Walking jacking mechanism and four-way shuttle vehicle

Abstract

The walking jacking mechanism comprises a supporting frame, two lifting assemblies and two gear boxes, the two lifting assemblies are arranged on the two first sides of the supporting frame correspondingly, the gear boxes are fixedly arranged on the supporting frame, and the two gear boxes and the two lifting assemblies are arranged in a one-to-one correspondence mode; the two gear boxes are connected through a rotating shaft so that the two gear boxes can operate synchronously, and the gear boxes are connected with the corresponding lifting assemblies through crank structures so that the lifting assemblies can be switched among the first position, the second position and the third position which are arranged in the second direction. According to the walking jacking mechanism, the gear box and the corresponding lifting assembly are connected through the simple crank structure, the lifting assembly is pushed to be switched among the first position, the second position and the third position in the rotating process of the crank structure, and compared with a hydraulic jacking mechanism, the walking jacking mechanism can be used for lifting the gear box under the condition that the overall size is not increased; and the lifting assembly is more stable in the switching process.

Description

Technical Field

[0001] The present application relates to the technical field of cargo transportation, and in particular to a walking lifting mechanism and a four-way shuttle vehicle. Background Art

[0002] The four-way shuttle is a fully automatic rail transporter used in densely stored stereoscopic warehouses. Due to the compact overall structure of the four-way shuttle and the advantages of the hydraulic lifting mechanism, which is small in size and has a relatively high lifting height, most four-way shuttles currently use hydraulic lifting mechanisms to achieve cargo lifting and switching between parent lanes and sub-lanes. However, the hydraulic lifting mechanism has problems such as oil leakage and asynchronous lifting, which will affect the overall stability of the four-way shuttle. Therefore, the four-way shuttle urgently needs a lifting mechanism that is small in size, can be lifted synchronously, and has high stability. Utility Model Content

[0003] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present application, a walking and lifting mechanism is provided, which includes a support frame, two sets of lifting components, two sets of gear boxes and a crank structure; the support frame includes two first sides arranged along a first direction; the two sets of lifting components are respectively arranged on the two first sides of the support frame; the gear box is fixedly arranged on the support frame, the two sets of gear boxes are respectively arranged in a one-to-one correspondence with the two sets of lifting components, and the two sets of gear boxes are connected by a rotating shaft so that the two sets of gear boxes run synchronously; wherein the gear box is connected to the corresponding lifting component by a crank structure, so that the lifting component can be converted between a first position, a second position and a third position arranged along a second direction, and the second direction is perpendicular to the plane where the first direction is located.

[0004] Exemplarily, the gearbox has a transmission output shaft, and the crank structure has a rotating part, a connecting part and an output part. The rotating part is fixed to the transmission output shaft and rotates with the transmission output shaft. The connecting part is connected between the rotating part and the output part. The output part is connected to the lifting assembly to drive the lifting assembly to switch between the first position, the second position and the third position when the rotating part rotates.

[0005] Exemplarily, the output part is rotatably connected to the lifting assembly, the gearbox has at least two transmission output shafts, at least two crank structures are arranged between the gearbox and the corresponding lifting assembly, the at least two transmission output shafts are respectively connected to the at least two crank structures in a one-to-one correspondence, and the rotation directions of the at least two transmission output shafts are in the same direction.

[0006] Exemplarily, the output portion is slidably connected to the lifting assembly, a first guide assembly is provided between the lifting assembly and the support frame, and a guiding direction of the first guide assembly is the second direction.

[0007] Exemplarily, the first guide assembly includes a guide hole and a guide rod, the guide rod is placed in the guide hole and can slide relative to the guide hole, the lifting assembly has a movable frame, one of the guide rod and the guide hole is set on the movable frame, and the other is set on the support frame; wherein, when the lifting assembly is switched to the first position, the walking assembly can fall on the bottom surface or the track to drive the lifting mechanism to move.

[0008] Exemplarily, a strip hole is provided on the movable frame, and the length direction of the strip hole is perpendicular to the second direction, wherein the output part is located in the strip hole and can slide along the length direction of the strip hole.

[0009] Exemplarily, the side of the output portion that contacts the inner wall of the strip-shaped hole is configured as an arc surface, and the inner wall of the strip-shaped hole forms a line contact with the arc surface.

[0010] Exemplarily, the walking and lifting mechanism also includes a tray, and the tray is slidably arranged on the support frame along the second direction through the second guide assembly. When the lifting assembly is in the second position, the movable frame contacts the tray.

[0011] Exemplarily, the movable frame has a recessed gap formed on a surface close to one side of the tray away from the tray, and the second guide assembly is at least partially disposed in the recess and is slidable relative to the recess.

[0012] According to another aspect of the present application, a four-way shuttle is provided, which includes a frame and a walking and lifting mechanism provided above; the frame is fixedly arranged on a support frame.

[0013] In the technical solution of the present application, the walking jacking mechanism utilizes a simple crank structure to connect the gear box and the corresponding lifting assembly, and pushes the lifting assembly to switch between the first position, the second position and the third position during the rotation of the crank structure. Compared with the hydraulic jacking mechanism, the lifting assembly can be more stable during the switching process without increasing the overall volume. In addition, combined with the setting that the two sets of gear boxes are connected by a rotating shaft, the two sets of gear boxes run synchronously, ensuring the synchronization during the jacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The following drawings of the present application are hereby used as part of the present application for understanding the present application. The drawings show the implementation methods of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0015] Figure 1 is a three-dimensional diagram of a walking and lifting mechanism according to an exemplary embodiment of the present application;

[0016] Figure 2a for Figure 1 A schematic diagram of the local structure of the walking and lifting mechanism shown;

[0017] Figure 2b for Figure 2a A schematic diagram of a crank structure of an exemplary embodiment;

[0018] Figure 3 for Figure 1 A schematic diagram of a partial structure of the lifting assembly in the walking and lifting mechanism shown is located at the second position;

[0019] Figure 4 for Figure 1 A schematic diagram of a partial structure of the lifting assembly in the walking and lifting mechanism shown is located at the third position;

[0020] Figure 5 It is a schematic diagram of the partial structure of a four-way shuttle according to an exemplary embodiment of the present application.

[0021] The above drawings include the following reference numerals:

[0022] 100, support frame; 200, lifting assembly; 210, movable frame; 211, strip hole; 212, clearance gap; 220, walking assembly; 300, gear box; 310, transmission output shaft; 400, rotating shaft; 500, crank structure; 510, rotating part; 520, connecting part; 530, output part; 600, first guide assembly; 610, guide rod; 620, guide hole; 700, tray; 800, driving device; 810, motor; 820, reducer; 900, second guide assembly. DETAILED DESCRIPTION

[0023] In the following description, a large amount of details are provided so that the present application can be thoroughly understood. However, it will be appreciated by those skilled in the art that the following description only exemplarily illustrates the preferred embodiments of the present application, and the present application can be implemented without one or more such details. In addition, in order to avoid confusion with the present application, some technical features well known in the art are not described in detail.

[0024] In order to thoroughly understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art. The preferred implementation of the present application is described in detail below, but in addition to these detailed descriptions, the present application may also have other implementations.

[0025] The present application provides a travel transmission mechanism in an embodiment, which is mainly used in a four-way shuttle vehicle, and can also be used in other cargo transport vehicles.

[0026] Combined with reference Figures 1 to 5According to one aspect of the present application, a walking and lifting mechanism is provided, which includes a support frame 100, two lifting components 200, two gear boxes 300 and a crank structure 500. The support frame 100 is a frame structure as a whole, having a first direction (such as Figure 1 The two lifting assemblies 200 are respectively arranged on the two first sides of the support frame 100; the gear box 300 is fixedly arranged on the support frame 100, and the two gear boxes 300 are respectively arranged in a one-to-one correspondence with the two lifting assemblies 200, and the two gear boxes 300 are connected by a rotating shaft 400 so that the two gear boxes 300 run synchronously; wherein the gear box 300 is connected to the corresponding lifting assembly 200 by a crank structure 500, so that the lifting assembly 200 can be moved along the second direction (such as Figure 1 The first position, the second position and the third position set in the Y direction (as shown in the figure) can be switched, and the second direction is perpendicular to the plane where the first direction is located.

[0027] The walking jacking mechanism provided by the present application can include two sets of lifting components 200, and the two sets of gear boxes 300 are connected by a rotating shaft 400. Such a setting can drive the other set of gear boxes 300 to run synchronously through the rotating shaft 400 when driving one set of gear boxes 300. Each set of lifting components 200 is connected to the corresponding gear box 300 through a crank structure 500, and the crank structure 500 is driven to rotate by the gear box 300. The crank structure 500 can drive the lifting component 200 to switch between the first position, the second position and the third position during the rotation process. Compared with the hydraulic lifting mechanism, the setting of the crank structure 500 can not only save the overall structural space, but also because it adopts a mechanical lifting method, it has the advantages of stability and reliability of the mechanical lifting method, making the lifting component 200 more stable during the switching process. In addition, combined with the setting that the two sets of gear boxes 300 are connected by the rotating shaft 400, the two sets of gear boxes 300 run synchronously, ensuring the synchronization during the lifting process.

[0028] See again Figure 1 The gearbox 300 can be operated manually or driven by the driving device 800, and the driving method of the gearbox 300 is not limited here. The driving device 800 can be various types of driving devices known in the art or that may appear in the future, including but not limited to the motor 810. In some embodiments, the driving device 800 can include a motor 810, and the motor 810 can be connected to a reducer 820, and the reducer 820 is connected to the gearbox 300 or the rotating shaft 400, and then the gearbox 300 can be driven by the driving motor 810 to allow the lifting assembly 200 to switch between the first position, the second position and the third position.

[0029] Combined with reference Figure 2a , Figure 2b and Figure 3 In some embodiments, the gearbox 300 has a transmission output shaft 310, the crank structure 500 has a rotating portion 510, a connecting portion 520 and an output portion 530, the rotating portion 510 is fixed to the transmission output shaft 310 and rotates with the transmission output shaft 310, the connecting portion 520 is connected between the rotating portion 510 and the output portion 530, and the output portion 530 is connected to the lifting assembly 200 to drive the lifting assembly 200 to switch between the first position, the second position and the third position when the rotating portion 510 rotates. The rotating portion 510 fixed to the transmission output shaft 310 of the gearbox 300 will rotate with the rotation of the transmission output shaft 310, so that the output portion 530 of the crank structure 500 moves with the rotating portion 510 as the center and the connecting portion 520 as the radius, thereby driving the lifting assembly 200 connected to the output portion 530 to switch between the first position, the second position and the third position.

[0030] In some embodiments, the crank structure 500 may include an output portion 530, two connecting portions 520 and two rotating portions 510. The two connecting portions 520 are symmetrically connected to the two sides of the output portion 530, and the two rotating portions 510 are symmetrically distributed on the two sides of the output portion 530. The two rotating portions 510 are connected to the two connecting portions 520 in a one-to-one correspondence, and the output portion 530 is not located on the rotating axis 400 line of the two rotating portions 510. The rotating portion 510 is rotatably connected to the support frame 100, wherein any one of the rotating portions 510 is coaxially fixed to the transmission output shaft 310. The setting of the two connecting portions 520, in conjunction with the setting of the two rotating portions 510 being rotatably connected to the support frame 100, can not only make the crank structure 500 more evenly stressed, but also improve the supporting force of the crank structure 500, and also make the rotation process more stable.

[0031] In an embodiment not shown, the crank structure 500 may include a rotating portion 510 , a connecting portion 520 and an output portion 530 connected in sequence, wherein the rotating portion 510 is rotatably connected to the support frame 100 and coaxially fixed to the transmission output shaft 310 .

[0032] In some embodiments, the output part 530 is rotatably connected to the lifting assembly 200, the gearbox 300 has two transmission output shafts 310, and two crank structures 500 are arranged between the gearbox 300 and the corresponding lifting assembly 200. The two transmission output shafts 310 are respectively connected to the two crank structures 500 in a one-to-one correspondence, and the rotation speed and rotation direction of at least two transmission output shafts 310 are the same. The crank structures 500 fixed on the two transmission output shafts 310 are synchronously output by the gearbox 300, and a parallelogram structure is formed between the two crank structures 500, the lifting assembly 200 and the support frame 100. The two crank structures 500 with the same rotation speed and the same rotation direction and arranged in parallel can drive the lifting assembly 200 connected to the output part 530 to switch between the first position, the second position and the third position.

[0033] In an embodiment not shown, the gearbox 300 may also have three or more transmission output shafts 310 , and the crank structures 500 may also be provided with three or more corresponding ones.

[0034] In some embodiments, the output portion 530 is slidably connected to the lifting assembly 200, and a first guide assembly 600 is provided between the lifting assembly 200 and the support frame 100, and the guiding direction of the first guide assembly 600 is the second direction. Through the guiding action of the first guide assembly 600, the rotational motion of the rotating portion 510 can be converted into a linear reciprocating motion of the lifting assembly 200 along the second direction. The first guide assembly 600 can be one or more combinations including a combination of a slide rail and a slider, a combination of a guide hole 620 and a guide rod 610, etc., or various other forms of guide structures that may appear in the future, as long as the lifting assembly 200 can be made to slide along the second direction.

[0035] In some embodiments, the first guide assembly 600 includes a guide hole 620 and a guide rod 610. The guide rod 610 is placed in the guide hole 620 and can slide relative to the guide hole 620. The walking assembly 220 and the lifting assembly 200 have a movable frame 210 and a walking assembly 220 fixed on the movable frame 210. One of the guide rod 610 and the guide hole 620 is set on the movable frame 210, and the other is set on the main support frame 100; wherein, when the lifting assembly 200 switches to the first position, driving the walking assembly 220 can drive the jacking mechanism to move. The guide rod 610 placed inside the guide hole 620 can play a guiding role, and cooperate with the rotating crank structure 500 to push the movable frame 210 along the second direction, switching between the first position, the second position and the third position; wherein, when the lifting assembly 200 is placed in the first position, the walking assembly 220 falls on the bottom surface or the track, and the jacking mechanism can be driven to move by driving the walking assembly 220. Again in conjunction with reference Figure 2a , Figure 2b and Figure 3In some embodiments, the lifting assembly 200 has a movable frame 210, a guide rod 610 is disposed on the support frame 100, a guide hole 620 is disposed on the movable frame 210, and the guide rod 610 is disposed in the guide hole 620 along the second direction and is slidable relative to the guide hole 620. When the transmission output shaft 310 of the gear box 300 drives the lifting assembly 200 to switch between the first position, the second position and the third position through the crank structure 500, the movable frame 210 is moved along the axial direction of the guide rod 610 by utilizing the cooperation between the guide rod 610 and the guide hole 620.

[0036] In an embodiment not shown, the guide rod 610 is disposed on the movable frame 210, and the guide hole 620 is disposed on the support frame 100. The guide rod 610 is inserted into the guide hole 620 along the second direction and is slidable relative to the guide hole 620. When the crank structure 500 drives the lifting assembly 200 to switch between the first position, the second position, and the third position, the movable frame 210 will move along the insertion direction of the guide rod 610 and the guide hole 620.

[0037] See again Figure 2a In some embodiments, a strip hole 211 is provided on the movable frame 210, and the length direction of the strip hole 211 satisfies a perpendicular condition to the second direction, wherein the output portion 530 is located in the strip hole 211 and can slide along the length direction of the strip hole 211. The crank structure 500 connected to the transmission output shaft 310 of the gear box 300 can rotate around the rotating portion 510, and under the joint action of the output portion 530 slidably placed in the strip hole 211 and the first guide assembly 600, the rotating crank structure 500 can drive the movable frame 210 to move along the second direction, thereby realizing the switching of the lifting assembly 200 between the first position, the second position and the third position.

[0038] Again, refer to Figure 2a , Figure 2b and Figure 3 In some embodiments, the side of the output part 530 that contacts the inner wall of the strip hole 211 is constructed as an arc surface, and the inner wall of the strip hole 211 forms a line contact with the arc surface. Under heavy load conditions, the lifting transmission mechanism will cause slight deformation of the movable frame 210, thereby affecting the fit of the output part 530 in the strip hole 211; after the output part 530 is optimized to be an arc surface, the inner wall of the strip hole 211 and the output part 530 can always maintain a stable line contact, and the line contact method can avoid damage to the output part 530 due to extrusion, reduce the deformation of the movable frame 210 and the impact of the output part 530 sliding in the strip hole 211, and the force is more reasonable, and the lifting process is smoother.

[0039] Combined with reference Figures 2a to 4In some embodiments, the walking and lifting mechanism further includes a tray 700, and the tray 700 is slidably disposed on the support frame 100 along the second direction through the second guide assembly 900. When the lifting assembly 200 is in the second position, the movable frame 210 contacts the tray 700. The movable frame 210 in the lifting assembly 200 contacts the pallet 700 in the second position. When the lifting assembly 200 switches from the second position to the third position, the movable frame 210 acts on the lower part of the pallet 700, so that the pallet 700 moves upward along the second direction following the movable frame 210, thereby realizing the lifting of the pallet 700; when the lifting assembly 200 switches from the third position to the second position, the pallet 700 will descend following the movable frame 210 under the action of gravity, and finally when the movable frame 210 is in the second position, the pallet 700 falls on the support frame 100; when the lifting assembly 200 switches from the second position to the first position or from the first position to the second position, the pallet 700 is supported by the support frame 100 and remains on the support frame 100, and the movable frame 210 of the lifting assembly 200 is separated from the pallet 700, that is, when the movable frame 210 switches between the first position and the second position, the pallet 700 remains on the support frame 100 and does not move with the movable frame 210.

[0040] See again Figure 2a In some embodiments, the movable frame 210 has a recessed clearance gap 212 on the surface of the side close to the tray 700 and facing away from the tray 700, and the second guide assembly 900 is at least partially disposed in the clearance gap 212 and is slidable relative to the clearance gap 212.

[0041] The second guide assembly 900 can extend through the interior of the support frame 100, thereby saving the overall structural space. In order to avoid interference between the second guide assembly 900 and the lifting assembly 200, a clearance gap 212 facing away from the tray 700 is provided on the surface of the movable frame 210 on the side close to the tray 700, and the second guide assembly 900 and the clearance gap 212 are slidably arranged. Such an arrangement enables the second guide assembly 900 and the movable frame 210 to move relative to each other to avoid interference.

[0042] According to another aspect of the present application, a four-way shuttle is provided, which includes a frame and a travel jacking mechanism provided above; the frame is fixedly arranged on the support frame 100. The lifting assembly 200 in the travel transmission mechanism can lift the goods when the initial mother lane is switched to the third position to lift the goods placed on the mother lane, and after the four-way shuttle moves to the sub-lane, the lifting assembly 200 is switched to the first position, and the tray 700 falls back on the frame, and the frame can be used to carry the goods. The travel assembly 220 in the lifting assembly 200 will fall into the sub-lane, and the driving travel assembly 220 can drive the four-way shuttle to move along the sub-lane direction (i.e., move along the X direction). When the lifting assembly 200 moves to the target mother lane, it switches to the third position again to lift the goods, and after driving along the target mother lane to the designated placement position, the lifting assembly 200 switches to the second position to place the goods on the mother lane.

[0043] In the description of the present application, it should be understood that the orientation or positional relationship indicated by directional words such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "vertical", "horizontal", "top", "bottom", etc. is usually based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0044] For ease of description, regional relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figure and other components or features. It should be understood that regional relative terms include not only the orientation of the components as described in the figure, but also different orientations in use or operation. For example, if the components in the accompanying drawings are inverted as a whole, the components "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Therefore, the exemplary term "above" may include both "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this article is intended to include all of these situations.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, parts, components and / or combinations thereof.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0047] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application. The scope of protection of the present application is defined by the attached claims and their equivalents.

Claims

1. A walking and lifting mechanism, characterized in that: include: A support frame, the support frame comprising two first sides arranged along a first direction; Two sets of lifting assemblies, the two sets of lifting assemblies are respectively arranged on the two first sides of the support frame; Two sets of gear boxes, the gear boxes are fixedly arranged on the support frame, the two sets of gear boxes are arranged in one-to-one correspondence with the two sets of lifting assemblies, and the two sets of gear boxes are connected by a rotating shaft so that the two sets of gear boxes can operate synchronously; The gear box is connected to the corresponding lifting assembly via a crank structure, so that the lifting assembly can be switched between a first position, a second position and a third position set along a second direction, and the second direction is perpendicular to the plane where the first direction is located.

2. The walking and lifting mechanism according to claim 1, characterized in that: The gearbox has a transmission output shaft, and the crank structure has a rotating part, a connecting part and an output part. The rotating part is fixed to the transmission output shaft and rotates with the transmission output shaft. The connecting part is connected between the rotating part and the output part. The output part is connected to the lifting component to drive the lifting component to switch between the first position, the second position and the third position when the rotating part rotates.

3. The walking and lifting mechanism according to claim 2, characterized in that: The output part is rotatably connected to the lifting assembly, the gear box has at least two transmission output shafts, at least two crank structures are arranged between the gear box and the corresponding lifting assembly, at least two transmission output shafts are respectively connected to at least two crank structures in a one-to-one correspondence, and the rotation directions of at least two transmission output shafts are in the same direction.

4. The walking and lifting mechanism according to claim 2, characterized in that: The output portion is slidably connected to the lifting assembly, and a first guide assembly is arranged between the lifting assembly and the support frame, and the guiding direction of the first guide assembly is the second direction.

5. The walking and lifting mechanism according to claim 4, characterized in that: The first guide assembly includes a guide hole and a guide rod, the guide rod is placed in the guide hole and can slide relative to the guide hole, the lifting assembly has a movable frame and a walking assembly fixed on the movable frame, one of the guide rod and the guide hole is arranged on the movable frame, and the other is arranged on the support frame; When the lifting assembly is switched to the first position, the walking assembly is driven to drive the lifting mechanism to walk.

6. The walking and lifting mechanism according to claim 5, characterized in that: The movable frame is provided with a strip hole, the length direction of the strip hole and the second direction meet the perpendicular condition, wherein the output part is located in the strip hole and can slide along the length direction of the strip hole.

7. The walking and lifting mechanism according to claim 6, characterized in that: The side of the output portion that contacts the inner wall of the strip-shaped hole is configured as an arc surface, and the inner wall of the strip-shaped hole forms a line contact with the arc surface.

8. The walking and lifting mechanism according to claim 5, characterized in that: The walking and lifting mechanism also includes a tray, and the tray is slidably arranged on the supporting frame along the second direction through a second guide assembly. When the lifting assembly is in the second position, the movable frame contacts the tray.

9. The walking and lifting mechanism according to claim 8, characterized in that: The movable frame has a recessed notch on a surface close to one side of the tray and away from the tray, and the second guide assembly is at least partially disposed in the notch and is slidable relative to the notch.

10. A four-way shuttle vehicle, characterized in that: It comprises a vehicle frame and a walking and lifting mechanism as described in any one of claims 1 to 9, wherein the vehicle frame is fixedly arranged on the supporting frame.

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