A four-way shuttle vehicle carrying system and a method of using a four-way shuttle vehicle

Abstract

The application provides a four-way shuttle vehicle carrying system and a use method of the four-way shuttle vehicle, and belongs to the technical field of warehouse transportation. The four-way shuttle vehicle carrying system comprises a plurality of four-way shuttle vehicles and an upper controller. A driving unit, a reading unit and a computing unit are installed on the four-way shuttle vehicle. The upper controller is used for acquiring a plurality of candidate routes, each route comprising a plurality of key points, and selecting an optimal path according to the key points. The point positions of the key points of the optimal path are sequentially sent to the four-way shuttle vehicle. The computing unit is used for generating an effective running path according to the point position identification of the key points. The driving unit controls the four-way shuttle vehicle to travel according to the effective running path. The reading unit is used for reading information codes at the stations passed by the four-way shuttle vehicle. Through the judgment of the point position identification in the candidate path, the optimal path is selected, the upper controller schedules each four-way shuttle vehicle, congestion of the four-way shuttle vehicle is avoided, and the warehouse efficiency in the stereoscopic warehouse is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of warehousing and transportation technology, specifically to a four-way shuttle transportation system and a method for using the four-way shuttle. Background Technology

[0002] With the continuous development of the automated warehousing industry, various industries are adopting dense automated storage and retrieval systems (AS / RS) to maximize the utilization of warehouse space and maximize the storage of goods within a limited area. Currently, AS / RS systems are equipped with numerous aisles, with shuttle vehicles moving between these aisles for delivery and retrieval.

[0003] At present, the shuttle cars in automated warehouses have the following defects in the process of delivery and retrieval: When a group of shuttle cars is running, the shortest path of the shuttle car is determined by the human and then the movement of the shuttle car is controlled by the controller. When multiple groups of shuttle cars are running at the same time, the human selection of routes is prone to cause the shuttle car path to be congested, resulting in wasted time and failure to guarantee the optimal path, resulting in low transportation efficiency of the shuttle cars. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art, which is that manual judgment of the shuttle car's path in the automated warehouse can easily lead to path congestion, wasted time, and failure to guarantee the optimal path. Thus, the present invention provides a four-way shuttle car transportation system and a method for using the four-way shuttle car.

[0005] To solve the above-mentioned technical problems, the present invention provides a four-way shuttle vehicle transportation system, comprising: multiple four-way shuttle vehicles and a host controller, wherein the four-way shuttle vehicles are equipped with a drive unit, a reading unit and a computing unit;

[0006] Multiple four-way shuttles shuttle through the automated warehouse, which includes multiple sets of shelves, sub-aisles, and main aisles arranged side by side. Each set of shelves consists of multiple rows, columns, and multi-level storage units. The outlet of each set of shelves is connected to the main aisle, and the main aisle is connected to multiple sets of sub-aisles. The four-way shuttles enter the shelves from the sub-aisles through the main aisle to pick up and deliver goods.

[0007] The sub-channel and the main channel have stations set at intervals. Each station and each cargo space unit is equipped with an information code, which is used to store the location identifier of the station and the cargo space unit.

[0008] The upper-level controller is used to acquire multiple candidate routes, each route including multiple key points, the key points including a starting point, a target point, and an inflection point, the inflection point being the station connecting the main channel and the sub-channel in the candidate route; the optimal path is selected based on the sum of the row value difference and column value difference of the point identifiers of adjacent key points in each candidate route; the point identifiers of the key points of the optimal path are sent to the four-way shuttle in sequence;

[0009] The calculation unit is used to generate an effective running path based on the location identifiers of the key points;

[0010] If the computing unit generates a valid running path, the driving unit controls the four-way shuttle to travel according to the valid running path;

[0011] The reading unit is used to read the information codes at the stations along the route of the four-way shuttle and send the information codes to the host controller so that the host controller can schedule each four-way shuttle according to the information codes sent by each four-way shuttle.

[0012] Optionally, the two adjacent groups of stations constitute one operating unit of the four-way shuttle, and the step of the calculation unit generating an effective operating path based on key points includes:

[0013] For adjacent key points with the same row value, obtain the column values ​​of the two key points respectively, and determine the column values ​​of each point between the two key points according to the first preset step size; form the point identifier of each point between the two key points based on the row value of the two key points and the column values ​​of each point between the two key points.

[0014] For adjacent keypoints with the same column value, obtain the row value of the two keypoints respectively, and determine the row value of each point between the two keypoints according to the second preset step size; form the point identifier of each point between the two keypoints based on the column value of the two keypoints and the row value of each point between the two keypoints.

[0015] An effective running path is formed based on the location identifiers of each key point and the location identifiers of each point between any two adjacent key points.

[0016] Optionally, the information code is a QR code or a barcode.

[0017] Optionally, the four-way shuttle is equipped with a pallet detection device for detecting pallets.

[0018] Optionally, the four-way shuttle is also equipped with a collision avoidance control unit and an alarm unit. The collision avoidance control unit includes a distance measuring switch, a deceleration switch and a limit switch installed on the four-way shuttle.

[0019] When the ranging switch detects an obstacle ahead, the deceleration switch activates, causing the four-way shuttle to slow down. When the ranging switch detects that the distance between the obstacle and the four-way shuttle is small, the limit switch activates, stopping the four-way shuttle, and the alarm unit also activates.

[0020] Optionally, the four-way shuttle includes:

[0021] The vehicle frame is equipped with a straight-line mechanism for driving the four-way shuttle vehicle to travel in a straight direction.

[0022] A transverse frame is provided within the vehicle body frame, and a transverse mechanism for driving the four-way shuttle to travel laterally is provided on the transverse frame.

[0023] A lifting plate assembly is driven to slide and move up and down on the horizontal frame; the lifting plate assembly is provided with a first Z-shaped guide rail, and the horizontal frame is provided with a second Z-shaped guide rail in the opposite direction to the first Z-shaped guide rail; the first Z-shaped guide rail and the second Z-shaped guide rail are arranged opposite to each other, and a sliding drive component is provided in both of them;

[0024] The drive unit includes a walking drive mechanism and a conversion drive mechanism. The walking drive mechanism is disposed within the vehicle frame and is used to drive the four-way shuttle to travel in a straight line or laterally. The conversion drive mechanism is disposed within the vehicle frame and is used to drive the sliding drive component to move.

[0025] The conversion drive mechanism drives the lifting plate assembly to move up and down relative to the transverse frame through the sliding drive component; the lifting plate assembly is raised to lift the goods of the four-way shuttle, and the lifting plate assembly is lowered to place the goods of the four-way shuttle.

[0026] The conversion drive mechanism drives the transverse frame to move up and down relative to the vehicle frame via the sliding drive component; the transverse frame descends to enable the four-way shuttle to travel laterally, and the transverse frame rises to enable the four-way shuttle to travel in the straight direction.

[0027] The conversion drive mechanism includes: a threaded screw, a drive motor for driving the threaded screw, and a wheel nut slidably disposed on the threaded screw; the sliding drive component is a rolling bearing disposed on both sides of the wheel nut.

[0028] The lifting plate assembly includes: a lifting plate and lifting upright plates located on both sides of the lifting plate; the horizontal frame includes: a supporting upright plate disposed opposite to the lifting plate;

[0029] The first Z-shaped guide rail is mounted on the lifting plate, and the second Z-shaped guide rail is mounted on the supporting plate;

[0030] Furthermore, the lifting plate is provided with two first Z-shaped guide rails in opposite directions along its length; the support plate is provided with two second Z-shaped guide rails in opposite directions to the first Z-shaped guide rails.

[0031] Two supporting uprights are respectively provided on both sides of the horizontal frame in the horizontal direction.

[0032] Optionally, two threaded screws with opposite directions of rotation are respectively provided on both sides of the four-way shuttle in the lateral direction; the two threaded screws provided on the same side of the four-way shuttle in the lateral direction are used to drive the wheel nuts on them to move towards each other or away from each other.

[0033] The drive motor is a single motor. The drive motor drives a set of oppositely arranged threaded screws in the lateral direction of the four-way shuttle to rotate via a synchronous belt assembly, and drives another set of oppositely arranged threaded screws in the longitudinal direction of the four-way shuttle to rotate via a first coupling.

[0034] Optionally, the first output end of the walking drive mechanism drives the drive shaft through a straight-line transmission chain to drive the straight-line mechanism forward or backward;

[0035] The second output end of the walking drive mechanism is connected to the second coupling and the transmission shaft in sequence to drive the traversing mechanism forward or backward; and the connection position of the second output end is located below the first output end, and the second output end is a power output direction perpendicular to the first output end.

[0036] Optionally, it further includes: a wheel nut support mechanism, comprising: a linear slide rail arranged along the length direction of the threaded screw, and a support slider slidably arranged on the linear slide rail;

[0037] The wheel nut is connected to the support slider to support the wheel nut.

[0038] This invention provides a method for using a four-way shuttle vehicle, employing the aforementioned four-way shuttle vehicle transportation system, including the following steps:

[0039] When the four-way shuttle is traveling in a straight line and cargo is placed, the drive unit controls the sliding drive component to be in its initial position within the first Z-shaped guide rail and the second Z-shaped guide rail; in this state, the transverse frame is in a raised position relative to the vehicle frame so that the straight-moving mechanism drives the four-way shuttle; the lifting plate assembly is in a lowered position relative to the vehicle frame to place cargo.

[0040] When the four-way shuttle is traveling in a straight line and lifting cargo, the drive unit controls the sliding drive component to slide to the middle position within the first Z-shaped guide rail and the second Z-shaped guide rail; in this state, the transverse frame is in a raised position relative to the vehicle frame so that the straight-moving mechanism drives the four-way shuttle; the lifting plate assembly is in a raised position relative to the vehicle frame to lift cargo.

[0041] When the four-way shuttle is traveling laterally and lifting cargo, the drive unit controls the sliding drive component to slide to the end position within the first Z-shaped guide rail and the second Z-shaped guide rail; in this state, the transverse frame is in a lowered position relative to the vehicle frame, so that the transverse mechanism drives the four-way shuttle.

[0042] The technical solution of this invention has the following advantages:

[0043] 1. In the four-way shuttle transportation system provided by this invention, multiple sets of shelves are arranged side by side in the automated warehouse. The loading port of the shelf is a main channel, which is connected to the sub-channels. The four-way shuttle enters the shelf from the sub-channel through the main channel to pick up and deliver goods. The upper controller is used to acquire multiple candidate routes, each route including multiple key points. Based on the sum of the row value difference and column value difference of the position identifiers of adjacent key points in each candidate route, the optimal path is selected. The positions of the key points of the optimal path are sent to the four-way shuttle in sequence. The calculation unit is used to generate an effective running path based on the position identifiers of the key points. The drive unit controls the four-way shuttle to travel according to the effective running path. The reading unit is used to read the information codes at the stations along the route of the four-way shuttle and send the information codes to the upper controller, so that the upper controller can schedule each four-way shuttle according to the information codes sent by each four-way shuttle. By judging the location markers in the candidate paths, the optimal path is selected, and the upper controller schedules each four-way shuttle car to avoid congestion of the four-way shuttle cars and waste time, which greatly improves the storage efficiency in the automated warehouse.

[0044] 2. In the four-way shuttle transportation system provided by the present invention, the step of generating an effective path based on key points includes forming a point identifier for each point according to a first preset step size for the column values ​​between adjacent key points with the same row value, and forming a point identifier between each point according to a second preset step size for the row values ​​between adjacent key points with the same column value, thereby forming an effective running path. The generation of the effective path is fast and simple.

[0045] 3. In the four-way shuttle transportation system provided by the present invention, a pallet detection device is installed on the four-way shuttle. After the shuttle reaches the target point, it is used to detect the pallet. If no pallet is detected, an alarm is triggered to avoid causing subsequent handling obstacles.

[0046] 4. In the four-way shuttle transportation system provided by this invention, the four-way shuttle is also equipped with a collision avoidance control unit and an alarm unit. The collision avoidance control unit includes a distance measuring switch, a deceleration switch, and a limit switch installed on the four-way shuttle. When the distance measuring switch detects an obstacle ahead, the deceleration switch activates, and the four-way shuttle decelerates. When the distance measuring switch detects that the distance between the obstacle and the four-way shuttle is small, the limit switch activates, and the four-way shuttle stops running. At the same time, the alarm unit activates. This, in conjunction with the upper-level controller's scheduling of each shuttle, avoids collisions between shuttles, preventing transportation interruptions and reduced efficiency.

[0047] 5. In the four-way shuttle transportation system provided by this invention, the nested car body frame, transverse frame, and lifting plate assembly enable the four-way shuttle to switch between straight and lateral travel, as well as between cargo placement and cargo lifting states, via sliding drive components slidably mounted within the first and second Z-shaped guide rails. This structure eliminates the need for multiple systems to implement the different functions of the four-way shuttle, effectively simplifying the number of car body components and reducing the shuttle's thickness. Furthermore, the nested car body frame, transverse frame, and lifting plate assembly increase the contact area between the lifting plate assembly and the cargo, enhancing the shuttle's load-bearing capacity. The four-way shuttle provided by this invention is not only thin and has a high carrying capacity, but also enables multi-directional travel, cross-lane operation, and, with the aid of supporting lifting equipment, cross-level operation. The shuttle is more efficient, flexible, and unrestricted by space, making full use of available space.

[0048] Furthermore, the four-way shuttle's lifting and reversing functions are achieved through a screw-wheel-nut mechanism that works in conjunction with the guide rail. This replaces traditional linkage structures or hydraulic jacking mechanisms, effectively reducing the shuttle's weight and height, simplifying the internal structure, eliminating fluid leakage issues associated with hydraulic systems, and simultaneously achieving higher load-bearing capacity. Moreover, the shuttle's maximum body thickness can reach 115mm, far less than the 150mm-200mm thickness of traditional models on the market; this allows for more space on the machine to carry goods, improving the space utilization of racking locations and indirectly increasing racking storage capacity.

[0049] By setting the first Z-shaped guide rail and the second Z-shaped guide rail on both sides of the four-way shuttle, the lifting plates symmetrically set on both sides of the four-way shuttle can effectively drive the lifting of goods, thereby improving the load-bearing capacity of the four-way shuttle.

[0050] 6. In the four-way shuttle transportation system provided by this invention, a single drive motor drives two sets of threaded screws in the lateral direction of the four-way shuttle to rotate, which not only effectively improves the cargo carrying capacity of the four-way shuttle, but also effectively ensures that the lifting plates located on both sides of the four-way shuttle always maintain synchronous movement, thus preventing the cargo from tilting. Furthermore, the coaxial left-right rotating drive screws and wheel nuts are screwed together to achieve lifting and reversing functions, and the same carrying capacity as traditional systems can be achieved with a smaller power motor, achieving energy saving and environmental protection.

[0051] 7. In the four-way shuttle vehicle system provided by this invention, the walking drive mechanism uses one motor to drive both the straight-line and lateral mechanisms, achieving dual drive with a single motor. The power for both the straight-line and lateral mechanisms is driven by only one drive motor, effectively simplifying the internal structure of the vehicle body, reducing manufacturing costs, and contributing to energy conservation and emission reduction.

[0052] 8. The four-way shuttle transportation system provided by the present invention further includes a wheel nut support mechanism, which comprises: a linear slide rail arranged along the length direction of the threaded screw, and a support slider slidably arranged on the linear slide rail; the wheel nut is connected to the support slider to support the wheel nut. The mutually cooperating linear slide rail and support slider can effectively support the support slider, thereby reducing the pressure on the threaded screw and preventing deformation of the threaded screw. Compared with the prior art, the four-way shuttle of the present invention is not only compact but also has a load capacity of up to 1.5 tons. Attached Figure Description

[0053] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0054] Figure 1 This is a top view of the four-way shuttle transportation system provided in an embodiment of the present invention;

[0055] Figure 2 A schematic diagram showing the optimal path formed by key points;

[0056] Figure 3 for Figure 2 A schematic diagram of a set of path arrays;

[0057] Figure 4 for Figure 2 A schematic diagram of the path array in the second group;

[0058] Figure 5 for Figure 2 A schematic diagram of the third group of path arrays;

[0059] Figure 6 This is a schematic diagram showing a path conflict between two sets of four-way shuttles;

[0060] Figure 7 This is a schematic diagram illustrating another path conflict between two sets of four-way shuttles.

[0061] Figure 8 A three-dimensional structural diagram of the internal structure of the four-way shuttle provided by the present invention;

[0062] Figure 9 This is a top view of the internal structure of the four-way shuttle provided by the present invention;

[0063] Figure 10 This is a three-dimensional schematic diagram of a four-way shuttle provided by the present invention;

[0064] Figure 11 A schematic diagram showing the relative positions of the wheel nut and the support slider mounted on the linear slide rail, provided by the present invention.

[0065] Figure 12 This is a three-dimensional structural diagram of the lifting plate assembly provided by the present invention;

[0066] Figure 13 A schematic diagram of the three-dimensional structure of the horizontal frame provided by the present invention;

[0067] Figure 14 A schematic diagram showing the position of the sliding drive component of the four-way shuttle provided by the present invention in a straight-line driving and cargo-placed state;

[0068] Figure 15 A schematic diagram showing the position of the sliding drive component of the four-way shuttle vehicle provided by the present invention in a straight-line driving and cargo-lifting state;

[0069] Figure 16 This is a schematic diagram showing the position of the sliding drive component when the four-way shuttle provided by the present invention is in a lateral travel and cargo lifting state.

[0070] Explanation of reference numerals in the attached figures:

[0071] 1. Vehicle frame; 2. Walking drive mechanism; 3. Straight travel mechanism; 4. Lateral frame; 5. Lateral travel mechanism; 6. Lifting plate assembly; 7. First Z-shaped guide rail; 8. Second Z-shaped guide rail; 9. Sliding drive component; 10. Threaded screw; 11. Drive motor; 12. Wheel nut; 13. Lifting plate; 14. Lifting upright plate; 15. Support upright plate; 16. Synchronous belt assembly; 17. Annular notch; 18. Straight travel transmission chain; 19. Linear slide rail; 20. Support slider; 21. Snap-fit ​​connecting plate; 22. Second coupling; 23. Shelf; 24. Sub-aisle; 25. Main aisle. Detailed Implementation

[0072] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0074] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0076] The four-way shuttle transportation system provided in this embodiment is used to enable the four-way shuttle to quickly deliver and retrieve goods in the automated warehouse along the optimal path.

[0077] like Figure 1As shown, this is a specific implementation of the four-way shuttle vehicle transportation system provided in this embodiment, which includes multiple four-way shuttle vehicles and a host controller. The four-way shuttle vehicles are equipped with a drive unit, a reading unit and a computing unit.

[0078] Multiple four-way shuttles move through the automated warehouse, which includes multiple sets of shelves 23, sub-aisles 24, and main aisles 25 arranged side by side. Each set of shelves 23 consists of multiple rows, columns, and multi-level storage units. The outlet of each set of shelves 23 is connected to the main aisle 25, and the main aisle 25 is connected to multiple sets of sub-aisles 24. The four-way shuttles enter the shelves 23 from the sub-aisles 24 through the main aisle 25 to pick up and deliver goods. As shown in the figure, the horizontal aisle is the main aisle 25, and the vertical aisle is the sub-aisle 24.

[0079] The sub-channel 24 and the main channel 25 have stations set at intervals. Each station and each cargo space unit is equipped with an information code, which is used to store the location identifier of the station and the cargo space unit.

[0080] The upper-level controller is used to acquire multiple candidate routes, each route including multiple key points, the key points including a starting point, a target point, and an inflection point, the inflection point being the station connecting the main channel 25o and the sub-channel 24 in the candidate route; the optimal path is selected based on the sum of the row value difference and column value difference of the position identifiers of adjacent key points in each candidate route; the position identifiers of the key points of the optimal path are sent to the four-way shuttle in sequence;

[0081] The calculation unit is used to generate an effective running path based on the location identifiers of the key points;

[0082] If the computing unit generates a valid running path, the driving unit controls the four-way shuttle to travel according to the valid running path;

[0083] The reading unit is used to read the information codes at the stations along the route of the four-way shuttle and send the information codes to the host controller so that the host controller can schedule each four-way shuttle according to the information codes sent by each four-way shuttle.

[0084] By judging the location markers in the candidate paths, the optimal path is selected, and the upper controller schedules each four-way shuttle car to avoid congestion of the four-way shuttle cars and waste time, which greatly improves the storage efficiency in the automated warehouse.

[0085] Specifically, the upper-level controller and the four-way shuttle communicate via wireless LAN, 5G, or other means. The reading unit is a scanning camera installed on the bottom of the four-way shuttle for real-time scanning. By scanning the information code, the position of the shuttle on the shelf and the attitude of the four-way shuttle can be obtained. The attitude of the four-way shuttle is its orientation, either horizontal or vertical. The four-way shuttle can only move vertically within shelf 23, meaning that shelf 23 has multiple vertical aisles for the four-way shuttle's operation.

[0086] Before transportation, the four-way shuttle needs to be initialized with the following information: the length, width, and height of the vehicle body; the spacing between pallets (length, width, and height); upon reaching the target point, the pallet detector must accurately position the pallet before lifting can begin; if no pallet is detected, the shuttle will issue an alarm; on the planned path, when encountering a turning point given by the upper controller, the shuttle must reverse direction; which coordinate points are the main channel 25, which coordinate points are the sub-channels 24, and how many of each type of channel 25 and sub-channel 24 are entered; whether there are pillars or other fixed obstacles on each path of the rack 23; and whether illegal path instructions are executed.

[0087] In the four-way shuttle transportation system provided in this embodiment, the area between two adjacent groups of stations constitutes one operating unit of the four-way shuttle. The steps of the calculation unit in generating an effective operating path based on key points include:

[0088] For adjacent key points with the same row value, obtain the column values ​​of the two key points respectively, and determine the column values ​​of each point between the two key points according to the first preset step size; form the point identifier of each point between the two key points based on the row value of the two key points and the column values ​​of each point between the two key points.

[0089] For adjacent keypoints with the same column value, obtain the row value of the two keypoints respectively, and determine the row value of each point between the two keypoints according to the second preset step size; form the point identifier of each point between the two keypoints based on the column value of the two keypoints and the row value of each point between the two keypoints.

[0090] An effective running path is formed based on the location identifiers of each key point and the location identifiers of each point between any two adjacent key points.

[0091] Specifically, the optimal path is selected from multiple candidate routes:

[0092] The sub-channels 24 on both sides of the "starting point" are used as the basis for horizontal selection; the horizontal position of the "starting point" is used as the basis for vertical selection.

[0093] If the "target point" is located to the left (or right) of the two sub-channels 24 of the "starting point", prioritize filtering all key points between the "starting point" and the "target point" to the left (or right);

[0094] When the "target point" is located above or below the middle of the two sub-channels 24 of the "starting point", all key points between the "starting point" and the "target point" are selected based on the upper or lower part of the two sub-channels 24.

[0095] Choose the shortest path from among multiple paths;

[0096] Among multiple paths, the path length is obtained by summing the differences in row or column values ​​of each path. Then, the calculated path lengths are compared to select the shortest (optimal) path.

[0097] In this embodiment, the four-way shuttle receives "key points" from the upper-level controller and performs judgment and checks:

[0098] 1. Validity Check: Based on the data from the four-way shuttle's "initialization," determine whether the station sent by the upper-level controller meets the requirements. If it does not meet the requirements, it is an invalid instruction (whether it is outside the given range; if it is within the range, proceed to the next step; otherwise, it is invalid).

[0099] 2. Path Generation: The four-way shuttle checks whether it can generate a valid running path based on the received "key points." Paths that are impassable or unclear are considered invalid. The host controller sends the point identifiers of the key points of the optimal path to the computing unit in sequence. If the row and column values ​​of the point identifiers of two adjacent key points received by the computing unit are different, it is determined that the computing unit cannot generate a valid running path based on the point identifiers. If the running path generated by the computing unit based on the point identifiers contains obstacle points, the running path is determined to be invalid.

[0100] The shuttle will concatenate the received "starting point", "inflection point" and "target point" to form a path array. Each value in the array is the station value of the four-way shuttle. The path algorithm is: starting point "row value" ± "step size" (usually 1) or starting point "column value" ± "step size" (usually 1). That is, the change of position from one key point to the next key point is: if it is a change in the row value, the station value of the key point is "row value" ± "step size" of the station value of the previous key point; if it is a change in the column value, the station value of the key point is "column value" ± "step size" of the station value of the previous key point.

[0101] like Figure 2As shown in the figure, the horizontal thick frame represents the mother channel 25, and the vertical thick frame represents the child channel 24. First, the four-way shuttle receives key points (in sequence) from the upper controller, namely the starting point, turning point, and target point, such as 133201, 083201, 082201, 032201, 032401, and 042401. Then, the above "key points" are connected in series to form a path. Specifically, for adjacent "key points", if the row value is different but the column value is the same, the row value increases or decreases sequentially to form an array (path station); if the row value is the same but the column value is different, the column value increases or decreases sequentially to form an array (path station).

[0102] 13 32 01: 13 represents the 13th row of cargo space;

[0103] 32 represents the 32nd column of the cargo location;

[0104] 01 represents the first shelf.

[0105] (1) After receiving the goods from the first key point 133201, the next step can only proceed to the starting mother channel 25. The second key point is 083201. Since the row numbers of the two "key points" are different but the column numbers are the same, the integers of 133201 and 083201 are rounded down as follows:

[0106] 133201÷10000≈13

[0107] 083201÷10000≈8

[0108] The integers 13 and 8 represent the values ​​of the "key points". Based on the values ​​between the two rows, a path array is formed. Therefore, the path array from the first key point to the second key point is as follows: Figure 3 As shown;

[0109] (2) After reaching key point 083201, the next step is to proceed to sub-channel 24, where the next key point is 082201. Since the row numbers of the two key points are the same but the column numbers are different, the remainders of 133201 and 083201 are calculated separately:

[0110] First, simplify the site values ​​by omitting the last two digits. (Since the last two digits represent the floor number, they can be discarded for calculation.) Specifically:

[0111] 083201÷100≈0832 082201÷100≈0822

[0112] Then, the MOD function is used to perform a "remainder" operation on the simplified values ​​0832 and 0822. Specifically, MOD(0832, 100) and MOD(0822, 100) yield remainders of 32 and 22, respectively. These remainders 32 and 22 represent the values ​​in the "key point" column where the shuttle is currently located. Based on the values ​​between the two arrays, a path array is formed. Therefore, the path array from the second key point to the third key point is as follows: Figure 4 As shown;

[0113] (3) The concatenation of other "key points" is the same as the above method. Finally, the optimal path key points (133201, 083201, 082201, 032201, 032401, 042401) generate the path array as follows. Figure 5 As shown;

[0114] 3. If a valid path cannot be generated, the four-way shuttle will remain in standby mode.

[0115] The host controller provided in this embodiment periodically (1 second / time) checks the operating status of the four-way shuttle.

[0116] At each station, the four-way shuttle refreshes its data, erases the previous path value, and reports its own position to the upper controller for easier scheduling.

[0117] Once the four-way shuttle has completed a task or received a task, it will no longer accept other tasks until the task is completed.

[0118] The distance traveled by the four-way shuttle is measured by the encoder on the walking drive mechanism 2. Because the four-way shuttle is constantly moving back and forth on the shelf, the encoder on the walking drive mechanism 2 will refresh the displacement data at each station to obtain the total absolute displacement of the four-way shuttle.

[0119] In this embodiment, when the running paths of four-way shuttles operating on the same floor conflict, the following method is used to handle the situation:

[0120] like Figure 6 As shown, Figure 6 Different symbols represent the operating paths of the two sets of four-way shuttles. When a section of the planned paths of the two shuttles overlaps, the following avoidance method is used:

[0121] The host controller can issue two commands simultaneously:

[0122] 1. Set the "target point" of one of the shuttle instructions at the "turning point" before the station where the two shuttle routes overlap (because the overlapping route includes many common stations of the two shuttles, it cannot be set at the previous "station").

[0123] 2. The other shuttle normally sends instructions from the starting point to the actual target point;

[0124] 3. When the other shuttle passes through the "overlapping path point" or reaches the target point, the host controller will send the first shuttle to the actual target point again (there are three instructions in total. Which shuttle will give way depends on the priority of the two shuttles' tasks or the comparison of the path lengths).

[0125] like Figure 7 As shown, Figure 7 Different symbols represent the operating paths of the two sets of four-way shuttles. When the two shuttles collide at an intersection, they will avoid each other in the following manner:

[0126] The host controller can issue two commands simultaneously:

[0127] 1. Set the "end point" of one of the shuttle instructions to the "stop" before the intersection of the two shuttles;

[0128] 2. The other shuttle normally sends out instructions from the starting point to the actual destination;

[0129] 3. When the other shuttle passes the intersection or reaches the destination, the host controller will send the first shuttle to the actual destination again (there are three instructions in total. Which shuttle will give way depends on the priority of the two shuttles' tasks or the comparison of the path lengths).

[0130] The information code provided in this embodiment is a QR code or barcode, which is used to store the location identifiers of the station and cargo unit, facilitating the guidance and information identification during the four-way shuttle transportation process.

[0131] The four-way shuttle provided in this embodiment is equipped with a pallet detection device for detecting pallets. This device detects pallets after the shuttle reaches the target point. If no pallet is detected, an alarm is triggered to prevent subsequent handling obstacles. The pallet detection device can be a photoelectric switch.

[0132] In the four-way shuttle transportation system provided in this embodiment, the four-way shuttle is also equipped with a collision avoidance control unit and an alarm unit. The collision avoidance control unit includes a distance measuring switch, a deceleration switch, and a limit switch installed on the four-way shuttle. When the distance measuring switch detects an obstacle ahead, the deceleration switch activates, and the four-way shuttle slows down. When the distance measuring switch detects that the distance between the obstacle and the four-way shuttle is too small, the limit switch activates, and the four-way shuttle stops running. At the same time, the alarm unit activates. This, in conjunction with the upper-level controller's scheduling of each shuttle, avoids collisions between shuttles, preventing transportation interruptions and reduced efficiency.

[0133] like Figures 8 to 10 As shown, in the four-way shuttle transportation system provided in this embodiment, the four-way shuttle includes a body frame 1, a transverse frame 4, a lifting plate assembly 6, and a drive unit. The body frame 1 is equipped with a straight-line mechanism 3 for driving the four-way shuttle in a straight direction. The transverse frame 4 is disposed within the body frame 1, and the transverse frame 4 is equipped with a transverse mechanism 5 for driving the four-way shuttle in a lateral direction. The lifting plate assembly 6 is driven to slide and rise on the transverse frame 4. The lifting plate assembly 6 is equipped with a first Z-shaped guide rail 7. The transverse frame 4 is provided with a second Z-shaped guide rail 8 in the opposite direction to the first Z-shaped guide rail 7; and the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8 are arranged opposite to each other, with a sliding drive member 9 disposed within them; the drive unit includes a walking drive mechanism 2 and a conversion drive mechanism, the walking drive mechanism 2 is disposed within the vehicle frame 1 and is used to drive the four-way shuttle to travel straight or laterally; the conversion drive mechanism is disposed within the vehicle frame 1 and is used to drive the sliding drive member 9 to move;

[0134] The conversion drive mechanism drives the lifting plate assembly 6 to move up and down relative to the transverse frame 4 via the sliding drive component 9; the lifting plate assembly 6 is raised to lift the cargo of the four-way shuttle, and the lifting plate assembly 6 is lowered to place the cargo of the four-way shuttle; the conversion drive mechanism drives the transverse frame 4 to move up and down relative to the vehicle frame 1 via the sliding drive component 9; the transverse frame 4 is lowered to enable the lateral movement of the four-way shuttle, and the transverse frame 4 is raised to enable the straight-line movement of the four-way shuttle.

[0135] By using a nested configuration of the vehicle frame 1, transverse frame 4, and lifting plate assembly 6, the four-way shuttle can switch between straight and transverse travel, as well as between cargo placement and cargo lifting states, via a sliding drive component 9 slidably mounted within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. This structure eliminates the need for multiple systems to implement the different functions of the four-way shuttle, effectively simplifying the number of vehicle body components and reducing the shuttle's thickness. Furthermore, the nested configuration of the vehicle frame 1, transverse frame 4, and lifting plate assembly 6 increases the contact area between the lifting plate assembly 6 and the cargo, thereby enhancing the shuttle's load-bearing capacity. The four-way shuttle provided by this invention is not only thin and has a high carrying capacity, but also enables multi-directional travel, cross-lane operation, and, with the assistance of supporting lifting equipment, cross-level operation. The shuttle is more efficient, flexible, and unrestricted by space, making full use of available space.

[0136] When the four-way shuttle is traveling on sub-channel 24, the information code at the station in sub-channel 24 is read to determine that the four-way shuttle is traveling longitudinally on sub-channel 24. At this time, the drive unit controls the sliding drive component 9 to be in the initial position or middle position within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. In this state, the transverse frame 4 is in a raised position relative to the vehicle frame 1 so that the straight-line mechanism 3 drives the four-way shuttle.

[0137] When the four-way shuttle is traveling on the main channel 25, the information code at the station in the main channel 25 is read to obtain that the four-way shuttle is traveling laterally on the main channel 25. At this time, the drive unit controls the sliding drive component 9 to slide to the end position within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. In this state, the transverse frame 4 is in a lowered position relative to the vehicle frame 1 so that the transverse mechanism 5 drives the four-way shuttle.

[0138] The four-way shuttle operates based on stations. The reading unit at its bottom scans the information code at the station to determine whether the shuttle is at the starting point, turning point, or target point. When the shuttle is at a turning point or a target point to pick up goods, the PLC controller on the shuttle will send an electrical signal to the servo motor controller on the shuttle. Then, the servo motor controller sends a command to the drive motor 11. When the drive motor 11 runs to the specified value (this specified value is given when the drive motor 11 is initialized, and when it reaches this value, it is in the state of completing the reversing and lifting action), the sliding drive component 9 will also run to the corresponding reversing and lifting position so that the shuttle can perform the corresponding function. Finally, after the drive motor 11 runs to the position, it will feed back the information to the servo motor controller. The servo motor controller will feed back the electrical signal to the PLC controller on the shuttle. At this time, the shuttle knows that the reversing is completed and proceeds to the next step of operation.

[0139] Specifically, when the four-way shuttle retrieves goods from the shelf, the reading unit scans the information code at the target point to locate the shuttle and determine that the shuttle is at the target point and is ready to be lifted. Then, the PLC controller on the shuttle will send an electrical signal to the servo motor controller on the shuttle. The servo motor controller then sends a command to the drive motor 11, and the drive motor 11 starts to run. The sliding drive component 9 moves within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. When the drive motor 11 runs to the specified value, the sliding drive component 9 slides to the middle position, changing the position of the lifting plate 13 relative to the vehicle frame 1, so that the four-way shuttle can lift the goods in the compartment to retrieve the goods.

[0140] When the four-way shuttle moves from sub-channel 24 to main channel 25, the reading unit scans the information code at the inflection point, locates the shuttle, and determines that the shuttle is at the inflection point and is preparing to change direction. Then, the PLC controller on the shuttle will send an electrical signal to the servo motor controller on the shuttle, and the servo motor controller will issue a command to the drive motor 11. The drive motor 11 will run, and the sliding drive component 9 will move within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. When the drive motor 11 runs to the specified value, the sliding drive component 9 will slide to the end position, changing the position of the transverse frame 4 relative to the vehicle frame 1, so that the four-way shuttle changes from longitudinal travel to transverse travel.

[0141] When the four-way shuttle moves from the main channel 25 to the sub-channel 24, the reading unit scans the information code at the inflection point to locate the shuttle. It is then determined that the shuttle is at the inflection point and is preparing to change direction. The PLC controller on the shuttle will then send an electrical signal to the servo motor controller on the shuttle. The servo motor controller will then issue a command to the drive motor 11, causing the drive motor 11 to operate. The sliding drive component 9 moves within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. When the drive motor 11 reaches the specified value, the sliding drive component 9 slides to the initial position or the middle position, changing the position of the transverse frame 4 relative to the vehicle frame 1, thus changing the four-way shuttle from transverse travel to longitudinal travel.

[0142] When the four-way shuttle moves goods from the main channel 25 to the destination for placement, the reading unit scans the information code at the target point to locate the shuttle and knows that the shuttle has arrived at the target point and is ready to place the goods. The PLC controller on the shuttle will send an electrical signal to the servo motor controller on the shuttle. Then the servo motor controller sends a command to the drive motor 11, and the drive motor 11 runs. The sliding drive component 9 moves within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8. When the drive motor 11 runs to the specified value, the sliding drive component 9 slides to the initial position, so that the lifting plate assembly 6 is in a lowered position relative to the vehicle frame 1 to place the goods.

[0143] The initial, middle, and end positions of the sliding drive component 9 within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8 are respectively as follows: Figure 14 , Figure 15 , Figure 16 As shown.

[0144] like Figure 9 and Figure 11As shown, the conversion drive mechanism includes: a threaded screw 10, a drive motor 11 for driving the threaded screw 10, and a wheel nut 12 slidably disposed on the threaded screw 10; the sliding drive member 9 is a rolling bearing respectively disposed on both sides of the wheel nut 12.

[0145] The four-way shuttle car achieves lifting and reversing functions through the operation of a lead screw wheel and nut mechanism in conjunction with the guide rail. This replaces traditional linkage structures or hydraulic jacking mechanisms, effectively reducing the shuttle car's weight and height, simplifying the internal structure, eliminating fluid leakage problems associated with hydraulic structures, and achieving higher load-bearing capacity. Furthermore, the maximum thickness of the shuttle car body can reach 115mm, far less than the 150mm-200mm thickness of traditional models on the market; this allows for more space on the body to carry goods, improving the space utilization of the shelving locations and indirectly increasing the shelving storage capacity.

[0146] like Figure 12 As shown, the lifting plate assembly 6 includes: a lifting plate 13 and lifting upright plates 14 located on both sides of the lifting plate 13; the horizontal frame 4 includes: a supporting upright plate 15 disposed opposite to the lifting plate 13;

[0147] The first Z-shaped guide rail 7 is disposed on the lifting plate 14, and the second Z-shaped guide rail 8 is disposed on the supporting plate 15;

[0148] Furthermore, the lifting plate 13 is provided with two first Z-shaped guide rails 7 in opposite directions along its length; the supporting plate 15 is provided with two second Z-shaped guide rails 8 in opposite directions to the first Z-shaped guide rails 7.

[0149] Two supporting uprights 15 are respectively provided on both sides of the horizontal frame 4 in the horizontal direction.

[0150] By setting the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8 on both sides of the four-way shuttle, the lifting plates symmetrically set on both sides of the four-way shuttle can effectively drive the lifting of goods, thereby improving the load-bearing capacity of the four-way shuttle.

[0151] like Figure 9As shown, in the four-way shuttle transportation system provided in this embodiment, two threaded screws 10 with opposite directions of rotation are respectively arranged on both sides of the four-way shuttle in the lateral direction; the two threaded screws 10 arranged on the same side of the four-way shuttle in the lateral direction are used to drive the wheel nut 12 on them to move towards each other or away from each other; there is one drive motor 11, which drives one set of oppositely arranged threaded screws 10 in the lateral direction of the four-way shuttle to rotate through the synchronous belt assembly 16, and drives another set of oppositely arranged threaded screws 10 in the longitudinal direction of the four-way shuttle to rotate through the first coupling.

[0152] By using a drive motor 11 to rotate two sets of threaded screws 10 in the lateral direction of the four-way shuttle, the cargo carrying capacity of the four-way shuttle can be effectively improved. Furthermore, it can effectively ensure that the lifting plates located on both sides of the four-way shuttle always move synchronously, thus preventing cargo from tilting. In addition, the coaxial left-right rotating drive screws and wheel nuts 12, which engage helically to achieve lifting and reversing functions, can achieve the same carrying capacity as traditional methods with a smaller power motor, achieving energy conservation and environmental protection.

[0153] like Figure 10 As shown, the vehicle frame 1 in this embodiment is a sheet metal shell; the top of the vehicle frame 1 is reserved with a rectangular notch for the two lifting plates 13 to be raised and lowered, and the side of the vehicle frame 1 is reserved with an annular notch 17 for the straight mechanism 3 and the transverse mechanism 5 to pass through.

[0154] like Figure 9 As shown, in the four-way shuttle transportation system provided in this embodiment, the first output end of the walking drive mechanism 2 drives the drive shaft through the straight drive chain 18 to drive the straight mechanism 3 forward or backward; the second output end of the walking drive mechanism 2 drives the transverse mechanism 5 forward or backward through the second coupling 22 and the drive shaft in sequence; and the connection position of the second output end is located below the first output end, and the second output end is a power output direction perpendicular to the first output end.

[0155] The walking drive mechanism 2 uses one motor to drive both the straight-moving mechanism 3 and the lateral-moving mechanism 5, achieving dual drive with a single motor. The power for both the straight-moving mechanism 3 and the lateral-moving mechanism 5 is driven by only one drive motor 11, which effectively simplifies the internal structure of the vehicle body, reduces manufacturing costs, and is conducive to energy conservation and emission reduction.

[0156] like Figure 11As shown, the four-way shuttle transportation system provided in this embodiment also includes a wheel nut support mechanism. The wheel nut support mechanism includes a linear slide rail 19 arranged along the length direction of the threaded screw 10, and a support slider 20 slidably arranged on the linear slide rail 19. The wheel nut 12 is connected to the support slider 20 to support the wheel nut 12.

[0157] The linear guide rail 19 and the support slider 20, which work together, can effectively support the support slider 20, thereby reducing the pressure on the threaded screw 10 and preventing the threaded screw 10 from deforming. Compared with the prior art, the machine is not only compact, but also has a load capacity of up to 1.5 tons.

[0158] In this embodiment, as Figure 13 Two support plates 15 are provided on either side of the transverse frame 4 in the transverse direction. The two adjacent support plates 15 are connected by a snap-fit ​​connecting plate 21. When installing the transverse frame 4, the steps are as follows: S1, cut the second Z-shaped guide rail 8 on the support plate 15; S2, after assembling the transverse frame 4 by the snap-fit ​​connecting plate 21, install the transverse frame 4 on the vehicle frame 1.

[0159] This embodiment also provides a method for using a four-way shuttle vehicle, employing the four-way shuttle vehicle transportation system described in the above embodiment, including the following steps:

[0160] like Figure 14 As shown, when the four-way shuttle is traveling in a straight line and cargo is placed, the drive unit controls the sliding drive component 9 to be in its initial position within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8; in this state, the transverse frame 4 is in a raised position relative to the vehicle frame 1 so that the straight-moving mechanism 3 drives the four-way shuttle; the lifting plate assembly 6 is in a lowered position relative to the vehicle frame 1 to place cargo.

[0161] like Figure 15 As shown, when the four-way shuttle is traveling in a straight line and lifting cargo, the drive unit controls the sliding drive component 9 to slide to the middle position within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8; in this state, the transverse frame 4 is in a raised position relative to the vehicle frame 1 so that the straight-moving mechanism 3 drives the four-way shuttle; the lifting plate assembly 6 is in a raised position relative to the vehicle frame 1 to lift cargo;

[0162] like Figure 16As shown, when the four-way shuttle is traveling laterally and lifting cargo, the drive unit controls the sliding drive component 9 to slide to the end position within the first Z-shaped guide rail 7 and the second Z-shaped guide rail 8; in this state, the transverse frame 4 is in a lowered position relative to the vehicle frame 1, so that the transverse mechanism 5 drives the four-way shuttle.

[0163] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A four-way shuttle vehicle carrying system characterized by, The application relates to a four-way shuttle vehicle system. The four-way shuttle vehicle system comprises a plurality of four-way shuttle vehicles, an upper controller, a driving unit, a reading unit and a computing unit installed on the four-way shuttle vehicle. The four-way shuttle vehicles shuttle in a stereoscopic warehouse, the stereoscopic warehouse comprises a plurality of groups of shelves (23), sub-paths (24) and mother paths (25) arranged side by side, each group of the shelves (23) is composed of a plurality of rows, a plurality of columns and a plurality of layers of storage units, the delivery port of each group of the shelves (23) is communicated with the mother path (25), the mother path (25) is communicated with a plurality of groups of the sub-paths (24), and the four-way shuttle vehicle enters the inside of the shelves (23) from the sub-paths (24) through the mother path (25) to carry out goods taking and goods sending. The sub-paths (24) and the mother paths (25) are provided with spaced-apart stations, the stations and the storage units are provided with information codes, and the information codes are used for storing the point position identification of the stations and the storage units. The upper controller is used for acquiring a plurality of candidate routes, each route comprises a plurality of key points, the key points comprise a starting point, a target point and a turning point, the turning point is a station where the mother path (25) and the sub-path (24) are connected in the candidate route, an optimal path is selected according to the sum of the row value difference and the column value difference of the point position identification of adjacent key points in each candidate route, and the point position identification of the key points of the optimal path is sequentially sent to the four-way shuttle vehicle. The computing unit is used for generating an effective running path according to the point position identification of the key points. If the computing unit generates the effective running path, the driving unit controls the four-way shuttle vehicle to travel according to the effective running path. The reading unit is used for reading the information codes of the stations passed through by the four-way shuttle vehicle and sending the information codes to the upper controller, so that the upper controller schedules each four-way shuttle vehicle according to the information codes sent by each four-way shuttle vehicle. Adjacent two groups of stations are one running unit of the four-way shuttle vehicle, and the step of generating the effective running path by the computing unit comprises the following steps. For adjacent key points with the same row value, the column values of the two key points are acquired respectively, the column values of each point position between the two key points are determined according to a first preset step length, and the point position identification of each point position between the two key points is formed according to the row values of the two key points and the column values of each point position between the two key points. For adjacent key points with the same column value, the row values of the two key points are acquired respectively, the row values of each point position between the two key points are determined according to a second preset step length, and the point position identification of each point position between the two key points is formed according to the column values of the two key points and the row values of each point position between the two key points. The effective running path is formed according to the point position identification of each key point and the point position identification of each point position between any two adjacent key points. When a section of the planned paths of two shuttle vehicles coincides, the following avoidance mode is adopted: The upper controller can simultaneously issue two instructions. The "target point" position of one shuttle vehicle instruction is set at a "turning point" before the station where the paths of the two shuttle vehicles coincide. The other shuttle vehicle normally sends the instruction from the starting point to the actual target point. When another shuttle vehicle passes through the "coincidence path point" or reaches the target point, the upper controller will issue the first shuttle vehicle to the actual target point again. When two shuttle vehicles conflict at the intersection, the following avoidance method is used: The upper controller can issue two instructions at the same time: One of the shuttle vehicle instructions is set to the "end point" position at the station before the intersection station; The other shuttle vehicle normally sends the start point to the actual end point instruction; When another shuttle vehicle passes through the intersection point or reaches the end point, the upper controller will issue the first shuttle vehicle to the actual end point again. The four-way shuttle vehicle comprises: A vehicle body frame (1) is provided with a straight running mechanism (3) for driving the four-way shuttle vehicle to run straight; A cross frame (4) is arranged in the vehicle body frame (1), and the cross frame (4) is provided with a cross running mechanism (5) for driving the four-way shuttle vehicle to run crosswise; A lifting plate assembly (6) is driven to slide and fit on the cross frame (4); the lifting plate assembly (6) is provided with a first Z-shaped guide rail (7), the cross frame (4) is provided with a second Z-shaped guide rail (8) opposite to the first Z-shaped guide rail (7), and the first Z-shaped guide rail (7) and the second Z-shaped guide rail (8) are oppositely arranged and provided with a sliding driving member (9) therein; A driving unit comprises a walking driving mechanism (2) and a conversion driving mechanism, the walking driving mechanism (2) is arranged in the vehicle body frame (1) and used to drive the four-way shuttle vehicle to run straight or crosswise, and the conversion driving mechanism is arranged in the vehicle body frame (1) and used to drive the sliding driving member (9) to move; The conversion driving mechanism drives the lifting plate assembly (6) to lift or lower relative to the cross frame (4) through the sliding driving member (9); the lifting plate assembly (6) is lifted to realize the lifting of goods of the four-way shuttle vehicle, and the lifting plate assembly (6) is lowered to realize the placing of goods of the four-way shuttle vehicle; The conversion driving mechanism drives the cross frame (4) to lift or lower relative to the vehicle body frame (1) through the sliding driving member (9); the cross frame (4) is lowered to realize the cross running of the four-way shuttle vehicle, and the cross frame (4) is lifted to realize the straight running of the four-way shuttle vehicle; The conversion driving mechanism comprises a threaded lead screw (10), a driving motor (11) for driving the threaded lead screw (10), and a wheel nut (12) slidingly arranged on the threaded lead screw (10); the sliding driving member (9) is a rolling bearing arranged at two positions on both sides of the wheel nut (12); The lifting plate assembly (6) comprises a lifting plate (13) and a lifting vertical plate (14) arranged on both sides of the lifting plate (13); the cross frame (4) comprises a supporting vertical plate (15) arranged opposite to the lifting plate (13). The first Z-shaped guide rail (7) is arranged on the jacking vertical plate (14), and the second Z-shaped guide rail (8) is arranged on the supporting vertical plate (15); The length direction of the jacking plate (13) is provided with two first Z-shaped guide rails (7) in opposite directions; the supporting vertical plate (15) is provided with two second Z-shaped guide rails (8) in opposite directions respectively. The lateral direction of the horizontal frame (4) is provided with two supporting vertical plates (15) respectively.

2. The four-way shuttle carrier system of claim 1, wherein: The information code is a two-dimensional code or a bar code.

3. The four-way shuttle carrier system of claim 1, wherein: The four-way shuttle vehicle is provided with a tray detection member for detecting a tray.

4. The four-way shuttle carrier system of claim 1, wherein: The four-way shuttle vehicle is also provided with a collision avoidance control unit and an alarm unit, and the collision avoidance control unit comprises a distance measuring switch, a speed reduction switch and a limit switch arranged on the four-way shuttle vehicle. When the distance measuring switch detects an obstacle in front, the speed reduction switch is actuated, and the four-way shuttle vehicle runs at a reduced speed; when the distance measuring switch detects that the distance between the obstacle and the four-way shuttle vehicle is small, the limit switch is actuated, and the four-way shuttle vehicle stops running, and at the same time, the alarm unit works.

5. The four-way shuttle carrier system of claim 1, wherein, The lateral direction of the four-way shuttle vehicle is provided with two screw rods (10) in opposite directions respectively; the two screw rods (10) arranged on the same side of the four-way shuttle vehicle in the lateral direction are used to drive the wheel nuts (12) thereon to move towards or away from each other. The driving motor (11) is one, and the driving motor (11) drives a group of oppositely arranged screw rods (10) in the lateral direction of the four-way shuttle vehicle to rotate through a synchronous belt assembly (16), and drives another group of oppositely arranged screw rods (10) in the longitudinal direction of the four-way shuttle vehicle to rotate through a first coupling.

6. The four-way shuttle carrier system of claim 1, wherein, The first output end of the walking driving mechanism (2) drives a transmission shaft through a straight driving chain (18) to drive the straight driving mechanism (3) to move forward or backward; The second output end of the walking driving mechanism (2) drives the horizontal driving mechanism (5) to move forward or backward through a second coupling (22) and a transmission shaft in sequence; and the connection position of the second output end is located below the first output end, and the second output end is perpendicular to the power output direction of the first output end.

7. The four-way shuttle carrier system of claim 1, wherein, Further comprising: A wheel nut supporting mechanism comprising a straight line slide rail (19) arranged along the length direction of the screw rod (10), and a supporting slide block (20) slidably arranged on the straight line slide rail (19); The wheel nut (12) is connected with the supporting slide block (20) to support the wheel nut (12).

8. A method of use of a four-way shuttle, characterized in that, The four-way shuttle vehicle carrying system of any one of claims 1-7 comprises the following steps: The four-way shuttle vehicle carrying system of any one of claims 1-7 comprises the following steps: In the state of the four-way shuttle car driving straight and placing goods, the driving unit controls the sliding driving part (9) to be in the initial position in the first Z-shaped guide rail (7) and the second Z-shaped guide rail (8); in this state, the transverse frame (4) is in the lifting position relative to the vehicle body frame (1), so that the straight driving mechanism (3) drives the four-way shuttle car; the jacking plate assembly (6) is in the descending position relative to the vehicle body frame (1) to place goods; In the state of the four-way shuttle car driving straight and jacking goods, the driving unit controls the sliding driving part (9) to slide to the middle position in the first Z-shaped guide rail (7) and the second Z-shaped guide rail (8); in this state, the transverse frame (4) is in the lifting position relative to the vehicle body frame (1), so that the straight driving mechanism (3) drives the four-way shuttle car; the jacking plate assembly (6) is in the ascending position relative to the vehicle body frame (1) to jack the goods; In the state of the four-way shuttle car driving straight and jacking goods, the driving unit controls the sliding driving part (9) to slide to the middle position in the first Z-shaped guide rail (7) and the second Z-shaped guide rail (8); in this state, the transverse frame (4) is in the lifting position relative to the vehicle body frame (1), so that the straight driving mechanism (3) drives the four-way shuttle car; the jacking plate assembly (6) is in the ascending position relative to the vehicle body frame (1) to jack the goods;

Images