Reversing mechanism and reversing method of box type four-way shuttle vehicle

Abstract

The invention discloses a reversing mechanism and a reversing method of a box type four-way shuttle vehicle. The technical problem that a guide mechanism is prone to abrasion in the reversing process is solved. A vehicle body reversing walking driving motor (5) is started, a reversing driving driving gear (17) connected to an output shaft of the vehicle body reversing walking driving motor is meshed with a reversing driving driven gear (8) to drive a reversing driving shaft (7) to rotate, and the reversing driving shaft (7) is driven to rotate through a right side flexible coupler (9) and a left side flexible coupler (29). A first reversing swing shaft (10) and a third reversing swing shaft (30) are synchronously driven to rotate, so that a first reversing roller (12) and a third reversing roller (32) synchronously swing downwards, a second reversing swing shaft (14) is synchronously driven to synchronously rotate through transmission of a right longitudinal gear transmission set (18), and a right longitudinal walking wheel carrier plate (19) is put down by a second reversing roller (16) and the first reversing roller together. And reversing is realized.

Description

Technical Field

[0001] The present invention relates to a shuttle vehicle, and particularly to a reversing mechanism and a reversing method for a box-type four-way shuttle vehicle. Background Art

[0002] When working, the shuttle vehicle moves in the left-right direction (horizontal movement) or in the front-back direction (longitudinal movement), and generally reverses from straight running to horizontal running at intersections; the reversing mechanism of traditional box-type four-way shuttle vehicles generally adopts a reversing mechanism with one-point lifting and two-point guiding, which is generally arranged in the middle of the vehicle body frame. Since one-point lifting is prone to uneven load, and serious uneven load operation will cause serious wear of the guiding mechanism or cause the entire vehicle body to be unevenly loaded, affecting the normal operation of the four-way shuttle vehicle. Summary of the Invention

[0003] The present invention provides a reversing mechanism and a reversing method for a box-type four-way shuttle vehicle, which solves the technical problem of easy wear of the guiding mechanism during the reversing process and realizes balanced reversing of the reversing vehicle.

[0004] The present invention solves the above technical problems through the following technical solutions: A reversing mechanism for a box-type four-way shuttle car, comprising a rectangular vehicle body frame. Transverse traveling wheels are provided on both the front cross beam and the rear cross beam of the rectangular vehicle body frame. A fork assembly is provided in the middle of the top of the rectangular vehicle body frame. A driving motor mounting plate is provided on the right side of the fork assembly. A vehicle body reversing traveling driving motor is provided on the driving motor mounting plate. A reversing driving driving gear is connected to the output shaft of the vehicle body reversing traveling driving motor. On the rectangular vehicle body frame, along the front-rear direction, a pair of transmission shaft support vertical plates are provided in parallel with each other. A reversing driving shaft is provided between the pair of transmission shaft support vertical plates. A reversing driving driven gear is provided on the reversing driving shaft on the right side of the pair of transmission shaft support vertical plates. A right-end reversing driving shaft support box body is connected to the right-end longitudinal beam of the rectangular vehicle body frame. A first reversing swing shaft and a second reversing swing shaft are respectively provided on the right-end reversing driving shaft support box body. A right-side longitudinal gear transmission group is provided in the right-end reversing driving shaft support box body between the first reversing swing shaft and the second reversing swing shaft. The left end of the first reversing swing shaft is connected to the right end of the reversing driving shaft through a right-side flexible coupling. A first reversing eccentric pendulum is connected to the right end of the first reversing swing shaft. A first reversing roller is provided on the first reversing eccentric pendulum. A second reversing eccentric pendulum is connected to the right end of the second reversing swing shaft. A second reversing roller is provided on the second reversing eccentric pendulum. A right longitudinal traveling wheel frame plate is movably provided on the right side of the right-end reversing driving shaft support box body. Right longitudinal traveling wheels are provided on the right outer vertical surface of the right longitudinal traveling wheel frame plate. Horizontally arranged first reversing roller embedding channel steels and horizontally arranged second reversing roller embedding channel steels are respectively provided on the left inner vertical surface of the right longitudinal traveling wheel frame plate. The first reversing roller is movably provided in the first reversing roller embedding channel steel. The second reversing roller is movably provided in the second reversing roller embedding channel steel. The reversing driving driving gear is engaged with the reversing driving driven gear.

[0005] A first up-down guide rail is provided at the right front end of the rectangular vehicle body frame. A first slider is provided on the first up-down guide rail. A first slider connecting seat is provided on the front inner vertical surface of the right longitudinal traveling wheel frame plate. The top surface of the first slider is connected to the first slider connecting seat. A second up-down guide rail is provided at the right rear end of the rectangular vehicle body frame. A second slider is provided on the second up-down guide rail. A second slider connecting seat is provided on the rear inner vertical surface of the right longitudinal traveling wheel frame plate. The top surface of the second slider is connected to the second slider connecting seat.

[0006] A left-end reversing drive shaft support box body is connected to the left-end longitudinal beam of the rectangular vehicle body frame. A third reversing swing shaft and a fourth reversing swing shaft are respectively arranged on the left-end reversing drive shaft support box body. A left-side longitudinal gear transmission group is arranged in the left-end reversing drive shaft support box body between the third reversing swing shaft and the fourth reversing swing shaft. The right end of the third reversing swing shaft is connected to the left end of the reversing drive shaft through a left-side flexible coupling. A third reversing eccentric pendulum block is connected to the right end of the third reversing swing shaft, and a third reversing roller is arranged on the third reversing eccentric pendulum block. A fourth reversing eccentric pendulum block is connected to the left end of the fourth reversing swing shaft, and a fourth reversing roller is arranged on the fourth reversing eccentric pendulum block. A left longitudinal walking wheel frame plate is movably arranged on the left side of the left-end reversing drive shaft support box body. Left longitudinal walking wheels are arranged on the left outer vertical surface of the left longitudinal walking wheel frame plate. A horizontal third reversing roller embedding channel steel and a horizontal fourth reversing roller embedding channel steel are respectively arranged on the right inner vertical surface of the left longitudinal walking wheel frame plate. The third reversing roller is movably arranged in the third reversing roller embedding channel steel, and the fourth reversing roller is movably arranged in the fourth reversing roller embedding channel steel.

[0007] A third up-down guide rail is arranged at the left front end of the rectangular vehicle body frame. A third slider is arranged on the third up-down guide rail. A third slider connecting seat is arranged on the front inner vertical surface of the left longitudinal walking wheel frame plate. The top surface of the third slider is connected to the third slider connecting seat. A fourth up-down guide rail is arranged at the left rear end of the rectangular vehicle body frame. A fourth slider is arranged on the fourth up-down guide rail. A fourth slider connecting seat is arranged on the rear inner vertical surface of the left longitudinal walking wheel frame plate. The top surface of the fourth slider is connected to the fourth slider connecting seat.

[0008] A reversing method for a reversing mechanism of a box-type four-way shuttle vehicle. When the box-type four-way shuttle vehicle moves left and right, it is realized by the transverse walking wheels arranged on the front cross beam and the rear cross beam of the rectangular vehicle body frame. At this time, the first reversing roller, the second reversing roller, the third reversing roller and the fourth reversing roller are all in the highest position, and the right longitudinal walking wheel frame plate and the left longitudinal walking wheel frame plate are lifted, so that the two right longitudinal walking wheels and the two left longitudinal walking wheels are separated from the ground. It is characterized in that when the box-type four-way shuttle vehicle reverses to move in the front-rear direction, the steps are as follows: First step, start the vehicle body reversing walking drive motor. The reversing drive driving gear connected to the output shaft of the vehicle body reversing walking drive motor drives the reversing drive shaft to rotate by meshing with the reversing drive driven gear. The reversing drive shaft respectively drives the first reversing swing shaft and the third reversing swing shaft to rotate synchronously through the right-side flexible coupling and the left-side flexible coupling, so that the first reversing roller and the third reversing roller swing downward synchronously. Meanwhile, as the first commutation swing shaft rotates, it is transmitted through the right longitudinal gear transmission group, synchronously driving the second commutation swing shaft to rotate synchronously. The second commutation roller and the first commutation roller jointly lower the right longitudinal walking wheel frame plate, causing the two right longitudinal walking wheels to land on the ground; Meanwhile, as the third commutation swing shaft rotates, it is transmitted through the left longitudinal gear transmission group, synchronously driving the fourth commutation swing shaft to rotate synchronously. The third commutation roller and the fourth commutation roller jointly lower the left longitudinal walking wheel frame plate, causing the two left longitudinal walking wheels to land on the ground; Step 2: The vehicle body commutation walking drive motor continues to rotate, causing the first commutation eccentric pendulum block, the second commutation eccentric pendulum block, the third commutation eccentric pendulum block, and the fourth commutation eccentric pendulum block to swing synchronously, raising the entire rectangular vehicle body frame and causing the four transverse walking wheels to leave the ground, thus completing the commutation.

[0009] When the second commutation roller and the first commutation roller jointly lower the right longitudinal walking wheel frame plate, the first slider slides along the first up and down guide rail, the second slider slides along the second up and down guide rail; the third slider slides along the third up and down guide rail, and the fourth slider slides along the fourth up and down guide rail.

[0010] The lifting mechanism of the present invention is arranged on both sides of the vehicle body frame and adopts the method of two-point lifting and two-line guiding to ensure the smoothness and non-uniform load during the vehicle body steering and switching, overcoming the wear of the guiding mechanism caused by commutation uneven load. Brief Description of the Drawings

[0011] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the rectangular vehicle body frame 1 of the present invention; Figure 3 is a schematic structural diagram of the right end commutation drive shaft support box 13 and the left end commutation drive shaft support box 33 of the present invention; Figure 4 is a schematic structural diagram of the right longitudinal walking wheel frame plate 19 and the left longitudinal walking wheel frame plate 38 of the present invention; Figure 5 is a schematic structural diagram of the right longitudinal walking wheel frame plate 19 and the left longitudinal walking wheel frame plate 38 when observed from the left front direction of the present invention. Detailed Embodiment

[0012] The present invention will be described in detail below with reference to the accompanying drawings: In an intelligent warehouse, a box-type four-way shuttle vehicle is used to complete the transfer of goods. The box-type four-way shuttle vehicle can move horizontally in the left-right direction or longitudinally in the front-back direction. The two moving directions are perpendicular to each other, so its reversing direction is 90 degrees. The box-type four-way shuttle vehicle is in the form of a rectangular box body, and a fork is provided on the vehicle body to complete the transfer of goods from the vehicle body to the storage location. The reversing mechanism of the box-type four-way shuttle vehicle includes a rectangular vehicle body frame 1. Two transverse walking wheels 2 are respectively provided on the front side cross beam of the rectangular vehicle body frame 1, and two transverse walking wheels 2 are provided on the rear side cross beam. The four transverse walking wheels support the entire rectangular vehicle body frame 1 and complete the transverse movement of the vehicle body. A transverse walking drive motor is provided on the vehicle body frame. The transverse walking drive motor drives the four transverse walking wheels to move through a transverse walking transmission mechanism. A fork assembly 3 is provided in the middle of the top end of the rectangular vehicle body frame 1. A drive motor mounting plate 4 is provided on the right side of the fork assembly 3, and a vehicle body reversing walking drive motor 5 is provided on the drive motor mounting plate 4. When the vehicle body needs to reverse, the vehicle body reversing walking drive motor 5 is started to complete the reversal between the transverse and longitudinal directions. A reversing drive driving gear 17 is connected to the output shaft of the vehicle body reversing walking drive motor 5. On the rectangular vehicle body frame 1, a pair of transmission shaft support vertical plates 6 are arranged parallel to each other in the front-back direction. A reversing drive shaft 7 is arranged between the pair of transmission shaft support vertical plates 6. The reversing drive shaft 7 is supported by these two transmission shaft support vertical plates and conducts the reversing rotation action to the two longitudinal walking wheel frame plates. A reversing drive driven gear 8 is provided on the reversing drive shaft 7 on the right side of the pair of transmission shaft support vertical plates 6. The vehicle body reversing walking drive motor 5 drives the reversing drive shaft 7 to rotate through the engagement of the reversing drive driving gear 17 fixedly arranged on its output shaft and the reversing drive driven gear 8 to perform the reversing task. A right end reversing drive shaft support box body 13 is connected to the right end longitudinal beam of the rectangular vehicle body frame 1. This box body serves as the support frame for the two reversing swing shafts on the right side and also serves the purpose of transmitting the reversing rotation action. A first reversing swing shaft 10 and a second reversing swing shaft 14 are respectively provided on the right end reversing drive shaft support box body 13. A right side longitudinal gear transmission group 18 is arranged in the right end reversing drive shaft support box body 13 between the first reversing swing shaft 10 and the second reversing swing shaft 14. A group of right side longitudinal gear transmission groups 18 that are sequentially engaged with each other are arranged in the right end reversing drive shaft support box body 13. The frontmost gear of this group of gears is arranged on the first reversing swing shaft 10, and the rearmost gear is arranged on the second reversing swing shaft 14. A plurality of intermediate transmission gears are arranged between these two gears to realize the synchronous rotation and swing of the second reversing swing shaft 14 and the first reversing swing shaft 10. The left end of the first reversing swing shaft 10 is connected to the right end of the reversing drive shaft 7 through a right side flexible coupling 9. A first reversing eccentric swing block 11 is connected to the right end of the first reversing swing shaft 10, and a first reversing roller 12 is provided on the first reversing eccentric swing block 11, thereby realizing the drive of the up and down movement of the right longitudinal walking wheel frame plate 19.At the right end of the second reversing swing shaft 14, a second reversing eccentric swing block 15 is connected. A second reversing roller 16 is arranged on the second reversing eccentric swing block 15. On the right side of the right-end reversing drive shaft support box body 13, a right longitudinal walking wheel frame plate 19 is movably arranged. On the right outer vertical surface of the right longitudinal walking wheel frame plate 19, a right longitudinal walking wheel 20 is arranged. On the left inner vertical surface of the right longitudinal walking wheel frame plate 19, a horizontal first reversing roller embedding channel steel 21 and a horizontal second reversing roller embedding channel steel 22 are respectively arranged. The first reversing roller 12 is movably arranged in the first reversing roller embedding channel steel 21, and the second reversing roller 16 is movably arranged in the second reversing roller embedding channel steel 22. The reversing drive driving gear 17 and the reversing drive driven gear 8 are meshed together. Through the rotation of the first reversing swing shaft 10 and the second reversing swing shaft 14 fixedly arranged on the right-end reversing drive shaft support box body 13, the first reversing eccentric swing block 11 and the second reversing eccentric swing block 15 are driven to swing. Then, through the movement of the first reversing roller 12 in the first reversing roller embedding channel steel 21, and; The second reversing roller 16 moves in the second reversing roller embedding channel steel 22, synchronously lowering the right longitudinal walking wheel frame plate 19 to the ground, and continuing to swing as the first reversing eccentric swing block 11 and the second reversing eccentric swing block 15 swing, lifting the rectangular vehicle body frame 1, so that the four transverse walking wheels 2 are lifted off the ground, realizing the change of the vehicle body from walking in the left-right direction to walking in the front-back longitudinal direction.

[0013] At the right front end of the rectangular vehicle body frame 1, a first up-down guide rail 25 is arranged. On the first up-down guide rail 25, a first slider 26 is arranged. On the front inner vertical surface of the right longitudinal walking wheel frame plate 19, a first slider connecting seat 23 is arranged. The top surface of the first slider 26 is connected to the first slider connecting seat 23. At the right rear end of the rectangular vehicle body frame 1, a second up-down guide rail 27 is arranged. On the second up-down guide rail 27, a second slider 28 is arranged. On the rear inner vertical surface of the right longitudinal walking wheel frame plate 19, a second slider connecting seat 24 is arranged. The top surface of the second slider 28 is connected to the second slider connecting seat 24. The cooperation of the two slide rail sliders plays a guiding role in the movement of the right longitudinal walking wheel frame plate 19, realizing the smoothness and stability of the reversing.

[0014] On the left longitudinal beam of the rectangular vehicle body frame 1, a left end reversing drive shaft support box 33 is connected. On the left end reversing drive shaft support box 33, a third reversing swing shaft 30 and a fourth reversing swing shaft 34 are respectively arranged. In the left end reversing drive shaft support box 33 between the third reversing swing shaft 30 and the fourth reversing swing shaft 34, a left side longitudinal gear transmission group 37 is arranged. The right end of the third reversing swing shaft 30 is connected to the left end of the reversing drive shaft 7 through a left side flexible coupling 29. At the right end of the third reversing swing shaft 30, a third reversing eccentric pendulum 31 is connected. On the third reversing eccentric pendulum 31, a third reversing roller 32 is arranged; at the left end of the fourth reversing swing shaft 34, a fourth reversing eccentric pendulum 35 is connected. On the fourth reversing eccentric pendulum 35, a fourth reversing roller 36 is arranged; on the left side of the left end reversing drive shaft support box 33, a left longitudinal walking wheel frame plate 38 is movably arranged. On the left outer vertical surface of the left longitudinal walking wheel frame plate 38, a left longitudinal walking wheel 39 is arranged. On the right inner vertical surface of the left longitudinal walking wheel frame plate 38, a horizontal third reversing roller embedding channel steel 40 and a horizontal fourth reversing roller embedding channel steel 41 are respectively arranged. The third reversing roller 32 is movably arranged in the third reversing roller embedding channel steel 40, and the fourth reversing roller 36 is movably arranged in the fourth reversing roller embedding channel steel 41.

[0015] At the left front end of the rectangular vehicle body frame 1, a third up and down guide rail 45 is arranged. On the third up and down guide rail 45, a third slider 44 is arranged. On the front inner vertical surface of the left longitudinal walking wheel frame plate 38, a third slider connecting seat 42 is arranged. The top surface of the third slider 44 is connected to the third slider connecting seat 42; at the left rear end of the rectangular vehicle body frame 1, a fourth up and down guide rail 47 is arranged. On the fourth up and down guide rail 47, a fourth slider 46 is arranged. On the rear inner vertical surface of the left longitudinal walking wheel frame plate 38, a fourth slider connecting seat 43 is arranged. The top surface of the fourth slider 46 is connected to the fourth slider connecting seat 43; the reversing mechanisms on the left and right sides of the rectangular vehicle body frame 1 are basically the same.

[0016] A reversing method for the reversing mechanism of a box - type four - way shuttle car. When the box - type four - way shuttle car moves left and right, it is realized by the transverse walking wheels 2 arranged on the front cross beam and the rear cross beam of the rectangular vehicle body frame 1. At this time, the first reversing roller 12, the second reversing roller 16, the third reversing roller 32 and the fourth reversing roller 36 are all in the highest position, and the right longitudinal walking wheel frame plate 19 and the left longitudinal walking wheel frame plate 38 are lifted, so that the two right longitudinal walking wheels 20 and the two left longitudinal walking wheels 39 are separated from the ground, and the vehicle body is supported on the ground by the four transverse walking wheels 2 and completes the walking in the left - right direction; if the box - type four - way shuttle car reverses to move in the front - rear direction, the steps are as follows: Step 1: Start the vehicle body reversing walking drive motor 5. The reversing drive active gear 17 connected to the output shaft of the vehicle body reversing walking drive motor 5 drives the reversing drive shaft 7 to rotate by meshing with the reversing drive driven gear 8. The reversing drive shaft 7 drives the first reversing swing shaft 10 and the third reversing swing shaft 30 to rotate synchronously through the right flexible coupling 9 and the left flexible coupling 29 respectively, so that the first reversing roller 12 and the third reversing roller 32 swing downward synchronously; Meanwhile, as the first reversing swing shaft 10 rotates, it drives the second reversing swing shaft 14 to rotate synchronously through the right longitudinal gear transmission group 18. The second reversing roller 16 and the first reversing roller 12 jointly lower the right longitudinal walking wheel frame plate 19, so that the two right longitudinal walking wheels 20 touch the ground; Meanwhile, as the third reversing swing shaft 30 rotates, it drives the fourth reversing swing shaft 34 to rotate synchronously through the left longitudinal gear transmission group 37. The third reversing roller 32 and the fourth reversing roller 36 jointly lower the left longitudinal walking wheel frame plate 38, so that the two left longitudinal walking wheels 39 touch the ground; Step 2: The vehicle body reversing walking drive motor 5 continues to rotate, so that the first reversing eccentric pendulum 11, the second reversing eccentric pendulum 15, the third reversing eccentric pendulum 31 and the fourth reversing eccentric pendulum 35 swing synchronously by the same angle, raising the entire rectangular vehicle body frame 1 and separating the four transverse walking wheels 2 from the ground, thus completing the reversing.

[0017] When the second reversing roller 16 and the first reversing roller 12 jointly lower the right longitudinal walking wheel frame plate 19, the first slider 26 slides along the first up and down guide rail 25, and the second slider 28 slides along the second up and down guide rail 27; the third slider 44 slides along the third up and down guide rail 45, and the fourth slider 46 slides along the fourth up and down guide rail 47.

Claims

1. A reversing mechanism for a box-type four-way shuttle vehicle, comprising a rectangular vehicle frame (1), transverse travel wheels (2) are arranged on the front and rear cross beams of the rectangular vehicle frame (1), a fork assembly (3) is arranged at the middle of the top of the rectangular vehicle frame (1), a drive motor mounting plate (4) is arranged on the right side of the fork assembly (3), a vehicle body reversing travel drive motor (5) is arranged on the drive motor mounting plate (4), and a reversing drive driving gear (17) is connected to the output shaft of the vehicle body reversing travel drive motor (5), characterized in that: A pair of transmission shaft support vertical plates (6) are arranged parallel to each other along the front-rear direction on the rectangular vehicle body frame (1), a reversing drive shaft (7) is arranged between the pair of transmission shaft support vertical plates (6), and a reversing drive driven gear (8) is arranged on the reversing drive shaft (7) on the right side of the pair of transmission shaft support vertical plates (6); a right end reversing drive shaft support box (13) is connected to the right end longitudinal beam of the rectangular vehicle body frame (1), a first reversing swing shaft (10) and a second reversing swing shaft (14) are respectively arranged on the right end reversing drive shaft support box (13), a right longitudinal gear transmission group (18) is arranged in the right end reversing drive shaft support box (13) between the first reversing swing shaft (10) and the second reversing swing shaft (14), the left end of the first reversing swing shaft (10) is connected to the right end of the reversing drive shaft (7) through a right flexible coupling (9), and a first reversing eccentric swing block (18) is connected to the right end of the first reversing swing shaft (10) 11), a first reversing roller (12) is arranged on the first reversing eccentric pendulum block (11); a second reversing eccentric pendulum block (15) is connected to the right end of the second reversing swing shaft (14), and a second reversing roller (16) is arranged on the second reversing eccentric pendulum block (15); a right longitudinal running wheel frame plate (19) is movably arranged on the right side of the right end reversing drive shaft support box (13), and a right longitudinal running wheel frame plate (19) is arranged on the right side outer surface of the right longitudinal running wheel frame plate (19). (20), a first horizontal reversing roller embedded in the channel steel (21) and a second horizontal reversing roller embedded in the channel steel (22) are respectively arranged on the left inner surface of the right longitudinal walking wheel frame plate (19), the first reversing roller (12) is movably arranged in the first reversing roller embedded in the channel steel (21), and the second reversing roller (16) is movably arranged in the second reversing roller embedded in the channel steel (22); the reversing driving gear (17) is meshed with the reversing driving driven gear (8).

2. A reversing mechanism for a box-type four-way shuttle according to claim 1, characterized in that: A first upper and lower guide rail (25) is arranged at the right front end of the rectangular vehicle body frame (1), a first slider (26) is arranged on the first upper and lower guide rail (25), a first slider connection seat (23) is arranged on the front inner side elevation of the right longitudinal running wheel frame plate (19), and the top end surface of the first slider (26) is connected to the first slider connection seat (23); a second upper and lower guide rail (27) is arranged at the right rear end of the rectangular vehicle body frame (1), a second slider (28) is arranged on the second upper and lower guide rail (27), a second slider connection seat (24) is arranged on the rear inner side elevation of the right longitudinal running wheel frame plate (19), and the top end surface of the second slider (28) is connected to the second slider connection seat (24).

3. A reversing mechanism for a box-type four-way shuttle according to claim 1 or 2, characterized in that: A left-end reversing drive shaft support box (33) is connected to the left-end longitudinal beam of the rectangular vehicle body frame (1); a third reversing swing shaft (30) and a fourth reversing swing shaft (34) are respectively arranged on the left-end reversing drive shaft support box (33); a left longitudinal gear transmission group (37) is arranged in the left-end reversing drive shaft support box (33) between the third reversing swing shaft (30) and the fourth reversing swing shaft (34); the right end of the third reversing swing shaft (30) is connected to the left end of the reversing drive shaft (7) via a left flexible coupling (29); a third reversing eccentric pendulum block (31) is connected to the right end of the third reversing swing shaft (30); a third reversing roller (32) is arranged on the third reversing eccentric pendulum block (31); and a third reversing roller (32) is arranged on the fourth reversing roller (32). The left end of the swing shaft (34) is connected to a fourth reversing eccentric swing block (35), and a fourth reversing roller (36) is arranged on the fourth reversing eccentric swing block (35); a left longitudinal running wheel frame plate (38) is movably arranged on the left side of the left end reversing drive shaft support box (33); a left longitudinal running wheel (39) is arranged on the left outer surface of the left longitudinal running wheel frame plate (38); a horizontal third reversing roller embedded channel steel (40) and a horizontal fourth reversing roller embedded channel steel (41) are respectively arranged on the right inner surface of the left longitudinal running wheel frame plate (38); the third reversing roller (32) is movably arranged in the third reversing roller embedded channel steel (40), and the fourth reversing roller (36) is movably arranged in the fourth reversing roller embedded channel steel (41).

4. A reversing mechanism for a box-type four-way shuttle according to claim 3, characterized in that: A third upper and lower guide rail (45) is arranged at the left front end of the rectangular vehicle body frame (1), a third slider (44) is arranged on the third upper and lower guide rail (45), a third slider connection seat (42) is arranged on the inner side elevation of the front end of the left longitudinal running wheel frame plate (38), and the top end surface of the third slider (44) is connected to the third slider connection seat (42); a fourth upper and lower guide rail (47) is arranged at the left rear end of the rectangular vehicle body frame (1), a fourth slider (46) is arranged on the fourth upper and lower guide rail (47), a fourth slider connection seat (43) is arranged on the inner side elevation of the rear end of the left longitudinal running wheel frame plate (38), and the top end surface of the fourth slider (46) is connected to the fourth slider connection seat (43).

5. A reversing method for a reversing mechanism of a box-type four-way shuttle according to claim 4, when the box-type four-way shuttle moves left and right, it is achieved by the transverse running wheels (2) arranged on the front cross beam and the rear cross beam of the rectangular body frame (1), at this time, the first reversing roller (12), the second reversing roller (16), the third reversing roller (32) and the fourth reversing roller (36) are all in the highest position, the right longitudinal running wheel frame plate (19) and the left longitudinal running wheel frame plate (38) are lifted, so that the two right longitudinal running wheels (20) and the two left longitudinal running wheels (39) are off the ground; characterized in that, If the box-type four-way shuttle changes direction to move in the forward and backward directions, the steps are as follows: The first step is to start the vehicle body reversing travel drive motor (5), and the reversing drive driving gear (17) connected to the output shaft of the vehicle body reversing travel drive motor (5) meshes with the reversing drive driven gear (8) to drive the reversing drive shaft (7) to rotate. The reversing drive shaft (7) drives the first reversing swing shaft (10) and the third reversing swing shaft (30) to rotate synchronously through the right flexible coupling (9) and the left flexible coupling (29), respectively, so that the first reversing roller (12) and the third reversing roller (32) are synchronously swung downward; At the same time, as the first reversing swing shaft (10) rotates, the second reversing swing shaft (14) is driven to rotate synchronously through the right longitudinal gear transmission group (18), and the second reversing roller (16) and the first reversing roller (12) jointly lower the right longitudinal walking wheel frame plate (19), so that the two right longitudinal walking wheels (20) fall to the ground; At the same time, as the third reversing swing shaft (30) rotates, the fourth reversing swing shaft (34) is driven to rotate synchronously through the left longitudinal gear transmission group (37), and the third reversing roller (32) and the fourth reversing roller (36) jointly drop the left longitudinal running wheel frame plate (38), so that the two left longitudinal running wheels (39) fall to the ground; In the second step, the vehicle body reversing travel drive motor (5) continues to rotate, causing the first reversing eccentric pendulum block (11), the second reversing eccentric pendulum block (15), the third reversing eccentric pendulum block (31) and the fourth reversing eccentric pendulum block (35) to swing synchronously, so that the entire rectangular vehicle body frame (1) is raised and the four lateral travel wheels (2) are lifted off the ground, thereby completing the reversing.

6. A reversing method for a reversing mechanism of a box-type four-way shuttle according to claim 5, characterized in that: When the second reversing roller (16) and the first reversing roller (12) jointly lower the right longitudinal walking wheel frame plate (19), the first slider (26) slides along the first upper and lower guide rails (25), and the second slider (28) slides along the second upper and lower guide rails (27); the third slider (44) slides along the third upper and lower guide rails (45), and the fourth slider (46) slides along the fourth upper and lower guide rails (47).

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