Assembly type four-way shuttle vehicle

Abstract

The invention relates to an assembly type four-way shuttle vehicle which comprises a vehicle frame and a four-way shuttle wheel set installed on the vehicle frame. The pallet fork lifting devices are mounted at the two ends of the frame and drive the pallet fork supporting plate to move up and down; the walking synchronous driving device is installed in the frame, and the control box and the power supply are installed in the frame and move along with the whole vehicle. The vehicle frame is of an assembly type structure and is formed by sequentially splicing a vehicle frame left side plate, a vehicle frame front side plate, a vehicle frame right side plate and a vehicle frame rear side plate end to end. Lifting gear box connecting plates perpendicular to the front side plate and the rear side plate of the frame are symmetrically arranged in the frame; a bottom plate is mounted below the lifting gear box connecting plates on the two sides; and an assembly type electrical bearing framework is detachably mounted above the bottom plate in the frame. According to the assembly type four-way shuttle vehicle, through a series of innovative design and technical optimization, convenience, stability, maintainability, walking precision, lifting performance, electrical system performance and other aspects are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of four-way shuttle vehicles, and in particular relates to an assembled four-way shuttle vehicle. Background Art

[0002] In the field of logistics automation equipment, the four-way shuttle is an efficient and flexible storage and transportation tool. Its performance and structural design are directly related to the operating efficiency and cost of the logistics system. Traditionally, the frame welding process in the four-way shuttle ensures the stability and safety of the vehicle in complex operating environments. However, although this connection method is stable, it is accompanied by a series of technical limitations and challenges.

[0003] First, the welding process itself increases the weight of the vehicle. This undoubtedly increases the energy consumption burden for the four-way shuttle vehicle that relies on batteries as a power source, thereby shortening the vehicle's endurance. This defect is particularly prominent in today's pursuit of higher energy efficiency and longer operating time.

[0004] Secondly, the fixed nature of the welded structure limits the flexibility and customizability of the product. Once welded, the connection between the frame and the battery compartment is difficult to change or adjust, which makes the vehicle lack the necessary adaptability and expansion space when facing different storage environments, load requirements or functional upgrades. In the field of modern logistics, the ability to quickly respond to market changes and customer needs is crucial, and traditional welded structures are unable to do so.

[0005] Furthermore, the welding process has high requirements on production equipment and operating skills, and it is easy to produce waste during the production process, which increases the manufacturing cost. At the same time, the thermal deformation and residual stress that may be generated during the welding process also pose a certain threat to the accuracy and stability of the frame.

[0006] In summary, the traditional welding connection method has problems such as increased weight, limited endurance, insufficient functional customization space and high production cost. These problems not only affect the actual application effect of the four-way shuttle, but also restrict the further development and innovation of logistics automation equipment technology.

[0007] Therefore, exploring a new and efficient connection method to solve the above problems has become a technical problem that needs to be solved in the current four-way shuttle design field. To this end, the present invention relates to an assembled four-way shuttle. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention provides an assembled four-way shuttle vehicle.

[0009] The present invention is implemented as follows: an assembled four-way shuttle vehicle comprises a frame, a four-way shuttle wheel group mounted on the frame, the four-way shuttle wheel group comprising X-axis active walking wheels for traveling along the X-axis traveling direction respectively mounted on the front and rear sides of the frame; Y-axis active walking wheels for traveling along the Y-axis direction respectively mounted on the left and right sides of the frame; a fork lifting device for driving a fork support plate to move up and down mounted on both ends of the frame; a traveling synchronous driving device mounted in the frame, and a control box and a power supply mounted in the frame and moving together with the whole vehicle; the characteristic is that the frame adopts an assembled structure, comprising a left side plate of the frame, a front side plate of the frame, a right side plate of the frame and a rear side plate of the frame, which are spliced ​​in sequence end to end; lifting gear box connecting plates perpendicular to the front side plate and the rear side plate of the frame are symmetrically arranged inside the frame; a bottom plate is mounted below the lifting gear box connecting plates on both sides; an assembled electrical bearing frame is detachably mounted above the bottom plate in the frame.

[0010] Further preferably, the walking synchronous drive device includes a driving motor, the driving motor is connected to a reducer, the reducer is connected to a synchronous transmission box, and the synchronous transmission box is installed with a synchronous gear transmission system that drives the X-axis active walking wheel and the Y-axis active walking wheel to rotate synchronously.

[0011] Further preferably, the synchronous gear transmission system includes a reversing bevel gear pair installed to drive the X-axis active walking wheels on both sides to rotate synchronously; the reversing bevel gear pair is connected to the X-axis walking gear pair, and the X-axis walking gear pair is connected to the X-axis active walking wheel; a synchronous spur gear pair drives the Y-axis active walking wheel to rotate synchronously, the synchronous spur gear pair is connected to the Y-axis walking gear pair through the Y-axis active walking wheel drive shaft, and the Y-axis walking gear pair is connected to the Y-axis active walking wheel.

[0012] Further preferably, the reversing bevel gear pair includes an input bevel gear installed on the output shaft of the reducer, the input bevel gear meshes with a driven bevel gear, the driven bevel gear is installed on the X-axis travel gear box through the bevel gear shaft, and the X-axis travel gear pair is installed in the X-axis travel gear box.

[0013] Further preferably, the first-stage gear of the X-axis travel gear pair is coaxially arranged with the driven bevel gear, the final-stage gear of the X-axis travel gear pair is connected to the X-axis active travel wheel, the synchronous gear of the X-axis travel gear pair is connected to the X-axis travel gear pair in the X-axis travel gear box on the other side through the X-axis travel synchronous transmission shaft, and the final-stage gear of the X-axis travel gear pair is connected to the X-axis active travel wheel.

[0014] Further preferably, the final gear of the synchronous spur gear pair is installed on the Y-axis active walking wheel drive shaft, the Y-axis active walking wheel drive shaft is connected to the Y-axis walking drive box, the Y-axis walking gear pair is installed in the Y-axis walking drive box, and the final gear of the Y-axis walking gear pair is connected to the Y-axis active walking wheel.

[0015] Further preferably, the fork lifting device includes a lifting beam for installing the Y-axis walking wheel, and at the same time, a fork pallet is installed on the upper surface of the lifting beam; a lifting wheel assembly that is lifted and lowered with the lifting beam, two groups of lifting wheel assemblies are provided on the lifting beam on the same side, and the lifting wheel assemblies on the left and right sides are connected by a lifting synchronous transmission shaft, and both ends of the lifting synchronous transmission shaft are connected to a lifting gear box; the lifting gear box is installed on the lifting gear box connecting plate.

[0016] Further preferably, a lifting gear transmission pair is provided in the lifting gear box, and the first-stage gear of the lifting gear transmission pair in the lifting gear box on one side is connected to the output shaft of the reducer, and the reducer is connected to the lifting drive motor; the secondary gear and the final gear of the lifting gear transmission pair are respectively connected to a group of lifting wheel assemblies through shafts.

[0017] Further preferably, the X-axis travel synchronous transmission shaft, the Y-axis active travel wheel drive shaft and / or the lifting synchronous transmission shaft adopt a split structure and are connected by a telescopic cross coupling.

[0018] Further preferably, the lifting wheel assembly includes two connecting rods arranged in parallel, a support shaft installed at the lower end of the connecting rod, a lifting wheel is installed on the support shaft, the top wheel cooperates with the oblong lifting groove on the lifting beam, the connecting rod located on the outside is connected to the lifting bracket through the support shaft, and the connecting rod on the inside is connected to the secondary gear or the final gear of the lifting gear transmission pair through the shaft.

[0019] Further preferably, linear guide rail assemblies are provided between both ends of the lifting gear box connecting plate and the lifting beam.

[0020] Further preferably, the assembled electrical bearing frame includes a first transverse bearing beam and a second transverse bearing beam, and the first transverse bearing beam and the second transverse bearing beam are arranged in parallel between two lifting gear box mounting plates to enclose an electric control component mounting area, and a longitudinal bearing beam is provided between the first transverse bearing beam and the second transverse bearing beam, and the longitudinal bearing beam divides the electric control component installation into a first electric control area for installing a first control box and a second electric control area for installing a second control box and a power supply, and in the second electric control area, the longitudinal bearing beam is connected to a battery bearing beam parallel to the first transverse bearing beam and the second transverse bearing beam, and a battery bearing beam connecting portion is integrally bent from the bearing beam side, and the battery bearing beam divides the second electric control area into a second control box mounting area and a power supply mounting area; longitudinal connecting end plates are connected between the battery bearing beam and the first transverse bearing beam and the second transverse bearing beam near the lifting gear box mounting plate side.

[0021] Further preferably, the first transverse bearing beam comprises a first horizontal support plate and a first vertical stand; in the second electric control area, the first horizontal support plate is provided with an extension section, and both ends of the extension section are upwardly provided with first bent connecting parts, and the first bent connecting parts are used to connect the longitudinal bearing beam and the longitudinal connecting end plate; both ends of the first transverse bearing beam are provided with first installation notches.

[0022] Further preferably, the second transverse bearing beam comprises a second horizontal support plate and a second vertical stand plate; in the first electric control area, the second vertical plate is provided with a second bent connection portion toward the second horizontal support plate, and the second bent connection portion is used to install a transverse wiring groove; and second installation notches are provided at both ends of the second transverse bearing beam.

[0023] Further preferably, the longitudinal bearing beam includes a third horizontal support plate and a third vertical upright plate, and both ends of the third vertical upright plate are provided with a third bent connection portion toward the third horizontal support plate, and the third bent connection portion is used to connect the first transverse bearing beam and the second transverse bearing beam, and the third horizontal support plate is located at the upper part for installing the longitudinal wiring groove.

[0024] Further preferably, a lifting guide frame is installed on the fork support plate along the X-axis direction of the four-way shuttle, and the lifting guide frame includes an upper crossbeam, and guide plates perpendicular to the upper crossbeam are provided on the same side of both ends of the upper crossbeam, and a group of guide wheel groups are provided on the inner side or the outer side of the guide plate, and the guide wheel shaft is adjustably installed on the front and rear side plates of the frame in the Y-axis direction of the four-way shuttle.

[0025] Further preferably, the guide wheel group includes a guide wheel shaft installed on the front and rear side plates of the frame, a guide wheel is installed on the guide wheel shaft, an outer wall of the guide wheel is in contact with the side wall of the lifting guide plate, and a retaining ring is installed on the shaft end of the guide wheel shaft through a fastener to prevent axial movement of the guide wheel.

[0026] Further preferably, the outer circumference of the guide wheel is a tapered tire, the small diameter end of which is close to the front and rear side plates of the frame, and the side surface of the guide plate that matches the tire is provided with an inclined surface consistent with the cone angle of the tapered tire.

[0027] Further preferably, the guide wheel shaft comprises a connecting section, a clamping section and a guide wheel mounting section, and the connecting section is a threaded connecting section; threaded holes are provided on the front and rear side panels of the frame corresponding to the external threads of the connecting section.

[0028] Further preferably, a plurality of connection components with a shock absorbing function for connecting the assembled electrical load-bearing frame are provided on the lower surface of the control box.

[0029] Advantages and technical effects of the present invention: The assembled four-way shuttle vehicle of the present invention has achieved significant improvements in many aspects in terms of technical effects, which are specifically reflected in the following aspects:

[0030] First, the prefabricated structural design greatly improves the convenience, stability and maintainability of the vehicle body. The frame is made up of modular components, which not only simplifies the production process and reduces manufacturing costs, but also makes subsequent maintenance and replacement of parts convenient and quick. This design enhances the modularity and reusability of the vehicle body and provides flexible configuration and adjustment space for different working environments and needs.

[0031] Secondly, the unique synchronous travel drive device ensures the synchronous travel capability of the four-way shuttle in the X-axis and Y-axis directions. Through the drive motor, reducer, synchronous transmission box and precise gear transmission system, efficient power transmission and distribution are achieved, and the travel stability and accuracy are improved. In particular, the application of the telescopic cross coupling further enhances the adaptability and reliability of the transmission system and reduces the impact of vibration or impact on the equipment.

[0032] In terms of the lifting mechanism, the lifting synchronous drive device realizes the smooth lifting of the fork pallet through precise gear transmission and synchronous shaft connection. The lifting wheel assembly works in coordination with the lifting beam, lifting gearbox and other components to ensure the synchronization and stability of the lifting action. This design not only improves the lifting accuracy and reliability, but also optimizes the overall structure and enhances the durability of the system.

[0033] The design of the electrical load-bearing frame is also full of highlights. The split load-bearing frame realizes the modular installation and wiring of the electric control system through reasonable layout and partitioning, and improves the overall performance and maintainability of the electric control system. At the same time, the stable structure and optimized design of the load-bearing frame ensure the safe operation of electrical components, reduce the failure rate, and extend the service life of the equipment.

[0034] In addition, the present invention also pays attention to the design of details, such as the optimization of the lifting guide frame and the guide wheel group, which further improves the accuracy and stability of the lifting of the fork pallet. The lifting guide frame ensures that the fork pallet can move along the predetermined trajectory during the lifting process through the close cooperation of the guide plate and the guide wheel group, avoiding deviation and shaking. The non-metallic tire and tapered design of the guide wheel group reduce friction and wear, and improve the comfort of lifting.

[0035] Finally, the present invention also reflects humanized considerations in the design of the control box and the connection components. The shock-absorbing connection components on the lower surface of the control box effectively absorb vibration and impact, protecting the safety of electronic components. These design details not only improve the overall performance of the device, but also enhance the user experience.

[0036] In summary, the assembled four-way shuttle vehicle of the present invention has achieved significant improvements in convenience, stability, maintainability, walking accuracy, lifting performance, and electrical system performance through a series of innovative designs and technical optimizations. These technical effects work together on the equipment, making the present invention have broad application prospects and market competitive advantages in the field of automated warehousing and logistics. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the structure of the present invention;

[0038] Figure 2 It is a structural schematic diagram of a walking synchronous drive device;

[0039] Figure 3 This is a schematic diagram of the structure of the synchronous transmission box, X-axis travel gear box, and Y-axis travel drive box in the opened state;

[0040] Figure 4 It is a schematic diagram of the three-dimensional structure of the walking synchronous drive device;

[0041] Figure 4a yes Figure 4 Enlarged view of middle part II;

[0042] Figure 5 It is a schematic diagram of the structure of the fork lifting device;

[0043] Figure 6 yes Figure 5 Stereoscopic image of

[0044] Figure 7 This is a schematic diagram of the structure of the lifting gearbox in the open state;

[0045] Figure 8 yes Figure 7 Schematic diagram of the three-dimensional structure;

[0046] Fig. 9 is a schematic diagram of the structure of the lifting wheel assembly;

[0047] Fig.10 It is a schematic diagram of the assembled electrical load-bearing skeleton structure;

[0048] Fig.11 It is a schematic diagram of the installation position structure of the assembled electrical load-bearing frame;

[0049] Fig.12 yes Fig.11 Schematic diagram of the three-dimensional structure;

[0050] Fig.13 It is a schematic diagram of the installation structure of the horizontal wiring trough and the vertical wiring trough;

[0051] Fig.14 It is a schematic diagram of the structure of the horizontal wiring trough;

[0052] Fig.15 It is a schematic diagram of the longitudinal wiring trough structure;

[0053] Fig.16 1. It is a schematic diagram of the installation structure of the lifting guide frame;

[0054] Fig.17 yes Fig.16 A top view of

[0055] Fig.18 yes Fig.16 Schematic diagram of the three-dimensional structure;

[0056] Fig.19 yes Fig.16 Middle AA section view;

[0057] Fig. 20 yes Fig.18 Middle partial enlarged picture;

[0058] Fig.21 1. It is a schematic diagram of the structure of the guide wheel group;

[0059] Fig. 22 This is a schematic diagram of the three-dimensional structure of the guide wheel group

[0060] Fig.23 is a schematic diagram of the structure of the first control box;

[0061] Fig.24 Schematic diagram of the structure of the second control box.

[0062] In the figure, 1, frame; 1-1, front side plate of frame; 1-2, left side plate of frame; 1-3, rear side plate of frame; 1-4, right side plate of frame; 1-5, bottom plate;

[0063] 2-1, X-axis active running wheel; 2-2, X-axis driven running wheel; 2-3, Y-axis active running wheel; 2-4, Y-axis driven running wheel;

[0064] 3. Fork pallet;

[0065] 4. Travel synchronous drive device; 4. Drive unit; 4-1. Drive motor; 4-2. Reducer; 4-3. Synchronous transmission box; 4-300. Synchronous gear transmission system; 4-30. Reversing bevel gear pair; 4-301. Input bevel gear; 4-302. Driven bevel gear; 4-31. Synchronous spur gear pair; 4-310. Final gear; 4-4. X-axis travel gear pair; 4-40. X-axis travel gear box; 4-41. First gear; 4-42. Synchronous gear; 4-5. Y-axis active travel wheel drive shaft; 4-6. Y-axis travel gear pair; 4-7. X-axis travel synchronous transmission shaft; 4-8. Telescopic cross coupling; 4-9. Y-axis travel drive box;

[0066] 5. Fork lifting device; 5-1. Lifting beam; 5-10. Lifting slot; 5-2. Lifting wheel assembly; 5-20. Connecting rod; 5-21. Support shaft; 5-22. Lifting wheel; 5-3. Lifting synchronous transmission shaft; 5-4. Lifting gear box; 5-5. Lifting gear box connecting plate; 5-6. Lifting gear transmission pair; 5-7. First gear; 5-8. Final gear; 5-9. Speed ​​reducer; 5-10. Lifting drive motor; 5-11. Lifting bracket; 5-12. Linear guide assembly;

[0067] 6-1, first control box; 6-2, first control box;

[0068] 7. Power supply;

[0069] 8. Assembled electrical load-bearing frame; 8-1. First transverse load-bearing beam; 8-10. First horizontal support plate; 8-11. First vertical upright plate; 8-12. Extension section; 8-13. First bending connection portion; 8-14. First installation notch; 8-2. Second transverse load-bearing beam; 8-20. Second horizontal support plate; 8-21. Second vertical upright plate; 8-22. Second bending connection portion; 8-23. Transverse wiring groove; 8-24. Second installation notch; 8-3. Longitudinal load-bearing beam; 8-30. Third horizontal support plate; 8-31. Third vertical upright plate; 8-32. Third bending connection portion; 8-33. Longitudinal wiring groove; 8-4. Battery load-bearing beam; 8-40. Battery load-bearing beam connection portion; 8-5. Longitudinal connection end plate; 8-50. Fourth bending portion;

[0070] 9. Lifting guide frame; 9-1. Upper crossbeam; 9-2. Guide plate; 9-20. Inclined surface;

[0071] 10, guide wheel assembly; 10-1, guide wheel shaft; 10-10, connecting section; 10-11, clamping section; 10-12, guide wheel installation section; 10-13, clamping surface; 10-2, guide wheel; 10-20, bearing; 10-21, tire; 10-22, limit ring; 10-23, annular groove; 10-24, snap ring; 10-3, retaining ring;

[0072] 11. Connecting assembly; 11-1. Damping sleeve; 11-2. Screw. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0074] See also Figures 1 to 24An assembled four-way shuttle vehicle comprises a frame 1 and a four-way shuttle wheel group mounted on the frame, wherein the four-way shuttle wheel group comprises an X-axis active walking wheel 2-1 and an X-axis driven walking wheel 2-2 respectively mounted on the front and rear sides of the frame for walking along the X-axis walking direction; a Y-axis active walking wheel 2-3 and a Y-axis driven walking wheel 2-4 respectively mounted on the left and right sides of the frame for walking along the Y-axis direction; by mounting the X-axis active walking wheels on the front and rear sides of the frame and mounting the Y-axis active walking wheels on the left and right sides, the shuttle vehicle is able to move in both the X-axis and Y-axis directions. This layout enables the shuttle vehicle to move freely on a two-dimensional plane, realizing the function of four-way travel; the fork lifting device 3 installed at both ends of the frame drives the fork pallet to move up and down, so as to achieve the purpose of picking up and placing goods; the travel synchronization drive device 4 installed in the frame drives the X-axis active travel wheel and the Y-axis active travel wheel to rotate, and the lifting synchronization drive device 5 drives the fork hand-lifting device to achieve up and down movement, ensuring the stable travel and synchronous lifting of the four-way shuttle vehicle, thereby improving the operation accuracy and efficiency; and the control box 6 and power supply 7 installed in the frame and moving with the whole vehicle; in addition, the whole vehicle also includes necessary components, such as safety touch edges, warning lights, control buttons, etc., which belong to conventional designs in this field and will not be repeated here.

[0075] See also Figure 2 The frame 1 adopts an assembled structure, including a left side plate 1-2, a front side plate 1-1, a right side plate 1-4 and a rear side plate 1-3 of the frame, which are spliced ​​in sequence end to end; a lifting gear box connecting plate 5-5 perpendicular to the front side plate and the rear side plate of the frame is symmetrically arranged inside the frame; when designing the frame of the present invention, the mortise and tenon structure 1-6 cleverly integrates the connection between the left side plate 1-2, the front side plate 1-1, the right side plate 1-4 and the rear side plate 1-3, the lifting gear box connecting plate 5-5 and the lifting bracket 5-11 and the left and right side plates, and realizes precise splicing through the mortise and tenon structure, and is locked by bolts, please refer to Figure 4a . For example, recessed mortises and protruding tenons are provided at the head and tail of the side panels, mortises are provided on the front and rear side panels corresponding to the lifting gearbox connecting plate 5-5, tenons are provided at both ends of the lifting gearbox connecting plate 5-5, tenons are provided on both side panels of the lifting bracket 5-11, and mortises are provided on the left and right side panels accordingly; this structure not only ensures the tight connection between the plates through precise concave-convex matching, but also significantly enhances the overall rigidity and stability of the frame, so that the shuttle can still maintain excellent load-bearing capacity and impact resistance during high-intensity operations. In addition, the design of the mortise and tenon structure facilitates rapid disassembly and reorganization, which provides great convenience for the transportation, installation and later maintenance of the frame.

[0076] Bottom plates 1-5 are installed below the lifting gearbox connecting plates on both sides; an assembled electrical bearing frame 8 is detachably installed above the bottom plates in the vehicle frame.

[0077] The assembled four-way shuttle vehicle adopts a unique assembled structural design, which significantly improves the convenience, stability and maintainability of the vehicle. Specifically, the frame is composed of four parts: the left side panel, the front side panel, the right side panel and the rear side panel, which are spliced ​​end to end. This design not only simplifies the production process and reduces manufacturing costs, but also facilitates subsequent maintenance and replacement, greatly improving the modularity and reusability of the frame.

[0078] The lifting gearbox connecting plates symmetrically arranged inside the frame not only enhance the structural strength of the frame, but also ensure the stability and accuracy of the shuttle vehicle during four-way walking and fork lifting. At the same time, the bottom plates installed under the lifting gearbox connecting plates on both sides further stabilize the foundation of the frame and improve the carrying capacity of the whole vehicle.

[0079] The detachable assembled electrical load-bearing frame above the inner floor of the frame not only facilitates the installation and wiring of electrical components, but also facilitates subsequent maintenance and replacement. This design makes the electrical system neater and more orderly, and improves the reliability and safety of the vehicle's electrical system.

[0080] In addition, the assembled structure also allows the shuttle to be more flexibly configured and adjusted in different working environments and requirements. Users can choose the appropriate assembly method and components according to actual conditions to meet specific usage requirements.

[0081] For further details, please refer to Figures 2 to 4 The walking synchronous drive device 4 includes a driving motor 4-1, the driving motor is connected to the reducer 4-2, the reducer is connected to the synchronous transmission box 4-3, and the synchronous transmission box is installed with a synchronous gear transmission system 4-300 that drives the X-axis active walking wheel and the Y-axis active walking wheel to rotate synchronously.

[0082] Further preferably, the synchronous gear transmission system includes a reversing bevel gear pair 4-30 installed to drive the two sides of the X-axis active walking wheels to rotate synchronously, the reversing bevel gear pair is connected to the X-axis walking gear pair 4-4, and the X-axis walking gear pair is connected to the X-axis active walking wheel 2; the reversing bevel gear pair realizes the effective transmission of power from the output shaft of the reducer to the X-axis walking gear box through the meshing of the input bevel gear and the driven bevel gear, and changes the transmission direction of power. This design allows the drive motor to be arranged in a more reasonable position, optimizing the layout and weight distribution of the vehicle;

[0083] The synchronous spur gear pair 4-31 drives the Y-axis active walking wheel to rotate synchronously. The synchronous spur gear pair is connected to the Y-axis walking gear pair 4-6 through the Y-axis active walking wheel drive shaft 4-5. The Y-axis walking gear pair is connected to the Y-axis active walking wheel 3. The synchronous spur gear pair is used to drive the Y-axis active walking wheel to rotate synchronously, ensuring the synchronization and consistency of the Y-axis active walking wheels on both sides during the walking process. This helps to improve the walking stability and accuracy of the shuttle in the Y-axis direction.

[0084] The drive motor is the power source and control core of the entire travel system. The drive motor provides power, which is decelerated and torque-increased by the reducer, and then transmitted to the synchronous transmission box. The reversing bevel gear pair and synchronous spur gear pair in the synchronous transmission box ensure that the power can be synchronously and efficiently transmitted to the active travel wheels of the X-axis and Y-axis, so that the one-step travel drive motor can achieve synchronous travel; compared with the traditional belt drive, this gear drive method has higher transmission efficiency, better synchronization, lower maintenance cost and more compact structure. Therefore, the synchronous travel drive assembly of the four-way shuttle has significant advantages in improving the travel efficiency, stability and accuracy of the shuttle.

[0085] Further preferably, the reversing bevel gear pair includes an input bevel gear 4-301 installed on the output shaft of the reducer, the input bevel gear meshes with the driven bevel gear 4-302, the driven bevel gear is installed on the X-axis travel gear box 4-40 through the bevel gear shaft, and the X-axis travel gear pair 4-4 is installed in the X-axis travel gear box.

[0086] When the drive motor starts, the power is transmitted to the synchronous transmission box through the reducer. In the synchronous transmission box, the reversing bevel gear pair distributes the power to the X-axis travel gear pairs on both sides, driving the X-axis active travel wheel to rotate, realizing travel in the X-axis direction. At this time, the Y-axis active travel wheel leaves the travel surface through the control of the four-way shuttle lifting assembly. When it is necessary to travel along the Y-axis, the X-axis active travel wheel leaves the travel surface under the control of the four-way shuttle lifting assembly, and the synchronous spur gear pair transmits the power to the Y-axis travel gear pair, driving the Y-axis active travel wheel to rotate, realizing travel in the Y-axis direction.

[0087] Further preferably, the first gear 4-41 of the X-axis travel gear pair 4-4 is coaxially arranged with the driven bevel gear 4-302, the final gear of the X-axis travel gear pair is connected to the X-axis active travel wheel 2, the synchronous gear 4-42 of the X-axis travel gear pair is connected to the X-axis travel gear pair in the X-axis travel gear box on the other side through the X-axis travel synchronous transmission shaft 4-7, and the final gear of the X-axis travel gear pair is connected to the X-axis active travel wheel. Technical principle of this technical feature:

[0088] Coaxial setting: The first gear of the X-axis travel gear pair is coaxially set with the driven bevel gear, which means they share the same shaft and rotate with the shaft. This design ensures that the power received by the driven bevel gear can be directly and losslessly transmitted to the first gear of the X-axis travel gear pair.

[0089] Gear transmission chain: The X-axis travel gear pair is composed of multiple gears to form a transmission chain. After the first gear receives the power, it is transmitted step by step through the subsequent gears, and finally the final gear drives the X-axis active travel wheel to rotate.

[0090] Synchronous transmission: The synchronous gear of the X-axis travel gear pair is connected to the X-axis travel gear pair in the X-axis travel gear box on the other side through the X-axis travel synchronous transmission shaft. This design ensures the synchronous rotation of the X-axis travel gear pairs on both sides, thereby ensuring the synchronous travel of the X-axis active travel wheels on both sides.

[0091] The technical effect of this technical feature:

[0092] High transmission efficiency: Gear transmission has higher transmission efficiency than chain transmission. The gears are more closely meshed, and the loss in the power transmission process is smaller, so the power of the drive motor can be used more efficiently.

[0093] Good synchronization: The synchronous gear and synchronous transmission shaft design ensures the synchronous rotation of the X-axis travel gear pairs on both sides. This improves the travel stability and accuracy of the shuttle in the X-axis direction and avoids deviation or bumping caused by different speeds of the travel wheels on both sides.

[0094] Further preferably, the final gear 4-310 of the synchronous spur gear pair 4-31 is installed on the Y-axis active walking wheel drive shaft 4-5, the Y-axis active walking wheel drive shaft is connected to the Y-axis walking drive box 4-9, the Y-axis walking gear pair 4-6 is installed in the Y-axis walking drive box, and the final gear of the Y-axis walking gear pair is connected to the Y-axis active walking wheel. The technical effect of the Y-axis active walking wheel using a cross coupling is mainly reflected in the following aspects: First, the cross coupling can effectively transmit torque, ensure the stable and reliable power transmission between the Y-axis active walking wheel drive shaft and the Y-axis walking drive box, thereby ensuring the smooth operation of the Y-axis active walking wheel. Secondly, the telescopic cross coupling design allows a certain axial displacement and angular deviation, improves the adaptability and flexibility of the system, and reduces the impact of installation errors or vibrations during operation on the equipment. In addition, the design also helps to reduce noise and wear during the transmission process, prolongs the service life of the equipment, improves the stability and reliability of the overall system, and provides a strong guarantee for the smooth operation of the equipment.

[0095] Preferably, the Y-axis travel gear pair located on one side is connected to the two Y-axis active travel wheels 2-3. The Y-axis travel gear pair located on one side is connected to the two Y-axis active travel wheels, which can achieve uniform distribution of power. This design helps to ensure that the two drive wheels obtain the same power input under the same conditions, thereby improving the stability and reliability of walking.

[0096] For further details, please refer to Figures 5 to 9 The lifting synchronous drive device 5 includes a lifting beam 5-1, which is used to install the Y-axis walking wheel. The lifting and lowering of the lifting beam drives the fork pallet to rise and fall, so as to achieve the purpose of picking up and placing goods; the lifting wheel assembly that rises and falls with the lifting beam is provided with two sets of lifting wheel assemblies 5-2 on the same side of the lifting beam, and the lifting wheel assembly realizes precise lifting control. The two work together to ensure the stable walking and lifting of the shuttle car; the lifting wheel assemblies on the left and right sides are connected by a lifting synchronous transmission shaft 5-3, which ensures the synchronization of the lifting actions on both sides and avoids The deviation and instability caused by asynchronism are eliminated, and the precision and reliability of lifting are improved; the two ends of the lifting synchronous transmission shaft are connected to the lifting gear box 5-4, and the transmission of the gear box is used to achieve smooth transmission and distribution of power, further ensuring the synchronization and stability of the lifting action; the lifting gear box is installed on the lifting gear box connecting plate 5-5, and the two ends of the lifting gear box connecting plate are connected to the frame 1; a stable support point is provided to ensure the stability and reliability of the lifting gear box during operation, and at the same time facilitate maintenance and overhaul.

[0097] The lifting gearbox is provided with a lifting gear transmission pair 5-6, and the gear transmission pair is used to reduce speed and increase torque, so as to achieve precise control of the lifting wheel assembly, and improve the sensitivity and accuracy of the lifting action; the first gear 5-7 of the lifting gear transmission pair in the lifting gearbox on one side is connected to the output shaft of the reducer 5-9, and the reducer is connected to the lifting drive motor 5-10, so as to achieve effective transmission and conversion of power, and at the same time, the deceleration effect of the reducer improves the stability and controllability of the lifting action; the secondary gear 5-7 and the final gear 5-8 of the lifting gear transmission pair are respectively connected to a group of lifting wheel assemblies through shafts, so as to achieve synchronous control of the two groups of lifting wheel assemblies, and ensure the synchronization of the lifting action.

[0098] In summary, the four-way shuttle synchronous fork lifting device realizes precise control of the shuttle lifting action through a series of carefully designed technical features, improves the stability, synchronization and reliability of the lifting, and provides a strong guarantee for the efficient operation of the shuttle.

[0099] Further preferably, the X-axis travel synchronous transmission shaft, the Y-axis active travel wheel drive shaft and / or the lifting synchronous transmission shaft adopt a split structure and are connected by a telescopic cross coupling 4-8.

[0100] Firstly, the cross coupling, with its compact structure and optimized space utilization, enables effective and flexible connection of the drive shaft within a limited space, meeting the shuttle's need for efficient space utilization.

[0101] Secondly, the telescopic cross coupling ensures the stability and synchronization of the transmission system. It not only maintains stable transmission performance and avoids transmission failure caused by vibration or impact, but also ensures high-precision synchronization of the transmission shaft during the connection process through precise manufacturing and assembly processes, which is crucial for the smooth lifting of the four-way shuttle.

[0102] In addition, the cross coupling also demonstrates excellent adaptability and flexibility. Its angle compensation capability and telescopic adjustment function enable the shuttle to maintain the best working state under different working conditions and environments, improving the overall reliability and stability of the equipment.

[0103] Finally, from the perspective of maintenance convenience and economy, the cross coupling has a simple structure, is easy to disassemble and assemble, and is convenient for daily maintenance and repair, reducing downtime and repair costs. At the same time, its long service life and good transmission performance also help improve the energy efficiency and overall economy of the equipment.

[0104] In summary, the application of telescopic cross coupling in the lifting and traveling drive of four-way shuttle not only optimizes space utilization, improves transmission stability and synchronization, but also enhances the adaptability and flexibility of the equipment, reduces maintenance costs, improves economy, and provides a strong guarantee for the efficient, stable and reliable operation of the shuttle.

[0105] Further preferably, the lifting wheel assembly 5-2 includes two connecting rods 5-20 arranged in parallel, a support shaft 5-21 installed at the lower end of the connecting rod, a lifting wheel 5-22 is installed on the support shaft, the top wheel cooperates with the oblong lifting groove 5-10 on the lifting beam, the connecting rod located on the outside is connected to the lifting bracket 5-11 through the support shaft, and the connecting rod on the inside is connected to the secondary gear or the final gear of the lifting gear transmission pair 5-6 through the shaft. The design of the lifting wheel assembly cleverly combines the parallel connecting rod and the support shaft structure to ensure that the lifting wheel is stably installed and effectively contacts the oblong lifting groove on the lifting beam, thereby realizing a precise lifting action. The outer connecting rod is connected to the lifting bracket through the support shaft, which enhances the structural stability; the inner connecting rod is directly connected to the lifting gear transmission pair, which ensures the efficient transmission of power. This design not only improves the stability and accuracy of the lifting process, but also optimizes the overall structure and enhances the reliability and durability of the system.

[0106] Further preferably, linear guide rail assemblies 5-12 are provided between the two ends of the lifting gear box connecting plate and the lifting beam. Compared with the conventional technology, this further saves the use of the slider base. Through this design optimization, not only the overall compactness of the four-way shuttle is improved, but also the manufacturing cost is reduced, and the guiding accuracy and stability during the lifting process are greatly improved. The linear guide rail assembly can effectively reduce friction, ensure smooth and unobstructed lifting action, and at the same time enhance the rigidity of the overall structure, further improving the reliability and durability of the synchronous lifting mechanism of the four-way shuttle.

[0107] For further details, please refer to Figures 10 to 15 The assembled electrical bearing frame 8 includes a first transverse bearing beam 8-1 and a second transverse bearing beam 8-2. The first transverse bearing beam and the second transverse bearing beam are arranged in parallel between the two lifting gear box mounting plates to enclose an electric control component mounting area. A longitudinal bearing beam 8-3 is arranged between the first transverse bearing beam and the second transverse bearing beam. The longitudinal bearing beam divides the electric control component installation into a first electric control area for installing the first control box 6-1 and a second electric control area for installing the second control box 6-2 and a power supply. In the second electric control area, the longitudinal bearing beam is connected with a battery bearing beam 8-4 parallel to the first transverse bearing beam and the second transverse bearing beam. The battery bearing beam is integrally bent and provided with a battery bearing beam connecting portion 8-40 on the side of the bearing beam; the battery bearing beam divides the second electric control area into a second control box mounting area and a power supply mounting area; longitudinal connecting end plates 8-5 are connected between the battery bearing beam and the first transverse bearing beam and the second transverse bearing beam near the lifting gear box mounting plate.

[0108] The technical effects of the split load-bearing frame are mainly reflected in the following aspects: First, through the parallel arrangement of the first transverse load-bearing beam and the second transverse load-bearing beam, the electric control component installation area is enclosed, providing a stable support platform for the electric control system. Secondly, the addition of the longitudinal load-bearing beam not only enhances the overall strength of the frame, but also reasonably divides the electric control component installation area into the first electric control area and the second electric control area, realizing the modular layout of the electric control system, which can significantly increase the capacity of the electric control cabinet, so that more electronic components can be arranged to meet the needs of more complex electronic systems. Secondly, by partitioning the storage of electronic components, electronic components that are prone to signal interference can be installed in different electric control cabinets respectively, which can effectively reduce the signal interference between electronic components, thereby improving the working stability of electronic components and ensuring the efficient operation of the entire electronic system. Furthermore, the design of the battery load-bearing beam further refines the functional partitioning of the second electric control area, improves the space utilization rate, and reduces the height of the vehicle. Finally, the connection of the longitudinal connecting end plate enhances the connection strength between the frame and the lifting gearbox mounting plate, ensuring the stability and reliability of the entire load-bearing frame.

[0109] Preferably, the first transverse bearing beam 8-1 includes a first horizontal support plate 8-10 and a first vertical upright plate 8-11; in the second electric control area, the first horizontal support plate is provided with an extension section 8-12, and the two ends of the extension section are upwardly provided with a first bending connection part 8-13, and the first bending connection part is used to connect the longitudinal bearing beam and the longitudinal connection end plate; the two ends of the first transverse bearing beam are provided with a first installation notch 8-14. The design of the first transverse bearing beam cleverly combines structure and function, and its technical effect is significant: the combination of the first horizontal support plate and the first vertical upright plate constitutes a stable support structure, which effectively carries the electric control components. In the second electric control area, the extension section of the first horizontal support plate and the first bending connection parts at both ends not only enhance the connection strength with the longitudinal bearing beam and the longitudinal connection end plate, but also realize the precise positioning of the electric control components. The setting of the first installation notch facilitates the rapid installation and disassembly of the skeleton and the lifting gear box mounting plate, thereby improving the assembly efficiency.

[0110] Preferably, the second transverse bearing beam 8-2 includes a second horizontal support plate 8-20 and a second vertical stand plate 8-21; in the first electric control area, the second vertical plate is provided with a second bent connection portion 8-22 toward the second horizontal support plate, and the second bent connection portion is used to install a transverse wiring slot 8-23, see Fig.14 , the transverse wiring groove 8-23 is a stamped one-piece component, which is a "J"-shaped structure, and can also adopt a snap-fit ​​structure. The present embodiment is a stamped one-piece component; second installation notches 8-24 are provided at both ends of the second transverse load-bearing beam. Its technical effect is outstanding: the combination of the second horizontal support plate and the second vertical upright plate provides a stable support surface for the electronic control component. In the first electronic control area, the second bent connection portion on the second vertical upright plate is specially designed for installing the transverse wiring groove, which effectively organizes the lines of the electronic control system and improves the neatness of the wiring and the convenience of maintenance. At the same time, the clever setting of the second installation notch simplifies the assembly process of the skeleton and the frame, speeds up the installation speed, and improves work efficiency.

[0111] Preferably, the longitudinal load-bearing beam 8-3 includes a third horizontal support plate 8-30 and a third vertical stand plate 8-31, and both ends of the third vertical stand plate are provided with a third bent connection portion 8-32 toward the third horizontal support plate side, and the third bent connection portion is used to connect the first transverse load-bearing beam and the second transverse load-bearing beam. The third horizontal support plate is located at the upper part for installing the longitudinal wiring groove 8-33. The longitudinal wiring groove 8-33 can be a stamped integral component with a "J"-shaped structure, or a buckle structure. The present embodiment is a buckle structure, please refer to Fig.15. The design of the longitudinal load-bearing beam combines structural strength with functional practicality. Its technical effect is reflected in the following aspects: the combination of the third horizontal support plate and the third vertical stand plate constitutes a solid support structure, effectively connecting the first transverse load-bearing beam and the second transverse load-bearing beam, and enhancing the stability of the entire load-bearing skeleton. The ingenious design of the third bending connection not only ensures the firmness of the connection, but also facilitates installation. The third horizontal support plate located at the top provides sufficient installation space for the longitudinal wiring trough, making the wiring of the electronic control system more neat and orderly.

[0112] Preferably, both ends of the longitudinal connection end plate 8-5 are provided with a fourth bending portion 8-50 facing the lifting gear box mounting plate. The fourth bending portion design of the longitudinal connection end plate realizes the connection of the longitudinal connection end plate, and at the same time enhances the connection strength with the connection point, ensuring the overall stability and reliability of the load-bearing frame.

[0113] For further details, please refer to Figures 16 to 22 ; A lifting guide frame 9 is installed on the fork pallet along the X-axis direction of the four-way shuttle. By installing the lifting guide frame on the fork pallet and arranging it along the X-axis direction, the stability and accuracy of the fork pallet during the lifting process can be ensured. The lifting guide frame plays a role in positioning and guiding, preventing the fork pallet from deflecting or shaking during the lifting process; the lifting guide frame 9 includes an upper crossbeam 9-1, which is the main structural component of the lifting guide frame, providing a stable support and connection point, ensuring the overall strength and stability of the lifting guide frame; a guide plate 9-2 perpendicular to the upper crossbeam is provided on the same side of both ends of the upper crossbeam, and the setting of the guide plate further enhances the guiding ability of the lifting guide frame. They cooperate with the guide wheel group to ensure that the fork pallet can move along the predetermined trajectory during the lifting process, improving the accuracy and safety of the handling; a group of guide wheel groups 3 are provided on the inner or outer side of the guide plate, and the guide wheel group is tightly fitted with the guide plate, reducing the resistance during the lifting process through rolling friction, while ensuring the smooth movement of the fork pallet. This design also improves the sensitivity and reliability of the guide. The guide wheel axle of the four-way shuttle is adjustable in the Y-axis direction on the front and rear side plates of the frame. This feature allows the guide wheel set to be adjusted along the Y-axis direction during initial installation to accommodate different machining accuracies and installation errors. This ensures that the guide wheels of the guide wheel set can fit tightly with the guide plate, thereby playing an effective guiding role. This adjustable design also improves the versatility and adaptability of the equipment.

[0114] Further preferably, the upper crossbeam 9-1 and the guide plate 9-2 are an integrated structure; designing the upper crossbeam and the guide plate as an integrated structure can significantly improve the overall strength and rigidity of the lifting guide frame and reduce the guide error caused by loose or deformed connecting parts. This design also simplifies the manufacturing and assembly process and improves production efficiency. It can also be a split structure.

[0115] Further preferably, the upper crossbeam is detachably mounted on the outer end surface of the fork support plate through a connector (bolt). The detachable design facilitates the maintenance and replacement of the lifting guide frame, reducing the maintenance cost. At the same time, this design also allows the position or number of the lifting guide frame to be adjusted according to actual needs, improving the flexibility and adaptability of the equipment.

[0116] Further preferably, the guide wheel group 10 includes a guide wheel shaft 10-1 installed on the front and rear side plates of the frame, a guide wheel 10-2 is installed on the guide wheel shaft, the outer wall of the guide wheel is in contact with the side wall of the lifting guide plate, and the shaft end of the guide wheel shaft is installed with a retaining ring 10-3 through a fastener to prevent the guide wheel from axial movement. The design of the guide wheel group ensures that the fork support plate can move smoothly along the guide plate during the lifting process. The setting of the retaining ring effectively prevents the axial movement of the guide wheel shaft when it is subjected to force, thereby improving the stability and reliability of the guide.

[0117] Further preferably, the guide wheel 10-2 includes a bearing 10-20 and a non-metallic tire 10-21 mounted on the outer side of the guide wheel, and the outer side of the tire contacts the side wall of the guide frame. The use of the non-metallic tire reduces the friction coefficient between the guide wheel and the guide plate, reduces wear and noise. At the same time, the non-metallic tire has good elasticity and shock absorption performance, which can further improve the stability and comfort of the fork pallet lifting.

[0118] Further preferably, a limiting ring 10-22 is integrally provided on the inner side of the tire 10-21, and the inner diameter of the limiting ring is smaller than the inner diameter of the outer ring of the bearing; an annular groove 10-23 is symmetrically provided on the inner circumferential surface of the tire on the limiting ring, and a snap ring 10-24 is provided in the annular groove to prevent the tire from axial movement. The design of the limiting ring and the snap ring together ensures the stable installation of the tire on the guide wheel shaft, and prevents the tire from axial movement or falling off when subjected to force. This design improves the overall stability and safety of the guide wheel set.

[0119] Further preferably, the tire is a conical tire, and its small diameter end is close to the front and rear side plates of the frame. This shape design allows the tire to gradually and smoothly transition to a full contact state when in contact with the guide plate, reducing the impact and wear during initial contact. The side of the guide plate that matches the tire is provided with an inclined surface 9-20 that is consistent with the cone angle of the conical tire. This design ensures that the tire can maintain a close fit with the guide plate during the lifting process, and can provide a stable guiding effect both during initial installation and in subsequent use. By adjusting the position of the guide wheel group, it can be ensured that the guide wheel and the guide plate are in a close fit. This fit not only improves the accuracy and stability of the guidance, but also reduces the noise and vibration caused by the gap.

[0120] Further preferably, the wheel axle 10-1 includes a connecting section 10-10, a clamping section 10-11 and a guide wheel installation section 10-12, and the connecting section is a threaded connecting section; threaded holes 1-10 are provided on the front and rear side panels of the frame corresponding to the external threads of the connecting section. The threaded connection design makes the installation and removal of the wheel axle more convenient and quick, and improves the maintainability of the equipment. At the same time, the threaded connection also has high connection strength and stability, which can ensure the safety and reliability of the wheel axle when subjected to force. At the same time, it is convenient to adjust the position of the guide wheel group along the Y-axis direction.

[0121] Further preferably, the clamping section is provided with at least one set of clamping surfaces 10-13 arranged opposite to each other. Convenient for tool clamping: The clamping surfaces arranged opposite to each other designed on the clamping section provide convenient clamping points for installing, removing or adjusting the guide wheel set. These clamping surfaces usually have flat, smooth and mutually parallel surfaces, which can fit tightly to the clamping tools (such as wrenches, pliers, etc.), ensuring stable clamping and not easy to slide.

[0122] Improved operational convenience: Due to the presence of the clamping surface, operators can more easily apply force to the guide wheel set, whether tightening, loosening or adjusting the position, it can be completed more quickly and accurately. This greatly improves the convenience and efficiency of operation and reduces equipment damage or safety accidents that may be caused by improper operation.

[0123] Protect equipment: The clamping surfaces set opposite to each other can ensure that the force applied by the clamping tool to the guide wheel set during operation is uniform and controllable, avoiding deformation or damage to the equipment caused by uneven force. At the same time, the design of the clamping surface also reduces the area of ​​direct contact between the clamping tool and the guide wheel set, reducing the wear and damage caused by friction.

[0124] Further preferably, the fork pallets on both sides of the four-way shuttle are equipped with the above-mentioned guide mechanisms, and the centers of the guide mechanisms on both sides are located on the same straight line. This design greatly improves the stability and accuracy of the fork pallets during lifting operations. Compared with the possible instability problem of diagonal settings in traditional technologies, this solution effectively balances the force distribution, avoids deformation or damage of the equipment due to uneven force, and significantly improves the durability and service life of the equipment.

[0125] In addition, the symmetrical guide mechanism design not only enhances the overall aesthetics of the equipment, but also makes the equipment more stable during operation, reduces vibration and noise, and improves the user experience. This design not only reflects the precise control of equipment performance, but also shows a deep insight into user experience.

[0126] Further preferably, a plurality of connection components 11 with a shock absorbing function for connecting the assembled electrical load-bearing frame are provided on the lower surface of the control box, including a damping sleeve 11-1 and screws 11-2. The damping sleeve can effectively absorb and reduce vibration caused by bumps, thereby protecting electronic components from damage. The screws are used to fix the damping sleeve to ensure that it does not fall off during vibration.

[0127] In summary, the assembled four-way shuttle vehicle of the present invention has achieved remarkable technical effects in reducing the weight of the vehicle body, enhancing the scalability of the structure, improving the protection of the wiring harness and the rationality of the wiring, simplifying the wiring process and enhancing the bearing strength of the vehicle body.

[0128] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An assembled four-way shuttle vehicle, comprising a frame, a four-way shuttle wheel set mounted on the frame, the four-way shuttle wheel set comprising X-axis active travel wheels respectively mounted on the front and rear sides of the frame for traveling along the X-axis travel direction; Y-axis active travel wheels respectively mounted on the left and right sides of the frame for traveling along the Y-axis direction; a fork lifting device mounted at both ends of the frame for driving a fork pallet to move up and down; a travel synchronous drive device mounted in the frame, and a control box and a power supply mounted in the frame for moving with the entire vehicle; characterized in that: The frame adopts an assembled structure, including a left side plate of the frame, a front side plate of the frame, a right side plate of the frame and a rear side plate of the frame, which are spliced ​​in sequence end to end; lifting gear box connecting plates perpendicular to the front side plate and the rear side plate of the frame are symmetrically arranged inside the frame; bottom plates are installed below the lifting gear box connecting plates on both sides; an assembled electrical bearing frame is detachably installed above the bottom plate in the frame.

2. According to claim 1, the assembled four-way shuttle vehicle is characterized in that: The walking synchronous drive device includes a driving motor, the driving motor is connected to a reducer, the reducer is connected to a synchronous transmission box, and a synchronous gear transmission system is installed in the synchronous transmission box to drive the X-axis active walking wheel and the Y-axis active walking wheel to rotate synchronously.

3. According to claim 2, the assembled four-way shuttle vehicle is characterized in that: The synchronous gear transmission system includes a reversing bevel gear pair installed to drive the X-axis active walking wheels on both sides to rotate synchronously; the reversing bevel gear pair is connected to the X-axis walking gear pair, and the X-axis walking gear pair is connected to the X-axis active walking wheel; a synchronous spur gear pair drives the Y-axis active walking wheel to rotate synchronously, the synchronous spur gear pair is connected to the Y-axis walking gear pair through the Y-axis active walking wheel drive shaft, and the Y-axis walking gear pair is connected to the Y-axis active walking wheel.

4. According to claim 3, the assembled four-way shuttle vehicle is characterized in that: The reversing bevel gear pair includes an input bevel gear installed on the output shaft of the reducer, the input bevel gear meshes with a driven bevel gear, the driven bevel gear is installed on the X-axis travel gear box through the bevel gear shaft, and the X-axis travel gear pair is installed in the X-axis travel gear box.

5. The assembled four-way shuttle vehicle according to claim 4 is characterized in that: The first-stage gear of the X-axis travel gear pair is coaxially arranged with the driven bevel gear, the final-stage gear of the X-axis travel gear pair is connected to the X-axis active travel wheel, the synchronous gear of the X-axis travel gear pair is connected to the X-axis travel gear pair in the X-axis travel gear box on the other side through the X-axis travel synchronous transmission shaft, and the final-stage gear of the X-axis travel gear pair is connected to the X-axis active travel wheel.

6. The synchronous travel drive assembly of the four-way shuttle according to claim 1 is characterized in that: The final gear of the synchronous spur gear pair is installed on the Y-axis active walking wheel drive shaft, the Y-axis active walking wheel drive shaft is connected to the Y-axis walking drive box, the Y-axis walking gear pair is installed in the Y-axis walking drive box, and the final gear of the Y-axis walking gear pair is connected to the Y-axis active walking wheel.

7. The assembled four-way shuttle vehicle according to claim 2, characterized in that: The fork lifting device includes a lifting beam for installing a Y-axis walking wheel, and a fork pallet is installed on the upper surface of the lifting beam; a lifting wheel assembly that is lifted and lowered with the lifting beam, two sets of lifting wheel assemblies are provided on the lifting beam on the same side, and the lifting wheel assemblies on the left and right sides are connected by a lifting synchronous transmission shaft, and both ends of the lifting synchronous transmission shaft are connected to a lifting gear box; the lifting gear box is installed on the lifting gear box connecting plate.

8. The assembled four-way shuttle vehicle according to claim 7, characterized in that: A lifting gear transmission pair is provided in the lifting gear box. The first-stage gear of the lifting gear transmission pair in the lifting gear box on one side is connected to the output shaft of the reducer, and the reducer is connected to the lifting drive motor; the secondary gear and the final gear of the lifting gear transmission pair are respectively connected to a group of lifting wheel assemblies through shafts.

9. The assembled four-way shuttle according to claim 5, 6, or 7, characterized in that: The X-axis walking synchronous transmission shaft, the Y-axis active walking wheel driving shaft and / or the lifting synchronous transmission shaft adopt a split structure and are connected through a telescopic cross coupling.

10. The assembled four-way shuttle vehicle according to claim 1, characterized in that: The lifting wheel assembly includes two connecting rods arranged in parallel, a supporting shaft installed at the lower end of the connecting rod, a lifting wheel installed on the supporting shaft, the top wheel cooperates with the oblong lifting groove on the lifting beam, the connecting rod located on the outside is connected to the lifting bracket through the supporting shaft, and the connecting rod on the inside is connected to the secondary gear or the final gear of the lifting gear transmission pair through the shaft.

11. The assembled four-way shuttle vehicle according to claim 10, characterized in that: Linear guide rail assemblies are arranged between the two ends of the lifting gear box connecting plate and the lifting beam.

12. The assembled four-way shuttle vehicle according to claim 1, characterized in that: The assembled electrical bearing frame includes a first transverse bearing beam and a second transverse bearing beam, which are arranged in parallel between two lifting gear box mounting plates to enclose an electric control component mounting area, and a longitudinal bearing beam is arranged between the first transverse bearing beam and the second transverse bearing beam. The longitudinal bearing beam divides the electric control component installation into a first electric control area for installing a first control box and a second electric control area for installing a second control box and a power supply. In the second electric control area, the longitudinal bearing beam is connected to a battery bearing beam parallel to the first transverse bearing beam and the second transverse bearing beam. A battery bearing beam connecting portion is integrally bent from the bearing beam side, and the battery bearing beam divides the second electric control area into a second control box mounting area and a power supply mounting area; longitudinal connecting end plates are connected between the battery bearing beam and the first transverse bearing beam and the second transverse bearing beam near the lifting gear box mounting plate side.

13. The assembled four-way shuttle vehicle according to claim 12, characterized in that: The first transverse load-bearing beam includes a first horizontal support plate and a first vertical stand; in the second electric control area, the first horizontal support plate is provided with an extension section, and both ends of the extension section are upwardly provided with first bent connecting parts, and the first bent connecting parts are used to connect the longitudinal load-bearing beam and the longitudinal connecting end plate; both ends of the first transverse load-bearing beam are provided with first installation notches.

14. The assembled four-way shuttle vehicle according to claim 12, characterized in that: The second transverse bearing beam includes a second horizontal support plate and a second vertical stand plate; in the first electric control area, the second vertical plate is provided with a second bent connection portion toward the second horizontal support plate, and the second bent connection portion is used to install a transverse wiring groove; second installation notches are provided at both ends of the second transverse bearing beam.

15. The assembled four-way shuttle vehicle according to claim 12, characterized in that: The longitudinal load-bearing beam includes a third horizontal support plate and a third vertical upright plate. The two ends of the third vertical upright plate are provided with a third bent connection portion toward the third horizontal support plate. The third bent connection portion is used to connect the first transverse load-bearing beam and the second transverse load-bearing beam. The third horizontal support plate is located at the upper part for installing the longitudinal wiring groove.

16. The assembled four-way shuttle vehicle according to claim 1, characterized in that: A lifting guide frame is installed on the fork support plate along the X-axis direction of the four-way shuttle, and the lifting guide frame includes an upper crossbeam. Guide plates perpendicular to the upper crossbeam are provided on the same side of both ends of the upper crossbeam, and a group of guide wheel groups are provided on the inner side or the outer side of the guide plate. The guide wheel shaft is adjustably installed on the front and rear side plates of the frame in the Y-axis direction of the four-way shuttle.

17. The assembled four-way shuttle vehicle according to claim 16, characterized in that: The guide wheel assembly includes a guide wheel shaft installed on the front and rear side plates of the frame, a guide wheel is installed on the guide wheel shaft, the outer wall of the guide wheel is in contact with the side wall of the lifting guide plate, and a retaining ring is installed on the shaft end of the guide wheel shaft through a fastener to prevent the guide wheel from axial movement.

18. The assembled four-way shuttle vehicle according to claim 17, characterized in that: The outer circumference of the guide wheel is a tapered tire, the small diameter end of which is close to the front and rear side plates of the frame, and the side surface of the guide plate matched with the tire is provided with an inclined surface consistent with the cone angle of the tapered tire.

19. The assembled four-way shuttle vehicle according to claim 17, characterized in that: The guide wheel shaft comprises a connecting section, a clamping section and a guide wheel mounting section, wherein the connecting section is a threaded connecting section; threaded holes are arranged on the front and rear side plates of the frame corresponding to the external threads of the connecting section.

20. The assembled four-way shuttle vehicle according to claim 1, characterized in that: A plurality of connection components with a shock absorbing function for connecting the assembled electrical bearing frame are arranged on the lower surface of the control box.

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