Four-way shuttle vehicle with tray lifting function and using method of four-way shuttle vehicle

Abstract

The invention discloses a four-way shuttle vehicle with a tray lifting function and a using method thereof.The four-way shuttle vehicle comprises a main body unit, the main body unit comprises a shell, a controller is fixedly connected to the outer surface of the front side of the shell, the tray unit comprises a tray body, and mounting grooves are formed in the outer surfaces of the two sides of the tray body; a mounting groove is formed in the upper surface of the tray body, a clamping assembly is arranged in the mounting groove, a plurality of weight sensors are fixedly connected to the upper surface of the tray body, the lifting unit comprises a double-head motor, the output end of the double-head motor is fixedly connected with a transmission shaft, a transmission assembly is arranged on the outer surface of one end of the transmission shaft, and lead screws are arranged on the two sides of the transmission assembly. The double-head motor is started, the transmission assembly is arranged to drive the lead screws on the two sides to rotate, the threads of the lead screws on the two sides are opposite, so that the sliding blocks can move in the opposite directions, the tray body can be pushed to move upwards under the cooperation of the supporting columns, and use is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of shuttle vehicles, and in particular to a four-way shuttle vehicle with a liftable tray function and a use method thereof. Background Art

[0002] The four-way shuttle is an intelligent logistics equipment, mainly used for material handling in warehousing systems. It can move freely in three-dimensional shelves and can flexibly move in horizontal and vertical directions. Therefore, it is widely used in automated warehousing systems, especially high-rise and high-density storage areas. The working principle of the four-way shuttle is based on the automated control system. It uses an electric drive system to drive the vehicle body and controls the movement of the vehicle body in the warehouse through guide rails or wireless guidance technology. The four-way shuttle can perform precise movements in the "X", "Y" and "Z" directions at the same time, so it can realize the material transmission inside the warehouse very efficiently.

[0003] Some of today's four-way shuttles are equipped with liftable pallets, providing efficient cargo handling and storage solutions. However, traditional pallets mostly use hydraulic systems to achieve lifting. When the hydraulic system is in use, the amount of input may be different, causing the pallet to tilt, and the cargo may become unstable during transportation, which is prone to accidents. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a four-way shuttle vehicle with the function of lifting pallets and a method of using the same, in order to solve the problem that "most traditional pallets use hydraulic systems to achieve lifting, and the hydraulic system may have different input amounts when in use, causing the pallet to tilt, and the goods to become unstable during transportation, which is prone to accidents."

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A four-way shuttle vehicle with a pallet lift function and a method of using the same, comprising a main unit, a pallet unit and a lift unit.

[0009] The main unit comprises a shell, a plurality of motors are fixedly connected to the four corners of the shell, the output ends of the motors are fixedly connected to wheels, a partition is fixedly connected to the upper part of the inner wall of the shell, and a controller is fixedly connected to the front outer surface of the shell;

[0010] The tray unit comprises a tray body, both sides of the outer surface of the tray body are provided with mounting grooves, the interior of the mounting grooves is provided with a clamping assembly, the upper surface of the tray body is fixedly connected with a plurality of weight sensors, and the four corners of the lower surface of the tray body are fixedly connected with a plurality of horizontal detection rods;

[0011] The lifting unit includes a double-headed motor, the outer surface of the double-headed motor is fixedly connected to the inner bottom wall of the shell, the output end of the double-headed motor is fixedly connected to a transmission shaft, a transmission assembly is arranged on the outer surface of one end of the transmission shaft, screw rods are arranged on both sides of the transmission assembly, the outer surface of the screw rod is slidably connected to a slider, and the upper surface of the slider is provided with a support column.

[0012] As a preferred embodiment of the four-way shuttle vehicle with a liftable pallet function and its use method described in the present invention, grooves are provided on the upper portions of the outer surfaces of both sides of the shell, a through groove is provided on the upper surface of the partition, and cleaning plates are rotatably connected to the four corners of the lower surface of the shell.

[0013] As a preferred embodiment of the four-way shuttle vehicle with a liftable pallet function and its use method described in the present invention, the motor is electrically connected to the inside of the controller, the weight sensor and the horizontal detection rod are electrically connected to the inside of the controller, and the double-headed motor is electrically connected to the controller.

[0014] As a preferred embodiment of the four-way shuttle with a liftable pallet function and its use method described in the present invention, the clamping assembly includes a clamping block, a torsion spring shaft is fixedly connected to the inside of the clamping block, both ends of the torsion spring shaft are rotatably connected to the inside of the mounting groove, an open groove is provided on the outer surface of one side of the clamping block, the clamping block is a special-shaped block with one end longer and the upper surface of the other end is provided with an inclined surface, and the lower surface of the clamping block is arranged inside the groove.

[0015] As a preferred embodiment of the four-way shuttle vehicle with a liftable pallet function and its use method described in the present invention, the outer surface of the horizontal detection rod is slidably connected to a sleeve, the outer surface of the sleeve is fixedly connected to the inside of the partition, the inner wall of the sleeve and the outer surface of the horizontal detection rod are fixedly connected to electrode sheets, and the electrode sheets are electrically connected to the inside of the controller.

[0016] As a preferred embodiment of the four-way shuttle vehicle with a liftable pallet function and its use method described in the present invention, the screw rod is symmetrically arranged and its threads are reversely arranged, adjacent ends of the screw rod are fixedly connected to fixed plates, one end of the screw rod is rotatably connected to the inner wall of the outer shell, the lower surface of the fixed plate is fixedly connected to the inner bottom wall of the outer shell, and the upper surface of the fixed plate is fixedly connected to the lower surface of the partition.

[0017] As a preferred embodiment of the four-way shuttle vehicle with a liftable pallet function and its use method described in the present invention, the upper surface of the slider is fixedly connected to a hinge seat, the lower end of the support column is rotatably connected to the inside of the hinge seat, the upper end of the support column is rotatably connected to the lower surface of the pallet body through the hinge seat, and the outer surface of the support column is slidably connected to the inside of the through groove.

[0018] As a preferred embodiment of the four-way shuttle vehicle with a pallet lifting function and its use method described in the present invention, the transmission assembly includes an active bevel gear, one end of which is fixedly connected to one end of a transmission shaft, and both sides of the outer surface of the active bevel gear are respectively meshed and connected with a first driven bevel gear and a second driven bevel gear, and the first driven bevel gear and the second driven bevel gear are symmetrically arranged and respectively fixedly connected to one end of a screw rod on both sides.

[0019] The method for using the four-way shuttle with a pallet lift function described in the present invention comprises the following steps:

[0020] S1, control the main unit to move under the cargo;

[0021] S2, start the lifting unit to push the pallet unit to contact the goods and lift the goods;

[0022] S3, fix the cargo by squeezing and clamping the cargo assembly;

[0023] S4. Use weight sensors and level detection rods to detect whether the cargo is stable.

[0024] Beneficial effects of the present invention:

[0025] 1. By starting the double-headed motor and utilizing the transmission assembly, the screw rods on both sides can be driven to rotate. Since the screw rods on both sides have opposite threads, the sliders can be kept moving toward each other, and then the pallet body can be pushed upward with the cooperation of the support column. The thread setting can improve the accuracy of the movement of the pallet body and the convenience of use. At the same time, when the pallet body contacts the goods, the clamping block is pushed to rotate under the squeezing of the goods, and then the clamping block can fix the goods, thereby improving the stability of the goods and facilitating use.

[0026] 2. During use, the present invention can use the weight sensor to detect whether the weight of the goods is even, and detect whether the pallets are at the same level through the position of the horizontal detection rod in the sleeve. If there is a numerical deviation, it can be reported in time through the controller, and the weight sensor can play an anti-slip role, thereby improving work safety.

[0027] 3. The cleaning plate can be used to clean the running track, reduce the granular impurities left on the track and hinder the four-way shuttle, and improve the safety of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0029] Figure 1 A three-dimensional diagram of a four-way shuttle vehicle with a pallet lift function and a method of using the same according to the present invention;

[0030] Figure 2 For the present invention Figure 1 Schematic diagram of the main unit structure;

[0031] Figure 3 For the present invention Figure 1 Schematic diagram of the internal structure;

[0032] Figure 4 A schematic diagram of a tray unit of the present invention;

[0033] Figure 5 For the present invention Figure 3 Schematic diagram of the structure of the horizontal detection rod;

[0034] Figure 6 It is a schematic diagram of the lifting unit of the present invention;

[0035] Figure 7 For the present invention Figure 6 A magnified schematic diagram of point A;

[0036] Figure 8 for Figure 1 Working diagram of .

[0037] In the figure: 100, main unit; 101, housing; 102, motor; 103, wheel; 104, controller; 105, cleaning plate; 106, groove; 107, partition; 108, through groove; 200, tray unit; 201, tray body; 202, mounting groove; 203, weight sensor; 204, clamping assembly; 204a, clamping block; 204b, opening groove; 204c, torsion spring shaft; 205, horizontal detection rod; 206, sleeve; 207, electrode sheet; 300, lifting unit; 301, double-headed motor; 302, transmission shaft; 303, transmission assembly; 303a, active bevel gear; 303b, first driven bevel gear; 303c, second driven bevel gear; 304, screw rod; 305, fixing plate; 306, slider; 307, support column; 308, hinge seat. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0041] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0042] Reference Figure 1-8 The present invention provides a four-way shuttle vehicle with a pallet lift function and a method for using the same, comprising a main unit 100, a pallet unit 200 and a lifting unit 300.

[0043] The main unit 100 includes a housing 101, a plurality of motors 102 are fixedly connected to the four corners of the housing 101, the output ends of the motors 102 are fixedly connected to wheels 103, a partition 107 is fixedly connected to the upper part of the inner wall of the housing 101, and a controller 104 is fixedly connected to the front outer surface of the housing 101;

[0044] The tray unit 200 includes a tray body 201, both sides of the outer surface of the tray body 201 are provided with mounting grooves 202, the interior of the mounting grooves 202 is provided with a clamping assembly 204, the upper surface of the tray body 201 is fixedly connected with a plurality of weight sensors 203, and the four corners of the lower surface of the tray body 201 are fixedly connected with a plurality of horizontal detection rods 205;

[0045] The lifting unit 300 includes a double-headed motor 301, the outer surface of the double-headed motor 301 is fixedly connected to the inner bottom wall of the outer shell 101, the output end of the double-headed motor 301 is fixedly connected to the transmission shaft 302, a transmission assembly 303 is arranged on the outer surface of one end of the transmission shaft 302, screw rods 304 are arranged on both sides of the transmission assembly 303, the outer surface of the screw rod 304 is slidably connected to a slider 306, and the upper surface of the slider 306 is arranged with a support column 307. Clamping components 204 are installed in the installation grooves 202 on both sides of the pallet body 201. These clamping components 204 ensure the stability of the loaded items through clamping action to prevent the items from shifting during transportation. The weight sensor 203 is used to monitor the weight information of the items on the pallet in real time and provide data feedback to the control system to ensure that the load of the pallet does not exceed the designed load range. The transmission shaft 302 is driven by the double-headed motor 301, so that the screw rod 304 drives the slider 306 to move in the vertical direction, thereby improving the flexibility and work efficiency of storing and retrieving goods. The double-headed motor 301 ensures the smoothness and synchronization of the lifting action, thereby improving the stability and reliability of the system.

[0046] Among them, grooves 106 are provided on the upper part of the outer surfaces of both sides of the shell 101, through grooves 108 are provided on the upper surface of the partition 107, and cleaning plates 105 are rotatably connected to the four corners of the lower surface of the shell 101. The motor 102 is electrically connected to the inside of the controller 104, the weight sensor 203 and the horizontal detection rod 205 are electrically connected to the inside of the controller 104, and the double-headed motor 301 is electrically connected to the controller 104. The weight sensor 203 and the horizontal detection rod 205 monitor the operating status of the equipment in real time and feedback to the controller 104, helping the controller 104 to determine the load and level of the equipment, adjust the operating parameters, ensure that the equipment operates in the best working state, avoid damage to the equipment or unstable operation due to overload operation or non-level state, and through the intelligent adjustment and load monitoring of the controller 104, the power output of the motor 102 and the motor can be adjusted according to actual work needs to avoid energy waste and improve overall energy efficiency.

[0047] Furthermore, the clamping assembly 204 includes a clamping block 204a, a torsion spring shaft 204c is fixedly connected inside the clamping block 204a, both ends of the torsion spring shaft 204c are rotatably connected inside the mounting groove 202, an opening groove 204b is provided on one side of the outer surface of the clamping block 204a, the clamping block 204a is a special-shaped block with one end longer and an inclined surface on the upper surface of the other end, and the lower surface of the clamping block 204a is arranged inside the groove 106. When in use, the clamping block 204a is overturned by squeezing one side of the clamping block 204a with goods, and then the clamping block 204a can clamp the goods, and when the goods are removed, the torsion spring shaft 204c can drive the clamping block 204a to return to its original position, which is convenient for the next use and improves the convenience of use.

[0048] Furthermore, the outer surface of the horizontal detection rod 205 is slidably connected to a sleeve 206, the outer surface of the sleeve 206 is fixedly connected to the inside of the partition 107, the inner wall of the sleeve 206 and the outer surface of the horizontal detection rod 205 are fixedly connected to an electrode sheet 207, and the electrode sheet 207 is electrically connected to the inside of the controller 104. The outer surface of the sleeve 206 is fixedly connected to the inside of the partition 107, which ensures the stability of the sleeve 206 in a specific position and prevents unnecessary displacement. The inner wall of the sleeve 206 and the outer surface of the horizontal detection rod 205 are respectively fixed with electrode sheets 207. When the horizontal detection rod 205 slides, the contact between the electrode sheet 207 and the inner wall of the sleeve 206 will change. The electrode sheet 207 detects the position or change of the object in real time by measuring the change in the relative position with the horizontal detection rod 205. The electrical connection of the electrode sheet 207 will transmit these signals to the controller 104. The controller 104 receives the signals and performs corresponding processing. The specific position or state of the horizontal detection rod 205 is judged by the difference in electrical signals between the electrode sheets 207, thereby judging the horizontal position or movement of the object.

[0049] Furthermore, the screw rod 304 is symmetrically arranged with its threads reversely arranged, and the adjacent ends of the screw rod 304 are fixedly connected with the fixing plate 305, one end of the screw rod 304 is rotatably connected to the inner wall of the housing 101, the lower surface of the fixing plate 305 is fixedly connected to the inner bottom wall of the housing 101, and the upper surface of the fixing plate 305 is fixedly connected to the lower surface of the partition 107. The upper surface of the slider 306 is fixedly connected with the hinge seat 308, the lower end of the support column 307 is rotatably connected to the inside of the hinge seat 308, the upper end of the support column 307 is rotatably connected to the lower surface of the tray body 201 through the hinge seat 308, and the outer surface of the support column 307 is slidably connected to the inside of the through slot 108. When the screw rod 304 rotates, it can drive the slider 306 to move axially along the screw rod 304. The upper surface of the slider 306 is connected to the support column 307 through the hinge seat 308, so that the support column 307 can move freely under the drive of the slider 306. The upper end of the support column 307 is connected to the lower surface of the tray body 201 through the hinge seat 308, thereby supporting the overall movement of the tray, improving the accuracy of the movement, and at the same time maintaining the horizontal position of the tray body 201 during movement, thereby improving the convenience of use.

[0050] Further, the transmission assembly 303 includes a driving bevel gear 303a, one end of which is fixedly connected to one end of the transmission shaft 302, and the first driven bevel gear 303b and the second driven bevel gear 303c are respectively meshed and connected on both sides of the outer surface of the driving bevel gear 303a, and the first driven bevel gear 303b and the second driven bevel gear 303c are symmetrically arranged and respectively fixedly connected to one end of the screw rod 304 on both sides. The rotation of the transmission shaft 302 is transmitted to the driven bevel gears 303b and 303c through the driving bevel gear 303a, and these gears evenly distribute the rotational power to the two screw rods 304, thereby realizing the synchronous drive of the screw rods 304, improving the accuracy of movement and facilitating use.

[0051] Furthermore, a method for using a four-way shuttle vehicle with a pallet lift function and a method for using the same comprises the following steps:

[0052] S1, controlling the main unit 100 to move under the cargo;

[0053] S2, start the lifting unit 300 to push the tray unit 200 to contact the goods and lift the goods;

[0054] S3, fix the cargo by squeezing the clamping assembly 204;

[0055] S4. Use the weight sensor 203 and the horizontal detection rod 205 to detect whether the cargo is stable. Through the above steps, the control system optimizes the path planning according to the real-time feedback sensor data to avoid interference from obstacles and ensure that the docking position between the vehicle body and the cargo is accurate. The lifting system adjusts the height and position of the pallet through a precise control unit to ensure that the pallet can lift the cargo smoothly, squeezes the clamping assembly 204 to make it flip, and ensures that the cargo does not shift or tilt on the pallet. The weight sensor 203 can monitor the weight of the cargo in real time and feed the data back to the control system to determine whether the cargo is evenly distributed on the pallet to avoid tilting or falling of the cargo due to unbalanced load. The horizontal detection rod 205 is used to detect the horizontal state of the pallet to ensure that the pallet remains stable during the lifting process and does not cause the cargo to deflect or tilt. The four-way shuttle vehicle is used for transportation, thereby improving the stability and safety of the transportation process.

[0056] During use, first start the motor 102 to drive the wheel 103 to move. When moving to the bottom of the cargo, start the double-headed motor 301 to drive the active bevel gear 303a to rotate through the transmission shaft 302, and then the screw rod 304 can be driven to rotate under the cooperation of the first driven bevel gear 303b and the second driven bevel gear 303c. The slider 306 can be adjusted to move under the setting of the thread, and then the support column 307 can be controlled to push the pallet body 201. When the pallet body 201 contacts the cargo, the cargo will squeeze one side of the clamping block 204a to rotate it, and then clamp the cargo to improve the stability of the cargo during transportation. When lifting the cargo, the weight of the cargo is detected by the weight sensor 203, and a signal is sent when the weight is uneven. The level of the pallet body 201 is determined by the signal transmitted by the electrode sheet 207 on the horizontal detection rod 205. When there is an offset, it means that the cargo is tilted, and an alarm is issued through the controller 104. In addition, the weight sensor 203 can play a certain anti-slip role, thereby improving the safety and convenience during use.

[0057] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A four-way shuttle vehicle with a pallet lift function, comprising a main unit (100), a pallet unit (200) and a lift unit (300), characterized in that: The main unit (100) comprises a shell (101), a plurality of motors (102) are fixedly connected to the four internal corners of the shell (101), the output ends of the motors (102) are fixedly connected to wheels (103), a partition (107) is fixedly connected to the upper part of the inner wall of the shell (101), and a controller (104) is fixedly connected to the front outer surface of the shell (101); The tray unit (200) comprises a tray body (201), both sides of the outer surface of the tray body (201) are provided with mounting grooves (202), the interior of the mounting grooves (202) is provided with a clamping assembly (204), the upper surface of the tray body (201) is fixedly connected with a plurality of weight sensors (203), and the four corners of the lower surface of the tray body (201) are fixedly connected with a plurality of horizontal detection rods (205); The lifting unit (300) comprises a double-headed motor (301), the outer surface of the double-headed motor (301) is fixedly connected to the inner bottom wall of the housing (101), the output end of the double-headed motor (301) is fixedly connected to a transmission shaft (302), a transmission assembly (303) is arranged on the outer surface of one end of the transmission shaft (302), screw rods (304) are arranged on both sides of the transmission assembly (303), the outer surface of the screw rod (304) is slidably connected to a slider (306), and a support column (307) is arranged on the upper surface of the slider (306).

2. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The upper parts of the outer surfaces of both sides of the shell (101) are provided with grooves (106), the upper surface of the partition (107) is provided with a through groove (108), and the four corners of the lower surface of the shell (101) are rotatably connected with cleaning plates (105).

3. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The motor (102) is electrically connected to the inside of the controller (104), the weight sensor (203) and the horizontal detection rod (205) are both electrically connected to the inside of the controller (104), and the double-headed motor (301) is electrically connected to the controller (104).

4. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The clamping assembly (204) comprises a clamping block (204a), the interior of the clamping block (204a) is fixedly connected with a torsion spring shaft (204c), both ends of the torsion spring shaft (204c) are rotatably connected to the interior of the mounting groove (202), an open groove (204b) is provided on the outer surface of one side of the clamping block (204a), the clamping block (204a) is a special-shaped block with one end being longer and the upper surface of the other end being provided with an inclined surface, and the lower surface of the clamping block (204a) is provided inside the groove (106).

5. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The outer surface of the horizontal detection rod (205) is slidably connected to a sleeve (206), and the outer surface of the sleeve (206) is fixedly connected to the inside of the partition (107). The inner wall of the sleeve (206) and the outer surface of the horizontal detection rod (205) are both fixedly connected to an electrode sheet (207), and the electrode sheet (207) is electrically connected to the inside of the controller (104).

6. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The screw rod (304) is symmetrically arranged and its threads are arranged in reverse. Adjacent ends of the screw rod (304) are fixedly connected to fixing plates (305). One end of the screw rod (304) is rotatably connected to the inner wall of the outer shell (101). The lower surface of the fixing plate (305) is fixedly connected to the inner bottom wall of the outer shell (101). The upper surface of the fixing plate (305) is fixedly connected to the lower surface of the partition (107).

7. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The upper surface of the slider (306) is fixedly connected to a hinge seat (308), the lower end of the support column (307) is rotatably connected to the inside of the hinge seat (308), the upper end of the support column (307) is rotatably connected to the lower surface of the tray body (201) through the hinge seat (308), and the outer surface of the support column (307) is slidably connected to the inside of the through groove (108).

8. The four-way shuttle vehicle with a pallet lift function according to claim 1, characterized in that: The transmission assembly (303) comprises a driving bevel gear (303a), one end of which is fixedly connected to one end of a transmission shaft (302), and two sides of an outer surface of the driving bevel gear (303a) are respectively meshedly connected with a first driven bevel gear (303b) and a second driven bevel gear (303c), and the first driven bevel gear (303b) and the second driven bevel gear (303c) are symmetrically arranged and respectively fixedly connected to one end of a screw rod (304) on both sides.

9. A four-way shuttle vehicle with a pallet lift function according to claims 1-8, characterized in that: A method for using a four-way shuttle with a pallet lifting function comprises the following steps: S1, controlling the main unit (100) to move under the cargo; S2, starting the lifting unit (300) to push the tray unit (200) to contact the goods and lift the goods; S3, fixing the cargo by squeezing the cargo clamping assembly (204); S4. Use the weight sensor (203) and the level detection rod (205) to detect whether the cargo is stable.

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