Four-way cargo carrying device

Abstract

The invention relates to a four-way cargo carrying device which comprises a mother vehicle, a plurality of lifting belt mechanisms are arranged on a mother vehicle body and connected with a cargo carrying table, the cargo carrying table is provided with a cargo taking and placing mechanism, first walking mechanisms are arranged on the two sides of the mother vehicle body in the first direction, and jacking reversing mechanisms are fixedly installed on the two sides of the mother vehicle body in the second direction. The jacking reversing mechanism is connected with the second walking mechanism so as to drive the second walking mechanism to ascend and descend. According to the goods carrying device, the lane changing efficiency is high, submission of a warehousing system is reduced, and meanwhile the utilization rate of goods shelves is increased.

Description

Technical Field

[0001] The invention relates to the technical field of warehousing, and in particular to a four-way cargo handling device. Background Art

[0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The current cargo handling device includes a mother car, which is connected to a cargo platform by a lifting belt. The mother car and the cargo platform are arranged in the aisle of an adjacent shelf. The mother car can travel along the extension direction of the shelf, and the lifting belt drives the cargo platform to rise and fall, so that the cargo platform moves to the position corresponding to the target cargo position on the shelf. A picking and placing mechanism is provided on the cargo platform. When the cargo handling device needs to move to an adjacent aisle, it can only be achieved through the lane changing track at the end of the walking track. The setting of the lane changing track increases the space occupied by the entire storage system, and the cargo handling device can only move to the lane changing track at the end of the walking track to achieve lane changing. The lane changing work efficiency is low. At the same time, the cargo platform can only work under the mother car, so that the cargo position on the shelf layer where the mother car is located cannot be picked up and placed. In particular, when a plurality of cargo handling devices of different heights are provided in the aisle, a large number of cargo positions cannot be utilized, thereby reducing the utilization rate of the shelf. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a four-way cargo handling device which has high lane-changing efficiency and improves the utilization rate of the shelf.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] In the first aspect, an embodiment of the present invention provides a four-way cargo handling device, including a mother car, a plurality of lifting belt mechanisms are provided on the mother car body, the lifting belt mechanisms are connected to the cargo platform, the cargo platform is provided with a cargo picking and releasing mechanism, a first walking mechanism is provided on both sides of the mother car body along the first direction, and a lifting and reversing mechanism is fixedly installed on both sides of the mother car body along the second direction, the lifting and reversing mechanism is connected to the second walking mechanism to drive the second walking mechanism to rise and fall; the first direction and the second direction are perpendicular to each other.

[0007] Optionally, the vehicle body is provided with a receiving cavity which matches the cargo platform and is used to receive the cargo platform so that the cargo platform can enter the receiving cavity driven by the lifting belt mechanism.

[0008] Optionally, the first traveling mechanism comprises a plurality of first traveling wheels arranged on both sides of the lower part of the vehicle body along the first direction, and the traveling driving mechanisms connected to the plurality of first traveling wheels are the same or different.

[0009] Optionally, the multiple first walking wheels on both sides of the mother vehicle body are respectively connected to a walking transmission mechanism, and the walking transmission mechanisms on both sides are connected by a synchronization shaft, and the walking transmission mechanism on one side or the synchronization shaft is connected to a walking drive mechanism, so that the walking drive mechanism can simultaneously drive the multiple first walking wheels on both sides to walk in the first direction, and the walking drive mechanism is arranged on the upper part of the mother vehicle body.

[0010] Optionally, the second walking mechanism includes a lifting plate arranged at the lower part of the mother vehicle body and a plurality of second walking wheels installed on the lifting plate, wherein at least one second walking wheel serves as a driving wheel and is connected to the output end of a closed-loop flexible transmission mechanism installed at the lower part of the mother vehicle body, and the input end of the closed-loop flexible transmission mechanism is connected to the first walking mechanism through a reversing mechanism.

[0011] Optionally, the closed-loop flexible transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism, and the lifting plate is provided with a tensioning wheel that contacts the transmission component of the closed-loop flexible transmission mechanism.

[0012] Optionally, a guide device is further included, and the lifting plate is slidably arranged at the lower part of the mother vehicle body through the guide device.

[0013] Optionally, the lifting and reversing mechanism adopts a screw lifting mechanism or a cam lifting mechanism.

[0014] Optionally, a lifting belt mechanism is provided at the four corners of the top of the mother vehicle body, and the lifting belt mechanism includes a lifting drive motor, the lifting drive motor is connected to the winch wheel, the winch wheel is wrapped with a lifting belt, the lifting belt passes around the guide wheel installed on the top of the vehicle body and then extends downward, and its movable end is connected to the cargo platform.

[0015] Optionally, the cargo picking and placing mechanism includes a two-way telescopic mechanism installed on both sides of the cargo platform, the two-way telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating driving member, and the rotating driving member is connected to the fork to drive the fork to rotate in a plane perpendicular to the cargo fork; or, the two-way telescopic mechanism on both sides of the cargo platform is connected to the clamping plate;

[0016] or;

[0017] The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed in the middle or on both sides of the cargo platform, and the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly.

[0018] Optionally, at least two pushing members are provided on two edges of the cargo platform parallel to the first direction, and the pushing members are connected to a telescopic mechanism installed on the cargo platform. The pushing members can be extended by the telescopic mechanism to achieve abutment with the shelf.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The four-way cargo handling device of the present invention is provided with a mother vehicle having a first walking mechanism and a second walking mechanism, the walking directions of the first walking mechanism and the second walking mechanism being perpendicular to each other, the second walking mechanism being connected to a lifting and reversing mechanism, under the action of the lifting and reversing mechanism, the second walking mechanism can be lowered so that the second walking mechanism can work, and a lane-changing track cooperating with the second walking mechanism can be provided inside the shelf, so that the entire four-way cargo handling device can move to other lanes, and the mother vehicle can change lanes by moving to the reversing track closest to its current position, without moving to the lane-changing track at the end of the walking track, thereby improving the working efficiency of lane changing, and at the same time, the lane-changing track is provided inside the shelf, without occupying additional space, thereby reducing the volume of the entire storage system.

[0021] 2. In the four-way cargo handling device of the present invention, the second walking wheel is connected to the output end of the closed-loop flexible transmission mechanism, and the input end of the closed-loop flexible transmission mechanism is connected to the first walking mechanism through a reversing mechanism, so that the second walking mechanism and the first walking mechanism can share a power device, and there is no need to set up a power device separately. In addition, through the setting of the synchronous shaft, all the first walking wheels can share a walking drive element, and then all the first walking wheels and the second walking wheels share a walking drive element to provide power, which greatly reduces equipment investment.

[0022] 3. The four-way cargo handling device of the present invention, through the provision of a tensioning wheel, enables the transmission components of the closed flexible transmission mechanism to always remain in a tensioned state during the lifting and lowering process of the lifting plate, thereby ensuring smooth transmission of power.

[0023] 4. In the four-way cargo handling device of the present invention, the body of the mother vehicle is provided with a accommodating cavity matching the cargo platform, and the cargo platform can be lifted to the inside of the accommodating cavity under the action of the lifting belt mechanism, so that the overall height space occupied by the four-way cargo handling device is smaller, and the picking and placing of goods at the cargo position of the shelf layer where the mother vehicle is located is realized, thereby improving the storage density of the shelf in the height space. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0025] Figure 1 It is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure of the cargo platform after being retracted into the accommodating cavity according to Embodiment 1 of the present invention;

[0027] Figure 3 This is a side view of the overall structure of the cargo platform after being retracted into the accommodating cavity according to Embodiment 1 of the present invention;

[0028] Figure 4 This is a front view of the overall structure of the cargo platform after being retracted into the accommodating cavity according to the first embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the mother vehicle in Embodiment 1 of the present invention;

[0030] Figure 6 This is a front view of the structure of the mother vehicle according to the first embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the rear carrier with the lifting plate hidden in Embodiment 1 of the present invention;

[0032] Figure 8 This is a front view of the structure of the mother vehicle after the lifting plate is hidden in embodiment 1 of the present invention;

[0033] Fig. 9 This is a schematic diagram of the cooperation between the first embodiment of the present invention and a shelf;

[0034] Fig.10 This is a schematic diagram of the structure of the mother vehicle according to Embodiment 2 of the present invention;

[0035] Fig.11 This is a schematic diagram of the structure of the cam lifting mechanism of Embodiment 2 of the present invention;

[0036] Fig.12 This is a schematic diagram of the assembly of the swing arm and bearing of Embodiment 2 of the present invention;

[0037] Among them, 1. cargo platform, 2. cargo pick-up and release mechanism, 3. inverted U-shaped plate, 4. connecting plate, 5. lifting belt, 6. lifting plate, 7. first walking wheel, 8. driven pulley, 9. driven pulley, 10. walking drive motor, 11. synchronous shaft, 12. slider, 13. guide rail, 14. belt transmission mechanism, 15. screw, 16. screw slider, 17. second walking wheel, 18. driven pulley, 19. driving pulley, 20. tensioning pulley, 21. bevel gear transmission box, 22. push plate, 23. shelf, 24. lane change track, 25. motor, 26. reducer, 27. swing arm, 28. bearing. DETAILED DESCRIPTION

[0038] Example 1

[0039] This embodiment provides a four-way cargo handling device, such as Figure 1-Figure 4As shown, it includes a mother car, which includes a car body. The car body is connected to a cargo platform 1 through multiple lifting belt mechanisms. A cargo pick-up and release mechanism 2 is arranged on the cargo platform 1 for picking up and releasing cargo. A first walking mechanism and a second walking mechanism are arranged at the bottom of the mother car. The walking directions of the first walking mechanism and the second walking mechanism are perpendicular to each other. The first walking mechanism is arranged on both sides of the car body along the first direction. The walking direction of the first walking mechanism is arranged along the extension direction of the lanes between adjacent shelves, that is, along the first direction. A lifting and reversing mechanism is fixedly installed on both sides of the car body along the second direction. The lifting and reversing mechanism is connected to the second walking mechanism to drive the second walking mechanism to lift and lower. The first direction and the second direction are perpendicular to each other. The second walking mechanism can perform lifting and lowering movements under the action of the lifting and reversing mechanism. When the second walking mechanism descends to the point where the second walking mechanism is in a working state, the entire four-way cargo handling device can achieve transfer between adjacent lanes through the second walking mechanism.

[0040] like Figure 5-Figure 8 As shown, the vehicle body includes two inverted U-shaped plates 3, and a connecting plate 4 is provided between the top and bottom ends of the two inverted U-shaped plates 3. The connecting plate 4 connects the two inverted U-shaped plates into a whole to form an integral vehicle body structure. A accommodating cavity matching the cargo platform 1 and used to accommodate the cargo platform is formed in the vehicle body.

[0041] A lifting belt mechanism is provided at the four corners of the top of the vehicle body. Specifically, a plurality of mounting plates are provided between the top ends of the two inverted U-shaped plates 3. The lifting belt mechanism is installed on the mounting plates. The lifting belt mechanism includes a lifting drive motor, which is fixed on the mounting plates. The output shaft of the lifting drive motor is connected to a winch wheel, on which a lifting belt 5 is wound. The lifting belt 5 passes around the guide wheel and extends downward, and its movable end is connected to the cargo platform 1, wherein the guide wheel is rotatably connected to the top of the vehicle body.

[0042] The lifting drive motor can drive the winch wheel to rotate, thereby driving the cargo platform 1 to perform lifting movement through the lifting belt 5. The cargo platform 1 can be raised to the inside of the accommodating cavity, so that the cargo platform can be accommodated inside the mother vehicle, and the loading plane of the cargo platform 1 is not lower than the upper surface of the walking track on the shelf that cooperates with the first walking mechanism, so that the overall height space occupied by the four-way cargo handling device is smaller, realizing the picking and placing of goods at the cargo space on the shelf layer where the mother vehicle is located, and improving the utilization rate of the shelf cargo space.

[0043] In this embodiment, a plurality of the four-way cargo handling devices described above can be arranged at different heights of the shelf aisle to improve the cargo transfer efficiency.

[0044] A first walking mechanism is provided at the bottom ends of the two oppositely arranged side portions of the mother vehicle, that is, the first walking mechanism is provided on both sides along the first direction, and a second walking mechanism is provided at the bottom ends of the other two oppositely arranged side portions, that is, the second walking mechanism is provided on both sides along the second direction. When in use, the walking direction of the first walking mechanism is the extension direction of the lane, that is, the first direction; the walking direction of the second walking mechanism is perpendicular to the walking direction of the first walking mechanism, that is, the second direction.

[0045] The second walking mechanism includes a lifting plate 6, on which a plurality of second walking wheels are mounted. The lifting plate 6 is slidably connected to the vehicle body and can perform lifting and lowering movements. The lifting plate 6 is connected to a lifting and reversing mechanism mounted at the bottom of the vehicle body, and the lifting and reversing mechanism can drive the lifting plate to perform lifting and lowering movements.

[0046] In this embodiment, the structures of the first traveling mechanisms on both sides of the vehicle body are the same. The first traveling mechanisms include multiple first traveling wheels 7. The multiple first traveling wheels 7 are distributed along the first direction. The multiple first traveling wheels 7 are connected by a traveling transmission mechanism and can rotate synchronously under the drive of the traveling transmission mechanism.

[0047] In this embodiment, the first traveling mechanism is provided with two first traveling wheels 7 , and along the traveling direction of the first traveling mechanism, the two first traveling wheels are respectively arranged at two ends of the bottom of the inverted U-shaped plate 3 .

[0048] In one embodiment, the two first traveling wheels are both connected to a traveling drive mechanism, and are driven to rotate by the traveling drive mechanism, that is, the plurality of first traveling wheels are powered by different traveling drive mechanisms.

[0049] In this embodiment, the two first traveling wheels 7 are connected via a traveling transmission mechanism to achieve synchronous rotation. The traveling transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism. Preferably, a belt transmission mechanism is adopted.

[0050] Specifically, the two first walking wheels 7 are connected to the wheel axle, and the wheel axle is rotatably connected to the inverted U-shaped plate 3. A driven pulley 8 is arranged on the wheel axle. The two outer corners at the top of the inverted U-shaped plate are rotatably connected to the driven pulley 9, and the two inner corners are rotatably connected to the reversing pulley. A walking drive mechanism is arranged at the mounting plate on the top of the vehicle body. In this embodiment, the walking drive mechanism adopts a walking drive motor 10 or other equipment capable of outputting rotational motion. The output shaft of the walking drive motor 10 is connected to the driving pulley through a reducer. The transmission belt successively passes around the driving pulley, the driven pulley 9 at one of the outer corners, the driven pulley 8 connected to the first walking wheel 7, the reversing pulley at the inner corner of one side, the driven pulley 8 connected to the other first walking wheel 7, and the driven pulley 9 at the other outer corner to form a closed loop. The walking drive motor 10 drives the driving pulley to rotate, thereby utilizing the transmission belt to drive the driven pulley 8 connected to the first walking wheel 7 to rotate, thereby driving the first walking wheel 7 to rotate.

[0051] The structures of the first traveling mechanism and the traveling transmission mechanism on the other side of the vehicle body are the same and will not be described repeatedly here.

[0052] Furthermore, the travel transmission mechanisms of the two first travel mechanisms are connected via at least one synchronization shaft 11 to achieve synchronous movement of the travel transmission mechanisms on both sides, thereby allowing the first travel mechanisms on both sides of the vehicle body to use only one travel drive mechanism.

[0053] In this embodiment, in the two travel transmission mechanisms, the driven pulleys 9 located at the outer corners on the same side of the inverted U-shaped plate 3 are connected through a synchronous shaft 11 to achieve power transmission between the two travel transmission mechanisms.

[0054] In another embodiment, the travel drive motor 10 may also be connected to the synchronous shaft 11 through a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism or other transmission methods to drive the travel transmission mechanisms on both sides to work synchronously.

[0055] In this embodiment, the lifting plate 6 is connected to the lifting and reversing mechanism of the connecting plate installed at the lower part between the two inverted U-shaped plates.

[0056] Furthermore, the lifting plate 6 is slidably connected to the lower part of the vehicle body through a guiding device, the guiding device includes a slider 12 and a guide rail 13, the slider 12 is fixed on the lifting plate 6, the slider 12 is slidably connected to the guide rail 13 fixed on the connecting plate 4, thereby realizing the sliding connection between the lifting plate 6 and the vehicle body, and the lifting plate 6 can perform lifting and lowering movements.

[0057] It is understandable that the guide device may also be a rolling guide device or a guide column guide device, etc. Those skilled in the art may configure it according to actual needs, and a detailed description thereof will not be given here.

[0058] In this embodiment, the lifting and reversing mechanism adopts a screw lifting mechanism, including a motor fixed on the connecting plate, the output shaft of the motor is connected to one end of the screw 15 through a belt transmission mechanism 14, the other end of the screw 15 is rotatably connected to the bearing seat fixed on the connecting plate 4, and a screw slider 16 is threadedly connected to the screw 15, and the screw slider 16 is fixedly connected to the lifting plate 6 to drive the lifting and lowering movement of the lifting plate 6.

[0059] The second traveling mechanism further includes a plurality of second traveling wheels 17 , one of the second traveling wheels 17 is a driving traveling wheel, and the other second traveling wheels 17 are driven traveling wheels.

[0060] The second walking wheel 17 serving as the active walking wheel is connected to the output end of the closed-loop flexible transmission mechanism, and the input end of the closed-loop flexible transmission mechanism is connected to the first walking mechanism through a reversing mechanism. In this embodiment, the input end of the closed-loop flexible transmission mechanism is connected to the wheel axle of the corresponding first walking wheel 7 through a reversing mechanism.

[0061] In this embodiment, the closed-loop flexible transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism, and preferably adopts a belt transmission mechanism. Specifically, the second walking wheel 17 is connected to the wheel axle, the wheel axle is rotatably connected to the lifting plate, and a driven pulley is connected to the wheel axle. Two driven pulleys 18 rotatably connected to the connecting plate 4 are provided above the driven pulley, and a driving pulley 19 connected to the reversing mechanism is provided on the outside. A transmission belt is wound around the driven pulley and the driving pulley 19. A tensioning pulley 20 is also rotatably connected to the lifting plate 6, and the tensioning pulley 20 is in contact with the transmission belt, so that the driven pulley connected to the second walking wheel 17 can always keep the transmission belt in a tensioned state during the lifting process, thereby smoothly realizing the transmission of power.

[0062] In this embodiment, the reversing mechanism adopts a bevel gear transmission box 21 installed at the bottom end of the inverted U-shaped plate or the connecting plate, and its input shaft and output shaft form a 90° angle. The axle of the first walking wheel 7 serves as the input shaft of the bevel gear transmission box 21, and the axle of the driving pulley 19 of the closed-loop flexible transmission mechanism serves as the output shaft of the bevel gear transmission box 21, thereby realizing the transmission of power from the first walking wheel 7 to the second walking wheel 17.

[0063] The arrangement of the lifting plate 6, the lifting mechanism, the second traveling mechanism, the closed-loop flexible transmission mechanism and the reversing mechanism on the other side of the vehicle body are exactly the same, and will not be repeated here.

[0064] In this embodiment, the rotation of all the first travel wheels 7 and the second travel wheels 17 can be realized by setting a travel drive motor 10, and the second travel wheels 17 do not need to be additionally provided with special power equipment, thereby reducing the equipment investment of the entire mother vehicle.

[0065] The cargo platform 1 is provided with a cargo pick-up and release mechanism 2, which adopts a telescopic cargo pick-up and release mechanism, including a two-way telescopic mechanism installed on both sides of the cargo platform, the two-way telescopic mechanism includes a fork, and a rotating drive member is arranged at the end of the fork. The rotating drive member adopts a servo or other equipment capable of outputting rotational motion, and the rotating drive member is connected to the fork to drive the fork to swing in a plane perpendicular to the fork. The structure and connection method of the above-mentioned two-way telescopic mechanism and fork, fork and rotating drive member can adopt the telescopic mechanism, fork, rotating drive member and fork structure and connection method disclosed in patent application CN117585346A, and its further technical details are not described in detail here.

[0066] In another embodiment, the two-way telescopic mechanism on both sides of the cargo platform is connected to the clamping plate, and the clamping plate is used to pick up and put goods. When this method is adopted, the two-way telescopic mechanism on both sides of the cargo platform is connected to the telescopic component installed on the cargo platform, and the telescopic direction of the telescopic component is perpendicular to the telescopic direction of the two-way telescopic mechanism to drive the two clamping plates to move towards or away from each other. The telescopic component can be a cylinder, a linear motor, or a screw transmission mechanism, etc., which will not be described in detail here.

[0067] In the third embodiment, the cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed in the middle or on both sides of the cargo platform, the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly, and the suction cup assembly or the hook claw assembly is used to pick up and place cargo.

[0068] Furthermore, in order to ensure the stability of the cargo platform when picking up and placing goods, at least two pushing plates 22 are provided on both side edges of the cargo platform parallel to the walking direction of the first walking mechanism. The two pushing plates 22 are respectively arranged at both ends of the edge of the cargo platform 1, and the pushing plates 22 are connected to the telescopic mechanism. The telescopic mechanism adopts a gear rack telescopic mechanism or a linear motor or a cylinder and other devices that can output linear motion. The telescopic mechanism can drive the pushing plates to extend so that the pushing plates are in contact with the shelves, thereby ensuring the stability of the cargo platform when picking up and placing goods.

[0069] The four-way cargo handling device of this embodiment, when in use, Fig. 9 As shown, running tracks for cooperating with the first running mechanism are arranged on the shelves 23 on both sides of the lanes, lane-changing tracks 24 connected to the running tracks are arranged between adjacent lanes, and connecting passages connecting two adjacent lanes are arranged on the shelves.

[0070] When picking up and placing goods on the shelves on both sides of an aisle, the mother vehicle travels along the corresponding walking track through the first walking mechanism, and the lifting belt mechanism drives the cargo platform 1 to rise and fall, so that the cargo platform 1 moves to the target cargo position of the shelf 23, and then picks and places goods. When it is necessary to change aisles, the mother vehicle moves along the walking track to the nearest aisle changing track 24, and the lifting mechanism drives the lifting plate 6 to descend, the second walking wheel 17 cooperates with the aisle changing track 24, and the first walking wheel 7 leaves the walking track. At this time, the second walking mechanism can be used to change aisles.

[0071] By adopting the cargo handling device of this embodiment, the mother vehicle can change lanes by moving to the lane changing track closest to its current position, without moving to the lane changing track at the end of the walking track, thereby improving the work efficiency of lane changing. At the same time, the lane changing track can be set inside the shelf without occupying additional space, thereby reducing the volume of the entire storage system.

[0072] Example 2

[0073] This embodiment provides a four-way cargo handling device. Compared with the embodiment 1, the only difference is that the lifting mechanism adopts a cam lifting mechanism. Specifically, Figure 10-12 As shown, a motor 25 is installed on the connecting plate 4, and the motor 25 is connected to a reducer 26. The output shaft of the reducer 26 is connected to one end of a swing arm 27, and the other end of the swing arm 27 is connected to a driving member, and the driving member adopts a bearing 28. The bearing 28 is embedded in a rectangular hole 29 set in the lifting plate 6, and the bearing is in contact with the hole surface of the rectangular hole.

[0074] The motor drives the swing arm to swing through the reducer, thereby driving the lifting plate to move up and down through the bearing and the rectangular hole.

[0075] The rest of the structure of this embodiment is the same as that of Embodiment 1 and will not be described again here.

[0076] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A four-way cargo handling device, characterized in that: It includes a mother car, a plurality of lifting belt mechanisms are arranged on the mother car body, the lifting belt mechanisms are connected to the cargo platform, the cargo platform is provided with a cargo picking and placing mechanism, the mother car body is provided with a first walking mechanism on both sides along the first direction, and the mother car body is fixedly installed with a lifting and reversing mechanism on both sides along the second direction, the lifting and reversing mechanism is connected to the second walking mechanism to drive the second walking mechanism to rise and fall; the first direction and the second direction are perpendicular to each other.

2. A four-way cargo handling device as claimed in claim 1, characterized in that: The vehicle body is provided with a receiving cavity which matches the cargo platform and is used to receive the cargo platform so that the cargo platform can enter the receiving cavity under the drive of the lifting belt mechanism.

3. A four-way cargo handling device as claimed in claim 2, characterized in that: The first traveling mechanism comprises a plurality of first traveling wheels arranged on both sides of the lower part of the vehicle body along the first direction, and the traveling driving mechanisms connected to the plurality of first traveling wheels are the same or different.

4. A four-way cargo handling device as claimed in claim 3, characterized in that: The multiple first traveling wheels on both sides of the mother vehicle body are respectively connected to a traveling transmission mechanism, and the traveling transmission mechanisms on both sides are connected by a synchronization shaft, and the traveling transmission mechanism on one side or the synchronization shaft is connected to a traveling drive mechanism, so that the traveling drive mechanism simultaneously drives the multiple first traveling wheels on both sides to travel along the first direction, and the traveling drive mechanism is arranged on the upper part of the mother vehicle body.

5. The four-way cargo handling device according to claim 1, characterized in that: The second walking mechanism includes a lifting plate arranged at the lower part of the mother vehicle body and a plurality of second walking wheels installed on the lifting plate, wherein at least one second walking wheel is connected to the output end of a closed-loop flexible transmission mechanism installed at the lower part of the mother vehicle body as a driving wheel, and the input end of the closed-loop flexible transmission mechanism is connected to the first walking mechanism through a reversing mechanism.

6. A four-way cargo handling device as claimed in claim 5, characterized in that: The closed-loop flexible transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism, and the lifting plate is provided with a tensioning wheel which contacts with the transmission components of the closed-loop flexible transmission mechanism.

7. A four-way cargo handling device as claimed in claim 5, characterized in that: It also includes a guide device, and the lifting plate is slidably arranged on the lower part of the mother vehicle body through the guide device.

8. The four-way cargo handling device according to claim 1, characterized in that: The lifting and reversing mechanism adopts a screw lifting mechanism or a cam lifting mechanism.

9. The four-way cargo handling device according to claim 1, characterized in that: The four corners of the top of the mother vehicle body are provided with a lifting belt mechanism, which includes a lifting drive motor, which is connected to a winch wheel, and a lifting belt is wound around the winch wheel. The lifting belt passes around a guide wheel installed on the top of the vehicle body and extends downward, and its movable end is connected to a cargo platform.

10. The four-way cargo handling device according to claim 1, characterized in that: The cargo pick-up and release mechanism comprises a two-way telescopic mechanism installed on both sides of the cargo platform, the two-way telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating driving member, and the rotating driving member is connected to the fork to drive the fork to rotate in a plane perpendicular to the cargo fork; or, the two-way telescopic mechanism on both sides of the cargo platform is connected to the clamping plate; or; The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed in the middle or on both sides of the cargo platform, and the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly.

11. The four-way cargo handling device according to claim 1, characterized in that: At least two pushing members are provided on two edges of the cargo platform parallel to the first direction. The pushing members are connected to a telescopic mechanism installed on the cargo platform. The pushing members can be extended by the telescopic mechanism to achieve contact with the shelf.

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