurality of guide plates on both sides of the main channel track 121, and arranging shelf sub-channel guide plates 5 on both sides of the sub-channel track 122. When the new shuttle vehicle is traveling on the main channel track 121, the guide wheels on both sides of the new shuttle vehicle are in contact with the guide plates on both sides of the main channel track 121, and when the new shuttle vehicle is traveling on the sub-channel track 122, the guide wheels on both sides of the new shuttle vehicle are in contact with the shelf sub-channel guide plates 5 on both sides of the sub-channel track 122.

[0074] Reference Figure 16 The amphibious four-way shuttle 2 is provided with a cargo support plate 23 and a battery 24. The cargo support plate 23 is lifted and arranged on the amphibious four-way shuttle 2. The battery 24 is installed inside the amphibious four-way shuttle 2 to provide power for the amphibious four-way shuttle 2 to travel. In this embodiment, the amphibious four-way shuttle 2 includes a main frame, a transverse support beam and a longitudinal support beam. The main frame is made of high-strength aluminum alloy. The transverse support beam and the longitudinal support beam are connected by bolts to form a stable grid structure. The modular design is adopted to facilitate disassembly and maintenance, while reducing production costs. Among them, the cargo support plate 23 is made of high-strength composite material, and the surface is provided with anti-slip lines. The cargo support plate 23 is connected to the amphibious four-way shuttle 2 through a hydraulic lifting mechanism and can be lifted and lowered in the vertical direction. The battery 24 adopts a lithium-ion battery pack, which is connected to the amphibious four-way shuttle 2 through a quick plug-in interface. The battery pack is equipped with a temperature sensor and an overload protection circuit.

[0075] Reference Figure 16, the flat-wheel traveling wheel set 21 includes a first wheel set and a second wheel set; the first wheel set and the second wheel set are respectively used to contact the first reference surface and the second reference surface on the shelf track, and the first reference surface and the second reference surface are in the same plane. On both sides of the amphibious four-way shuttle 2 along the X-axis direction, there are respectively a first side 25 and a third side 26. The first wheel set includes four groups of X-direction traveling wheels 6 located outside the first side 25 and the third side 26, and is used to contact the first reference surface; on both sides of the amphibious four-way shuttle 2 along the Y-axis direction, there are respectively a second side 27 and a fourth side 28. The second wheel set includes eight groups of Y-direction traveling wheels 61 located outside the second side 27 and the fourth side 28, and is used to contact the second reference surface.

[0076] The outer tangent plane of the guide wheel set 22 is located outside the outer side surface of the vehicle traveling wheels in the flat-wheel traveling wheel set 21 to prevent the lack of guiding and deviation correction functions during the traveling process. The guide wheel set 22 includes a horizontal guiding assembly 7. The horizontal guiding assembly 7 is set to four groups and is respectively installed at the four corners of the amphibious four-way shuttle 2, and is used to control the guiding in both the X direction and the Y direction simultaneously.

[0077] The guide wheel set 22 further includes an X-axis guiding assembly 8 and a Y-axis guiding assembly 9. The X-axis guiding assembly 8 is arranged on the side of the amphibious four-way shuttle 2 along the X direction to control the guiding in the X direction, and the Y-axis guiding assembly 9 is arranged on the side of the amphibious four-way shuttle 2 along the Y direction to control the guiding in the Y direction.

[0078] Refer to Figure 18 and Figure 19 , when the amphibious four-way shuttle 2 travels in the X direction, the distance between the bottom surface of the guide wheel set 22 and the bottom surface of the X-direction traveling wheel 6 is 96 mm. At this time, the bottom surface height of the eight groups of Y-direction traveling wheels 61 is lower than the bottom surface height of the amphibious four-way shuttle 2 and higher than the bottom surface height of the X-direction traveling wheel 6. When the amphibious four-way shuttle 2 travels in the Y direction, the vehicle will lift the first wheel set to a position flush with the vehicle floor through the lifting mechanism. The distance between the bottom surface of the guide wheel set 22 and the bottom surface of the X-direction traveling wheel 6 is 80 mm. At this time, the height of the first wheel set will be higher than that of the second wheel set. Both the first wheel set and the second wheel set are equipped with independent drive motors and reducers, and the drive motors are precisely controlled through encoders.

[0079] Among them, refer to Figure 18 and Figure 19 , the wheels of the X-direction traveling wheel 6 and the Y-direction traveling wheel 61 are of flat-wheel structure. Compared with the four-way shuttle with drive wheels with skirts in the prior art, it not only saves the production cost of the four-way shuttle, but also increases the traveling stability of the four-way shuttle, reduces the risk of derailment of the four-way shuttle, and thus greatly improves the traveling safety and service life of the four-way shuttle.

[0080] In this embodiment, the guide wheel set 22 can control the distance from the guide plate by adding shims. The thickness of the shims is adjustable to adapt to different track spacings. Specifically, the guide wheel set 22 is fixed to the side of the amphibious four-way shuttle 2 by bolts. Shims can be added between the guide wheel set 22 and the amphibious four-way shuttle 2 to adjust the distance between the guide wheels of the guide wheel set 22 and the guide plate.

[0081] Further, referring to Figure 16 , the horizontal guiding components 7 are XY1, XY2, XY3, and XY4 respectively in Figure 16 ; the horizontal guiding component 7 includes a horizontal mounting frame 71 and a horizontally guiding wheel 72 rotatably connected in the mounting frame. One end of the mounting frame is fixed at the corner of the amphibious four-way shuttle 2, and the plane where the rotation direction of the horizontally guiding wheel 72 is located is the horizontal plane. In this embodiment, the mounting frame is in a "C" shape, the mounting frame is fixed to the corner of the amphibious four-way shuttle 2 by bolts, and the horizontally guiding wheel 72 is rotatably connected in the mounting frame through a bearing.

[0082] When the four-way shuttle just enters the tracks of the shelf, whether it is the X-direction tracks or the Y-direction tracks on the shelf, the horizontally guiding wheels 72 on both sides of the amphibious four-way shuttle 2 will first contact the guide plates on both sides of the shelf tracks, realizing the function of precise guiding, avoiding the vehicle from getting stuck at the entrance of the tracks, and ensuring that the vehicle can quickly and accurately enter the predetermined tracks. When the four-way shuttle travels on the tracks, the horizontally guiding wheels 72 can also serve as the X-axis guiding component 8 or the Y-axis guiding component 9, playing the role of correcting the deviation of the vehicle, with unexpected effects.

[0083] The X-axis guiding component 8 is set to four groups and is symmetrically arranged on both sides of the amphibious four-way shuttle 2 along the X direction. In Figure 16 , they are X1, X3, X4, and X6 respectively. The two X-axis guiding components 8 on the same side of the amphibious four-way shuttle 2 are respectively arranged close to the flat wheel traveling wheel set; the X-axis guiding component 8 includes an X-direction mounting frame 81 and an X-direction guiding wheel 82 rotatably connected in the X-direction mounting frame 81. One end of the X-direction mounting frame 81 is fixed to the side of the amphibious four-way shuttle 2 along the X direction, and the plane where the rotation direction of the X-direction guiding wheel 82 is located is the horizontal plane.

[0084] The Y-axis guiding component 9 is set to four groups and is symmetrically arranged on both sides of the amphibious four-way shuttle 2 along the Y direction; the Y-axis guiding component 9 includes a Y-direction mounting frame 91 and a Y-direction guiding wheel 92 rotatably connected in the Y-direction mounting frame 91. One end of the Y-direction mounting frame 91 is fixed to the side of the amphibious four-way shuttle 2 along the Y direction, and the plane where the rotation direction of the Y-direction guiding wheel 92 is located is the horizontal plane.

[0085] In this embodiment, the X-direction mounting bracket 81 and the Y-direction mounting bracket 91 have the same structure, both using a mounting plate in a "C" shape. The mounting plate is fixed to the side wall of the amphibious four-way shuttle 2 by bolts. The X-direction guide wheels 82 and the Y-direction guide wheels 92 have the same structure and are both rotatably connected in the mounting plate through bearings.

[0086] In this embodiment, the horizontal guide wheels 72, the X-direction guide wheels 82 and the Y-direction guide wheels 92 all adopt silent guide wheels. The surface of the silent guide wheels is covered with a rubber layer to reduce running noise. Moreover, the silent guide wheels covered with a rubber layer can also adjust the distance between the outer sides of two opposite horizontal guide wheels 72 (or between the opposite X-direction guide wheels 82 on both sides or the opposite Y-direction guide wheels 92 on both sides) within a certain range, so that the four-way shuttle equipped with the horizontal guide assembly 7 can adapt to shelves with different widths of tracks, improving the versatility of the four-way shuttle. Further, when the four-way shuttle travels on the track, the silent guide wheels with rubber layers have a certain elasticity, enabling the four-way shuttle to travel stably on the track and avoid deviation. Moreover, when the four-way shuttle travels or changes tracks at high speed on the track, even if there is a collision, the horizontal guide wheels 72, the X-direction guide wheels 82 and the Y-direction guide wheels 92 can also play a role in shock absorption, thus greatly improving the service life of the vehicle.

[0087] When the amphibious four-way shuttle 2 travels on the shelf track, the vehicle running wheels of the flat wheel running wheel set 21 contact the track surface of the shelf track, and the guide wheels of the guide wheel set 22 contact the guide plates on the sides of the shelf track.

[0088] After adding omnidirectional guidance, it is also crucial to ensure that the vehicle can correct its driving trajectory in a timely manner when traveling on the track and on the ground. When traveling in the y direction, the shelf structure of the passage positions on the ground and on the track is a self-guided support plate. Only the gap between the guide wheels and the cross beams on both sides needs to be adjusted to control the guidance of the vehicle and enable the vehicle to return to the normal trajectory (control the swing amplitude of the vehicle body during driving).

[0089] When driving in the X direction, in order to ensure that the vehicle is not affected when entering the channel position, the guide plate in this direction is disconnected. When the vehicle is on the ground, it will avoid the channel position of the vehicle. Two rows of guide cross plates are added in the middle of the channel position beam to ensure that the vehicle is not affected when entering the channel position. It is crucial to correct the driving trajectory of the vehicle in a timely manner. Therefore, ten groups of guide wheels (6 groups of X-direction guide wheels 82 and 4 groups of horizontal guide wheels 72) are added to the outside of the second side 27 and the fourth side 28 of the amphibious four-way shuttle 2. The guide wheel plate inside the amphibious four-way shuttle 2 will have an inclination angle to ensure that the wheels can smoothly enter the main channel. After the vehicle travels a certain distance, the horizontal guide wheels 72 marked as XY2 and XY4 in the figure will enter the guide wheel plate of the track (fitting against the inner wall of the guide plate). The distance between two groups of guide wheels should not be too large. When the front four groups of guide wheels (XY1, XY3, X1, X4) enter the channel position, the third group of guide wheels (X3, X6) starts to play a guiding role and contacts the guide wheel plate until the fourth group of horizontal guide wheels 102 of XY2 and XY4 enter the guide cross plate of the guide rail.

[0090] The present invention uses a flat track for commutation, which has higher reliability. In traditional shuttles, due to the use of skirted wheels for commutation, mechanical failures, network delays, etc. can easily cause the skirt of the wheel to press on the track, resulting in the vehicle body tilting and unable to move. Without the skirt on the wheel, this situation can be well avoided. When driving on the shelf, the inner side of the shelf itself has a corbel beam, and another group of corbel beams will be installed on the outside. The inner wall surface of the corbel beam serves as the guide plate that contacts the guide wheel group 22. When driving on the ground, at least two groups of guide wheels will also be ensured to be in the guide cross plate to correct the position of the vehicle. At this time, the function of the guide wheels is the same as in the ground state.

[0091] The present invention can adapt to different track spacings and different track heights, and the vehicle body width is flexible. In the actual use process, when the shelf track is small and the track height is low, since the present invention adds guide wheels outside the vehicle, the requirements for the internal structure of the vehicle are not high. As long as the internal structure of the vehicle is complete, this guiding function can be achieved. In the height direction, the thickness of the guide wheel is lower than the thickness of the amphibious four-way shuttle 2 itself. If the overall height of the vehicle can adapt to the track, then the guide wheels can be installed on the vehicle.

[0092] For amphibious vehicles on the market, ground travel is achieved through a steering wheel structure, which requires two groups of steering wheels and a transmission mechanism, increasing the cost of the vehicle itself. The guiding component of the present invention can be applied to models with any vehicle thickness, saving the cost of amphibious vehicles.

[0093] The implementation principle of the present invention is as follows: The present invention discloses an amphibious four-way shuttle vehicle guiding system, which innovatively improves the structures of the shelves and the four-way shuttle vehicle. It adopts two operation modes of ground and track. For the shelves, a ground main channel guiding component 3 and a ground sub-channel guiding component 4 are arranged on both sides of the ground track 11, and a shelf main channel guiding component 50 and a shelf sub-channel guiding plate 5 are arranged on both sides of the track surface of the flat rail track 12. For the shuttle vehicle, the original driving wheel with a skirt is changed to a flat wheel running wheel set 21 with a flat wheel structure, and a guiding wheel set 22 matching the above guiding components is installed on the side of the amphibious four-way shuttle vehicle 2, so that the amphibious four-way shuttle vehicle 2 can stably run on the track or the ground of the shelf, improving the running stability, saving costs, improving the use efficiency, and also saving space, being convenient for processing and maintenance.

[0094] The embodiments of this specific implementation manner are all preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. An amphibious four-way shuttle guide system, comprising a shelf body (1) and an amphibious four-way shuttle (2), characterized in that: A ground track (11) for the amphibious four-way shuttle vehicle (2) to travel is arranged on the ground below the shelf body (1), a plurality of layers of flat rail tracks (12) for the amphibious four-way shuttle vehicle (2) to travel are arranged on the shelf body (1), a flat wheel running wheel group (21) is arranged at the bottom of the amphibious four-way shuttle vehicle (2), and a guide wheel group (22) is arranged on the peripheral side of the amphibious four-way shuttle vehicle (2).

2. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The ground track (11) comprises a ground main channel (111) and a plurality of ground sub-channels (112) vertically arranged on one side of the ground main channel (111); The two sides of the ground main channel (111) are symmetrically provided with ground main channel guide components (3), and the two sides of the ground sub-channel (112) are symmetrically provided with ground sub-channel guide components (4); When the amphibious four-way shuttle vehicle (2) travels on the ground track (11), the flat wheel driving wheel group (21) contacts the ground, and the guide wheel group (22) contacts the ground main channel guide assembly (3) or the ground sub-channel guide assembly (4).

3. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The flat track (12) comprises a main channel track (121) and a plurality of sub-channel tracks (122) vertically arranged on one side of the main channel track (121); The two sides of the main channel track (121) are symmetrically provided with shelf main channel guide components (50), and the two sides of the sub-channel track (122) are symmetrically provided with shelf sub-channel guide plates (5); When the amphibious four-way shuttle vehicle (2) travels on the flat track (12), the flat wheel travel wheel set (21) contacts the track surface of the flat track (12), and the guide wheel set (22) contacts the shelf main channel guide assembly (50) or the shelf sub-channel guide plate (5).

4. The amphibious four-way shuttle guidance system according to claim 3 is characterized in that: The main channel track (121) comprises two mutually parallel main track rods (1211), and the main track rods (1211) can be detachably fixed on the shelf body (1); the sub-channel track (122) comprises two mutually parallel sub-track rods (1221), and the sub-track rods (1221) can be detachably fixed on the shelf body (1), and a plurality of the sub-track rods (1221) are perpendicular to the main track rods (1211).

5. The amphibious four-way shuttle guidance system according to claim 3 is characterized in that: The top surface of the main channel track (121) and the top surfaces of the plurality of sub-channel tracks (122) are located on the same horizontal plane.

6. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The amphibious four-way shuttle vehicle (2) is provided with a cargo support plate (23), and a battery (24) is provided inside the amphibious four-way shuttle vehicle (2). The cargo support plate (23) is lifted and arranged on the amphibious four-way shuttle vehicle (2), and the battery (24) is installed inside the amphibious four-way shuttle vehicle (2) to provide power for the amphibious four-way shuttle vehicle (2) to travel.

7. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The flat wheel travel wheel set (21) comprises a first wheel set and a second wheel set; The amphibious four-way shuttle vehicle (2) is provided with a first side edge (25) and a third side edge (26) on both sides along the X-axis direction, respectively; the first wheel set includes four sets of X-direction running wheels (6) located outside the first side edge (25) and the third side edge (26); The amphibious four-way shuttle vehicle (2) is provided with a second side (27) and a fourth side (28) on both sides along the Y-axis direction, respectively; the second wheel group includes eight groups of Y-direction running wheels (61) located outside the second side (27) and the fourth side (28).

8. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The outer section of the guide wheel set (22) is located outside the outer side of the outer side of the vehicle running wheel in the flat wheel running wheel set (21) to prevent the lack of guiding and deviation correction functions during the running process.

9. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The guide wheel group (22) comprises a horizontal guide assembly (7), wherein the horizontal guide assembly (7) is arranged in four groups and is respectively installed at the four corners of the amphibious four-way shuttle vehicle (2) for simultaneously controlling the guidance in the X direction and the Y direction.

10. The amphibious four-way shuttle guidance system according to claim 1, characterized in that: The guide wheel group (22) further comprises an X-axis guide assembly (8) and a Y-axis guide assembly (9); the X-axis guide assembly (8) is arranged on the side of the amphibious four-way shuttle (2) along the X direction for controlling the guidance in the X direction; and the Y-axis guide assembly (9) is arranged on the side of the amphibious four-way shuttle (2) along the Y direction for controlling the guidance in the Y direction.

Images