Four-way shuttle vehicle

Abstract

The invention relates to the technical field of intelligent logistics, in particular to a four-way shuttle vehicle. The four-way shuttle vehicle comprises a vehicle body frame, a supporting plate, a jacking device and a second walking mechanism, the vehicle body frame is provided with a first walking mechanism and a second walking mechanism, the first walking mechanism can drive the vehicle body frame to move in the first direction, the supporting plate is arranged at the upper end of the vehicle body frame, and the second walking mechanism can drive the vehicle body frame to move in the second direction. When the jacking device is in the third state, the jacking device enables the second walking mechanism to be in the middle position and enables the supporting plate to be in the jacking state, only the supporting plate ascends, and the second walking mechanism does not ascend any more, so that the shell does not need to ascend, and the interference problem of the shell and the supporting tray does not need to be considered; the width of the outer shell of the four-way shuttle vehicle can be larger than that of the avoiding channel, a power element large in size and power can be arranged in the four-way shuttle vehicle, and the four-way shuttle vehicle can achieve a good jacking effect on heavy goods.

Description

Technical Field

[0001] This invention relates to the field of smart logistics technology, and in particular to a four-way shuttle vehicle. Background Technology

[0002] The existing four-way shuttle includes a car frame and a pallet, a lifting device and a traveling mechanism mounted on it. The outer shell is installed on the upper end of the car frame. The pallet is fixedly connected to the traveling mechanism. The lifting device can drive the pallet and the traveling mechanism to rise and fall in the vertical direction. When the four-way shuttle lifts the pallet and the traveling mechanism, in order to avoid the traveling mechanism from continuing to rise and interfering with the outer shell, the outer shell generally rises and falls synchronously with the pallet and the traveling mechanism.

[0003] like Figure 5 As shown, if the existing four-way shuttle 100 is used, in order to avoid interference between the outer shell 70 and the support pallet 230, the first width W1 of the outer shell 70 in the left and right direction of the existing four-way shuttle 100 needs to be less than or equal to the width of the clearance passage 240 of the support pallet 230 in the left and right direction. Therefore, the existing four-way shuttle 100 has a smaller width and smaller volume, and the power components inside the four-way shuttle 100 have a smaller volume and power. The four-way shuttle 100 cannot perform a good lifting effect on the heavier goods 300.

[0004] Therefore, there is an urgent need to design a new four-way shuttle to improve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a four-way shuttle, in which the outer shell does not need to rise when the pallet is in the lifting state. The width and volume of the outer shell of the four-way shuttle can be designed to be relatively large. A large power component with a large volume and power can be installed inside the four-way shuttle. The four-way shuttle can achieve a better lifting effect for heavier goods.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A four-way shuttle vehicle includes:

[0008] A vehicle frame, on which a first traveling mechanism is provided, the first traveling mechanism can drive the vehicle frame to move along a first direction;

[0009] A tray is provided at the upper end of the vehicle body frame;

[0010] The vehicle includes a lifting device and a second traveling mechanism. The second traveling mechanism can drive the vehicle frame to move in a second direction, and the second traveling mechanism is movably connected to the vehicle frame. The lifting device can switch between a first state, a second state, and a third state.

[0011] When the lifting device is in the first state, the lifting device positions the second traveling mechanism in the lower position and the pallet in the non-lifted state; when the lifting device is in the second state, the lifting device positions the second traveling mechanism in the middle position and the pallet in the non-lifted state; when the lifting device is in the third state, the lifting device positions the second traveling mechanism in the middle position and the pallet in the lifted state.

[0012] As an optional solution, the lifting device includes:

[0013] The lifting frame is movably connected to the vehicle body frame, and the pallet, the lifting frame, and the second traveling mechanism are arranged from top to bottom;

[0014] The drive mechanism can drive the lifting frame to move in the vertical direction;

[0015] A reset element is disposed between the vehicle body frame and the second traveling mechanism; and

[0016] A limiting component is provided on the vehicle frame and / or the second traveling mechanism;

[0017] When the lifting device is in the third state, the drive mechanism drives the lifting frame to lift the pallet so that the pallet is separated from the vehicle frame, and the limiting member and the resetting member together place the second traveling mechanism in the middle position.

[0018] As an optional solution, the lifting device further includes:

[0019] A first guiding mechanism is disposed between the vehicle frame and the lifting frame. The first guiding mechanism can guide the lifting frame so that the lifting frame can move in the vertical direction.

[0020] As an optional solution, a second guiding mechanism is provided, which is disposed between the lifting frame and the second traveling mechanism, or between the vehicle frame and the second traveling mechanism; the second guiding mechanism can guide the second traveling mechanism so that the second traveling mechanism can move in the vertical direction.

[0021] As an optional solution, the first guide mechanism includes a first guide shaft and a first sliding sleeve. The first guide shaft extends in the vertical direction and is disposed on the vehicle frame. The first sliding sleeve is disposed on the lifting frame and sleeved on the outer periphery of the first guide shaft. The first sliding sleeve can slide along the first guide shaft.

[0022] As an optional solution, the second guide mechanism includes a second guide shaft and a second sliding sleeve. The second guide shaft extends in the vertical direction and is disposed on the vehicle frame. The second sliding sleeve is disposed on the second traveling mechanism and sleeved on the outer periphery of the second guide shaft. The second sliding sleeve can slide along the second guide shaft.

[0023] As an alternative, the first guide shaft is configured to have at least two shafts, and the second guide shaft is configured to have at least two shafts.

[0024] As an alternative, the first guide shaft is a spline shaft, and the first sliding sleeve is a spline bushing adapted to the first guide shaft.

[0025] As an alternative, the second guide shaft is a splined shaft, and the second sliding sleeve is a splined bushing that is adapted to the second guide shaft.

[0026] As an alternative, the length of the first sliding sleeve is greater than the thickness of the lifting frame, and the second traveling mechanism includes a mounting frame with a first clearance hole extending in the vertical direction, into which the first sliding sleeve can be inserted.

[0027] As an optional solution, the second traveling mechanism includes a mounting frame, the second sliding sleeve is disposed on the mounting frame, the length of the second sliding sleeve is greater than the thickness of the mounting frame, and the lifting frame body is provided with a second clearance hole, into which the second sliding sleeve can be inserted.

[0028] As an optional solution, the reset member is sleeved on the outer periphery of the first guide shaft.

[0029] As an optional solution, the reset member is sleeved on the outer periphery of the second guide shaft.

[0030] As an alternative, at least one of the second walking mechanism and the vehicle frame has a limiting groove, and the end of the reset member is inserted into the corresponding limiting groove.

[0031] As an optional solution, the tray includes a tray body and a third guide shaft disposed thereon. The third guide shaft extends in a vertical direction. The first guide shaft or the second guide shaft has a guide hole extending in a vertical direction. The third guide shaft is inserted into the guide hole and slides along the guide hole.

[0032] As an alternative, a guide sleeve extending in the vertical direction is provided in the guide hole, and the third guide shaft is inserted into the guide sleeve and can slide along the guide sleeve.

[0033] As an optional solution, the lifting frame is provided with a guide groove extending along the second direction. The driving mechanism includes a transmission assembly, which includes an output shaft and a swing arm. The output shaft can rotate around the first direction. One end of the swing arm is fixedly connected to the output shaft, and the other end of the swing arm is inserted into the guide groove and can slide along the guide groove.

[0034] As an optional solution, the drive mechanism further includes a motor, the output end of which can rotate around the first direction, and the transmission assembly further includes an input shaft, which is connected to the output end in a transmission manner. The motor and the transmission assembly are arranged along the first direction.

[0035] As an optional solution, the output shafts are configured as four, with two output shafts forming an output shaft group. The two output shaft groups are arranged along the second direction, and the two output shafts in each group are arranged along the first direction. The two output shafts in the same group have the same direction of rotation, and the two groups of output shafts have opposite directions of rotation.

[0036] As an optional solution, the rocker arm includes a rocker arm body and a roller. One end of the rocker arm body is fixedly connected to the output shaft, the roller is pivotally connected to the other end of the rocker arm body and rotates around the first direction, and the roller is inserted into the guide groove.

[0037] As an optional solution, the lifting device is configured as two, which are arranged along the first direction and share a motor located between the two lifting devices.

[0038] The beneficial effects of this invention are:

[0039] The four-way shuttle provided by the present invention includes a vehicle frame, a pallet, a lifting device, and a second traveling mechanism. The vehicle frame is provided with a first traveling mechanism that can move along a first direction. The pallet is disposed at the upper end of the vehicle frame. The second traveling mechanism can move along a second direction and is movably connected to the vehicle frame. The lifting device can switch between a first state, a second state, and a third state. When the lifting device is in the first state, the lifting device positions the second traveling mechanism in a lower position and the pallet is in a non-lifted state. When the lifting device is in the second state, the lifting device positions the second traveling mechanism in a middle position and the pallet is in a non-lifted state. When the lifting device is in the third state, the lifting device positions the second traveling mechanism in a middle position and the pallet is in a lifted state.

[0040] This invention relates to a four-way shuttle vehicle employing a novel lifting device. Only one lifting device is needed to switch the second traveling mechanism and pallet between different states. When the lifting device is in the third state, it positions the second traveling mechanism in the middle and lifts the pallet. Only the pallet rises, while the second traveling mechanism remains stationary. Consequently, the outer shell does not need to rise, remaining fixed to the vehicle frame. Only the pallet rises to support the pallet and the goods on it. Since interference between the outer shell and the supporting pallet is not a concern, the width of the four-way shuttle's outer shell can be greater than the width of the clearance passage. The width and volume of the four-way shuttle can be designed to be relatively large, allowing for the installation of larger and more powerful power components. This enables the four-way shuttle to effectively lift heavier goods. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a goods entry and exit system provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of the four-way shuttle provided in an embodiment of the present invention. Figure 1 ;

[0043] Figure 3 This is a schematic diagram of the structure of the four-way shuttle provided in an embodiment of the present invention. Figure 2 ;

[0044] Figure 4 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in an embodiment of the present invention. Figure 1 ;

[0045] Figure 5 This is a structural diagram of a four-way shuttle, supporting pallets, and goods provided by existing technology;

[0046] Figure 6 This is a structural schematic diagram of the four-way shuttle, supporting pallet, and cargo provided in an embodiment of the present invention;

[0047] Figure 7 This is a cross-sectional view of the four-way shuttle vehicle in its first state according to an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in the embodiment of the present invention in its first state. Figure 1 ;

[0049] Figure 9 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell and part of the mounting frame) provided in the embodiment of the present invention in its first state. Figure 1 ;

[0050] Figure 10This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in the embodiment of the present invention in its first state. Figure 2 ;

[0051] Figure 11 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell and part of the mounting frame) provided in the embodiment of the present invention in its first state. Figure 2 ;

[0052] Figure 12 This is a cross-sectional view of the four-way shuttle vehicle in the second state according to an embodiment of the present invention;

[0053] Figure 13 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in the embodiment of the present invention in its second state. Figure 1 ;

[0054] Figure 14 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell and part of the mounting frame) provided in the embodiment of the present invention in its second state. Figure 1 ;

[0055] Figure 15 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in the embodiment of the present invention in its second state. Figure 2 ;

[0056] Figure 16 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell and part of the mounting frame) provided in the embodiment of the present invention in its second state. Figure 2 ;

[0057] Figure 17 This is a cross-sectional view of the four-way shuttle in the third state provided in an embodiment of the present invention;

[0058] Figure 18 This is a schematic diagram of the structure of the four-way shuttle in the third state according to an embodiment of the present invention. Figure 1 ;

[0059] Figure 19 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in the embodiment of the present invention in the third state. Figure 1 ;

[0060] Figure 20 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell and part of the mounting frame) provided in the embodiment of the present invention in its third state. Figure 1 ;

[0061] Figure 21 This is a schematic diagram of the structure of the four-way shuttle in the third state according to an embodiment of the present invention. Figure 2 ;

[0062] Figure 22 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in the embodiment of the present invention in the third state. Figure 2 ;

[0063] Figure 23 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell and part of the mounting frame) provided in the embodiment of the present invention in its third state. Figure 2 ;

[0064] Figure 24 This is a cross-sectional view of the deceleration mechanism provided in an embodiment of the present invention;

[0065] Figure 25 This is a schematic diagram of the deceleration mechanism (with part of the housing removed) provided in an embodiment of the present invention;

[0066] Figure 26 This is a schematic diagram of the deceleration mechanism provided in an embodiment of the present invention;

[0067] Figure 27 This is a schematic diagram of the lifting device and the second traveling mechanism provided in an embodiment of the present invention;

[0068] Figure 28 This is a cross-sectional view of the transmission assembly provided in an embodiment of the present invention;

[0069] Figure 29 This is a schematic diagram of the structure of the four-way shuttle (without the outer shell) provided in an embodiment of the present invention. Figure 2 ;

[0070] Figure 30 This is a partial enlarged view of the four-way shuttle provided in an embodiment of the present invention;

[0071] Figure 31 This is a schematic diagram of the lifting frame provided in an embodiment of the present invention;

[0072] Figure 32 This is a schematic diagram of the structure of the second walking mechanism provided in an embodiment of the present invention;

[0073] Figure 33 This is a structural schematic diagram of the vehicle body frame, the first guide shaft, and the second guide shaft provided in an embodiment of the present invention;

[0074] Figure 34 This is a schematic diagram of the vehicle frame and the first traveling mechanism provided in an embodiment of the present invention;

[0075] Figure 35 This is a cross-sectional view of the second traveling mechanism provided in an embodiment of the present invention;

[0076] Figure 36 This is a schematic diagram of the structure of the tray provided in an embodiment of the present invention. Figure 1 ;

[0077] Figure 37 This is a schematic diagram of the structure of the tray provided in an embodiment of the present invention. Figure 2 ;

[0078] Figure 38 This is a schematic diagram of another goods entry and exit system provided in an embodiment of the present invention.

[0079] In the picture:

[0080] 1000. Goods in / out warehouse system;

[0081] 100. Four-way shuttle; 200. Shelving; 210. Rails; 220. Brackets; 230. Pallet support; 240. Clearance aisle; 300. Goods;

[0082] 10. Lifting device; 11. Lifting frame; 111. Second clearance hole; 112. Guide groove; 12. Drive mechanism; 121. Motor; 1211. Output end; 122. Transmission assembly; 1221. Transmission belt mechanism; 12211. First transmission wheel; 12212. Second transmission wheel; 12213. Annular transmission belt; 1222. Transmission shaft; 1223. Reduction mechanism; 12231. Housing; 12232. Gear set; 122321. Main gear; 122322. First gear 122323, Second gear set; 12236, Input shaft; 12237, Output shaft; 12238, Rocker arm; 122381, Rocker arm body; 122382, Roller; 1224, First bearing seat; 1225, Coupling; 13, Reset component; 14, Limiting component; 15, First guide mechanism; 151, First guide shaft; 152, First sliding sleeve; 16, Second guide mechanism; 161, Second guide shaft; 1611, Guide hole; 162, Second sliding sleeve; 163, Guide sleeve;

[0083] 20. Body frame; 21. Upper plate; 22. Lower plate; 221. Limiting groove; 23. Side plate; 231. Clearance groove;

[0084] 30. First traveling mechanism;

[0085] 40. Pallet; 41. Pallet body; 42. Third guide shaft; 421. Guide shaft body; 422. Mounting flange;

[0086] 50. Second traveling mechanism; 51. Mounting bracket; 511. First clearance hole; 52. Second traveling wheel; 53. Shaft; 54. Bearing; 55. Second bearing housing;

[0087] 60. Cargo inspection device;

[0088] 70. Outer shell; 71. Clearance opening. Detailed Implementation

[0089] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings, not all of them.

[0090] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0091] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0092] In the description of this embodiment, the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0093] With the development of technology, such as Figure 1 As shown, the goods inbound / outbound system 1000 used in modern logistics operations is gradually becoming more widespread. The continuous improvement and optimization of the goods inbound / outbound system 1000 has a huge driving effect on the development of modern logistics. This disclosure provides a goods inbound / outbound system 1000. The goods inbound / outbound system 1000 generally includes shelves 200 and four-way shuttles 100, etc.

[0094] Among them, such as Figure 1As shown, the shelving 200 is configured in multiple groups, forming a main aisle (not shown) and sub-aisles between the multiple groups of shelving 200. The main aisle extends in the left-right direction (i.e., the second direction), and the sub-aisles extend in the front-back direction (i.e., the first direction). The shelving 200 includes a track 210, a support pallet 230, and a bracket 220. The track 210 extends along the sub-aisles, and the four-way shuttle 100 can move along the track 210, thereby realizing the retrieval and placement of goods 300 at different positions on the shelving 200 by the four-way shuttle 100. A bracket 220 is provided on both sides of the sub-aisles, and the bracket 220 is located above the track 210. The brackets 220 on both sides jointly support the support pallet 230, which is used to place goods 300. The four-way shuttle 100 can move along the main aisle and the sub-aisles.

[0095] like Figures 1-4 As shown, the four-way shuttle 100 includes a vehicle frame 20, a first traveling mechanism 30, and a second traveling mechanism 50. The first traveling mechanism 30 and the second traveling mechanism 50 are mounted on the vehicle frame 20. The first traveling mechanism 30 drives the four-way shuttle 100 to move in the forward-backward direction, and the second traveling mechanism 50 drives the four-way shuttle 100 to move in the left-right direction. Furthermore, as... Figures 1-4 As shown, the four-way shuttle 100 also includes a shell 70, which covers the top of the vehicle frame 20. The shell 70 can conceal the internal structure of the vehicle frame 20, achieving a better overall aesthetic appearance for the four-way shuttle 100. Furthermore, as... Figures 1-3 As shown, the four-way shuttle 100 also includes a lifting device 10 and a pallet 40. The lifting device 10 is disposed in the vehicle frame 20, and the pallet 40 is disposed above the vehicle frame 20. The lifting device 10 can switch the pallet 40 between the raised state and the lowered state.

[0096] like Figure 1 As shown, the four-way shuttle 100 can travel through the sub-lane to the area below the support pallet 230. The lifting device 10 raises the pallet 40, which lifts the support pallet 230 away from the bracket 220. The four-way shuttle 100 then uses the first traveling mechanism 30 to transport the support pallet 230 and the goods 300 on it along the sub-lane.

[0097] The existing four-way shuttle 100 also includes a separate drive unit that drives the second traveling mechanism 50 to move up and down. This up and down movement of the second traveling mechanism 50 enables the four-way shuttle 100 to change direction. Specifically, when the second traveling mechanism 50 is in a low position, it drives the four-way shuttle 100 to move left and right in the main tunnel. When the second traveling mechanism 50 is in a high position, the first traveling mechanism 30 drives the four-way shuttle 100 to move forward and backward in the sub-tunnel. However, the existing four-way shuttle 100 includes both a separate lifting device 10 and a separate drive unit, resulting in a complex structure, large size, complicated control, and susceptibility to problems.

[0098] To solve the above problems, in some existing four-way shuttle vehicles 100, the pallet 40 is fixedly mounted on the second traveling mechanism 50. The lifting device 10 can simultaneously raise and lower the second traveling mechanism 50 and the pallet 40. When the lifting device 10 lifts the pallet 40, if the outer shell 70 remains stationary, the rising of the second traveling mechanism 50 will interfere with the outer shell 70. Therefore, the outer shell 70 basically rises and falls synchronously with the pallet 40. Figure 5 As shown, two support trays 230 are provided, spaced apart in the left-right direction, forming a clearance passage 240 between them. Figure 5 As shown, if the existing four-way shuttle 100 is used, in order to avoid interference between the outer shell 70 and the support pallet 230, the first width W1 of the outer shell 70 of the existing four-way shuttle 100 needs to be less than or equal to the width of the clearance channel 240 in the left and right directions. The existing four-way shuttle 100 has a small width in the left and right directions, the overall volume of the four-way shuttle 100 is small, the volume and power of the power components inside the four-way shuttle 100 are small, and the four-way shuttle 100 cannot perform a good lifting effect on the heavier goods 300.

[0099] To solve the above problems, such as Figures 1-4 As shown, this embodiment employs a novel lifting device 10, requiring only one lifting device 10 to achieve switching between different states of the second traveling mechanism 50 and the pallet 40. The lifting device 10 can switch between a first state, a second state, and a third state: as follows Figures 7-11 As shown, when the lifting device 10 is in the first state, the lifting device 10 positions the second traveling mechanism 50 in the lower position and the pallet 40 in the non-lifting state; as Figures 12-18 As shown, when the lifting device 10 is in the second state, the lifting device 10 positions the second traveling mechanism 50 in the middle position and the pallet 40 in a non-lifting state; as Figures 19-23As shown, when the lifting device 10 is in the third state, the lifting device 10 positions the second traveling mechanism 50 in the middle position and the pallet 40 in the lifting state. Only the pallet 40 rises, while the second traveling mechanism 50 does not rise. Therefore, the outer shell 70 does not need to rise, and the outer shell 70 remains fixed to the vehicle frame 20. Only the pallet 40 rises to support the pallet 230 and the goods 300 on it. Figure 6 As shown, since the interference between the outer shell 70 and the support tray 230 does not need to be considered, the second width W2 of the outer shell 70 of the four-way shuttle 100 in this embodiment can be greater than the width of the clearance channel 240 in the left and right directions. The second width W2 is much larger than the first width W1. The width of the four-way shuttle 100 in the left and right directions in this embodiment can be designed to be relatively large, and the overall volume of the four-way shuttle 100 can be designed to be relatively large. A power component with a large volume and power can be installed inside the four-way shuttle 100. The four-way shuttle 100 in this embodiment can achieve a better lifting effect on the heavier goods 300.

[0100] like Figures 7 to 23 As shown, the lifting device 10 includes a lifting frame 11, a drive mechanism 12, a reset component 13, and a limiting component 14. The lifting frame 11 is movably connected to the vehicle frame 20. The pallet 40, the lifting frame 11, and the second traveling mechanism 50 are arranged from top to bottom. The drive mechanism 12 can drive the lifting frame 11 to move in the vertical direction. The reset component 13 is disposed between the vehicle frame 20 and the second traveling mechanism 50. The limiting component 14 is disposed on the vehicle frame 20. Figures 7-11 As shown, when the drive mechanism 12 is in the first state, the drive mechanism 12 positions the lifting frame 11 in the lower position. The lifting frame 11 can drive the second traveling mechanism 50 to move downwards and position the second traveling mechanism 50 in the lower position. The lifting frame 11 and the pallet 40 are arranged at intervals in the vertical direction. The pallet 40 overlaps the upper end of the vehicle frame 20, and the pallet 40 is in a non-lifting state. Figures 12-18 As shown, when the drive mechanism 12 is in the second state, the drive mechanism 12 positions the lifting frame 11 in the middle position. Under the combined limiting action of the reset member 13 and the lifting frame 11, the second traveling mechanism 50 is in the middle position; the lifting frame 11 and the pallet 40 abut against each other in the vertical direction, the pallet 40 overlaps the upper end of the vehicle frame 20, and the pallet 40 is in a non-lifting state. Figures 19-23 As shown, when the drive mechanism 12 is in the third state, the drive mechanism 12 puts the lifting frame 11 in the upper position, and the lifting frame 11 lifts the pallet 40 upward to separate the pallet 40 from the vehicle frame 20. The pallet 40 is in the lifting state. Under the combined action of the limiting member 14 and the resetting member 13, the second traveling mechanism 50 can be kept in the middle position, and the second traveling mechanism 50 no longer moves upward with the lifting frame 11.

[0101] In an optional embodiment, the limiting member 14 may be disposed on the second traveling mechanism 50. In an optional embodiment, limiting members may be disposed on both the vehicle frame 20 and the second traveling mechanism 50.

[0102] In an optional embodiment, such as Figure 7 and Figure 11 As shown, the second traveling mechanism 50 includes a mounting frame 51, a second traveling wheel 52, and a first power mechanism (not shown in the figure). The second traveling wheel 52 is mounted on and pivotally connected to the mounting frame 51, and the first power mechanism can drive the second traveling wheel 52 to rotate. The first power mechanism can be a motor, a reducer, or other similar mechanism; all mechanisms capable of driving the rotation of the second traveling wheel 52 are within the protection scope of this optional embodiment.

[0103] In the existing four-way shuttle 100, the lifting device 10 can be a linear cylinder or a linear motor. The body of the lifting device 10 is set on the vehicle frame 20. The output end of the lifting device 10 is fixedly connected to the second traveling mechanism 50. The body of the lifting device 10 and the second traveling mechanism 50 are arranged in the vertical direction. Due to the large volume of the body of the lifting device 10, the thickness of the four-way shuttle 100 is relatively large, resulting in a large single-layer height of the shelf 200. At a fixed height, the shelf 200 can only achieve a small number of layers, and the shelf 200 can store fewer goods 300, resulting in a low inventory rate.

[0104] To address the aforementioned issues, in one optional embodiment, such as Figure 9 As shown, the lifting frame 11 has a guide groove 112 extending in the left and right direction. The drive mechanism 12 includes an output shaft 12237 and a rocker arm 12238. The output shaft 12237 can rotate around the front and back direction. One end of the rocker arm 12238 is fixedly connected to the output shaft 12237, and the other end of the rocker arm 12238 is inserted into the guide groove 112 and can slide along the guide groove 112. When the output shaft 12237 rotates, the swing arm 12238 cooperates with the guide groove 112 to convert it into the vertical movement of the lifting frame 11. The drive mechanism 12 and the lifting frame 11 are in the same horizontal plane. Through this arrangement of the drive mechanism 12 and the lifting frame 11, the overall thickness of the four-way shuttle 100 is small, which can realize the design of the four-way shuttle 100 as thin and light, and can reduce the single-layer height of the shelf 200. At a fixed height, the shelf 200 can realize the design of more layers, and the shelf 200 can store more goods 300, thereby improving the inventory rate of the shelf 200.

[0105] Specifically, such as Figure 4 , Figure 11 , Figures 24-27As shown, the drive mechanism 12 includes a motor 121 and a transmission assembly 122. The output end 1211 of the motor 121 can rotate around the front-back direction. The transmission assembly 122 includes a reduction mechanism 1223. The reduction mechanism 1223 has an input shaft 12236 and an output shaft 12237. The input shaft 12236 is connected to the output end 1211. The transmission assembly 122 can convert the rotation of the output end 1211 into the rotation of the output shaft 12237. Through the setting of the reduction mechanism 1223, the lifting frame 11 can be precisely adjusted to different positions in the up-down direction.

[0106] In addition, such as Figure 4 , Figure 11 , Figure 27 As shown, the motor 121 and the transmission assembly 122 are arranged in the left and right directions. The overall thickness of the four-way shuttle 100 is small, which enables the design of the four-way shuttle 100 to be thin and light. This reduces the single-layer height of the shelf 200. At a fixed height, the shelf 200 can achieve a design with more layers, allowing the shelf 200 to store more goods 300 and improve the inventory rate of the shelf 200.

[0107] In an optional embodiment, such as Figure 7 , Figure 11 , Figure 16 , Figure 23 and Figure 27 As shown, the lifting frame 11 and the mounting frame 51 are sequentially fitted around the outer periphery of the deceleration mechanism 1223 from the inside out. The deceleration mechanism 1223, the lifting frame 11 and the mounting frame 51 are arranged sequentially from top to bottom. The arrangement of the deceleration mechanism 1223, the lifting frame 11 and the mounting frame 51 is compact and occupies little space, which can realize the rational use of the limited space within the vehicle frame 20.

[0108] In an optional embodiment, such as Figure 24 and Figure 26 As shown, the rocker arm 12238 includes a rocker arm body 122381 and a roller 122382. One end of the rocker arm body 122381 is fixedly connected to the output shaft 12237. The roller 122382 is pivotally connected to the other end of the rocker arm body 122381 and rotates around the front and back direction. The roller 122382 is inserted into the guide groove 112, which enables the roller 122382 to slide smoothly in the guide groove 112, avoids the rocker arm 12238 from getting stuck in the guide groove 112, and realizes smoother position adjustment of the lifting frame 11 in the up and down direction.

[0109] In an optional embodiment, such as Figures 24-25As shown, the reduction mechanism 1223 also includes a housing 12231 and a gear set 12232. The gear set 12232 includes a main gear 122321 and a first gear set 122322. The main gear 122321 is coaxially fixed with the input shaft 12236. The main gear 122321 meshes with the input wheel of the first gear set 122322. The output wheel of the first gear set 122322 is coaxially fixed with the output shaft 12237. By adjusting the dimensions of the main gear 122321 and the first gear set 122322, the reduction motion of the output shaft 12237 can be achieved.

[0110] In an optional embodiment, such as Figures 24-26 As shown, there are four output shafts 12237, and two output shafts 12237 constitute one output shaft group, as follows. Figure 24 and Figure 25 As shown, two output shaft groups are arranged in the left-right direction, and the two output shafts 12237 of each group are arranged in the front-back direction and fixed coaxially. The two output shafts 12237 in the same group rotate in the same direction, while the two groups of output shafts rotate in opposite directions. With only one power input from the input shaft 12236, the two output shaft groups can rotate in opposite directions simultaneously, enabling all four output shafts 12237 to simultaneously drive the lifting frame 11, achieving stable lifting and lowering of the lifting frame 11. For example, as... Figure 24 and Figure 25 As shown, the reduction mechanism 1223 also includes a second gear set 122323, one of which is connected to the input shaft 12236 via the second gear set 122323, and the other is connected to the input shaft 12236 via the first gear set 122322.

[0111] In an optional embodiment, such as Figure 27 As shown, there are two lifting devices 10 arranged in the front-to-back direction. The two lifting devices 10 share a motor 121, which is located between the two lifting devices 10. The synchronous drive of the two lifting devices 10 can be achieved by setting only one motor 121. The four-way shuttle 100 has a simple structure and small size.

[0112] Specifically, such as Figure 4 and Figure 27As shown, the transmission assembly 122 also includes a transmission belt mechanism 1221 and a transmission shaft 1222. The transmission shaft 1222 extends in the front-rear direction. One end of the transmission shaft 1222 is coaxially fixed to the input shaft 12236 of a reduction mechanism 1223, and the other end of the transmission shaft 1222 is coaxially fixed to the input shaft 12236 of another reduction mechanism 1223. The output end 1211 of the motor 121 is connected to the transmission belt mechanism 1221. With only one motor 121, synchronous drive of the two lifting devices 10 can be achieved. The four-way shuttle 100 has a simple structure and small size. Specifically, as... Figure 27 and Figure 28 As shown, the transmission assembly 122 also includes a coupling 1225. The transmission shaft 1222 is connected to the input shaft 12236 of the reduction mechanism 1223 through the coupling 1225, which enables the power on the transmission shaft 1222 to be transmitted to the input shaft 12236 of the reduction mechanism 1223 in a better manner.

[0113] In addition, such as Figure 27 As shown, the motor 121 and the drive shaft 1222 are arranged in the left and right direction and located between the two lifting devices 10. Through the arrangement of the aforementioned structure, the compact arrangement of each component of the four-way shuttle 100 can be achieved, the limited space within the vehicle frame 20 can be rationally utilized, and the motor 121 with the largest possible power can be used to achieve a better lifting and lowering drive effect of the motor 121 on the lifting frame 11.

[0114] Specifically, such as Figure 27 As shown, the transmission belt mechanism 1221 includes a first transmission wheel 12211, a second transmission wheel 12212, and an annular transmission belt 12213. The first transmission wheel 12211 is coaxially fixed to the transmission shaft 1222, and the second transmission wheel 12212 is coaxially fixed to the output end 1211 of the motor 121. The annular transmission belt 12213 surrounds the outer periphery of the first transmission wheel 12211 and the second transmission wheel 12212 and is tensioned by both the first transmission wheel 12211 and the second transmission wheel 12212. The use of the transmission belt mechanism 1221 enables smooth and efficient transmission of power from the motor 121, and the transmission belt mechanism 1221 has a long service life. In an optional embodiment, the transmission belt mechanism 1221 can also be a gear assembly, etc. All structures capable of power transmission are within the protection scope of this optional embodiment.

[0115] In an optional embodiment, such as Figure 27 and Figure 28As shown, the transmission assembly 122 also includes a first bearing housing 1224, which is disposed on the vehicle body frame 20. The transmission shaft 1222 is inserted into and supported by the first bearing housing 1224. The first bearing housing 1224 provides stable support for the transmission shaft 1222 and ensures smooth rotation of the transmission shaft 1222. For example, the number of first bearing housings 1224 can be one, two, three, or more. By using multiple first bearing housings 1224, stable support for the transmission shaft 1222 can be achieved.

[0116] In an optional embodiment, such as Figure 7 , Figure 12 , Figure 17 , Figure 29 and Figure 30 As shown, the lifting device 10 also includes a first guide mechanism 15, which is disposed between the vehicle frame 20 and the lifting frame 11. The first guide mechanism 15 can guide the lifting frame 11 so that the lifting frame 11 can move in the vertical direction. Through the setting of the first guide mechanism 15, the lifting frame 11 can always change its position in the vertical direction in a better way.

[0117] Specifically, such as Figure 7 , Figure 12 , Figure 17 , Figure 29 and Figure 30 As shown, the first guide mechanism 15 includes a first guide shaft 151 and a first sliding sleeve 152. The first guide shaft 151 extends in the vertical direction and is disposed on the vehicle frame 20. The first sliding sleeve 152 is disposed on the lifting frame 11 and sleeved on the outer periphery of the first guide shaft 151. The first sliding sleeve 152 can slide along the first guide shaft 151. Through the cooperation of the first guide shaft 151 and the first sliding sleeve 152, a better guiding effect can be achieved for the vertical movement of the lifting frame 11.

[0118] In an optional embodiment, the first guiding mechanism 15 may further include a first guide rail and a first slider. The first guide rail extends in the vertical direction and is disposed on the vehicle frame 20. The first slider is disposed on the lifting frame 11 and is slidably connected to the first guide rail. The first slider can slide along the first guide rail. Through the cooperation of the first guide rail and the first slider, a better guiding effect can be achieved for the vertical movement of the lifting frame 11.

[0119] In an optional embodiment, such as Figure 7 , Figure 12 and Figure 17 As shown, the first guide mechanism 15 is configured in at least two sets. By configuring at least two sets of the first guide mechanism 15, the lifting frame 11 can be prevented from rotating during its movement in the vertical direction.

[0120] In an optional embodiment, such as Figure 30 As shown, the first guide shaft 151 is a spline shaft, and the first sliding sleeve 152 is a spline bushing that is adapted to the first guide shaft 151. By cooperating with the spline shaft and the spline bushing, the lifting frame 11 can be prevented from rotating during its movement in the vertical direction.

[0121] In an optional embodiment, such as Figure 7 , Figure 12 , Figure 17 , Figure 27 , Figures 29-32 As shown, the length of the first sliding sleeve 152 is greater than the thickness of the lifting frame 11. The mounting bracket 51 has a first clearance hole 511 extending in the vertical direction, and the first sliding sleeve 152 can be inserted into the first clearance hole 511. Due to the large length of the first sliding sleeve 152, a better guiding effect can be achieved for the vertical movement of the lifting frame 11.

[0122] In an optional embodiment, such as Figure 7 , Figure 12 , Figure 17 , Figure 29 and Figure 30 As shown, the lifting device 10 also includes a second guide mechanism 16, which is disposed between the vehicle frame 20 and the second traveling mechanism 50 to allow the second traveling mechanism 50 to move in the vertical direction. The second guide mechanism 16 can guide the vertical movement of the second traveling mechanism 50, ensuring that the second traveling mechanism 50 always changes position well in the vertical direction. In an optional embodiment, the second guide mechanism 16 can also be disposed between the lifting frame 11 and the second traveling mechanism 50, achieving the same effect.

[0123] Specifically, such as Figure 30 As shown, the second guide mechanism 16 includes a second guide shaft 161 and a second sliding sleeve 162. The second guide shaft 161 extends in the vertical direction and is disposed on the vehicle frame 20. The second sliding sleeve 162 is disposed on the second traveling mechanism 50 and sleeved on the outer periphery of the second guide shaft 161. The second sliding sleeve 162 can slide along the second guide shaft 161. Through the cooperation of the second guide shaft 161 and the second sliding sleeve 162, a better guiding effect can be achieved for the vertical movement of the second traveling mechanism 50.

[0124] Specifically, such as Figure 30 As shown, the vehicle frame 20 includes an upper plate 21, a lower plate 22 and a side plate 23. The upper plate 21 and the lower plate 22 are arranged at intervals in the vertical direction, and the side plate 23 is disposed between the upper plate 21 and the lower plate 22. The upper end of the second guide shaft 161 is fixed to the upper plate 21, and the lower end of the second guide shaft 161 is fixed to the lower plate 22.

[0125] In an optional embodiment, the second guide mechanism 16 may further include a second guide rail and a second slider. The second guide rail extends in the vertical direction and is disposed on the vehicle frame 20. The second slider is disposed on the second traveling mechanism 50 and is slidably connected to the second guide rail. The second slider can slide along the second guide rail. Through the cooperation of the second guide rail and the second slider, a better guiding effect can be achieved for the movement of the second traveling mechanism 50 in the vertical direction.

[0126] In an optional embodiment, such as Figure 7 , Figure 12 and Figure 17 As shown, at least two second guide shafts 161 are provided. By providing at least two second guide shafts 161, the rotation of the second traveling mechanism 50 during its vertical movement can be prevented.

[0127] In an optional embodiment, such as Figure 30 As shown, the second guide shaft 161 is a spline shaft, and the second sliding sleeve 162 is a spline bushing that is adapted to the second guide shaft 161. By cooperating with the spline shaft and the spline bushing, the second traveling mechanism 50 can be prevented from rotating during its movement in the up and down direction.

[0128] In an optional embodiment, such as Figure 7 , Figure 12 , Figure 17 , Figure 27 , Figures 29-32 As shown, the second sliding sleeve 162 is disposed on the mounting bracket 51. The length of the second sliding sleeve 162 is greater than the thickness of the mounting bracket 51. A second clearance hole 111 is provided on the lifting frame 11, and the second sliding sleeve 162 can be inserted into the second clearance hole 111. Because the first sliding sleeve 152 is relatively long, it can achieve a better guiding effect on the vertical movement of the second traveling mechanism 50.

[0129] In an optional embodiment, such as Figure 7 , Figure 12 , Figure 17 and Figure 30 As shown, the reset element 13 can be a spring, which is sleeved on the outer periphery of the second guide shaft 161. The spring is prevented from bending during compression, allowing it to achieve a good reset effect on the second traveling mechanism 50. In an optional embodiment, a spring can also be sleeved on the outer periphery of the first guide shaft 151. The spring is prevented from bending during compression, allowing it to achieve a good reset effect on the second traveling mechanism 50. In an optional embodiment, the reset element 13 can also be a rubber component, an electromagnetic component, etc. All structures capable of resetting the second traveling mechanism 50 are within the protection scope of this disclosure.

[0130] In an optional embodiment, such as Figure 7 , Figure 12, Figure 17 , Figure 29 , Figure 30 , Figure 33 as well as Figure 34 As shown, a limiting groove 221 is provided on the lower plate 22, and the end of the reset member 13 is inserted into the corresponding limiting groove 221. The limiting groove 221 can achieve a good limiting effect on the reset member 13. In an optional embodiment, a limiting groove (not shown in the figure) can also be provided on the second traveling mechanism 50, and the end of the reset member 13 is inserted into the corresponding limiting groove. The limiting groove can achieve a good limiting effect on the reset member 13.

[0131] like Figure 35 As shown, the second traveling mechanism 50 also includes a rotating shaft 53, a bearing 54, and a second bearing seat 55. The second bearing seat 55 is mounted on the mounting bracket 51, the bearing 54 is mounted on the second bearing seat 55, the rotating shaft 53 is inserted into the bearing 54, and the second traveling wheel 52 is coaxially fixed with the rotating shaft 53. The bearing 54 enables the second traveling wheel 52 to rotate more smoothly.

[0132] like Figure 8 and Figure 34 As shown, a clearance groove 231 extending in the vertical direction is also provided on the side plate 23. The rotating shaft 53 is inserted into the clearance groove 231 and can slide along the clearance groove 231. The clearance groove 231 can avoid interference between the rotating shaft 53 and the side plate 23 during the vertical movement of the second traveling mechanism 50.

[0133] In an optional embodiment, such as Figure 17 , Figure 33 , Figure 36 and Figure 37 As shown, the pallet 40 includes a pallet body 41 and a third guide shaft 42 disposed thereon. The third guide shaft 42 extends in the vertical direction. A guide hole 1611 extending in the vertical direction is provided on the first guide shaft 151 or the second guide shaft 161. The third guide shaft 42 is inserted into the guide hole 1611 and slides along the guide hole 1611. Through the cooperation between the third guide shaft 42 and the guide hole 1611, the pallet 40 can move well in the vertical direction without deflection.

[0134] In an optional embodiment, such as Figure 17 , Figure 33 , Figure 36 and Figure 37 As shown, a guide sleeve 163 extending in the vertical direction is provided in the guide hole 1611. The third guide shaft 42 is inserted into the guide sleeve 163 and can slide along the guide sleeve 163. The guide sleeve 163 enables the pallet 40 to slide smoothly in the vertical direction.

[0135] In an optional embodiment, such as Figure 37 and Figure 38 As shown, the third guide shaft 42 includes a guide shaft body 421 and a mounting flange 422 that are fixedly connected. The mounting flange 422 abuts against the pallet body 41, and the mounting flange 422 and the pallet body 41 are fixedly connected by fasteners, thereby achieving a stable connection between the third guide shaft 42 and the pallet body 41. Furthermore, it allows for quick replacement of the third guide shaft 42, improving the adaptability of the pallet 40 to different four-way shuttles 100.

[0136] In an optional embodiment, such as Figure 38 As shown, the four-way shuttle 100 also includes a cargo detection device 60. When the four-way shuttle 100 travels along the sub-lane, it needs to use the cargo detection device 60 to detect whether there are other support pallets 230 storing goods 300 on the corresponding brackets 220 on the same sub-lane travel path, so as to plan the path.

[0137] like Figure 38 As shown, due to the height difference between the storage of the support pallet 230 and the goods 300 and the four-way shuttle 100, the goods detection device 60 is generally installed at an upward angle on the outer casing 70 in order to detect the support pallet 230 and the goods 300 in a timely manner. The first detection light P2 emitted by the goods detection device 60 is also angled upward. Because the goods 300 on the support pallet 230 are stored at inconsistent heights, the upward angled illumination can be affected by the varying heights of the goods 300, leading to misjudgments in the detection results of the goods detection device 60. Furthermore, the first detection light P2 emitted by the goods detection device 60 may sometimes also detect the support pallet 230 and goods 300 on the upper sub-aisles, thus causing misjudgments in the detection results of the goods detection device 60.

[0138] To solve the above problems, such as Figure 1 , Figure 2 , Figure 11 , Figure 16 , Figure 19 as well as Figure 21 As shown, the cargo detection device 60 is installed on the lifting frame 11, and the cargo detection device 60 can move synchronously with the up and down movement of the lifting frame 11. Figure 2 , Figure 11 and Figure 16 As shown, when the lifting device 10 is in the first or second state, the cargo detection device 60 is housed in the vehicle frame 20. Figure 1 , Figure 19 and Figure 21As shown, when the lifting device 10 is in the third state, the cargo detection device 60 extends upward from the vehicle frame 20 and emits a second detection light P1 in the horizontal direction. The cargo detection device 60 can detect whether there is cargo 300 in front of it at the same height. This setting of the cargo detection device 60 can avoid misjudgment of cargo detection by the cargo detection device 60 due to the height of the cargo 300, the upper cargo 300 and other upper shelf mechanisms, and can achieve accurate detection by the cargo detection device 60.

[0139] Specifically, the cargo detection device 60 in this embodiment is a diffuse reflection type laser sensor. The laser sensor can emit a second detection light beam P1. When a support tray 230 and cargo 300 are arranged directly in front of the cargo detection device 60, the second detection light beam P1 is reflected by the support tray 230 and cargo 300 and then received by the cargo detection device 60, thereby enabling the cargo detection device 60 to determine that a support tray 230 and cargo 300 are arranged directly in front of it. It should be noted that the second detection light beam P1 is a non-divergent or very weak light beam, which can avoid misjudgment of cargo detection by the cargo detection device 60 due to interference from the height of cargo 300, upper cargo 300, and other upper shelving mechanisms.

[0140] like Figure 2 and Figure 21 As shown, the outer shell 70 is provided with a clearance opening 71. When the lifting device 10 is in the third state, the cargo detection device 60 extends upward through the vehicle frame 20 through the clearance opening 71. By setting the clearance opening 71, the interference of the outer shell 70 with the cargo detection device 60 can be avoided.

[0141] For ease of explanation, combined with Figures 7 to 23 The working process of the four-way shuttle 100 is explained as follows:

[0142] like Figures 7-11 As shown, the four-way shuttle 100 is in the first state. At this time, the second traveling mechanism 50 is in the lower position, and the second traveling mechanism 50 can drive the four-way shuttle 100 to move along the main roadway. The pallet body 41 is in an unlifted state. Figure 9 As shown, roller 122382 is at the lowest end, and roller 122382 can slide along guide groove 112. Roller 122382 drives lifting frame 11 to the lower position, lifting frame 11 drives second traveling mechanism 50 to the lower position, and second traveling mechanism 50 can drive four-way shuttle 100 to move along the main tunnel. Figure 7 As shown, the lifting frame 11 is located below the pallet body 41. The lifting frame 11 is not in contact with the pallet body 41, and the pallet body 41 is still attached to the vehicle frame 20. The pallet body 41 is in an unlifted state.

[0143] like Figures 12-16 As shown, the four-way shuttle 100 is in the second state. At this time, the second traveling mechanism 50 is in the middle position, and the first traveling mechanism 30 can drive the four-way shuttle 100 to move along the sub-lane. The pallet body 41 is in an unlifted state. Figure 14 As shown, roller 122382 is in the middle position, and roller 122382 can slide along guide groove 112, thereby driving the lifting frame 11 to the middle position. Figure 12 As shown, the reset member 13 resets the second traveling mechanism 50. Under the combined limiting of the reset member 13 and the lifting frame 11, the second traveling mechanism 50 is in the middle position. At this time, the first traveling mechanism 30 can drive the four-way shuttle 100 to move along the sub-lane. Figure 12 As shown, the lifting frame 11 is located below the pallet body 41. The lifting frame 11 is in contact with the pallet body 41, but the lifting frame 11 does not apply force to the pallet body 41. The pallet body 41 is still attached to the vehicle frame 20 and is in an unlifted state.

[0144] like Figures 17-23 As shown, the four-way shuttle 100 is in the third state. At this time, the second traveling mechanism 50 is in the middle position, the first traveling mechanism 30 can drive the four-way shuttle 100 to move along the sub-lane, and the pallet body 41 is in the lifting state to lift and support the cargo 300. Figure 19 and Figure 20 As shown, roller 122382 is at the top, and roller 122382 can slide along guide groove 112. Roller 122382 drives lifting frame 11 to the upper position. Lifting frame 11 drives pallet body 41 to move upward and separate from vehicle frame 20. Pallet body 41 is in the lifting state. Figure 17 As shown, the limiting member 14 can prevent the second traveling mechanism 50 from continuing to move upward. Under the joint restriction of the resetting member 13 and the limiting member 14, the second traveling mechanism 50 remains in the middle position.

[0145] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A four-way shuttle vehicle, characterized in that, include: A vehicle frame (20) is provided with a first traveling mechanism (30), which can drive the vehicle frame (20) to move along a first direction; A tray (40) is disposed at the upper end of the vehicle frame (20); The lifting device (10) and the second traveling mechanism (50) are provided. The second traveling mechanism (50) can drive the vehicle frame (20) to move in the second direction. The second traveling mechanism (50) is movably connected to the vehicle frame (20). The lifting device (10) can switch between the first state, the second state and the third state. When the lifting device (10) is in the first state, the lifting device (10) positions the second traveling mechanism (50) in the lower position and the pallet (40) in the non-lifting state; when the lifting device (10) is in the second state, the lifting device (10) positions the second traveling mechanism (50) in the middle position and the pallet (40) in the non-lifting state; when the lifting device (10) is in the third state, the lifting device (10) positions the second traveling mechanism (50) in the middle position and the pallet (40) in the lifting state.

2. The four-way shuttle vehicle according to claim 1, characterized in that, The lifting device (10) includes: The lifting frame (11) is movably connected to the vehicle frame (20), and the pallet (40), the lifting frame (11), and the second traveling mechanism (50) are arranged from top to bottom; The drive mechanism (12) can drive the lifting frame (11) to move in the vertical direction; A reset component (13) is disposed between the vehicle frame (20) and the second traveling mechanism (50); and A limiting member (14) is disposed on the vehicle frame (20) and / or the second traveling mechanism (50); When the lifting device (10) is in the third state, the driving mechanism (12) drives the lifting frame (11) to lift the pallet (40) so that the pallet (40) is separated from the vehicle frame (20), and the limiting member (14) and the resetting member (13) together place the second walking mechanism (50) in the middle position.

3. The four-way shuttle vehicle according to claim 2, characterized in that, The lifting device (10) further includes: A first guide mechanism (15) is disposed between the vehicle body frame (20) and the lifting frame (11). The first guide mechanism (15) can guide the lifting frame (11) so that the lifting frame (11) can move in the vertical direction; and / or The second guide mechanism (16) is disposed between the lifting frame (11) and the second traveling mechanism (50), or the second guide mechanism (16) is disposed between the vehicle frame (20) and the second traveling mechanism (50); the second guide mechanism (16) can guide the second traveling mechanism (50) so that the second traveling mechanism (50) moves in the up and down direction.

4. The four-way shuttle vehicle according to claim 3, characterized in that, The first guiding mechanism (15) includes a first guide shaft (151) and a first sliding sleeve (152). The first guide shaft (151) extends vertically and is disposed on the vehicle frame (20). The first sliding sleeve (152) is disposed on the lifting frame (11) and sleeved on the outer periphery of the first guide shaft (151). The first sliding sleeve (152) can slide along the first guide shaft (151); and / or The second guide mechanism (16) includes a second guide shaft (161) and a second sliding sleeve (162). The second guide shaft (161) extends in the vertical direction and is disposed on the vehicle frame (20). The second sliding sleeve (162) is disposed on the second traveling mechanism (50) and sleeved on the outer periphery of the second guide shaft (161). The second sliding sleeve (162) can slide along the second guide shaft (161).

5. The four-way shuttle vehicle according to claim 4, characterized in that, The first guide shaft (151) is configured to have at least two members, and the second guide shaft (161) is configured to have at least two members; and / or The first guide shaft (151) is a splined shaft, and the first sliding sleeve (152) is a splined bushing adapted to the first guide shaft (151); and / or The second guide shaft (161) is a splined shaft, and the second sliding sleeve (162) is a splined bushing adapted to the second guide shaft (161); and / or The length of the first sliding sleeve (152) is greater than the thickness of the lifting frame (11). The second traveling mechanism (50) includes a mounting bracket (51), on which a first clearance hole (511) extending in the vertical direction is provided. The first sliding sleeve (152) can be inserted into the first clearance hole (511); and / or The second walking mechanism (50) includes a mounting frame (51), and the second sliding sleeve (162) is disposed on the mounting frame (51). The length of the second sliding sleeve (162) is greater than the thickness of the mounting frame (51). The lifting frame (11) is provided with a second clearance hole (111), and the second sliding sleeve (162) can be inserted into the second clearance hole (111).

6. The four-way shuttle vehicle according to claim 4, characterized in that, The reset member (13) is sleeved on the outer periphery of the first guide shaft (151); and / or The second guide shaft (161) is fitted with the reset member (13) on its outer periphery; and / or At least one of the second walking mechanism (50) and the vehicle frame (20) is provided with a limiting groove (221), and the end of the reset member (13) is inserted into the corresponding limiting groove (221).

7. The four-way shuttle vehicle according to claim 4, characterized in that, The tray (40) includes a tray body (41) and a third guide shaft (42) disposed thereon. The third guide shaft (42) extends in the vertical direction. The first guide shaft (151) or the second guide shaft (161) has a guide hole (1611) extending in the vertical direction. The third guide shaft (42) is inserted into the guide hole (1611) and slides along the guide hole (1611).

8. The four-way shuttle vehicle according to claim 7, characterized in that, A guide sleeve (163) extending in the vertical direction is provided in the guide hole (1611), and the third guide shaft (42) is inserted into the guide sleeve (163) and can slide along the guide sleeve (163).

9. The four-way shuttle vehicle according to claim 2, characterized in that, The lifting frame (11) is provided with a guide groove (112) extending along the second direction. The drive mechanism (12) includes a transmission assembly (122), which includes an output shaft (12237) and a rocker arm (12238). The output shaft (12237) can rotate around the first direction. One end of the rocker arm (12238) is fixedly connected to the output shaft (12237), and the other end of the rocker arm (12238) is inserted into the guide groove (112) and can slide along the guide groove (112).

10. The four-way shuttle vehicle according to claim 9, characterized in that, The drive mechanism (12) further includes a motor (121), the output end (1211) of which is rotatable about the first direction. The transmission assembly (122) further includes an input shaft (12236), which is drively connected to the output end (1211). The motor (121) and the transmission assembly (122) are arranged along the first direction; and / or The output shafts (12237) are configured as four, with two output shafts (12237) forming one output shaft group. The two output shaft groups are arranged along the second direction, and the two output shafts (12237) in each group are arranged along the first direction. The two output shafts (12237) in the same group have the same direction of rotation, and the two groups of output shafts have opposite directions of rotation; and / or The rocker arm (12238) includes a rocker arm body (122381) and a roller (122382). One end of the rocker arm body (122381) is fixedly connected to the output shaft (12237). The roller (122382) is pivotally connected to the other end of the rocker arm body (122381) and the roller (122382) rotates around the first direction. The roller (122382) is inserted into the guide groove (112).

11. The four-way shuttle vehicle according to claim 10, characterized in that, The lifting device (10) is configured as two, the two lifting devices (10) are arranged along the first direction, the two lifting devices (10) share a motor (121), and the motor (121) is located between the two lifting devices (10).

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