A four-way shuttle vehicle

Abstract

The application discloses a four-way shuttle vehicle. The connecting rod jacking device of the four-way shuttle vehicle comprises a rotary motion output mechanism, a power conversion mechanism and a power transmission mechanism. When the rotary motion output mechanism works, the conversion input shaft is rotated, the rotary motion output mechanism is output to the conversion input shaft through the power conversion mechanism, the rotary motion is converted into rotary power in two opposite rotary directions, and the rotary power is output through two conversion output shafts respectively. The two conversion output shafts rotate to drive the guide connecting plate to move linearly in the vertical direction. The main track wheel of the four-way shuttle vehicle is fixed on the guide connecting plate, and the tray limiting hole for embedding the tray assembly of the four-way shuttle vehicle is arranged on the guide connecting plate. The coupling of the jacking and reversing functions is realized through the same rotary motion output mechanism, and the four-way shuttle vehicle has the advantages of simple structure, long service life and the like.

Description

Technical Field

[0001] This application relates to the field of logistics technology, and in particular to a four-way shuttle vehicle. Background Technology

[0002] In recent years, as warehousing and logistics have developed towards intelligence and intensive operations, intelligent automated storage systems have attracted increasing attention from logistics and e-commerce companies due to their extremely high space utilization and strong inbound and outbound management capabilities. Moreover, with the further development of automated storage technology, the application of intelligent automated storage systems will become more and more widespread.

[0003] Currently, four-way shuttles possess advantages such as small size, flexible implementation, high storage density, and applicability to a wider range of warehouse types, making them irreplaceable in the field of intelligent automated warehouses. However, the lifting and reversing devices on mainstream four-way shuttles generally employ hydraulic or eccentric cam mechanisms, which have drawbacks in practical applications, including complex structures and easy wear of components. Summary of the Invention

[0004] In view of the above problems, this application is made in order to provide a four-way shuttle that overcomes or at least partially solves the above problems.

[0005] According to a first aspect of this application, this application provides a linkage lifting device, comprising: The rotary motion output mechanism is fixed on the frame of the four-way shuttle and is used to output rotary motion. Two sets of symmetrically arranged power conversion mechanisms, each power conversion mechanism comprising: The input shaft is fixedly connected to the rotary motion output mechanism to transmit the rotary motion output by the rotary motion output mechanism to the power conversion mechanism; Two conversion output shafts are arranged side by side on the power conversion mechanism so that the power conversion mechanism converts the rotational motion into two rotational forces with opposite directions of rotation, and outputs them through the two conversion output shafts; Two sets of power transmission mechanisms are symmetrically mounted on two sets of power conversion mechanisms, and each set of power transmission mechanisms includes two sets of power transmission units, wherein the power transmission units include: The first connecting rod has one end fixed to the conversion output shaft; The second link is rotatably connected at one end to the other end of the first link, and the other end is used to fix it to the guide plate of the four-way shuttle.

[0006] Optionally, when the rotary motion output mechanism is working, it drives the first link and the second link to rotate, driving the guide connecting plate to make a linear motion in the vertical direction. The guide connecting plate is fixed with the main track wheel of the four-way shuttle and the pallet limiting hole for the pallet assembly of the four-way shuttle to be embedded. By driving the guide connecting plate to move to different positions, the driving direction of the four-way shuttle can be changed and the goods can be picked up.

[0007] Optionally, the number of rotary motion output mechanisms is two sets, and the rotary motion output mechanisms include: A rotary motion output device is fixed to the frame of the four-way shuttle vehicle; A coupling that coaxially connects the output shaft and the input shaft of the rotary motion output device.

[0008] Optionally, the rotary motion output mechanism includes: A rotary motion output device is fixed to the frame of the four-way shuttle vehicle; The lifting drive shaft is rotatably connected to the frame of the four-way shuttle car; Two couplings are respectively disposed at both ends of the lifting drive shaft for coaxial connection of the lifting drive shaft and the conversion input shaft; The lifting sprocket drive unit is located between the output shaft of the rotary motion output device and the lifting drive shaft, so that the rotary motion output device drives the lifting drive shaft to rotate, thereby realizing the rotary motion conversion of the two sets of power conversion mechanisms.

[0009] Optionally, the rotary motion output mechanism further includes: Two lifting bearing supports are fixed to the vehicle frame; wherein, The lifting drive shaft passes through two lifting bearing supports and is rotatably connected to the lifting bearing supports.

[0010] According to a second aspect of this application, a four-way shuttle vehicle is provided, including a frame, a main drive wheel assembly, an auxiliary drive wheel assembly, a pallet assembly, and a linkage lifting device as described above; and... The main drive wheel assembly includes: Multiple guide rods are vertically fixed on the vehicle frame; Two guide connecting plates are symmetrically arranged on both sides of the vehicle frame and are slidably connected to the guide rod respectively. Each guide connecting plate has a tray limiting hole at its top. Multiple main guide wheels are respectively mounted on two of the guide connecting plates and are rotatably connected to the guide connecting plates; When the connecting rod lifting device drives the guide connecting plate to rise to the first position, the travel direction of the four-way shuttle changes from the main road to the auxiliary road. When the connecting rod lifting device drives the guide connecting plate to rise to the second position, the pallet assembly is embedded in the pallet limiting hole to realize the picking of goods.

[0011] Optionally, the main drive wheel assembly further includes: The main drive unit outputs rotary motion and is fixed to the vehicle frame; The main drive shaft coaxially connects two main wheels located on different guide connecting plates; The main track sprocket drive unit is located between the output shaft of the main track driver and the main track drive shaft, so that the main track wheel rotates under the drive of the main track driver, enabling the four-way shuttle to travel on the main track.

[0012] Optionally, the auxiliary road drive wheel device includes: The auxiliary drive outputs rotary motion and is fixed to the vehicle frame; The auxiliary drive shaft is rotatably connected to both sides of the vehicle frame; An auxiliary track sprocket drive unit is disposed between the output shaft of the auxiliary track driver and the auxiliary track drive shaft, so as to drive the auxiliary track drive shaft to rotate through the auxiliary track driver; Multiple auxiliary track wheels are disposed on both sides of the vehicle frame with the auxiliary track drive shaft and are rotatably connected to the vehicle frame; The auxiliary track sprocket follower unit is located between the auxiliary track wheel and the auxiliary track drive shaft on the same side of the frame, so that the auxiliary track wheel rotates under the drive of the auxiliary track drive, enabling the four-way shuttle to travel on the auxiliary track.

[0013] Optionally, the output shaft of the auxiliary drive is located directly below the auxiliary drive shaft.

[0014] Optionally, the auxiliary sprocket follower unit includes: The auxiliary drive sprocket is coaxially fixed on the auxiliary drive shaft; The auxiliary drive sprocket is fixed coaxially with the auxiliary drive wheel; The auxiliary drive chain is arranged around the auxiliary drive transfer sprocket and the auxiliary drive sprocket, and meshes with the auxiliary drive transfer sprocket and the auxiliary drive sprocket respectively.

[0015] Optionally, the auxiliary sprocket unit further includes: The auxiliary lane tension sprocket is rotatably connected to one side of the vehicle frame where the auxiliary lane drive shaft is located; wherein, The auxiliary track tensioning sprocket is located outside the auxiliary track drive chain and meshes with it to prevent the auxiliary track drive chain from skipping teeth.

[0016] Compared with existing technologies, the linkage lifting device includes a rotary motion output mechanism, two symmetrically arranged power conversion mechanisms, and two power transmission mechanisms mounted on the two power conversion mechanisms. When the rotary motion output mechanism operates, it drives the input shaft to rotate, and the power conversion mechanisms convert the rotational motion of the input shaft into two rotational forces with opposite directions. These forces are then output through the two output shafts, which, when rotated, drive the first and second connecting rods to rotate, indirectly driving the guide connecting plate to perform a vertical linear motion. The guide connecting plate is fixed with the main track wheel of the four-way shuttle and pallet limiting holes for the pallet assembly of the four-way shuttle to be inserted. Thus, by providing power through the same rotary motion output mechanism, the lifting and reversing functions can be coupled, and the related moving parts are maintenance-free, offering advantages such as simple structure, low production cost, and long service life.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0019] In the attached diagram: Figure 1 This is a schematic diagram of an example structure of a linkage lifting device provided in an embodiment of this application; Figure 2 This is a schematic diagram of an example structure of a power conversion mechanism provided in an embodiment of this application; Figure 3 This is a schematic diagram of an example structure of a guide connecting plate provided in an embodiment of this application; Figure 4 This is a schematic diagram of an example structure of a power conversion mechanism provided in an embodiment of this application; Figure 5 This is a schematic diagram of an example structure of a four-way shuttle provided in an embodiment of this application; Figure 6 This is a schematic diagram of an example structure of a vehicle frame provided in an embodiment of this application; Figure 7 This is a partial structural schematic diagram of a four-way shuttle provided in an embodiment of this application; Figure 8This is a schematic diagram of an example structure of a main drive wheel device provided in an embodiment of this application; Figure 9 This is a schematic diagram of an example structure of an auxiliary road drive wheel device provided in an embodiment of this application.

[0020] Reference numerals: 1. Linkage lifting device; 11. Rotary motion output mechanism; 111. Rotary motion output device; 112. Coupling; 113. Lifting drive shaft; 114. Lifting sprocket drive unit; 115. Lifting bearing support; 12. Power conversion mechanism; 121. Conversion input shaft; 122. Conversion output shaft; 123. Housing; 124. First bevel gear pair; 125. Conversion drive shaft; 126. Second bevel gear pair; 127. Third bevel gear pair; 13. Power transmission unit; 131. First connecting rod; 132. Second connecting rod; 2. Main drive wheel assembly 1. Tray; 21. Guide rod; 22. Guide connecting plate; 23. Pallet limiting hole; 24. Main track wheel; 25. Main track driver; 26. Main track drive shaft; 27. Main track sprocket transmission unit; 3. Auxiliary track drive wheel device; 31. Auxiliary track driver; 32. Auxiliary track drive shaft; 33. Auxiliary track sprocket transmission unit; 34. Auxiliary track wheel; 35. Auxiliary track sprocket follower unit; 351. Auxiliary track drive adapter sprocket; 352. Auxiliary track transmission sprocket; 353. Auxiliary track transmission chain; 354. Auxiliary track tension sprocket; 4. Frame; 401. Reinforcing plate; 5. Pallet assembly; 501. Pallet rod. Detailed Implementation

[0021] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0022] Reference Figure 1-3 This application provides a linkage lifting device, which may include a rotary motion output mechanism 11, two sets of symmetrically arranged power conversion mechanisms 12, and two sets of power transmission mechanisms respectively symmetrically mounted on the two sets of power conversion mechanisms 12. Wherein: The rotary motion output mechanism 11 is used to output rotary motion.

[0023] The power conversion mechanism 12 is used to convert the rotational motion output by the rotational motion output mechanism 11 into two rotational forces with opposite directions of rotation for output. In one example, the power conversion mechanism 12 may include a conversion input shaft 121 and two conversion output shafts 122. The conversion input shaft 121 is coaxially fixed with the output shaft of the rotational motion output mechanism 11 to transmit the rotational motion output by the rotational motion output mechanism 11 into the power conversion mechanism 12.

[0024] The power transmission mechanism is used to drive the guide connecting plate 22 of the four-way shuttle to make a vertical linear movement under the drive of two rotational forces with opposite rotational directions output by the power conversion mechanism 12. Each power transmission mechanism may include two power transmission units 13. Each power transmission unit 13 may include a first connecting rod 131 and a second connecting rod 132. One end of the first connecting rod 131 is fixed to the conversion output shaft 122, and the other end is rotatably connected to one end of the second connecting rod 132. The other end of the second connecting rod 132 is used to fix to the guide connecting plate 22 of the four-way shuttle. The guide connecting plate 22 is fixed with the main track wheel 24 of the four-way shuttle and the tray limiting hole 23 for the tray assembly 5 of the four-way shuttle to be inserted.

[0025] Therefore, when the rotary motion output mechanism 11 is working, that is, when the output rotary motion drives the first connecting rod 131 and the second connecting rod 132 to rotate, it can drive the guide connecting plate 22 to make a linear motion in the vertical direction. By driving the guide connecting plate 22 to different positions, the travel direction of the four-way shuttle can be changed and goods can be picked up. For example, when the rotary motion output mechanism 11 drives the guide connecting plate 22 to rise vertically to the first position, the height of the main track wheel 24 can be higher than the height of the auxiliary track wheel 34 of the four-way shuttle, so that the auxiliary track wheel 34 is located on the auxiliary track, and the main track wheel 24 is suspended on the main track. Thus, the travel direction of the four-way shuttle can be changed from the main track to the auxiliary track. For example, after the four-way shuttle changes its travel direction, the rotary motion output mechanism 11 continues to work, driving the guide connecting plate 22 to continue to rise in the vertical direction until it rises to the second position, which allows the pallet assembly 5 to be embedded in the pallet limiting hole 23. The top of the four-way shuttle and the bottom of the pallet assembly 5 form a pressing contact, thereby enabling the four-way shuttle to bear the load on the pallet assembly 5 and thus realize the retrieval of goods.

[0026] By driving the guide connecting plate 22 to move to different positions, the four-way shuttle can change its driving direction and pick up goods. Thus, by providing power through the same rotary motion output mechanism 11, the lifting and reversing functions can be coupled. Furthermore, the related moving parts, such as the power transmission unit 13 composed of the first link 131 and the second link 132, are maintenance-free and have the advantages of simple structure, low production cost, and long service life.

[0027] In one optional embodiment of the invention, the number of rotary motion output mechanisms 11 is two sets, and each rotary motion output mechanism 11 may include a rotary motion output device 111 and a coupling 112, wherein: The rotary motion output device 111 is fixed to the frame 4 of the four-way shuttle. The output shaft of the rotary motion output device 111 serves as the output shaft of the rotary motion output mechanism 11. In one example, the rotary motion output device 111 can be a geared motor.

[0028] The coupling 112 coaxially connects the output shaft of the rotary motion output device 111 and the conversion input shaft 121. Thus, each set of rotary motion output mechanisms 11 provides a power source to a set of power conversion mechanisms 12 and two sets of power transmission mechanisms.

[0029] Another alternative embodiment of the invention, referred to Figure 1 As shown, the rotary motion output mechanism 11 may further include a rotary motion output device 111, a lifting drive shaft 113, two couplings 112, and a lifting sprocket drive unit 114. Wherein: The rotary motion output device 111 is fixed to the frame 4 of the four-way shuttle.

[0030] The lifting drive shaft 113 is rotatably connected to the frame 4 of the four-way shuttle.

[0031] Two couplings 112 are respectively disposed at both ends of the lifting drive shaft 113 for coaxial connection of the lifting drive shaft 113 and the conversion input shaft 121, wherein the lifting drive shaft 113 serves as the output shaft of the rotary motion output mechanism 11.

[0032] The lifting sprocket drive unit 114 is disposed between the output shaft of the rotary motion output device 111 and the lifting drive shaft 113, so that the rotary motion output device 111 drives the lifting drive shaft 113 to rotate. For example, the output shaft of the rotary motion output device 111 and the lifting drive shaft 113 are installed in parallel. The lifting sprocket drive unit 114 may include two lifting drive sprockets and a lifting drive chain meshing with the lifting drive sprockets. For example, one lifting drive sprocket can be coaxially fixed to the output shaft of the rotary motion output device 111, and the other lifting drive sprocket can be coaxially fixed to the lifting drive shaft 113. Thus, the rotary motion conversion of the two sets of power conversion mechanisms 12 can be realized through one rotary motion output device 111. This makes the structure of the lifting reversing device more compact and simple.

[0033] On the one hand, the symmetrical arrangement of the power conversion mechanism 12 and the power transmission mechanism can reduce the torque of the upper load of the four-way shuttle on the rotary motion output device 111, thereby improving the load capacity of the entire vehicle and adapting it to heavy-duty scenarios. On the other hand, the symmetrically distributed eight sets of power transmission units 13 have strong anti-eccentric load capacity and can cope with scenarios where goods are unevenly stacked on the pallet assembly 5 of the four-way shuttle. Furthermore, the power transmission units 13 experience minimal wear during operation, have a long service life, and low maintenance costs.

[0034] In an optional embodiment of the invention, the rotary motion output mechanism 11 may further include two lifting bearing supports 115 fixed to the frame 4. The lifting drive shaft 113 passes through the two lifting bearing supports 115 and is rotatably connected to them. The installation interval between the two lifting bearing supports 115 can be determined based on the length of the lifting drive shaft 113, and is not limited here.

[0035] An optional embodiment of the invention, referring to... Figure 4As shown, the power conversion mechanism 12 may further include a housing 123, a first bevel gear pair 124, a conversion drive shaft 125, a second bevel gear pair 126, and a third bevel gear pair 127. For example, the conversion input shaft 121 and the conversion output shaft 122 are rotatably connected to both sides of the housing 123, and the conversion input shaft 121 and the conversion output shaft 122 are arranged in parallel. Furthermore, the rotation conversion angle of the first bevel gear pair 124, the second bevel gear pair 126, and the third bevel gear pair 127 is 90°. The conversion drive shaft 125 is placed perpendicular to the conversion input shaft 121 and is rotatably connected to the housing 123 via a conversion bearing support. The second bevel gear pair 126 and the third bevel gear pair 127 have the same structure and are symmetrically installed at both ends of the conversion drive shaft 125. The conversion input shaft 121 is connected to the first bevel gear, and the two conversion output shafts 122 are connected to the second bevel gear pair 126 and the third bevel gear pair 127, respectively. This allows the rotational motion input from the conversion input shaft 121 to be converted into two rotational forces with opposite directions of rotation via the first bevel gear pair 124, the second bevel gear pair 126, and the third bevel gear pair 127, and then output through the two conversion output shafts 122.

[0036] Reference Figure 4-8 This application also provides a four-way shuttle vehicle, which may include a frame 4, a main drive wheel assembly 2, an auxiliary drive wheel assembly 3, a pallet assembly 5, and a linkage lifting device 1 as described above. The frame 4 is used to support and install the various components of the four-way shuttle vehicle. Referring to... Figure 5 As shown, the frame 4 can also be equipped with a reinforcing plate 401 to increase the structural strength of the four-way shuttle. The main drive wheel device 2 is used to drive the four-way shuttle on the main road. The auxiliary drive wheel device 3 is used to drive the four-way shuttle on the auxiliary road. The pallet assembly 5 is used to carry goods.

[0037] Reference Figure 5 , Figure 6 as well as Figure 7 As shown, the main track drive wheel device 2 may include multiple guide rods 21, two guide connecting plates 22, and multiple main track wheels 24, wherein: The multiple guide rods 21 are vertically fixed on the frame 4.

[0038] Two guide connecting plates 22 are symmetrically arranged on both sides of the frame 4, with the sides on which the guide connecting plates 22 are installed being opposite to each other and slidably connected to the guide rods 21 respectively. In one example, the guide rods 21 can be slide rails, and correspondingly, the sides of the guide plates can be provided with sliders, which cooperate with the slide rails to form a sliding connection. Each guide connecting plate 22 can be slidably connected to multiple guide rods 21. Preferably, in order to ensure the structural stability of the four-way shuttle, the number of guide rods 21 can be four, with two guide rods 21 symmetrically arranged about the guide connecting plates 22.

[0039] Furthermore, each of the guide connecting plates 22 has a pallet limiting hole 23 at its top. For example, the pallet assembly 5 may include a horizontally arranged pallet and a pallet rod 501 vertically arranged at the bottom of the pallet. The pallet rod 501 can be inserted into the pallet limiting hole 23 to form a sliding connection between the pallet and the guide connecting plate 22. When applied to an automated warehouse, the pallet assembly 5 can be pre-removed from the four-way shuttle to carry goods. When it is necessary to retrieve goods, the guide connecting plate 22 can be lifted by the linkage lifting device 1, so that the pallet rod 501 can enter into the pallet limiting hole 23 until the pallet and the guide connecting plate 22 make contact, thereby realizing the retrieval of goods.

[0040] Multiple main track wheels 24 are respectively mounted on two guide connecting plates 22 and are rotatably connected to the guide connecting plates 22. The number of main track wheels 24 is not limited here; for example, there can be 4, 5, or 6 main track wheels. When the linkage lifting device 1 is not lifting, the height of the main track wheels 24 is lower than the height of the auxiliary track wheels 34 of the auxiliary track drive wheel device 3. The main track wheels 24 are rotatably connected to the main track, and the auxiliary track wheels 34 are suspended directly above the auxiliary track. Thus, the main track wheels 24 can be driven to roll, allowing the four-way shuttle to travel on the main track.

[0041] When the connecting rod lifting device 1 drives the guide connecting plate 22 to rise to the first position, for example, the first position refers to the position of the guide connecting plate 22 on the guide rod 21 when the end connecting the first connecting rod 131 and the second connecting rod 132 rotates from the lowest point to the middle position. At this time, since the main track wheel 24 is mounted on the guide connecting plate 22, when the guide connecting plate 22 rises to the first position, the height of the main track wheel 24 is higher than the height of the auxiliary track wheel 34. The main track wheel 24 is suspended directly above the main track, while the auxiliary track wheel 34 is rolled and connected to the auxiliary track. Thus, the auxiliary track wheel 34 can be driven to roll, allowing the four-way shuttle to travel on the main track. This achieves the change of the four-way shuttle's travel direction from the main track to the auxiliary track.

[0042] When the linkage lifting device 1 drives the guide connecting plate 22 to rise to the second position, for example, the second position refers to the position of the guide connecting plate 22 on the guide rod 21 when the end connecting the first link 131 and the second link 132 rotates from the middle position to the highest point. This allows the pallet rod 501 to enter the pallet limiting hole 23 until the pallet and the guide connecting plate 22 form a pressure contact, thereby realizing the retrieval of goods. By driving the guide connecting plate 22 to different positions, the travel direction of the four-way shuttle can be changed and goods can be retrieved. Thus, by providing power through the same rotary motion output mechanism 11, the coupling of lifting and reversing functions can be realized, and the related moving parts, such as the power transmission unit 13 composed of the first link 131 and the second link 132, can be maintenance-free, with advantages such as simple structure, low production cost and long service life.

[0043] In an optional embodiment of the invention, the main drive wheel device 2 may further include a main drive driver 25, a main drive shaft 26, and a main sprocket transmission unit 27, wherein: The main drive unit 25 outputs rotational motion and is fixed to the frame 4. Preferably, the main drive unit 25 can be a geared motor.

[0044] The main drive shaft 26 is coaxially connected to two main wheels 24 located on different guide connecting plates 22.

[0045] The main track sprocket transmission unit 27 is disposed between the output shaft of the main track driver 25 and the main track drive shaft 26, so that the main track wheel 24 rotates under the drive of the main track driver 25, enabling the four-way shuttle to travel on the main track. For example, the main track sprocket transmission unit 27 may include two main track drive sprockets and a main track drive chain. One main track drive sprocket is coaxially fixed to the output shaft of the main track driver 25, and the other main track drive sprocket is coaxially fixed to the main track drive shaft 26. The main track drive chain meshes with the two main track drive sprockets respectively. Thus, the main track sprocket transmission unit 27 can transmit the rotational motion output by the main track driver 25 to the main track wheel 24, enabling the four-way shuttle to travel on the main track.

[0046] An optional embodiment of the invention, referring to... Figure 8 As shown, the auxiliary track drive wheel device 3 may include an auxiliary track driver 31, an auxiliary track drive shaft 32, an auxiliary track sprocket transmission unit 33, multiple auxiliary track wheels 34, and an auxiliary track sprocket follower unit 35, wherein: The auxiliary drive 31 outputs rotational motion and is fixed to the vehicle frame 4. Preferably, the auxiliary drive 31 can be a geared motor.

[0047] The auxiliary drive shaft 32 is rotatably connected to both sides of the vehicle frame 4, wherein the two sides of the vehicle frame 4 are opposite to each other.

[0048] The auxiliary sprocket drive unit 33 is disposed between the output shaft of the auxiliary drive driver 31 and the auxiliary drive shaft 32, so as to drive the auxiliary drive shaft 32 to rotate through the auxiliary drive driver 31. For example, the auxiliary sprocket drive unit 33 may include two auxiliary drive sprockets 352 and an auxiliary drive chain 353. One auxiliary drive sprocket 352 is coaxially fixed to the output shaft of the auxiliary drive driver 31, and the other auxiliary drive sprocket 352 is coaxially fixed to the auxiliary drive shaft 32. The auxiliary drive chain 353 meshes with the two auxiliary drive sprockets 352 respectively, thereby transmitting the rotational motion output by the auxiliary drive driver 31 to the auxiliary drive shaft 32 through the auxiliary sprocket drive unit 33. Considering the installation and structural layout of the various devices in the four-way shuttle, the output shaft of the auxiliary drive driver 31 can be located directly below the auxiliary drive shaft 32, thereby making the structure of the four-way shuttle more compact and miniaturized, and optimizing the performance of the four-way shuttle.

[0049] Multiple auxiliary track wheels 34 are disposed on both sides of the vehicle frame 4, which has the auxiliary track drive shaft 32, and are rotatably connected to the vehicle frame 4. The number of auxiliary track wheels 34 is not limited. For example, the number of auxiliary track wheels 34 can be 6, 7, or 8, etc.

[0050] The auxiliary track sprocket follower unit 35 is disposed between the auxiliary track wheel 34 and the auxiliary track drive shaft 32 on the same side of the frame 4, so that the auxiliary track wheel 34 rotates under the drive of the auxiliary track driver 31, enabling the four-way shuttle to travel on the auxiliary track. For example, the auxiliary track sprocket follower unit 35 may include an auxiliary track drive adapter sprocket 351, an auxiliary track transmission sprocket 352, and an auxiliary track transmission chain 353, wherein: The auxiliary drive adapter sprocket 351 is coaxially fixed on the auxiliary drive shaft 32.

[0051] The auxiliary drive sprocket 352 is coaxially fixed with the auxiliary drive wheel 34.

[0052] The auxiliary lane drive chain 353 is arranged around the auxiliary lane drive adapter sprocket 351 and the auxiliary lane drive sprocket 352, and meshes with them respectively. Thus, when the auxiliary lane drive shaft 32 rotates, the auxiliary lane wheel 34 can be driven to roll through the auxiliary lane sprocket follower unit 35, enabling the four-way shuttle to travel on the auxiliary lane.

[0053] In an optional embodiment of the invention, the auxiliary track sprocket unit may further include an auxiliary track tension sprocket 354, which is rotatably connected to one side of the frame 4 with the auxiliary track drive shaft 32. The auxiliary track tensioning sprocket 354 is located outside the auxiliary track drive chain 353 and meshes with the auxiliary track drive chain 353 to prevent the auxiliary track drive chain 353 from skipping teeth.

[0054] In summary, the linkage lifting device 1 includes a rotary motion output mechanism 11, two symmetrically arranged power conversion mechanisms 12, and two power transmission mechanisms mounted on the two power conversion mechanisms 12. When the rotary motion output mechanism 11 operates, it drives the input shaft 121 to rotate. The power conversion mechanism 12 converts the rotational motion of the input shaft 121 into two rotational forces with opposite directions, which are output through two output shafts 122. The rotation of the two output shafts 122 drives the first connecting rod 131 and the second connecting rod 132 to rotate, indirectly driving the guide connecting plate 22 to perform linear motion in the vertical direction. The guide connecting plate 22 is fixed with the main track wheel 24 of the four-way shuttle and pallet limiting holes 23 for the pallet assembly 5 of the four-way shuttle to be inserted. By driving the guide connecting plate 22 to different positions, the travel direction of the four-way shuttle can be changed and goods can be retrieved. Therefore, by providing power through the same rotary motion output mechanism 11, the lifting and reversing functions can be coupled, and the related moving parts can be maintenance-free, with advantages such as simple structure, low production cost and long service life.

[0055] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0056] It will be readily apparent to those skilled in the art that any combination of the above embodiments is feasible. Therefore, any combination of the above embodiments is an implementation scheme of this application. However, due to space limitations, this specification will not describe them in detail here.

[0057] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0058] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, in the description of exemplary embodiments of this application above, various features of this application are sometimes grouped together into a single embodiment, figure, or description thereof.

[0059] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

Claims

1. A four-way shuttle vehicle, characterized in that, Includes a frame (4), a main drive wheel assembly (2), an auxiliary drive wheel assembly (3), a pallet assembly (5), and a linkage lifting device (1); and, The main drive wheel device (2) includes: Multiple guide rods (21) are vertically fixed on the frame (4); Two guide connecting plates (22) are symmetrically arranged on both sides of the frame (4) and are slidably connected to the guide rod (21). Each guide connecting plate (22) has a tray limiting hole (23) at its top for the tray assembly (5) to be inserted. Multiple main guide wheels (24) are respectively installed on two guide connecting plates (22) and are rotatably connected to the guide connecting plates (22); When the connecting rod lifting device (1) drives the guide connecting plate (22) to rise to the first position, the driving direction of the four-way shuttle changes from the main road to the auxiliary road; When the connecting rod lifting device (1) drives the guide connecting plate (22) to rise to the second position, the pallet assembly (5) is embedded in the pallet limiting hole (23) to realize the picking of goods; The connecting rod lifting device (1) includes: A rotary motion output mechanism (11) is fixed on the frame (4) and is used to output rotary motion; Two sets of symmetrically arranged power conversion mechanisms (12), each power conversion mechanism (12) comprising: The input shaft (121) is fixedly connected to the rotary motion output mechanism (11) to transmit the rotary motion to the power conversion mechanism (12); Two conversion output shafts (122) are arranged side by side on the power conversion mechanism (12) so that the power conversion mechanism (12) converts the rotational motion of the conversion input shaft (121) into two rotational forces with opposite directions of rotation and outputs them through the two conversion output shafts (122); Two sets of power transmission mechanisms are symmetrically mounted on two sets of power conversion mechanisms (12), and each set of power transmission mechanisms includes two sets of power transmission units (13), wherein the power transmission unit (13) includes: The first connecting rod (131) is fixed at one end to the conversion output shaft (122); The second link (132) is rotatably connected at one end to the other end of the first link (131), and the other end is used to fix it to the guide connecting plate (22).

2. The four-way shuttle vehicle according to claim 1, characterized in that, The number of the rotary motion output mechanisms (11) is two sets, and the rotary motion output mechanisms (11) include: A rotary motion output device (111) is fixed to the frame (4); The coupling (112) coaxially connects the output shaft of the rotary motion output device (111) and the conversion input shaft (121).

3. The four-way shuttle vehicle according to claim 1, characterized in that, The rotary motion output mechanism (11) includes: A rotary motion output device (111) is fixed to the frame (4); The lifting drive shaft (113) is rotatably connected to the frame (4); Two couplings (112) are respectively disposed at both ends of the lifting drive shaft (113) for coaxial connection of the lifting drive shaft (113) and the conversion input shaft (121); The lifting sprocket drive unit (114) is located between the output shaft of the rotary motion output device (111) and the lifting drive shaft (113) so that the rotary motion output device (111) drives the lifting drive shaft (113) to rotate, and at the same time realizes the rotary motion conversion of the two sets of power conversion mechanisms (12).

4. The four-way shuttle vehicle according to claim 3, characterized in that, The rotary motion output mechanism (11) also includes: Two lifting bearing supports (115) are fixed to the frame (4); wherein, The lifting drive shaft (113) passes through two lifting bearing supports (115) and is rotatably connected to the lifting bearing supports (115).

5. The four-way shuttle vehicle according to claim 1, characterized in that, When the rotary motion output mechanism (11) is working, it drives the first link (131) and the second link (132) to rotate, and drives the guide connecting plate (22) to make a linear motion in the vertical direction. By driving the guide connecting plate (22) to move to different positions, the driving direction of the four-way shuttle car can be changed and the goods can be picked up.

6. The four-way shuttle vehicle according to claim 1, characterized in that, The main drive wheel device (2) also includes: The main drive (25) outputs rotational motion and is fixed to the frame (4); The main drive shaft (26) is coaxially connected to two main wheels (24) located on different guide connecting plates (22); The main track sprocket drive unit (27) is located between the output shaft of the main track driver (25) and the main track drive shaft (26) so that the main track wheel (24) rotates under the drive of the main track driver (25) to enable the four-way shuttle to travel on the main track.

7. The four-way shuttle vehicle according to claim 1, characterized in that, The auxiliary road drive wheel device (3) includes: The auxiliary drive (31) outputs rotational motion and is fixed to the frame (4); The auxiliary drive shaft (32) is rotatably connected to both sides of the frame (4); The auxiliary track sprocket drive unit (33) is disposed between the output shaft of the auxiliary track driver (31) and the auxiliary track drive shaft (32) to drive the auxiliary track drive shaft (32) to rotate through the auxiliary track driver (31); Multiple auxiliary road wheels (34) are disposed on both sides of the frame (4) with the auxiliary road drive shaft (32) and are rotatably connected to the frame (4); The auxiliary track sprocket follower unit (35) is located between the auxiliary track wheel (34) and the auxiliary track drive shaft (32) on the same side of the frame (4) so ​​that the auxiliary track wheel (34) rotates under the drive of the auxiliary track driver (31) so that the four-way shuttle can travel on the auxiliary track.

8. The four-way shuttle vehicle according to claim 7, characterized in that, The output shaft of the auxiliary drive (31) is located directly below the auxiliary drive shaft (32).

9. The four-way shuttle vehicle according to claim 7, characterized in that, The auxiliary track sprocket follower unit (35) includes: The auxiliary drive sprocket (351) is coaxially fixed on the auxiliary drive shaft (32); The auxiliary drive sprocket (352) is coaxially fixed with the auxiliary drive wheel (34); The auxiliary drive chain (353) is arranged around the auxiliary drive transfer sprocket (351) and the auxiliary drive sprocket (352), and meshes with the auxiliary drive transfer sprocket (351) and the auxiliary drive sprocket (352) respectively.

10. The four-way shuttle vehicle according to claim 9, characterized in that, The auxiliary track sprocket follower unit (35) also includes: The auxiliary lane tension sprocket (354) is rotatably connected to one side of the frame (4) with the auxiliary lane drive shaft (32); wherein, The auxiliary track tensioning sprocket (354) is located outside the auxiliary track drive chain (353) and meshes with the auxiliary track drive chain (353) to prevent the auxiliary track drive chain (353) from skipping teeth.

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