Four-way shuttle machine

Abstract

The invention relates to a four-way shuttle machine which comprises a movable vehicle body device, and the movable vehicle body device comprises a vehicle frame, a walking driving mechanism, a first walking mechanism, a second walking mechanism and a lifting mechanism. The walking driving mechanism comprises a walking driving motor, a first output shaft and a second output shaft, and the walking driving motor drives the first output shaft and the second output shaft to rotate at the same time; the first walking mechanism comprises a plurality of first walking wheels installed on a first walking support of the frame, first synchronous belt wheels A, first synchronous belt wheels B and first synchronous belts, the first synchronous belt wheels B are fixed to the first output shaft, and at least one first synchronous belt wheel A connected with the first synchronous belt wheels B through one first synchronous belt is arranged; the first walking wheel and the second walking wheel are coaxially fixed; the second walking mechanism comprises a plurality of second walking wheels mounted on the frame and a second walking transmission assembly, and the second output shaft drives the second walking wheels to rotate through the second walking transmission assembly; the lifting mechanism is connected with the first walking support.

Description

Technical Field

[0001] The invention relates to the technical field of material transportation equipment, and in particular to a four-way shuttle. Background Art

[0002] The four-way shuttle is a highly automated logistics equipment in the logistics industry. It can move in the X-axis and Y-axis directions of the shelf to realize shuttle operation in four directions: front, back, left, and right. It has the functions of automatic lane changing, layer changing, storage and retrieval, fast speed, accurate positioning, simple control, and can effectively improve warehouse storage efficiency and operational accuracy. The four-way shuttle achieves precise positioning and autonomous driving through advanced control systems, electric drive systems, and navigation systems, and can complete tasks such as cargo handling, sorting, and storage. It has a flexible design and can shuttle freely between multi-layer shelves. It is suitable for a variety of storage units and complex environments. It is an indispensable intelligent handling equipment in modern automated warehouse systems.

[0003] When the four-way shuttle is working, it is necessary to frequently switch the direction of movement, as well as to grab and put down the material box. In order to switch the direction of movement, the existing four-way shuttle is often driven by different driving mechanisms in the front and rear directions and the left and right directions, so as to select the direction of movement. For example, the invention patent with application number CN20231173261.9 discloses a clamping four-way shuttle, which drives the walking wheels in two directions respectively by two motors. This method has the problem of complex structure, and the two motors need to be started and stopped frequently during the movement. In addition, the existing four-way shuttle usually needs to be used in conjunction with a hoist when transporting goods to different heights. The hoist is used to lift the four-way shuttle together with the material box to the shelf, and then the four-way shuttle moves on the shelf, and the working efficiency is relatively low. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a four-directional shuttle that can achieve four-directional movement through one driving source and can quickly and conveniently switch the movement direction.

[0005] To achieve the above-mentioned purpose, the present invention provides a four-way shuttle, including a mobile body device, the mobile body device includes a frame, a travel drive mechanism, a first travel mechanism, a second travel mechanism and a lifting mechanism, the frame includes a first travel bracket and a second travel bracket, and the first travel bracket can move up and down relative to the second travel bracket; the travel drive mechanism is installed on the frame, and includes a travel drive motor, a first output shaft and a second output shaft, and the travel drive motor drives the first output shaft and the second output shaft to rotate simultaneously; the first travel mechanism includes a first wheel group and a first travel transmission assembly, the first wheel group includes a plurality of first travel wheels installed on the first travel bracket, the first travel transmission assembly includes a first synchronous pulley A, a first synchronous pulley B and a first synchronous belt, the first synchronous pulley B is fixed to the first output shaft, at least A first synchronous pulley A is provided which is connected to a first synchronous pulley B via a first synchronous belt, the first synchronous pulley A is coaxially fixed with the first travel wheel, and when the first travel wheel rotates, the frame is driven to move linearly along the first direction; the second travel mechanism comprises a second wheel set and a second travel transmission assembly, the second wheel set comprises a plurality of second travel wheels mounted on a second travel bracket, the second output shaft of the travel drive mechanism is connected to at least one second travel wheel via the second travel transmission assembly, and can drive the second travel wheel to rotate, and when the second travel wheel rotates, the frame is driven to move linearly along the second direction; the lifting mechanism is connected to the first travel bracket, and is used to drive the first travel bracket to lift and lower; the first synchronous belt has telescopic elasticity, or also comprises a tensioning mechanism which can adjust the shape of the first synchronous belt to ensure its tension.

[0006] Furthermore, the mobile body device includes a tensioning mechanism installed on the frame, the tensioning mechanism includes a tensioning wheel connected to the first synchronous belt, and when the lifting mechanism drives the first traveling bracket to move upward, the tensioning wheel actively or passively moves in a direction to further tension the first synchronous belt, and when the lifting mechanism drives the first traveling bracket to move downward, the tensioning wheel actively or passively moves in a direction to loosen the first synchronous belt.

[0007] Furthermore, the tensioning mechanism also includes a fixed block, a return spring and a moving seat, the tensioning wheel is installed on the moving seat, the return spring is arranged between the moving seat and the fixed block, and the first walking bracket presses down on the moving seat; when the first walking bracket moves downward, it will press down the moving seat to move and the tensioning wheel will relax the first synchronous belt, and the return spring is in an elastic energy storage state; when the first walking bracket moves upward, the return spring drives the moving seat to move and the tensioning wheel will further tension the first synchronous belt.

[0008] Furthermore, the lifting mechanism includes a lifting drive shaft installed on the frame, a lifting drive cam fixed to the lifting drive shaft, and a lifting drive motor driving the lifting drive shaft to rotate. The lifting drive shaft is fixed to the second walking bracket in the up and down directions. A lifting drive groove is fixed on the first walking bracket. The lifting drive cam is arranged in the lifting drive groove and is matched with the upper and lower side clearances of the lifting drive groove. When the lifting drive shaft rotates, the lifting drive cam drives the lifting drive groove to move up and down.

[0009] Furthermore, the lifting mechanism also includes a lifting transmission assembly arranged between the lifting drive shaft rotation and the lifting drive motor, and the lifting transmission assembly includes two lifting synchronous pulleys respectively fixed on the lifting drive shaft rotation and the lifting drive motor output shaft, and a lifting synchronous belt connecting the two lifting synchronous pulleys.

[0010] Furthermore, it also includes a hanging box device and a lifting device, the hanging box device is arranged on the lower side of the mobile body device, and is used to connect with the suspended object. The lifting device is installed on the frame of the mobile body device, and includes multiple lifting wheels, and a lifting drive mechanism that drives all lifting wheels to rotate synchronously. A lifting belt is wound around the lifting wheel, and the lower end of the lifting belt is connected to the hanging box device.

[0011] Furthermore, the lifting drive mechanism includes a lifting drive motor, a lifting drive shaft, N lifting drive wheels and N lifting driven wheels. The N lifting driven wheels are coaxially fixed with the N lifting wheels. The N lifting drive wheels are installed on the lifting drive shaft. The N lifting drive wheels drive the N lifting driven wheels respectively, and the lifting drive wheels are directly meshed and connected to the lifting driven wheels or connected through a transmission belt. The lifting drive motor drives the lifting drive shaft to rotate.

[0012] Furthermore, the box hanging device includes a box card platform, and a buckle and a card drive mechanism both installed on the box card platform, and the card drive mechanism drives the buckle to move on the box card platform; the lower end of the lifting belt is connected to the box card platform.

[0013] Furthermore, the card-connecting drive mechanism includes a card-connecting drive motor, a card-connecting drive shaft and a movable bracket, the card-connecting drive shaft is provided with a screw segment, the movable bracket is provided with a nut threadedly connected to the screw segment, the buckle is installed on the movable bracket, and the card-connecting drive motor drives the card-connecting drive shaft to rotate.

[0014] Furthermore, the clamping drive mechanism has multiple clamping drive shafts that are parallel to each other, a linkage synchronous belt transmission assembly is provided between two clamping drive shafts, and synchronous rotation is achieved through the linkage synchronous belt transmission assembly.

[0015] As described above, the four-way shuttle according to the present invention has the following beneficial effects:

[0016] By setting up a mobile body device, a travel drive mechanism can be used to drive the first travel wheel and the second travel wheel to rotate simultaneously, and the height of the first travel wheel can be adjusted by a lifting mechanism to achieve switching of the movement direction. The travel drive mechanism does not need to stop working when switching between the two directions. It is flexible and convenient to use and can effectively simplify the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the four-way shuttle of the present invention.

[0018] Figure 2 It is a main structural schematic diagram of the mobile vehicle body device in the present invention.

[0019] Figure 3 It is a main structural schematic diagram of the mobile vehicle body device in the present invention.

[0020] Figure 4 It is a structural schematic diagram of the lifting mechanism in the present invention.

[0021] Figure 5 It is a structural schematic diagram of the lifting mechanism in the present invention.

[0022] Figure 6 It is a schematic structural diagram of the lifting device in the present invention.

[0023] Figure 7 It is a schematic structural diagram of the hanging box device in the present invention.

[0024] Description of Figure Numbers

[0025] 1 Frame

[0026] 11 First walking support

[0027] 111 Lifting drive slot

[0028] 2 Travel drive mechanism

[0029] 21 Travel drive motor

[0030] 22 First output shaft

[0031] 3. The first walking mechanism

[0032] 31 First travel wheel

[0033] 32 First synchronous pulley A

[0034] 33 First synchronous pulley B

[0035] 34 Intermediate synchronous pulley

[0036] 35 Intermediate transmission shaft

[0037] 4 Second walking mechanism

[0038] 41 Second running wheel

[0039] 42 Second synchronous pulley A

[0040] 43 Second synchronous pulley B

[0041] 44 Travel linkage axis

[0042] 5 Tensioning mechanism

[0043] 51 tension pulley

[0044] 52 Mobile Seat

[0045] 53 Return spring

[0046] 54 Fixed block

[0047] 55 Mounting rail

[0048] 6 Lifting mechanism

[0049] 61 Lifting drive motor

[0050] 62 lifting synchronous pulley

[0051] 63 Lifting drive shaft

[0052] 64 Lifting drive cam

[0053] 7 Lifting device

[0054] 71 Lifting wheel

[0055] 72 Lifting drive motor

[0056] 73 Lifting drive shaft

[0057] 74 Lifting drive wheel

[0058] 75 Lifting driven wheel

[0059] 76 Lifting Timing Belt Drive Assembly

[0060] 8. Hanging box device

[0061] 81 Card Box Platform

[0062] 82 Buckle

[0063] 83 Card drive motor

[0064] 84 Card-connected transmission synchronous pulley A

[0065] 85 Card-connected transmission synchronous pulley B

[0066] 86 Card-connected drive shaft

[0067] 861 Screw segment

[0068] 87 Mobile Bracket

[0069] 871 Nut

[0070] 88 Linked synchronous pulley

[0071] 9 Material box DETAILED DESCRIPTION

[0072] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0073] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0074] See also Figures 1 to 7The present invention provides a four-way shuttle, including a mobile body device, the mobile body device includes a frame 1, a travel drive mechanism 2, a first travel mechanism 3, a second travel mechanism 4 and a lifting mechanism 6, the frame 1 is used as an installation basis for other structures, including a first travel bracket 11 and a second travel bracket (not shown in the drawings), the first travel bracket 11 and the second travel bracket are used as installation bases for the first travel mechanism 3 and the second travel mechanism 4 respectively, and the first travel bracket 11 can move up and down relative to the second travel bracket, and the second travel bracket is preferably fixed in the frame 1; the travel drive mechanism 2 is installed on the frame 1, including a travel drive motor 21, a first output shaft 22 and a second output shaft (not shown in the drawings), the travel drive motor 21 drives the first output shaft 22 and the second output shaft to rotate simultaneously; the first travel mechanism 3 includes a first wheel group and a first travel transmission assembly, the first wheel group includes a plurality of first travel wheels 31 installed on the first travel bracket 11, and the first travel transmission assembly includes a first synchronous pulley A32, The first synchronous pulley B33 and the first synchronous belt (not shown in the drawings), the first synchronous pulley B33 is fixed to the first output shaft 22, and at least one first synchronous pulley A32 is provided which is connected to the first synchronous pulley B33 via a first synchronous belt, the first synchronous pulley A32 is coaxially fixed with the first walking wheel 31, and when the first walking wheel 31 rotates, the frame 1 is driven to move linearly along the first direction; the second walking mechanism 4 includes a second wheel group and a second walking transmission assembly, the second wheel group includes a plurality of second walking wheels 41 installed on the second walking bracket, the second output shaft of the walking drive mechanism 2 is connected to at least one second walking wheel 41 through the second walking transmission assembly, and can drive the second walking wheel 41 to rotate, and when the second walking wheel 41 rotates, the frame 1 is driven to move linearly along the second direction; the lifting mechanism 6 is connected to the first walking bracket 11, and is used to drive the first walking bracket 11 to move up and down; the first synchronous belt has telescopic elasticity, or also includes a tensioning mechanism 5 which can adjust the shape of the first synchronous belt to ensure its tension.

[0075] The basic working principle of the four-way shuttle involved in the present invention is as follows: the moving body device is used to drive the four-way shuttle to move in four directions, wherein the frame 1 is used as the installation base of other structures and is used to install other functional devices of the four-way shuttle. When working, the travel drive motor 21 of the travel drive mechanism 2 rotates, the first output shaft 22 and the second output shaft rotate simultaneously, and simultaneously drive the first travel mechanism 3 and the second travel mechanism 4, specifically, the first output shaft 22 drives the first synchronous pulley B33 of the first travel transmission assembly, the first synchronous pulley B33 drives the first synchronous pulley B33 through the first synchronous belt, and drives at least one first travel wheel 31 to actively rotate, wherein the number of the first travel wheels 31 can be set according to actual needs, the active wheel driven by the first travel transmission assembly is the active wheel, and the rest are passive wheels; when the first output shaft 22 rotates, at least one second travel wheel 41 is driven to rotate through the second travel transmission assembly, wherein the number of the second travel wheels 41 can be set according to actual needs, the active wheel driven by the second travel transmission assembly is the active wheel, and the rest are passive wheels. The first walking bracket 11 is driven down by the lifting mechanism 6, so that the bottom of the first walking wheel 31 is lower than the bottom of the second walking wheel 41, the first walking wheel 31 contacts the walking work surface (which can be the ground or the shelf platform), and the second walking wheel 41 is in a suspended state, thereby driving the mobile body device to walk in a straight line along the first direction, and by changing the forward and reverse rotation of the walking drive motor 21, reciprocating walking in the first direction can be achieved; when switching to walking in the second direction, the first walking bracket 11 is driven up by the lifting mechanism 6, so that the bottom of the first walking wheel 31 is higher than the bottom of the second walking wheel 41, the first walking wheel 31 is in a suspended state, and the second walking wheel 41 contacts the walking work surface, thereby driving the mobile body device to walk in the second direction, and by changing the forward and reverse rotation of the walking drive motor 21, reciprocating operation in the second direction can be achieved. The first direction and the second direction are preferably perpendicular to each other, but of course they may not be perpendicular. Preferably, the first direction is the front and rear direction of the four-way shuttle, and the second direction is the left and right direction, then the first walking wheel 31 is the front and rear walking wheel, and the second walking wheel 41 is the left and right walking wheel. During the direction switching process, the first walking bracket 11 moves up and down, the height of the walking drive mechanism 2 remains unchanged, and the height of the second walking bracket remains unchanged. Therefore, the height difference between the first synchronous pulley A32 and the first synchronous pulley B33 will change. Since the first walking wheel 31 only needs to be slightly higher or lower than the second walking wheel 41 during the switching process, the height difference between the first synchronous pulley A32 and the first synchronous pulley B33 can be very small. The first synchronous belt is set to be made of a material with a certain elastic deformation ability. The first synchronous belt will have a certain telescopic elasticity, so that it can undergo a certain telescopic deformation during the lifting process and always maintain a certain degree of tension. A tensioning mechanism 5 can also be set. During the lifting process of the first walking bracket 11, the shape of the first synchronous belt is adjusted by the tensioning mechanism 5 to ensure that it always maintains a certain degree of tension.

[0076] The four-way shuttle of the present invention can realize the switching of the movement direction by setting a moving body device, using a travel drive mechanism 2 to drive the first travel wheel 31 and the second travel wheel 41 to rotate simultaneously, and using a lifting mechanism 6 to adjust the height change of the first travel wheel 31. It is flexible and convenient to use and can effectively simplify the structure.

[0077] See also Figures 1 to 7 The present invention is further described below with a specific embodiment:

[0078] In this embodiment, see Figure 2 and Figure 3 As a preferred design, the first wheel group in the first walking mechanism 3 includes four first walking wheels 31, and they are symmetrically arranged on the left and right sides of the frame 1 in pairs, and are symmetrically arranged on the left and right sides of the frame 1 in pairs. The first walking bracket 11 includes two side panels arranged on the left and right sides of the frame 1, and the first walking wheels 31 on one side are installed in the side panel on that side. Similarly, the first wheel group of the second walking mechanism 4 also includes four second walking wheels 41, and they are symmetrically arranged on the front and rear sides of the frame 1 in pairs. The first walking wheels 31 and the second walking wheels 41 can also be set in other appropriate numbers.

[0079] In this embodiment, see Figure 2 and Figure 3Further, the first travel transmission assembly also includes an intermediate transmission shaft 35 installed in the frame 1, and two intermediate synchronous pulleys 34 fixed to the intermediate transmission shaft 35. There are two first synchronous pulleys A32, which are coaxially fixed to the two first travel wheels 31 arranged oppositely. One of the first synchronous pulleys A32 is connected to the first synchronous pulley B33 through a first synchronous belt, and the first synchronous belt is also connected to an intermediate synchronous pulley 34 at the same time. The other first synchronous pulley A32 is directly connected to the other intermediate synchronous pulley 34 through a first synchronous belt. In this way, when the first synchronous pulley B33 drives the first synchronous pulley A32 to rotate through the first synchronous belt, it will also drive an intermediate synchronous pulley 34 to rotate. Then, the intermediate transmission shaft 35 and the other intermediate synchronous pulley 34 thereon rotate at the same time, and drive the other first synchronous pulley A32 to rotate through the first synchronous belt. Therefore, the two first travel wheels 31 arranged oppositely rotate at the same time as the driving wheels. In this embodiment, a travel linkage shaft 44 is fixed between the second travel wheels 41 arranged symmetrically in pairs, and synchronous rotation is achieved through the travel linkage shaft 44. With the above design, the first travel wheel 31 and the second travel wheel 41 can be wheels with the same diameter, and the first travel wheel 31 will not interfere with the travel linkage shaft 44 during the lifting process. In other embodiments, the two oppositely arranged first travel wheels 31 can also be synchronously rotated through an intermediate linkage shaft. In this case, the first travel wheel 31 can be a wheel with a different diameter from the second travel wheel 41 to avoid interference between the intermediate linkage shaft and the travel linkage shaft 44 between the second travel wheels 41.

[0080] In this embodiment, see Figure 2 and Figure 3 As a preferred design, the second travel transmission assembly of the second travel mechanism 4 includes a second synchronous pulley A42, a second synchronous pulley B43 and a second synchronous belt (not shown in the drawings). The second synchronous pulley B43 is fixed to the second output shaft, and the second synchronous pulley A42 is fixed to the travel linkage shaft 44, so as to be coaxially fixed with the two second travel wheels 41. The second synchronous belt connects the second synchronous pulley A42 and the second synchronous pulley B43. When the second output shaft rotates, it drives the second synchronous pulley B43, and then drives the second synchronous pulley A42 through the second synchronous belt, thereby driving the two second travel wheels 41 to rotate. These two second travel wheels serve as driving wheels, and the remaining second travel wheels 41 serve as passive wheels. In other embodiments, the second travel transmission assembly may also adopt other existing suitable structures.

[0081] In this embodiment, see Figure 2 and Figure 3The travel drive mechanism 2 mainly includes a travel drive motor 21 and a reduction box. The reduction box is provided with a first output shaft 22, a second output shaft and an intermediate transmission part. The output shaft of the travel drive motor 21 drives the first output shaft 22 and the second output shaft to rotate simultaneously through the intermediate transmission part, wherein the intermediate transmission part can generally be matched with a gear assembly. The travel drive motor 21 and the reduction box constitute an integral reduction motor, and the existing structure can be adopted.

[0082] In this embodiment, see Figure 2 and Figure 3 As a preferred design, the mobile vehicle body device also includes a tensioning mechanism 5 installed on the vehicle frame 1, the tensioning mechanism 5 includes a tensioning wheel 51 connected to the first synchronous belt, when the lifting mechanism 6 drives the first traveling bracket 11 to move upward, the tensioning wheel 51 actively or passively moves in a direction to further tension the first synchronous belt, and when the lifting mechanism 6 drives the first traveling bracket 11 to move downward, the tensioning wheel 51 actively or passively moves in a direction to relax the first synchronous belt. Specifically, in this embodiment, the tensioning mechanism 5 also includes a fixed block 54, a return spring 53, a moving seat 52 and a mounting rail 55, and the mounting rail 55 is fixed to the second traveling bracket to maintain a constant height and does not move up and down with the first traveling bracket 11. The fixed block 54 is fixedly mounted on the mounting rail 55, the movable seat 52 is preferably linearly movable on the mounting rail 55, the first traveling bracket 11 is pressed down on the movable seat 52, the tensioning wheel 51 is mounted on the movable seat 52, the return spring 53 is arranged between the movable seat 52 and the fixed block 54, and can be a tension spring, a compression spring or other types of springs, the movable seat 52 can adopt a wedge-shaped structure, and mutually cooperating pressing inclined surfaces (not shown in the drawings) are arranged on the movable seat 52 and / or the first traveling bracket 11. When the first traveling bracket 11 moves downward, the first synchronous pulley A32 drops accordingly, which will further tighten the first synchronous belt. At the same time, the first traveling bracket 11 will press the movable seat 52 down through the pressing inclined surface, so that the movable seat 52 moves, and the tensioning wheel 51 reduces the extrusion of the first synchronous belt, so that the first synchronous belt is relaxed, offsetting the tensioning effect caused by the decline of the first synchronous pulley A32, so that the tension of the first synchronous belt remains basically unchanged. When the first traveling support 11 moves upward, the first synchronous pulley A32 rises accordingly, which gradually loosens the first synchronous belt. At the same time, the movable seat 52 moves under the elastic force of the reset spring 53, and drives the tensioning wheel 51 to move. The tensioning wheel 51 further increases the squeezing of the first synchronous belt, so that the first synchronous belt is further tensioned, offsetting the relaxation effect caused by the rise of the first synchronous pulley A32, so that the tension of the first synchronous belt remains basically unchanged. In other embodiments, when the tensioning mechanism 5 can also drive the tensioning wheel 51 in an active adjustment manner, for example, a tensioning drive component such as an electric cylinder can be set to actively drive the tensioning wheel 51 to move, cooperate with the lifting and lowering movement of the first traveling support 11, and ensure that the tension of the first synchronous belt remains basically unchanged.

[0083] In this embodiment, see Figure 1 , Figure 2 and Figure 3 Since a first synchronous belt is provided on both sides of the frame 1 to drive two first running wheels 31 provided opposite to each other, a tensioning mechanism 5 is provided on both sides to adjust the tension of the first synchronous belts on both sides. The number of tensioning wheels 51 in a tensioning mechanism 5 can be two, one with teeth and the other without teeth.

[0084] In this embodiment, see Figure 1 , Figure 4 and Figure 5 As a preferred design, the lifting mechanism 6 includes a lifting drive shaft 63 installed on the frame 1, a lifting drive cam 64 fixed to the lifting drive shaft 63, and a lifting drive motor 61 driving the lifting drive shaft 63 to rotate. The lifting drive shaft 63 is fixed to the second traveling bracket in the up-down direction, that is, the height does not change with the first traveling bracket 11. The first traveling bracket 11 is fixed with a lifting drive groove 111, and the lifting drive cam 64 is arranged in the lifting drive groove 111, and is matched with the upper and lower side clearances of the lifting drive groove 111. When the lifting drive shaft 63 rotates, the lifting drive cam 64 rotates eccentrically, driving the lifting drive groove 111 to move up and down, thereby driving the first traveling bracket 11 to move up and down. The lifting drive motor 61 drives the lifting drive shaft 63 to rotate through a lifting synchronous belt transmission assembly, and the lifting synchronous belt transmission assembly includes two lifting synchronous pulleys 62 respectively fixed to the output shaft of the lifting drive motor 61 and the lifting drive shaft 63, and a lifting synchronous belt connecting the two lifting synchronous pulleys 62 (not shown in the attached figure). The lifting drive motor 61 can also drive the lifting drive shaft 63 directly or through other transmission components. In other embodiments, the lifting mechanism 6 can also adopt other existing suitable design structures.

[0085] In this embodiment, see Figure 1 , Figure 4 and Figure 5 Since the first traveling bracket 11 includes two side panels respectively arranged on the left and right sides, each side panel is provided with a lifting drive slot 111, and a lifting drive cam 64 is respectively provided at both ends of the lifting drive shaft 63, and is respectively arranged in the lifting drive slot 111 of the side panels on both sides, so as to bring the two side panels to synchronously lift and lower. In other embodiments, the side panels on both sides can be fixedly connected, that is, the first traveling bracket 11 moves up and down as a whole, and in this case, the lifting drive cam 64 can also be one.

[0086] In this embodiment, see Figure 1 , Figure 6 and Figure 7As a preferred design, the four-way shuttle also includes a box device 8 and a lifting device 7. The box device 8 is arranged at the lower side of the mobile body device and is used to connect with the object to be lifted. It has a connecting mechanism for connecting with the object to be lifted. The lifting device 7 is installed on the frame 1 of the mobile body device, and includes a plurality of lifting wheels 71 and a lifting drive mechanism for driving all the lifting wheels 71 to rotate synchronously. The lifting wheels 71 are wound with a lifting belt, and the lower end of the lifting belt is connected to the box device 8.

[0087] In this embodiment, see Figure 6 As a preferred design, the lifting drive mechanism includes a lifting drive motor 72, a lifting drive shaft 73, N lifting drive wheels 74 and N lifting driven wheels 75. The N lifting driven wheels 75 are coaxially fixed with the N lifting wheels 71, wherein the number N can be set according to actual needs, preferably 4, and the lifting belts on the four lifting wheels 71 are respectively connected to the four corner positions of the hanging box device 8, so as to ensure the stability of the hanging box device 8. The N lifting drive wheels 74 are all installed on the lifting drive shaft 73, and the N lifting drive wheels 74 drive the N lifting driven wheels 75 respectively, and the lifting drive wheels 74 and the lifting driven wheels 75 are directly meshed or connected through a transmission belt. Specifically in this embodiment, two of the lifting drive wheels 74 and the two lifting driven wheels 75 are gears, which are directly meshed and driven, and the other two lifting drive wheels 74 and the two lifting driven wheels 75 are synchronous pulleys, which are driven by synchronous belts. The lifting drive motor 72 drives the lifting drive shaft 73 to rotate. Specifically, a lifting synchronous belt transmission assembly 76 is provided between the lifting drive motor 72 and the lifting drive shaft 73. The lifting synchronous belt transmission assembly 76 includes two synchronous belt pulleys respectively fixed to the output shaft of the lifting drive motor 72 and the lifting drive shaft 73, and a synchronous belt (not shown in the drawings) connecting the two synchronous belt pulleys. The lifting drive motor 72 can also drive the lifting drive shaft 73 to rotate directly or through other transmission methods.

[0088] In this embodiment, see Figure 6 By setting up the lifting device 7, the box device 8 and the suspended objects can be actively lifted. Compared with the existing design, it is no longer necessary to cooperate with the elevator. The four-way shuttle can be directly set on the top platform of the storage shelf. When in use, after the goods enter the storage position at the bottom of the storage shelf, the four-way shuttle mobile body device can quickly move to above the storage position on the top platform of the storage shelf, and then the lifting device 7 works, and drives all the lifting wheels 71 to rotate synchronously through the lifting drive mechanism, releases the lifting belt, and lowers the box device 8 through the lifting belt. After the box device 8 is connected to the goods, the lifting drive mechanism drives all the lifting wheels 71 to rotate synchronously in the opposite direction, and retracts the lifting belt. The lifting belt lifts the box device 8 to the bottom of the frame 1, and the mobile body device is provided with a accommodating chamber for accommodating the box device 8 and the goods, see Figure 1After the hanging box device 8 and the goods enter the accommodating chamber, they are located above the bottom of the second walking wheel 72, and do not affect the walking of the mobile body device on the top platform of the storage shelf. After the goods are transported to the designated place, the hanging box device 8 and the goods can be put down.

[0089] In this embodiment, see Figure 7 As a preferred design, the box hoisting device 8 includes a box card platform 81, and a buckle 82 and a snap-on drive mechanism both installed on the box card platform 81. The snap-on drive mechanism drives the buckle 82 to move on the box card platform 81. The buckle 82 is used to be inserted into the hoisted material box 9, and the material box 9 is provided with a snap-on structure that cooperates with the buckle 82. When the buckle 82 moves, it can be inserted into the snap-on structure or pulled out from the snap-on structure, thereby snapping or releasing the snap-on connection with the material box 9; the lower end of the lifting belt is connected to the box card platform 81, and the four lifting belts are preferably connected at the four corner positions of the box card platform 81. The card-joining driving mechanism includes a card-joining driving motor 83, a card-joining driving shaft 86 and a movable bracket 87. The card-joining driving shaft 86 is provided with a screw segment 861, and the movable bracket 87 is provided with a nut 871 threadedly connected to the screw segment 861. The buckle 82 is installed on the movable bracket 87. The card-joining driving motor 83 drives the card-joining driving shaft 86 to rotate, and through the threaded transmission of the screw segment 861 and the nut 871, drives the movable bracket 87 to move linearly along the axial direction of the card-joining driving shaft 86, and drives the buckle 82 to move linearly.

[0090] In this implementation, see Figure 7 , four buckles 82 are fixedly connected to four movable brackets 87 respectively, there are multiple clamping drive shafts 86, which are parallel to each other, and two movable brackets 87 are installed on each clamping drive shaft 86. When the clamping drive shaft 86 rotates, the two movable brackets 87 on it move in opposite directions. A linkage synchronous belt transmission assembly is arranged between the two clamping drive shafts 86, and the linkage synchronous belt transmission assembly includes two linkage synchronous pulleys 88 respectively fixed to the two clamping drive shafts 86, and a linkage synchronous belt (not shown in the drawings) connecting the two linkage synchronous pulleys 88. The two clamping drive shafts 86 are synchronously rotated through the linkage synchronous belt transmission assembly. The card-connecting drive motor 83 drives one of the card-connecting drive shafts 86 to rotate through a card-connecting transmission synchronous belt assembly, and the card-connecting transmission synchronous belt assembly includes a card-connecting transmission synchronous belt pulley A84 fixed to the output shaft of the card-connecting drive motor 83, a card-connecting transmission synchronous belt pulley B85 fixed to the card-connecting drive shaft 86, and a card-connecting transmission synchronous belt (not shown in the drawings) connecting the card-connecting transmission synchronous belt pulley A84 and the card-connecting transmission synchronous belt pulley B85. The card-connecting drive motor 83 can also drive the card-connecting drive shaft 86 to rotate directly or through other existing suitable transmission methods.

[0091] In this embodiment, see Figure 1A battery is also provided on the top of the frame 1 of the mobile body device to supply power to the parts requiring electricity such as the travel drive mechanism 2, the lifting mechanism 6, the lifting device 7 and the hanging box device 8. A charging module installation reserved position can also be provided on the top of the frame 1 for placing the charging module to charge the battery.

[0092] As can be seen from the above, the four-way shuttle of the present invention has the following beneficial effects:

[0093] 1. By setting up a mobile vehicle body device, a travel drive mechanism 2 is used to drive the first travel wheel 31 and the second travel wheel 41 to rotate simultaneously, and the height of the first travel wheel 31 is adjusted by the lifting mechanism 6, so that the movement direction can be switched. When switching between the two directions of travel, the travel drive mechanism 2 does not need to stop working, which is flexible and convenient to use and can effectively simplify the structure.

[0094] 2. The lifting mechanism 6 of the mobile vehicle body device drives the lifting and lowering movement of the first traveling bracket 11 and the first traveling wheel 31 by means of the lifting and lowering driving cam 64 driven by the lifting and lowering driving motor 61. The operation process is stable and easy to control.

[0095] 3. The mobile vehicle body device controls the first traveling support 11 and the first traveling wheel 31 to maintain a certain tension of the first synchronous belt during the lifting process by setting a tensioning mechanism 5, and the tensioning mechanism 5 adopts a passive adjustment method to automatically adjust the position of the tensioning wheel 51 by using the movement of the first traveling support 11, which has a simple structure and is flexible and convenient to use.

[0096] 4. By providing a lifting device 7 and using a lifting belt to actively lift the hanging box device 8 and the object being lifted, compared with the existing design, it is no longer necessary to use a hoist, which can effectively simplify the related equipment of the four-way shuttle during use.

[0097] 5. The box hanging device 8 can be connected or disconnected with the material box 9 conveniently and quickly through the synchronous movement of the buckle 82. The structure is stable and reliable, and the lifting of the material box 9 is convenient.

[0098] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0099] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A four-way shuttle, comprising a moving body device, wherein the moving body device comprises a frame (1), a travel drive mechanism (2), a first travel mechanism (3), a second travel mechanism (4) and a lifting mechanism (6), characterized in that: The frame (1) comprises a first walking bracket (11) and a second walking bracket, and the first walking bracket (11) can move up and down relative to the second walking bracket; the walking drive mechanism (2) is installed on the frame (1), and comprises a walking drive motor (21), a first output shaft (22) and a second output shaft, and the walking drive motor (21) drives the first output shaft (22) and the second output shaft to rotate simultaneously; the first walking mechanism (3) comprises a first wheel group and a first walking transmission assembly, the first wheel group comprises a plurality of first walking wheels (31) installed on the first walking bracket (11), the first walking transmission assembly comprises a first synchronous pulley A (32), a first synchronous pulley B (33) and a first synchronous belt, the first synchronous pulley B (33) is fixed to the first output shaft (22), and at least one first synchronous pulley connected to the first synchronous pulley B (33) via a first synchronous belt is provided. A (32), the first synchronous pulley A (32) is coaxially fixed with the first walking wheel (31), and when the first walking wheel (31) rotates, it drives the frame (1) to move linearly along the first direction; the second walking mechanism (4) includes a second wheel group and a second walking transmission assembly, the second wheel group includes a plurality of second walking wheels (41) installed on the second walking bracket, the second output shaft of the walking drive mechanism (2) is connected to at least one second walking wheel (41) through the second walking transmission assembly, and can drive the second walking wheel (41) to rotate, and when the second walking wheel (41) rotates, it drives the frame (1) to move linearly along the second direction; the lifting mechanism (6) is connected to the first walking bracket (11) and is used to drive the first walking bracket (11) to move up and down; the first synchronous belt has telescopic elasticity, or also includes a tensioning mechanism that can adjust the shape of the first synchronous belt to ensure that it is tensioned.

2. The four-way shuttle according to claim 1, characterized in that: The mobile vehicle body device comprises a tensioning mechanism (5) mounted on a vehicle frame (1), the tensioning mechanism (5) comprising a tensioning wheel (51) connected to a first synchronous belt, and when the lifting mechanism (6) drives the first traveling support (11) to move upward, the tensioning wheel (51) actively or passively moves in a direction to further tension the first synchronous belt, and when the lifting mechanism (6) drives the first traveling support (11) to move downward, the tensioning wheel (51) actively or passively moves in a direction to loosen the first synchronous belt.

3. The four-way shuttle according to claim 2, characterized in that: The tensioning mechanism (5) further comprises a fixed block (54), a return spring (53) and a movable seat (52); the tensioning wheel (51) is mounted on the movable seat (52); the return spring (53) is arranged between the movable seat (52) and the fixed block (54); the first traveling bracket (11) is pressed down on the movable seat (52); when the first traveling bracket (11) moves downward, the movable seat (52) is pressed downward to move and the tensioning wheel (51) causes the first synchronous belt to relax, and the return spring (53) is in an elastic energy storage state; when the first traveling bracket (11) moves upward, the return spring (53) drives the movable seat (52) to move and the tensioning wheel (51) causes the first synchronous belt to be further tensioned.

4. The four-way shuttle according to claim 1, characterized in that: The lifting mechanism (6) comprises a lifting drive shaft (63) mounted on the vehicle frame (1), a lifting drive cam (64) fixed to the lifting drive shaft (63), and a lifting drive motor (61) driving the lifting drive shaft (63) to rotate; the lifting drive shaft (63) is fixed to the second traveling bracket in the up-down direction; a lifting drive groove (111) is fixedly provided on the first traveling bracket (11); the lifting drive cam (64) is arranged in the lifting drive groove (111) and is gap-matched with the upper and lower side surfaces of the lifting drive groove (111); when the lifting drive shaft (63) rotates, the lifting drive cam (64) drives the lifting drive groove (111) to move up and down.

5. The four-way shuttle according to claim 4, characterized in that: The lifting mechanism (6) further comprises a lifting transmission assembly arranged between the lifting drive shaft (63) and the lifting drive motor (61), wherein the lifting transmission assembly comprises two lifting synchronous pulleys (62) respectively fixed on the lifting drive shaft (63) and the output shaft of the lifting drive motor (61), and a lifting synchronous belt connecting the two lifting synchronous pulleys (62).

6. The four-way shuttle according to claim 1, characterized in that: The invention also comprises a hanging box device (8) and a lifting device (7), wherein the hanging box device (8) is arranged at the lower side of the mobile body device and is used to be connected to the object to be hung, and the lifting device (7) is installed on the frame (1) of the mobile body device and comprises a plurality of lifting wheels (71) and a lifting drive mechanism for driving all the lifting wheels (71) to rotate synchronously, wherein a lifting belt is wound around the lifting wheel (71), and the lower end of the lifting belt is connected to the hanging box device (8).

7. The four-way shuttle according to claim 6, characterized in that: The lifting drive mechanism comprises a lifting drive motor (72), a lifting drive shaft (73), N lifting drive wheels (74) and N lifting driven wheels (75), wherein the N lifting driven wheels (75) are coaxially fixed with the N lifting wheels (71), the N lifting drive wheels (74) are all mounted on the lifting drive shaft (73), the N lifting drive wheels (74) respectively drive the N lifting driven wheels (75), and the lifting drive wheels (74) and the lifting driven wheels (75) are directly meshed and connected or connected via a transmission belt, and the lifting drive motor (72) drives the lifting drive shaft (73) to rotate.

8. The four-way shuttle according to claim 7, characterized in that: The box hanging device (8) comprises a box card platform (81), and a buckle (82) and a clamping drive mechanism both mounted on the box card platform (81), wherein the clamping drive mechanism drives the buckle (82) to move on the box card platform (81); and the lower end of the lifting belt is connected to the box card platform (81).

9. The four-way shuttle according to claim 8, characterized in that: The clamping drive mechanism comprises a clamping drive motor (83), a clamping drive shaft (86) and a movable bracket (87); the clamping drive shaft (86) is provided with a screw segment (861); the movable bracket (87) is provided with a nut (871) threadedly connected to the screw segment (861); the buckle (82) is mounted on the movable bracket (87); and the clamping drive motor (83) drives the clamping drive shaft (86) to rotate.

10. The four-way shuttle according to claim 9, characterized in that: The clamping drive mechanism has multiple clamping drive shafts (86) which are parallel to each other. A linkage synchronous belt transmission component is arranged between two clamping drive shafts (86), and synchronous rotation is achieved through the linkage synchronous belt transmission component.

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