A rescue method for a four-way shuttle vehicle and a rescue vehicle used

Abstract

The present invention belongs to the technical field of intelligent warehousing systems, and in particular relates to a rescue method for a four-way shuttle vehicle and a rescue vehicle used therefor. The present invention first confirms the position of the faulty vehicle, then assembles and moves the rescue vehicle. Next, the maintenance personnel wait at the maintenance station. Then, the maintenance personnel take the rescue vehicle to tow back the faulty vehicle. Finally, the maintenance operation is completed at the maintenance station, ensuring that the faulty vehicle staying on the secondary track can also be repaired smoothly. Moreover, the main body of the rescue vehicle is an ordinary shuttle vehicle, ultimately making the entire rescue process relatively efficient and economical. In addition, for the rescue vehicle used in the present invention, its structure includes a rescue vehicle, a load-carrying frame, maintenance tools, and maintenance work equipment. Among them, the rescue vehicle can be any normally operating shuttle vehicle, the load-carrying frame can safely carry the maintenance personnel, the types of maintenance tools are sufficient and optional, and the maintenance work equipment can smoothly unload the goods that may be on the faulty vehicle and safely put them back into the goods location.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent warehousing systems, and particularly relates to a rescue method for a four-way shuttle vehicle and a rescue vehicle for use in rescue. Background Art

[0002] A four-way shuttle vehicle, generally speaking, refers to an intelligent robot that can move forward and backward, as well as left and right. The hardware structure of an intelligent warehousing system generally refers to a three-dimensional multi-layer shelf, which mainly includes 4 components, namely: a hoist, a main track, a secondary track, and a shelf.

[0003] The general operation mode of an intelligent warehousing system is as follows: the shuttle vehicle is controlled to move. After it is loaded with goods, the control system gives the location information of the goods storage location, such as position A on layer B, main track C, and secondary track D. Then, the first step is to determine whether a hoist is needed. The second step is to move to the only corresponding storage location. The third step is for the shuttle vehicle to lower the loading board. Finally, the goods are at the corresponding storage location, and the shuttle vehicle can then perform the next operation of picking up and placing goods.

[0004] On the other hand, during the actual operation process, when the shuttle vehicle breaks down, it will stop on the main track or the secondary track. The existing shelf structure generally includes multiple main tracks, but there is only one maintenance station, which is set on one of the main tracks. Moreover, if a malfunctioning shuttle vehicle needs to be repaired within the shelf, it must be repaired at the maintenance station.

[0005] Therefore, for the existing method of covering the distance from the breakdown position of the shuttle vehicle to the maintenance station, generally, the specific structure of the shuttle vehicle is improved so that the rescue shuttle vehicle can connect to and drive the malfunctioning shuttle vehicle by itself.

[0006] For example, a Chinese invention patent with the patent publication number CN112374066A and the publication date of February 19, 2021, discloses a rescue mechanism for an automatically hooked shuttle vehicle and its rescue method.

[0007] The rescue mechanism in this invention patent mainly includes a shuttle vehicle body, a laser emitter, a camera, a fixed sleeve, a hook seat, a rescue hook, and a rescue hanging ear. Its rescue method mainly includes: after the rescue vehicle and the malfunctioning vehicle are positioned and their heads and tails correspond to each other, then control the rescue vehicle to move forward. While the rescue vehicle is moving forward, start the motor to drive two fixed sleeves to be threadedly connected with the fixing rods. The first thread and the second thread respectively opened on the two fixing rods are reversed from each other to form a double mechanical anti-travel self-interlock. Then start the rescue vehicle to pull out the malfunctioning vehicle.

[0008] However, this rescue mechanism and its rescue method have at least the following 2 deficiencies during actual use. In other words, these are the technical problems to be solved by the present invention.

[0009] First, all shuttle vehicles must undergo structural improvements, at least adding a set of rescue structures, which is very costly. Moreover, the rescue structure is directly exposed and protrudes outward, which may also affect the normal cargo transportation use of the shuttle vehicle.

[0010] Second, when the faulty vehicle stays on the secondary track, it must change its moving direction once when moving to the maintenance station. This is impossible to achieve with the rescue method where the rescue vehicle moves in a straight line with the faulty vehicle, and it is also its most fatal shortcoming.

[0011] Therefore, in summary, there is an urgent need for a relatively economical and efficient new shuttle rescue method that can also rescue faulty vehicles parked on the auxiliary track. Summary of the invention

[0012] The present invention provides a rescue method for a four-way shuttle vehicle, which can ensure that the faulty vehicle staying on the auxiliary track can also be repaired smoothly by first confirming the position of the faulty vehicle, then assembling and moving the rescue vehicle, followed by maintenance personnel waiting at the maintenance station, and then the maintenance personnel taking the rescue vehicle to pull back the faulty vehicle, and finally completing the maintenance operation at the maintenance station. In addition, the main body of the rescue vehicle is a general shuttle vehicle, which ultimately makes the entire rescue process relatively efficient and economical.

[0013] In addition, the present invention also provides a rescue vehicle used in the above method, whose structure includes a rescue vehicle, a cargo box, maintenance tools, and maintenance tooling. The rescue vehicle can be any normally operating shuttle vehicle, and the cargo box can safely accommodate maintenance personnel. The types of maintenance tools are sufficient and optional, and the maintenance tooling can smoothly unload any cargo that may be on the faulty vehicle and safely put it back into the cargo position.

[0014] The present invention solves the above-mentioned problem by adopting a technical solution: a rescue method for a four-way shuttle vehicle, comprising the following steps in sequence:

[0015] S1. Confirm that a maintenance station is set up on the main track corresponding to the secondary track where the faulty vehicle is located;

[0016] S2. The maintenance personnel move the rescue vehicle to the loading and unloading track, install a cargo box on the rescue vehicle, place maintenance tools and maintenance tools in the cargo box, and finally move the rescue vehicle to the unloading station on the shelf corresponding to the faulty vehicle;

[0017] S3. The maintenance personnel climbs the ladder to the maintenance station on the shelf corresponding to the faulty vehicle.

[0018] S4. The maintenance personnel unload the maintenance tools and tools at the unloading station and temporarily store them, and then enter the loading frame;

[0019] S5. The maintenance staff moves the rescue vehicle to the traction station, then releases the brake of the walking motor of the faulty vehicle, and then pulls the rescue vehicle to the end of the secondary track. The rescue vehicle then retreats to the adjacent station, and finally moves the faulty vehicle to the traction station;

[0020] S6. The maintenance staff continues to pull the faulty vehicle until the faulty vehicle arrives at the maintenance station, and the rescue vehicle returns to the unloading station;

[0021] S7. The maintenance staff picks up the maintenance tools and fixtures, and completes the maintenance work on the faulty vehicle within the loading frame;

[0022] S8. After the faulty vehicle is repaired and able to move away, the maintenance staff leaves the maintenance tools and fixtures in the loading frame. The maintenance staff first leaves the loading frame, then returns to the maintenance station, and finally returns from the ladder. The rescue vehicle returns to the loading and unloading track;

[0023] S9. The maintenance staff removes the loading frame from the rescue vehicle and releases the rescue vehicle, and the entire rescue operation is completed.

[0024] A rescue method for a four-way shuttle vehicle, where S1, S4, S5, S6, and S7 are respectively replaced with T1, T4, T5, T6, and T7, where,

[0025] T1. Confirm that there is no maintenance station set on the main track corresponding to the secondary track where the faulty vehicle is located;

[0026] T4. The maintenance staff enters the loading frame and controls the auxiliary rescue vehicle to come to the secondary track station;

[0027] T5. Use a crane to lift the faulty vehicle onto the auxiliary rescue vehicle;

[0028] T6. The maintenance staff controls the auxiliary rescue vehicle to move to the maintenance station, uses a crane to lift the faulty vehicle, the auxiliary rescue vehicle leaves, and the faulty vehicle is placed on the maintenance station;

[0029] T7. The maintenance staff completes the maintenance work on the faulty vehicle within the loading frame.

[0030] A further preferred technical solution is that in S5 or T5, when the faulty vehicle is loaded with goods, before operating the faulty vehicle, first use a crane to lift the goods on the faulty vehicle and separate them from the faulty vehicle. After the faulty vehicle leaves the secondary track, then place the goods on the shelf.

[0031] A further preferred technical solution is that in S1, the operator confirms the position and cause of the faulty vehicle through the warehousing equipment control system, and selects different maintenance tools according to the cause.

[0032] A further preferred technical solution is that the maintenance station and the unloading station are the corresponding turning positions of two adjacent secondary tracks on the main track.

[0033] A further preferred technical solution is that support platforms are used at both the maintenance station and the unloading station, and a main passage steel platform for maintenance personnel to pass through is provided between the ladder and the maintenance station.

[0034] A further preferred technical solution is that in S5, the adjacent station and the traction station are the corresponding turning positions of two adjacent secondary tracks on the main track.

[0035] A further preferred technical solution is that the maintenance tooling is used to lift the goods from the faulty vehicle and separate them from the faulty vehicle. After the faulty vehicle leaves the secondary track, the goods are then placed on the shelf.

[0036] A rescue vehicle used in a rescue method for a four-way shuttle car, the structure includes a rescue vehicle, a load-carrying frame provided on the rescue vehicle, maintenance tools provided in the load-carrying frame, and maintenance tooling provided in the load-carrying frame.

[0037] A further preferred technical solution is that the load-carrying frame is provided with an upper opening, and the bottom plate is screwed to the rescue vehicle. The maintenance tools include a wrench and a screwdriver, and the maintenance tooling includes a temporary support plate for goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a top view of a three-dimensional multi-layer shelf applicable to the rescue method in the present invention.

[0039] Figure 2 It is a front view of the above three-dimensional multi-layer shelf in the present invention.

[0040] Figure 3 It is a structural schematic diagram of the rescue vehicle in the present invention.

[0041] Figure 4 It is a schematic diagram of the usage method of the auxiliary rescue vehicle in the present invention.

[0042] In the drawings, the meanings represented by the respective reference numerals are as follows.

[0043] Faulty vehicle a, rescue vehicle b, load-carrying frame c, maintenance tools d, maintenance tooling e, unloading station f, secondary track end station g, maintenance station h, adjacent station k, traction station m, auxiliary rescue vehicle n, secondary track station p.

[0044] Inbound and outbound track 1, main track 2, secondary track 3, ladder 4, elevator 5, transition track 6. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following is only a preferred embodiment of the present invention and does not limit the scope of the present invention.

[0046] As shown in the attached Figures 1-4 figure, a rescue method for a four-way shuttle vehicle successively includes the following steps:

[0047] S1. Confirm that a maintenance station h is set on the main track 2 corresponding to the secondary track 3 where the faulty vehicle a is located;

[0048] S2. The maintenance personnel move the rescue vehicle b to the incoming and outgoing goods track 1, install a load-carrying frame c on the rescue vehicle b, place maintenance tools d and maintenance tooling e in the load-carrying frame c, and finally move the rescue vehicle b to the unloading station f on the shelf layer corresponding to the faulty vehicle a;

[0049] S3. The maintenance personnel come to the maintenance station h on the shelf layer corresponding to the faulty vehicle a through the ladder 4;

[0050] S4. The maintenance personnel unload and temporarily place the maintenance tools d and maintenance tooling e at the unloading station f, and then enter the load-carrying frame c;

[0051] S5. The maintenance personnel move the rescue vehicle b to the towing station m, then release the brake of the traveling motor of the faulty vehicle a, then pull the rescue vehicle b to the end of the secondary rail station g, the rescue vehicle b retreats to the adjacent station k, and finally move the faulty vehicle a to the towing station m;

[0052] S6. The maintenance personnel continue to pull the faulty vehicle a until the faulty vehicle a comes to the maintenance station h, and the rescue vehicle b returns to the unloading station f;

[0053] S7. The maintenance personnel pick up the maintenance tools d and maintenance tooling e and complete the repair work on the faulty vehicle a in the load-carrying frame c;

[0054] S8. After the faulty vehicle a is repaired and can move away, the maintenance personnel leave the maintenance tools d and maintenance tooling e in the load-carrying frame c. The maintenance personnel first leave the load-carrying frame c, then return to the maintenance station h, and finally return from the ladder 4. The rescue vehicle b returns to the incoming and outgoing goods track 1;

[0055] S9. The maintenance personnel remove the load-carrying frame c from the rescue vehicle b and release the rescue vehicle b, and the entire rescue operation is completed.

[0056] In this embodiment, there are two rescue methods. The above method is one of them, and the applicable requirement is that a maintenance station h is set on the main track 2 corresponding to the secondary track 3 where the faulty vehicle a is located.

[0057] In the attached Figure 1For example, only the faulty vehicle a parked on the auxiliary track 3 on the left and in the middle of the figure can use this method. For the faulty vehicle a parked on the auxiliary track 3 on the right, the following second method must be used. The reason is that in S6, when the maintenance personnel or the rescue vehicle b pulls the faulty vehicle a, it can only move forward and is not convenient to turn.

[0058] In addition, the maintenance personnel use the WCS (Warehouse Control System), that is, the warehouse equipment control system, to control all the shuttle vehicles required in the entire rescue method. The control methods are direct and indirect. The former can be that the maintenance personnel carry a mobile terminal with control functions, and the latter can be that the maintenance personnel communicate with the personnel in the control center in real time.

[0059] Furthermore, in S1, matters such as confirming the parking position and fault information of the faulty vehicle a are also realized through the WCS. When the faulty vehicle a is parked on the main track 2, the position of the faulty vehicle a is the traction work station m. In S5, it is not necessary to pull the faulty vehicle a from the auxiliary track 3 to the main track 2, and thus there is no step of the auxiliary track end work station g.

[0060] Finally, in the multi-layer stereoscopic shelf, a main passage steel platform is provided between the ladder 4 and the maintenance work station h to ensure that the maintenance personnel can walk smoothly and safely.

[0061] A rescue method for a four-way shuttle vehicle, where S1, S4, S5, S6, and S7 are respectively replaced with T1, T4, T5, T6, and T7. Among them,

[0062] T1. Confirm that there is no maintenance work station h set on the main track 2 corresponding to the auxiliary track 3 where the faulty vehicle a is located;

[0063] T4. The maintenance personnel enter the load-carrying frame c and control the auxiliary rescue vehicle n to come to the auxiliary track work station p;

[0064] T5. Use a crane to carry the faulty vehicle a onto the auxiliary rescue vehicle n;

[0065] T6. The maintenance personnel control the auxiliary rescue vehicle n to move to the maintenance work station h, use a crane to lift the faulty vehicle a, the auxiliary rescue vehicle n leaves, and the faulty vehicle a is placed on the maintenance work station h;

[0066] T7. The maintenance personnel complete the repair work on the faulty vehicle a inside the load-carrying frame c.

[0067] In this embodiment, taking... Figure 1 For example, if a faulty vehicle a is parked on the right auxiliary track 3, the second rescue method must be used.

[0068] In addition, the auxiliary rescue vehicle n can come from any position in the three-dimensional multi-layer shelf. In order to adapt to the narrow space in the shelf, the crane generally uses a small lifting hoist with small specifications and average performance. It can only move horizontally a short distance. This is why the crane cannot directly move the faulty vehicle a to the maintenance station h.

[0069] Finally, the position of the lifting frame of the existing shuttle vehicle is vertically aligned with the position of the wheels, ensuring that it can be stacked vertically and then "carried".

[0070] In addition, the crane at the auxiliary rail station p and the crane at the maintenance station h can be one or two, and the former can be equipped with necessary crane slide rails.

[0071] In S5 or T5, when the faulty car a is loaded with goods, before operating the faulty car a, the goods on the faulty car a are first lifted by a crane and separated from the faulty car a. After the faulty car a leaves the auxiliary track 3, the goods are placed on the shelf.

[0072] In this embodiment, the general method of placing goods on the shelves is:

[0073] First, the goods are initially located above the shelf, and the crane slightly lifts the goods, separating them from the lifting rack.

[0074] Second, the faulty vehicle a is removed from under the cargo;

[0075] Third, the crane lowers the goods and puts them back on the shelf stably.

[0076] Of course, similarly, this crane is the crane at the auxiliary track station p. In other words, if a shelf layer has 4 auxiliary tracks 3, it can include a total of 4 mobile cranes and 1 fixed crane at the maintenance station h.

[0077] In S1, the operator confirms the location and cause of the faulty vehicle a through the storage equipment control system and selects different repair tools d according to the cause.

[0078] In this embodiment, the maintenance tool d does not need to be carried up the ladder 4 or into the shelf by the maintenance personnel, which is very convenient.

[0079] The maintenance station h and the unloading station f are corresponding turning positions of two adjacent secondary tracks 3 on the main track 2.

[0080] In this embodiment, the Figure 1 For example, if the faulty vehicle a is at the bottom of the maintenance station h, the rescue vehicle b will enter from the upper loading and unloading track 1. Figure 1As shown by itself. Specifically, in order for the rescue vehicle b to move the breakdown vehicle a, a U-turn process is required.

[0081] Finally, the size and structure of the load-carrying frame c are appropriate to ensure that when the breakdown vehicle a and the rescue vehicle b are adjacent, maintenance personnel can complete all maintenance operations on the breakdown vehicle a on the rescue vehicle b.

[0082] Support platforms are used at both the maintenance station h and the unloading station f, and a main passage steel platform for maintenance personnel to pass through is provided between the ladder 4 and the maintenance station h.

[0083] In this embodiment, maintenance personnel need to "get on and off" at the support platform of the maintenance station h and at the load-carrying frame c.

[0084] In S5, the adjacent station k and the traction station m are the corresponding turning positions of two adjacent secondary tracks 3 on the main track 2.

[0085] In this embodiment, the traction station m is the "first stop" for the breakdown vehicle a to return to the main track 2. All stations in this embodiment are positions where the shuttle vehicle on the track needs to pause, including pausing for turning and pausing for loading and unloading goods.

[0086] The maintenance tooling e is used to lift the goods from the breakdown vehicle a and separate them from the breakdown vehicle a. After the breakdown vehicle a leaves the secondary track 3, the goods are then placed on the shelf.

[0087] In this embodiment, the function of the maintenance tooling e is to appropriately replace the above-mentioned mobile crane.

[0088] A rescue vehicle used for a rescue method of a four-way shuttle vehicle, the structure including a rescue vehicle b, a load-carrying frame c provided on the rescue vehicle b, maintenance tools d provided in the load-carrying frame c, and a maintenance tooling e provided in the load-carrying frame c.

[0089] In this embodiment, a rotating door body is opened on the load-carrying frame c to facilitate the normal entry and exit of maintenance personnel. The maintenance tools d include a toolbox, and the types of maintenance tools in the box are selected before the rescue vehicle b departs, and the selection basis is the cause of the breakdown of the breakdown vehicle a.

[0090] The load-carrying frame c is provided with an upper opening, and the bottom plate is screwed to the rescue vehicle b. The maintenance tools d include wrenches and screwdrivers, and the maintenance tooling e includes a jack and a temporary goods support plate.

[0091] In this embodiment, the load-carrying frame c includes plate bodies or grid bars at five locations including the front, back, left, right, and bottom.

[0092] The self-height of the temporary support plate for goods is adjustable. The usage method is as follows: First, place it on the shelf, then increase the height until it jacks up the goods and "lifts" the support frame of the faulty vehicle a. Then, manually retract the support frame of the faulty vehicle a downward, and the goods are placed on the temporary support plate. At this time, the faulty vehicle a can be removed.

[0093] Because the support frame of the faulty vehicle a is very likely to fall directly, with the described temporary support plate for goods, it is possible to prevent the goods from directly "hitting" the shelf.

[0094] In addition, if the goods are suspended by a crane and need to be used in conjunction with the auxiliary rescue vehicle n, the goods cannot be placed directly above the faulty vehicle a and need to be appropriately moved away. After all, the position directly above the faulty vehicle a needs to be suspended by the crane again and then placed back on the auxiliary rescue vehicle n.

[0095] Finally, this embodiment has the following advantages.

[0096] First, the rescue vehicle b is an ordinary shuttle vehicle, and no structural improvement is required for the shuttle vehicles using this rescue method, which is very convenient and economical.

[0097] Second, in the rescue method, a pull rope is used to pull the faulty vehicle a onto the main track 2, and then after "turning" and changing direction, it finally arrives at the maintenance station h. This cannot be achieved by the "straight in and straight out" rescue method.

[0098] Third, when there is no maintenance station h set on the main track 2 corresponding to the secondary track 3 where the faulty vehicle a is located, the auxiliary rescue vehicle n can also be used to solve the problem that the pull rope of the rescue vehicle b cannot pull the faulty vehicle a to "turn" together, which is very efficient and comprehensive.

[0099] Fourth, the core operation of pulling the faulty vehicle a back to the main track 2 is relatively simple, convenient, and orderly, ensuring that any faulty vehicle a on the secondary track 3 is applicable.

[0100] Fifth, this rescue method is also applicable to the faulty vehicle a with goods, enabling it to unload the goods safely first and then be pulled away, which further expands the applicable scope of this rescue method.

[0101] Sixth, in cooperation with the WCS, it makes the carrying of the maintenance tool d more purposeful, avoids carrying unnecessary tools, and most importantly, there is no need for maintenance personnel to carry them in and out.

[0102] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by ordinary technicians in the technical field, various modifications can be made without departing from the purpose of the present invention. These are all non-creative modifications and are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A rescue method for a four-way shuttle vehicle, characterized in that The following steps are included in sequence: S1. Confirm that the faulty vehicle (a) is located on the secondary track (3) corresponding to the main track (2) and set up a maintenance station (h); S2. The maintenance personnel move the rescue vehicle (b) to the loading and unloading track (1), install the cargo frame (c) on the rescue vehicle (b), place the maintenance tools (d) and maintenance tools (e) in the cargo frame (c), and finally move the rescue vehicle (b) to the unloading station (f) on the shelf layer corresponding to the faulty vehicle (a); S3, the maintenance personnel climbs the ladder (4) to the maintenance station (h) on the shelf corresponding to the faulty vehicle (a); S4. The maintenance personnel unload the maintenance tools (d) and maintenance tools (e) at the unloading station (f) and temporarily store them, and then enter the loading frame (c); S5. The maintenance personnel move the rescue vehicle (b) to the traction station (m), then release the travel motor brake of the faulty vehicle (a), and then pull the rescue vehicle (b) to the auxiliary rail end station (g). The rescue vehicle (b) then returns to the adjacent station (k), and finally moves the faulty vehicle (a) to the traction station (m). S6. The maintenance personnel continue to pull the faulty vehicle (a) until the faulty vehicle (a) reaches the maintenance station (h) and the rescue vehicle (b) returns to the unloading station (f); S7. The maintenance personnel pick up the maintenance tools (d) and maintenance tools (e), and complete the maintenance work on the faulty vehicle (a) in the loading frame (c); S8. After the faulty vehicle (a) is repaired, it is moved away. The maintenance personnel leave the maintenance tools (d) and maintenance tools (e) in the loading frame (c). The maintenance personnel first leave the loading frame (c), then return to the maintenance station (h), and finally return from the ladder (4). The rescue vehicle (b) returns to the loading and unloading track (1); S9, the maintenance personnel remove the luggage frame (c) from the rescue vehicle (b), release the rescue vehicle (b), and the entire rescue operation is completed. The maintenance station (h) and the unloading station (f) are the corresponding turning positions of two adjacent auxiliary tracks (3) on the main track (2). The maintenance station (h) and the unloading station (f) both use support platforms, and a main passage steel platform for maintenance personnel to pass between the ladder (4) and the maintenance station (h) is provided. In S5, the adjacent workstation (k) and the pulling workstation (m) are corresponding turning positions of two adjacent auxiliary tracks (3) on the main track (2).

2. A rescue method for a four-way shuttle vehicle as described in claim 1, characterized in that: Replace S1, S4, S5, S6, and S7 with T1, T4, T5, T6, and T7, respectively, where: T1. Confirm that there is no maintenance station (h) on the main track (2) corresponding to the secondary track (3) where the faulty vehicle (a) is located; T4. The maintenance personnel enter the cargo frame (c) and control the auxiliary rescue vehicle (n) to the auxiliary rail work station (p); T5. Use a crane to move the disabled vehicle (a) to the auxiliary rescue vehicle (n); T6. The maintenance personnel control the auxiliary rescue vehicle (n) to move to the maintenance station (h), use the crane to lift the faulty vehicle (a), and the auxiliary rescue vehicle (n) leaves, and the faulty vehicle (a) is placed at the maintenance station (h). T7. The maintenance personnel complete the maintenance work on the faulty vehicle (a) in the cargo box (c).

3. A rescue method for a four-way shuttle vehicle according to claim 1 or 2, characterized in that: In S5 or T5, when there is cargo on the faulty vehicle (a), before operating the faulty vehicle (a), use a crane to lift the cargo on the faulty vehicle (a) and separate it from the faulty vehicle (a). After the faulty vehicle (a) leaves the secondary track (3), then place the cargo on the shelf.

4. A rescue method for a four-way shuttle vehicle according to claim 1 or 2, characterized in that: In S1, the operator confirms the position and cause of the faulty vehicle (a) through the warehousing equipment control system and selects different maintenance tools (d) according to the cause.

5. A rescue method for a four-way shuttle vehicle according to claim 1 or 2, characterized in that: The maintenance tooling (e) is used to jack up the cargo from the faulty vehicle (a) and separate it from the faulty vehicle (a). After the faulty vehicle (a) leaves the secondary track (3), then place the cargo on the shelf.

6. A rescue vehicle used for the rescue method of the four-way shuttle vehicle as described in claim 1 or 2, characterized in that: The structure includes a rescue vehicle (b), a load-carrying frame (c) provided on the rescue vehicle (b), maintenance tools (d) provided in the load-carrying frame (c), and maintenance tooling (e) provided in the load-carrying frame (c).

7. The rescue vehicle used in the rescue method for a four-way shuttle vehicle according to claim 6, characterized in that: The load-carrying frame (c) has an upper opening, and the bottom plate is screwed to the rescue vehicle (b). The maintenance tools (d) include a wrench and a screwdriver, and the maintenance tooling (e) includes a temporary support plate for the cargo.

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