Flat wheel amphibious four-way shuttle vehicle

Abstract

The invention relates to a flat wheel amphibious four-way shuttle vehicle which comprises a vehicle frame, a goods supporting plate and a battery, the goods supporting plate is arranged on the vehicle frame in a lifting mode, the battery is installed in the vehicle frame and used for providing power for driving of the vehicle frame, and a flat wheel driving wheel set is arranged at the bottom of the vehicle frame. And a guide wheel group is arranged on the peripheral side of the frame. Compared with a four-way shuttle vehicle with driving wheels with skirts in the prior art, the amphibious four-way shuttle vehicle has the advantages that the four-way shuttle vehicle with the driving wheels with the skirts is changed into the flat wheel running wheel sets with flat wheel structures, and the horizontal guide assemblies, the X-axis guide assemblies and the Y-axis guide assemblies are mounted on the side edges of the vehicle frame; vehicle traveling wheels of the flat wheel traveling wheel set make contact with the rail face of the goods shelf rail, and guide wheels of the guide wheel set make contact with a guide plate on the side edge of the goods shelf rail, so that it is guaranteed that the traveling track can be corrected in time when a vehicle travels on the rail and the ground.

Description

Technical Field

[0001] The invention relates to the technical field of shuttle vehicles, in particular to a flat-wheel amphibious four-directional shuttle vehicle. Background Art

[0002] There are two main types of shuttles in warehousing and logistics equipment: shuttle-type in-and-out systems and shuttle-type warehousing systems. They are trolleys that run on fixed tracks in a reciprocating or looping manner to transport goods to designated locations or docking equipment. They are equipped with intelligent sensing systems that can automatically memorize the origin position and automatic deceleration systems.

[0003] In the existing technology, the four-way shuttle generally adopts the XY four-way wheel skirt guide. Specifically, the skirt is protruding outward from the inner side of the driving wheel. The traditional shelf is stuck on both sides of the running track through the skirts of the two side wheels, which is similar to the relationship between the train wheels and the train tracks. Figure 1 and Figure 2 The arrow position is used to ensure that the vehicle will not deviate from the track during driving, which means that the vehicle must have a driving track on each layer. Therefore, the first layer of the traditional shelf is laid with a layer of driving track 30 to 40 centimeters above the ground for the vehicle to drive. This is the current practice of related technologies.

[0004] At present, in the existing rack rails, there are high and low rails between the main channel rails and the sub-channel rails, and there is a broken rail phenomenon at the intersection between the sub-channel rails and the main channel rails. Figure 2 As shown in the figure, a is the sub-channel track, b is the main channel track, and the disconnection point is the gap between the two tracks, the purpose of which is to allow the skirted wheels on the traditional four-way shuttle to pass freely. When the four-way shuttle passes at high speed, it will make a lot of noise, and the car will vibrate strongly, which will cause great harm to the car and the shelf, reducing the service life. In addition, when the car is running at high speed, the skirted wheels will have the risk of derailment, which has certain safety hazards. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a flat-wheel amphibious four-way shuttle vehicle, which changes the vehicle's skirted wheels into a flat wheel structure and provides a guide mechanism on the outside of the vehicle, so that the vehicle can stably run on the track of the shelf, thereby improving the stability of the vehicle's operation and the service life.

[0006] The above-mentioned object of the present invention is achieved through the following technical solutions: A flat-wheel amphibious four-way shuttle vehicle comprises a frame, a cargo support plate and a battery. The cargo support plate is lifted and lowered on the frame. The battery is installed inside the frame to provide power for the frame to travel. A flat-wheel travel wheel set is arranged at the bottom of the frame, and a guide wheel set is arranged on the peripheral side of the frame.

[0007] As a further technical solution of the present invention: the flat wheel travel wheel group includes a first wheel group and a second wheel group, the first wheel group and the second wheel group are respectively used to contact the first reference plane and the second reference plane on the shelf rail, and the first reference plane and the second reference plane are located in the same plane.

[0008] As a further technical solution of the present invention: the frame is respectively provided with a first side and a third side on both sides along the X-axis direction, and the first wheel group includes four groups of X-direction running wheels located outside the first side and the third side, which are used to contact the first reference surface.

[0009] As a further technical solution of the present invention: the frame is respectively provided with a second side and a fourth side on both sides along the Y-axis direction, and the second wheel group includes eight groups of Y-direction running wheels located on the outer sides of the second side and the fourth side, which are used to contact the second reference plane.

[0010] As a further technical solution of the present invention: the outer section of the guide wheel group is located outside the outer side of the outer surface of the vehicle driving wheel in the flat wheel driving wheel group to prevent the lack of guidance and correction functions during driving.

[0011] As a further technical solution of the present invention: the guide wheel group includes a horizontal guide component, an X-axis guide component and a Y-axis guide component. The horizontal guide components are arranged in four groups and are respectively installed at the four corners of the frame for simultaneously controlling the guidance in the X direction and the Y direction. The X-axis guide component is arranged on the side of the frame along the X direction for controlling the guidance in the X direction, and the Y-axis guide component is arranged on the side of the frame along the Y direction for controlling the guidance in the Y direction.

[0012] As a further technical solution of the present invention: the horizontal guide assembly includes a horizontal mounting frame and a horizontal guide wheel rotatably connected to the mounting frame, one end of the mounting frame is fixed at the corner of the frame, and the plane where the rotation direction of the horizontal guide wheel is located is a horizontal plane.

[0013] As a further technical solution of the present invention: the X-axis guide assemblies are arranged in four groups and are symmetrically arranged on both sides of the frame along the X direction, and the two X-axis guide assemblies located on the same side of the frame are respectively arranged close to the flat wheel travel wheel group; The X-axis guide assembly includes an X-direction mounting frame and an X-direction guide wheel rotatably connected to the X-direction mounting frame, one end of the X-direction mounting frame is fixed to the side of the frame along the X-direction, and the plane where the X-direction guide wheel rotates is a horizontal plane.

[0014] As a further technical solution of the present invention: the Y-axis guide components are arranged in four groups and are symmetrically arranged on both sides of the frame along the Y direction; The Y-axis guide assembly includes a Y-direction mounting frame and a Y-direction guide wheel rotatably connected to the Y-direction mounting frame, one end of the Y-direction mounting frame is fixed to the side of the frame along the Y-direction, and the plane where the Y-direction guide wheel rotates is a horizontal plane.

[0015] As a further technical solution of the present invention: when the amphibious four-way shuttle vehicle travels on the shelf track, the vehicle driving wheels of the flat wheel driving wheel group contact the track surface of the shelf track, and the guide wheels of the guide wheel group contact the guide plates on the sides of the shelf track.

[0016] In summary, the present invention includes at least one of the following beneficial technical effects: The present invention discloses a flat-wheel amphibious four-way shuttle vehicle. Compared with the four-way shuttle vehicle with a driving wheel with a skirt in the prior art, it is changed to a flat-wheel driving wheel group with a flat wheel structure, and a horizontal guide component, an X-axis guide component and a Y-axis guide component are installed on the side of the frame. When the amphibious four-way shuttle vehicle travels on the shelf track, the vehicle driving wheels of the flat-wheel driving wheel group contact the track surface of the shelf track, and the guide wheels of the guide wheel group contact the guide plates on the side of the shelf track to ensure that the vehicle can correct the driving trajectory in time when traveling on the track and the ground. In addition, the design of the guide wheel group enables the vehicle to adapt to different track spacing and heights, and the vehicle body width is flexible. Compared with amphibious vehicles on the market, the present invention reduces the cost of the vehicle by adding guide wheels externally, without the need for a complex steering wheel structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a schematic diagram of the positional relationship between the existing shuttle vehicle and the main channel rail in the background technology of the present invention.

[0018] Figure 2 for Figure 1 A local enlarged schematic diagram of the .

[0019] Figure 3 It is a top view of the first embodiment.

[0020] Figure 4 It is a schematic diagram of the structure of the present invention traveling on a shelf.

[0021] Figure 5This is a state diagram of a vehicle traveling along the X direction on a rack track according to the present invention.

[0022] Figure 6 This is a state diagram of a vehicle traveling along the Y direction on a rack track according to the present invention.

[0023] Figure 7 It is a top view of the second embodiment.

[0024] Figure numerals: 1, frame; 2, cargo support plate; 3, battery; 4, first side; 5, third side; 6, X-direction running wheel; 7, second side; 8, fourth side; 9, Y-direction running wheel; 10, horizontal guide assembly; 101, horizontal mounting frame; 102, horizontal guide wheel; 11, X-axis guide assembly; 111, X-direction mounting frame; 112, X-direction guide wheel; 12, Y-axis guide assembly; 121, Y-direction mounting frame; 122, Y-direction guide wheel. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0026] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] Embodiment 1:

[0029] Reference Figure 3, is a flat-wheeled amphibious four-way shuttle vehicle disclosed in the present invention, comprising a frame 1, a cargo support plate 2 and a battery 3. The cargo support plate 2 is lifted and arranged on the frame 1, and the battery 3 is installed inside the frame 1 to provide power for the frame 1 to travel. A flat-wheeled driving wheel set is arranged at the bottom of the frame 1, and a guide wheel set is arranged on the peripheral side of the frame 1. In this embodiment, the frame 1 comprises a main frame, a transverse support beam and a longitudinal support beam. The main frame is made of high-strength aluminum alloy. The transverse support beam and the longitudinal support beam are connected by bolts to form a stable grid structure. The modular design is adopted to facilitate disassembly and maintenance, while reducing production costs.

[0030] The cargo support plate 2 is made of high-strength composite material with anti-skid patterns on the surface. The cargo support plate 2 is connected to the frame 1 through a hydraulic lifting mechanism and can be lifted and lowered in the vertical direction. The battery 3 uses a lithium-ion battery pack, which is connected to the frame 1 through a quick plug-in interface. The battery 3 is equipped with a temperature sensor and an overload protection circuit.

[0031] Reference Figure 3 The flat wheel driving wheel group includes a first wheel group and a second wheel group, and the first wheel group and the second wheel group are respectively used to contact the first reference plane and the second reference plane on the shelf track, and the first reference plane and the second reference plane are located in the same plane. The frame 1 is provided with a first side 4 and a third side 5 on both sides along the X-axis direction, and the first wheel group includes four groups of X-direction driving wheels 6 located on the outside of the first side 4 and the third side 5, which are used to contact the first reference plane. The frame 1 is provided with a second side 7 and a fourth side 8 on both sides along the Y-axis direction, and the second wheel group includes eight groups of Y-direction driving wheels 9 located on the outside of the second side 7 and the fourth side 8, which are used to contact the second reference plane. Refer to Figure 4 In this embodiment, the first reference surface is the track surface of the shelf along the X-axis direction, and the second reference surface is the track surface of the shelf along the Y-axis direction.

[0032] Reference Figure 5 and Figure 6 When the frame 1 travels in the X direction, the distance between the bottom surface of the guide wheel group and the bottom surface of the X-direction running wheel 6 is 96mm. At this time, the bottom surface height of the eight sets of Y-direction running wheels 9 is lower than the bottom surface height of the frame 1 and higher than the bottom surface height of the X-direction running wheel 6. When the frame 1 travels in the Y direction, the vehicle will lift the first wheel group to a position flush with the vehicle floor through the lifting mechanism. The distance between the bottom surface of the guide wheel group and the bottom surface of the X-direction running wheel 6 is 80mm. At this time, the height of the first wheel group will be higher than the second wheel group. The first wheel group and the second wheel group are equipped with independent drive motors and reducers, and the drive motor is precisely controlled by an encoder.

[0033] Among them, refer to Figure 3, the wheels of the X-direction traveling wheels 6 and the Y-direction traveling wheels 9 are flat wheel structures. Compared with the four-way shuttle vehicle with skirted drive wheels in the prior art, it not only saves the production cost of the four-way shuttle vehicle, but also increases the driving stability of the four-way shuttle vehicle, reduces the risk of derailment of the four-way shuttle vehicle, thereby greatly improving the driving safety and service life of the four-way shuttle vehicle.

[0034] The outer tangent plane of the guide wheel group is located outside the outer side of the vehicle traveling wheels in the flat wheel traveling wheel group to prevent the lack of guiding and deviation correction functions during the driving process. In this embodiment, the guide wheel group can control the distance from the guide plate by adding gaskets, and the thickness of the gaskets is adjustable to adapt to different track spacings. Specifically, the guide wheel group is fixed to the side of the vehicle frame 1 by bolts, and gaskets can be added between the guide wheel group and the vehicle frame 1 to adjust the distance between the guide wheels of the guide wheel group and the guide plate.

[0035] Further, referring to Figure 3 , the guide wheel group includes a horizontal guide component 10, an X-axis guide component 11, and a Y-axis guide component 12. The horizontal guide component 10 is provided in four groups and is respectively installed at the four corners of the vehicle frame 1 for simultaneously controlling the guiding in the X direction and the Y direction. In Figure 3 they are XY1, XY2, XY3, and XY4 respectively; the X-axis guide component 11 is arranged on the side of the vehicle frame 1 along the X direction for controlling the guiding in the X direction, and the Y-axis guide component 12 is arranged on the side of the vehicle frame 1 along the Y direction for controlling the guiding in the Y direction.

[0036] The horizontal guide component 10 includes a horizontal mounting frame 101 and a horizontal guide wheel 102 rotatably connected in the mounting frame. One end of the mounting frame is fixed to the corner of the vehicle frame 1, and the plane where the rotation direction of the horizontal guide wheel 102 is located is a horizontal plane. In this embodiment, the mounting frame is in a "C" shape, the mounting frame is fixed to the corner of the vehicle frame 1 by bolts, and the horizontal guide wheel 102 is rotatably connected in the mounting frame through bearings.

[0037] When the four-way shuttle vehicle just enters the track on the shelf, whether it is the X-direction track or the Y-direction track on the shelf, the horizontal guide wheels 102 on both sides of the vehicle frame 1 will first contact the guide plates on both sides of the shelf track, realizing the function of precise guiding, avoiding the vehicle being stuck at the entrance of the track, and ensuring that the vehicle can quickly and accurately enter the predetermined track. When the four-way shuttle vehicle is traveling on the track, the horizontal guide wheel 102 can also serve as the X-axis guide component 11 or the Y-axis guide component 12, playing the role of correcting the deviation of the vehicle, with unexpected effects.

[0038] The X-axis guide component 11 is provided in four groups and is symmetrically arranged on both sides of the vehicle frame 1 along the X direction. In Figure 3They are X1, X3, X4, and X6 respectively. The two X-axis guiding components 11 on the same side of the vehicle frame 1 are respectively arranged close to the flat-wheel traveling wheel set; the X-axis guiding component 11 includes an X-direction mounting frame 111 and an X-direction guiding wheel 112 rotatably connected in the X-direction mounting frame 111. One end of the X-direction mounting frame 111 is fixed to the side of the vehicle frame 1 along the X direction, and the plane where the rotation direction of the X-direction guiding wheel 112 is located is a horizontal plane.

[0039] The Y-axis guiding components 12 are arranged in four groups and are symmetrically arranged on both sides of the vehicle frame 1 along the Y direction. Figure 3 They are Y1, Y2, Y3, and Y4 respectively. The Y-axis guiding component 12 includes a Y-direction mounting frame 121 and a Y-direction guiding wheel 122 rotatably connected in the Y-direction mounting frame 121. One end of the Y-direction mounting frame 121 is fixed to the side of the vehicle frame 1 along the Y direction, and the plane where the rotation direction of the Y-direction guiding wheel 122 is located is a horizontal plane.

[0040] In this embodiment, the X-direction mounting frame 111 and the Y-direction mounting frame 121 have the same structure, both using a mounting plate in a "C" shape. The mounting plate is fixed to the side wall of the vehicle frame 1 by bolts. The X-direction guiding wheel 112 and the Y-direction guiding wheel 122 have the same structure, and both are rotatably connected in the mounting plate through bearings.

[0041] In this embodiment, the horizontal guiding wheels 102, the X-direction guiding wheels 112, and the Y-direction guiding wheels 122 all use silent guiding wheels. The surface of the silent guiding wheels is covered with a rubber layer to reduce running noise. Moreover, the silent guiding wheels covered with a rubber layer can also adjust the distance between the outer sides of two opposite horizontal guiding wheels 102 (or between the opposite X-direction guiding wheels 112 on both sides or the opposite Y-direction guiding wheels 122 on both sides) within a certain range, so that the four-way shuttle equipped with the horizontal guiding component 10 can adapt to shelves with different widths of tracks, improving the versatility of the four-way shuttle. Further, when the four-way shuttle travels on the track, the silent guiding wheels with rubber layers have a certain elasticity, enabling the four-way shuttle to travel stably on the track and avoid deviation. Moreover, when the four-way shuttle travels at high speed or changes tracks on the track, even if there is a collision, the horizontal guiding wheels 102, the X-direction guiding wheels 112, and the Y-direction guiding wheels 122 can also play a role in shock absorption, thus greatly improving the service life of the vehicle.

[0042] When the amphibious four-way shuttle travels on the shelf track, the vehicle traveling wheels of the flat-wheel traveling wheel set are in contact with the track surface of the shelf track, and the guiding wheels of the guiding wheel set are in contact with the guiding plates on the sides of the shelf track.

[0043] After adding omnidirectional guidance, it is also crucial to ensure that the vehicle's driving trajectory can be corrected in time when it is driving on the track and on the ground. When driving in the y direction, the channel shelf structure on the ground and the track is a self-guided support plate. It is only necessary to adjust the gap between the guide wheel and the crossbeams on both sides to control the guidance of the vehicle so that the vehicle can return to the normal track (control the body swing during driving).

[0044] When driving in the X direction, in order to prevent the vehicle from being affected when entering the channel, the guide plate is disconnected when driving in this direction. When the vehicle is on the ground, it will avoid the channel of the vehicle. Two rows of guide plates are added in the middle of the crossbeam of the channel to prevent the vehicle from being affected when entering the channel. It is very important to correct the driving trajectory of the vehicle in time. Therefore, eight sets of guide wheels (four sets of X-direction guide wheels 112 and four sets of horizontal guide wheels 102) are added to the outer side of the second side 7 and the fourth side 8 of the frame 1. The guide plate on the inner side of the frame 1 will be tilted to ensure that the wheels can smoothly enter the main channel. After the vehicle travels a certain distance, the horizontal guide wheels 102 marked as XY2 and XY4 in the figure will enter the guide plate of the track (fitting with the inner wall of the guide plate). The spacing between the two groups of guide wheels should not be too large. When the front four groups of guide wheels (XY1, XY3, X1, X4) enter the channel position, the third group of guide wheels (X3, X6) begins to play a guiding role and contact the guide plate until the fourth group of horizontal guide wheels 102 of XY2 and XY4 enter the guide plate of the guide rail.

[0045] The present invention uses flat track switching, which has higher reliability. Traditional shuttle vehicles use skirt wheels for switching, which can easily cause the skirts of the wheels to press on the tracks due to mechanical failures, network delays, etc., causing the vehicle body to tilt and become unable to travel. If the wheels are not equipped with skirts, this situation can be avoided. When traveling on a shelf, the inside of the shelf itself has a corbel beam, and another set of corbel beams will be installed on the outside. The inner wall of the corbel beam acts as a guide plate in contact with the guide wheel set; when traveling on the ground, it is also ensured that there are at least two sets of guide wheels in the guide plate to correct the position of the vehicle. At this time, the function of the guide wheel is the same as that on the ground.

[0046] The present invention can adapt to different track spacings and different track heights, and the width of the vehicle body is flexible. In actual use, when the shelf track is small and the track height is low, the present invention does not require high structure inside the vehicle because it adds guide wheels outside the vehicle. As long as the structure inside the vehicle is complete, this guide function can be achieved. In the height direction, the thickness of the guide wheel is lower than the thickness of the frame 1 itself, and the overall height of the vehicle can adapt to the track, so the guide wheel can be installed on the vehicle.

[0047] Amphibious vehicles on the market all use steering wheel structures to achieve ground walking, which requires two sets of steering wheels and a transmission mechanism, increasing the cost of the vehicle itself. The guide assembly of the present invention can be applied to models of any vehicle thickness, saving the cost of amphibious vehicles.

[0048] Embodiment 2:

[0049] Reference Figure 7 A flat-wheel amphibious four-way shuttle vehicle is different from the first embodiment in that, when traveling in the Y direction, the total number of Y-direction traveling wheels 9 on both sides is four, and the spacing between the two groups of outer guide wheels is adjusted, so that the vehicle has better guiding performance and better prevents the vehicle from deviating. Because the vehicle track is a flat track structure, the four groups of Y-direction traveling wheels 9 are correspondingly reduced, thereby reducing the cost.

[0050] The implementation principle of the present invention is as follows: the present invention discloses a flat-wheel amphibious four-way shuttle vehicle. Compared with the four-way shuttle vehicle with a driving wheel with a skirt in the prior art, it is changed to a flat-wheel driving wheel group with a flat wheel structure, and a horizontal guide assembly 10, an X-axis guide assembly 11 and a Y-axis guide assembly 12 are installed on the side of the frame 1. When the amphibious four-way shuttle vehicle is traveling on the shelf track, the vehicle driving wheels of the flat-wheel driving wheel group are in contact with the track surface of the shelf track, and the guide wheels of the guide wheel group are in contact with the guide plates on the side of the shelf track to ensure that the vehicle can correct the driving trajectory in time when traveling on the track and the ground. And the design of the guide wheel group enables the vehicle to adapt to different track spacing and heights, and the vehicle body width is flexible. Compared with amphibious vehicles on the market, the present invention reduces the cost of the vehicle by adding guide wheels externally, without the need for a complex steering wheel structure.

[0051] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A flat-wheeled amphibious four-way shuttle vehicle, comprising a vehicle frame (1), a cargo support plate (2) and a battery (3), wherein the cargo support plate (2) is arranged on the vehicle frame (1) in a lifting manner, and the battery (3) is installed inside the vehicle frame (1) to provide power for the vehicle frame (1) to travel, characterized in that: A flat wheel running wheel set is arranged at the bottom of the vehicle frame (1), and a guide wheel set is arranged on the peripheral side of the vehicle frame (1).

2. The flat-wheeled amphibious four-way shuttle vehicle according to claim 1, characterized in that: The flat wheel travel wheel set includes a first wheel set and a second wheel set, the first wheel set and the second wheel set are respectively used to contact a first reference surface and a second reference surface on the shelf track, and the first reference surface and the second reference surface are located in the same plane.

3. The flat-wheeled amphibious four-way shuttle vehicle according to claim 2, characterized in that: The frame (1) is provided with a first side edge (4) and a third side edge (5) on both sides along the X-axis direction, respectively; the first wheel set comprises four sets of X-direction running wheels (6) located outside the first side edge (4) and the third side edge (5) and used for contacting the first reference surface.

4. The flat-wheeled amphibious four-way shuttle vehicle according to claim 2, characterized in that: The frame (1) is provided with a second side edge (7) and a fourth side edge (8) on both sides along the Y-axis direction, respectively; the second wheel set comprises eight sets of Y-direction running wheels (9) located outside the second side edge (7) and the fourth side edge (8) and used for contacting the second reference surface.

5. The flat-wheeled amphibious four-way shuttle vehicle according to claim 1, characterized in that: The outer section of the guide wheel set is located outside the outer side of the outer side of the vehicle running wheel in the flat wheel running wheel set to prevent the lack of guiding and deviation correction functions during driving.

6. The flat-wheeled amphibious four-way shuttle vehicle according to claim 1, characterized in that: The guide wheel assembly comprises a horizontal guide assembly (10), an X-axis guide assembly (11) and a Y-axis guide assembly (12); the horizontal guide assembly (10) is arranged in four groups and is respectively installed at four corners of the frame (1) for simultaneously controlling the guidance in the X direction and the Y direction; the X-axis guide assembly (11) is arranged on the side of the frame (1) along the X direction for controlling the guidance in the X direction; and the Y-axis guide assembly (12) is arranged on the side of the frame (1) along the Y direction for controlling the guidance in the Y direction.

7. The flat-wheeled amphibious four-way shuttle vehicle according to claim 6, characterized in that: The horizontal guide assembly (10) comprises a horizontal mounting frame (101) and a horizontal guide wheel (102) rotatably connected to the mounting frame, one end of the mounting frame is fixed at a corner of the vehicle frame (1), and the plane in which the horizontal guide wheel (102) rotates is a horizontal plane.

8. The flat-wheeled amphibious four-way shuttle vehicle according to claim 6, characterized in that: The X-axis guide assemblies (11) are arranged in four groups and are symmetrically arranged on both sides of the frame (1) along the X direction, and the two X-axis guide assemblies (11) located on the same side of the frame (1) are respectively arranged close to the flat wheel travel wheel group; The X-axis guide assembly (11) comprises an X-direction mounting frame (111) and an X-direction guide wheel (112) rotatably connected to the X-direction mounting frame (111); one end of the X-direction mounting frame (111) is fixed to a side edge of the vehicle frame (1) along the X-direction; and the plane in which the X-direction guide wheel (112) rotates is a horizontal plane.

9. The flat-wheeled amphibious four-way shuttle vehicle according to claim 6, characterized in that: The Y-axis guide components (12) are arranged in four groups and are symmetrically arranged on both sides of the frame (1) along the Y direction; The Y-axis guide assembly (12) comprises a Y-direction mounting frame (121) and a Y-direction guide wheel (122) rotatably connected to the Y-direction mounting frame (121); one end of the Y-direction mounting frame (121) is fixed to the side of the frame (1) along the Y-direction; and the plane in which the Y-direction guide wheel (122) rotates is a horizontal plane.

10. The flat-wheeled amphibious four-way shuttle vehicle according to claim 1, characterized in that: When the amphibious four-way shuttle vehicle travels on the shelf track, the vehicle driving wheels of the flat wheel driving wheel group contact the track surface of the shelf track, and the guide wheels of the guide wheel group contact the guide plates on the sides of the shelf track.

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