Four-way shuttle vehicle adaptive to goods of various specifications and sizes

Abstract

The invention provides a four-way shuttle vehicle adaptive to cargos of various specifications and sizes, relates to the field of warehouse logistics, and solves the problem that the four-way shuttle vehicle can only carry cargos of a single size. According to the four-way shuttle vehicle, the same output shaft of the jacking driving mechanism is in transmission connection with the first rocker arm assembly and the second rocker arm assembly and used for driving the first rocker arm assembly and the second rocker arm assembly to rotate; the first rocker arm assembly is provided with a first swing end which is in transmission connection with the first pallet fork. The second rocker arm assembly is provided with a second swing end which is in transmission connection with the second pallet fork. The first swing end and the second swing end both have a high-position state, a low-position state and a middle-position state, and the states of the first swing end and the second swing end are different all the time, so that the first pallet fork or the second pallet fork is driven to be in a jacking state. The same output shaft of the jacking driving mechanism drives the first rocker arm assembly and the second rocker arm assembly to synchronously move in different phases at the same time, trays of two different specifications can be carried, and mixed storage of the trays of the multiple specifications can be carried out in a warehouse.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics technology, and in particular to a four-way shuttle vehicle that can adapt to goods of various specifications and sizes. Background Technology

[0002] The four-way shuttle is an intelligent warehousing and logistics robot designed specifically for automated warehouses or dense storage systems. It can move freely in four directions (forward, backward, left, and right) in a horizontal plane to complete the transfer between different aisles, achieving efficient storage, retrieval, handling, and scheduling of goods.

[0003] In modern warehousing and logistics, pallet sizes are highly diverse. Whether across different industries, companies, or even within the same company, different products may use varying pallet specifications, ranging from 1600mm×1400mm to 1200mm×1000mm. This size variation undoubtedly poses a significant challenge to warehouse compatibility storage and management. Specifically, size incompatibility forces warehouses to adopt zoned storage strategies, storing only a single pallet size in specific areas. This not only increases the complexity of the racking system but also leads to higher vacancy rates. For example, the inability to effectively utilize 1200mm×1000mm pallets in a 1600mm×1400mm area results in wasted space.

[0004] The applicant has discovered that the existing technology has at least the following technical problems: the current traditional four-way shuttle equipment only integrates one lifting device, which can usually only transport goods units of a single pallet size, making it difficult to meet the needs of transporting pallets of various sizes. This leads to difficulties in storing multi-specification goods units for enterprises, thereby reducing the utilization rate of warehouse space and operational efficiency. This limitation hinders enterprises from achieving flexible and intelligent warehouse management. Summary of the Invention

[0005] The purpose of this invention is to provide a four-way shuttle that is adaptable to pallets of various sizes, thereby solving the technical problem that existing four-way shuttles only have one lifting device and can only handle goods of a single size. The various technical effects of the preferred solutions among the many technical solutions provided by this invention are detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The present invention provides a four-way shuttle vehicle adaptable to various specifications and sizes of goods, comprising a frame and a lifting and reversing mechanism. The lifting and reversing mechanism includes a lifting drive mechanism located on the frame, a first rocker arm assembly, a second rocker arm assembly, and a first fork and a second fork for supporting pallets of different sizes, wherein: The same output shaft of the lifting drive mechanism is connected to both the first rocker arm assembly and the second rocker arm assembly for driving them to rotate. The first rocker arm assembly has a first swing end, which is connected to the first fork drive. The second rocker arm assembly has a second swing end, which is connected to the second fork drive. Both the first swing end and the second swing end have a high position, a low position and a middle position, and their states are always different, thereby driving the first fork or the second fork to be in a lifting state.

[0007] Preferably, the first rocker arm assembly and the second rocker arm assembly are arranged at an axial distance along the output shaft, and there is a non-zero included angle between the projections of the first rocker arm assembly and the second rocker arm assembly in the same vertical plane.

[0008] Preferably, the first rocker arm assembly includes a first rocker arm body, one end of the first rocker arm body is fixedly connected to the output shaft of the lifting drive mechanism, and the first swing end is located at the other end of the first rocker arm body; The second rocker arm assembly includes a second rocker arm body, one end of which is fixedly connected to the output shaft of the lifting drive mechanism, and the second swing end is located at the other end of the second rocker arm body.

[0009] Preferably, the first swing end includes a first shaft portion and a first bearing sleeved on the first shaft portion, and the first shaft portion is fixed to the end of the first rocker arm body; The bottom of the first fork is provided with a lifting block, and the first bearing can contact the lifting block when it is in a high position, thereby lifting the first fork.

[0010] Preferably, the lifting and reversing mechanism further includes a slider, which is slidably connected to the vehicle frame; The four-way shuttle also includes a Y-axis traveling wheel assembly, which is rotatably connected to the slider; The second swing end is driven to the slider, and the slider is driven to the second fork. When the slider rises under the drive of the second swing end, it can lift the second fork.

[0011] Preferably, the second swing end includes a second shaft portion and a second bearing sleeved on the second shaft portion, and the second shaft portion is fixed to the end of the second rocker arm body; The slider is provided with a rolling cavity, and the second bearing is located within the rolling cavity. The second bearing rolls within the rolling cavity to convert the rotational motion of the second rocker arm assembly into the linear lifting motion of the slider. An extension block is fixed on the slider, and the extension block is connected to the second fork. The extension block can lift the second fork when the slider rises.

[0012] Preferably, the first fork and the second fork are cover plate structures or fork body structures, and the second fork is distributed on opposite sides of the first fork. When the first fork and the second fork are not raised, they can close the upper side of the frame to form the upper sealing plate of the frame.

[0013] Preferably, a guide post is fixed on the frame, the guide post is vertically arranged, and the slider is slidably connected to the guide post, thereby allowing it to move vertically up and down; The vehicle frame is also equipped with a lifting guide assembly, which includes a guide seat, a connecting plate, a guide rod, and a reset elastic element. The guide seat is fixed to the vehicle frame, the guide rod is vertically arranged and slidably connected to the guide seat, and the reset elastic element is sleeved on the guide rod. The lower end of the reset elastic element is fixed to the guide rod, and its upper end abuts against the guide seat. The connecting plate is fixed to the guide rod and fixedly connected to the first fork or the second fork; when the first fork or the second fork rises, the reset elastic element is in a compressed state; when the slider descends, the reset elastic element drives the first fork or the second fork to descend and reset along the guide rod.

[0014] Preferably, the lifting drive mechanism includes a lifting drive device, a driving lifting gearbox, and a driven lifting gearbox, wherein: The first rocker arm assembly and the second rocker arm assembly are distributed on opposite sides of the vehicle frame, the active lifting gearbox and the driven lifting gearbox are respectively located on opposite sides of the vehicle frame, and the output shaft is located at the output end of the active lifting gearbox and the output end of the driven lifting gearbox; The lifting drive device is driven and connected to the active lifting gearbox. The active lifting gearbox has two or more output shafts, each of which is connected to different output gears of the active lifting gearbox. The output shafts are arranged at intervals along the length or width of the vehicle frame.

[0015] The active lifting gearbox is connected to the driven lifting gearbox via a power transmission shaft, thereby driving the output shafts on opposite sides of the frame to move synchronously.

[0016] Preferably, the four-way shuttle further includes an X-axis traveling wheel assembly and a Y-axis traveling wheel assembly, wherein: The X-axis traveling wheel assembly is rotatably connected to the frame, and the second rocker arm assembly is driven to the Y-axis traveling wheel assembly, which is used to drive the Y-axis traveling wheel assembly to rise and fall with the second fork, so that the Y-axis traveling wheel assembly cooperates with the X-axis traveling wheel assembly on the frame to switch the traveling direction.

[0017] The four-way shuttle vehicle adapted to various specifications and sizes of goods provided by this invention has the following advantages compared with the prior art: By simultaneously driving the first rocker arm assembly and the second rocker arm assembly to move in different phases through the same output shaft of the lifting drive mechanism, the lifting of the first fork and the second fork is realized, thereby accurately lifting pallets of different sizes. When pallets of different sizes need to be moved, the output shaft can be controlled to keep the swing ends of the first rocker arm assembly and the second rocker arm assembly in a high, low, or medium position according to the actual size of the pallet, realizing the lifting and reversing functions of two types of forks; Two different specifications of pallets can be moved with a single device, enabling warehouses to carry out mixed storage of multiple specifications of pallets, breaking the limitations of partitioned storage or unified storage according to the largest size, making the layout more flexible and significantly improving the utilization rate of warehouse space. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the four-way shuttle vehicle; Figure 2 This is a schematic diagram of the walking drive device; Figure 3 This is a schematic diagram of the lifting and reversing mechanism; Figure 4 This is a schematic diagram of the structure of the lifting drive device in conjunction with the first rocker arm assembly and the second rocker arm assembly; Figure 5 This is a schematic diagram of the cooperation structure between the second rocker arm assembly and the slider; Figure 6 This is a partial schematic diagram of the mating structure of the first rocker arm assembly, the second rocker arm assembly, and the slider; Figure 7 This is a schematic diagram of the cooperation structure between the output shaft and the first rocker arm assembly, the second rocker arm assembly, and the slider; Figure 8 This is a side view of the first rocker arm assembly and the second rocker arm assembly in action; Figure 9 This is a schematic diagram of the cooperation structure between the output shaft and the first rocker arm assembly and the second rocker arm assembly; Figure 10 This is a structural diagram of the first and second forks; Figure 11 This is a schematic diagram of the structure of the first rocker arm assembly lifting the first fork; Figure 12 This is a structural schematic diagram of the lifting guide assembly; Figure 13 ad is a schematic diagram showing the first swing end and the second swing end in a high position, a low position, or a middle position.

[0020] In the diagram: 1. First rocker arm assembly; 11. First rocker arm body; 12. First shaft; 13. First bearing; 2. Second rocker arm assembly; 21. Second rocker arm body; 22. Second shaft; 23. Second bearing; 3. Lifting drive device; 30. Output shaft; 31. Active lifting gearbox; 32. Driven lifting gearbox; 33. Power transmission shaft; 4. Slider; 41. Rolling chamber; 42. Heightening block; 51. First fork; 511. 52. Lifting block; 6. Second fork; 7. Lifting guide assembly; 81. Guide seat; 82. Connecting plate; 83. Guide rod; 84. Reset elastic element; 85. Travel drive device; 86. Driven travel gearbox; 87. Drive shaft; 88. Connecting shaft; 89. Universal joint; 200. Frame; 201. Guide column; 300. Guide wheel assembly; 500. Y-axis travel wheel assembly; 600. X-axis travel wheel assembly. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] In the description of this invention, it should be understood that the terms "center," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, 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, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] This invention provides a four-way shuttle vehicle that can adapt to goods of various sizes. The four-way shuttle vehicle uses a highly integrated lifting and reversing mechanism, a single power source and a transmission mechanism with phase difference, to selectively lift two different sized pallets, and simultaneously integrates the reversing function of four-way travel.

[0024] The following is combined with Figures 1-13 The technical solution provided by this invention will be described in more detail below.

[0025] See Figures 1-13 As shown, the four-way shuttle vehicle adapted to various sizes of goods provided by the present invention includes a frame 200 and a lifting and reversing mechanism. The lifting and reversing mechanism includes a lifting drive mechanism, a first rocker arm assembly 1, a second rocker arm assembly 2, and a first fork 51 and a second fork 52 for supporting pallets of different sizes, located on the frame 200. The same output shaft 30 of the lifting drive mechanism is drivenly connected to both the first rocker arm assembly 1 and the second rocker arm assembly 2 to drive them to rotate. The first rocker arm assembly 1 has a first swing end, which is drivenly connected to the first fork 51. The second rocker arm assembly 2 has a second swing end, which is drivenly connected to the second fork 52. Both the first swing end and the second swing end have a high position, a low position, and a middle position, and their states are always different, thereby driving the first fork 51 or the second fork 52 to be in a lifting state.

[0026] The core concept of this embodiment, namely the structure capable of driving two different sizes of goods (such as pallets), will be described below.

[0027] The lifting and reversing mechanism is the core of the technical solution of this application, and it is compactly integrated inside the frame 200. Please refer to [reference needed]. Figure 1 As can be clearly seen from this view, the lifting and reversing mechanism includes two forks, a first fork 51 and a second fork 52, for supporting pallets of different sizes. Specifically, the first fork 51 is used to support pallets of a first size (e.g., smaller 800mm / 1000mm pallets), and the second fork 52 is used to support pallets of a second size (e.g., larger 1000mm / 1200mm pallets). The first fork 51 and the second fork 52 have different coverage areas on the horizontal plane to accommodate the bottom support requirements of the two types of pallets respectively. In the non-lifted state, the two forks together form the upper surface cover of the four-way shuttle.

[0028] The following will combine Figures 3-13 The internal structure and working principle of the lifting and reversing mechanism are explained in detail.

[0029] The core of the lifting and reversing mechanism is a drive assembly consisting of a single power source and transmission system, a first rocker arm assembly 1, and a second rocker arm assembly 2. In this embodiment, the same output shaft 30 of the lifting drive mechanism is connected to both the first rocker arm assembly 1 and the second rocker arm assembly 2 for driving them to rotate synchronously in different phases. The different phases refer to the swing ends of the first rocker arm assembly 1 and the second rocker arm assembly 2 being in a high position, a low position, or a middle position, and their states are always different.

[0030] For details, see Figure 3 , Figure 4 and Figure 7 As shown, the lifting drive mechanism includes a lifting drive device 3, a driving lifting gearbox 31, and a driven lifting gearbox 32. The first rocker arm assembly 1 and the second rocker arm assembly 2 are distributed on opposite sides of the frame 200. The driving lifting gearbox 31 and the driven lifting gearbox 32 are located on opposite sides of the frame 200, respectively. Output shafts 30 are located at the output ends of the driving lifting gearbox 31 and the driven lifting gearbox 32. The lifting drive device 3 is drivenly connected to the driving lifting gearbox 31. The driving lifting gearbox has two or more output shafts 30, each connected to different output gears of the driving lifting gearbox 32. The output shafts 30 are spaced apart along the length or width of the frame 200. The driving lifting gearbox 31 is connected to the driven lifting gearbox 32 via a power transmission shaft 33, thereby driving the output shafts 30 on opposite sides of the frame 200 to move synchronously.

[0031] See Figure 3 , Figure 4 and Figure 7 As shown, the lifting drive device 3 includes a servo motor or stepper motor with a high-precision encoder, and a reducer connected to the motor drive. The lifting drive device 3 is connected to the active lifting gearbox 31, and the output shaft 30 of the active lifting gearbox 31 drives the first rocker arm assembly 1 and the second rocker arm assembly 2 on one side of the vehicle body to rotate. In addition, the active lifting gearbox 31 and the driven lifting gearbox 32 are connected by a power transmission shaft 33 to realize the synchronous movement of the first rocker arm assembly 1 and the second rocker arm assembly 2 on both sides of the frame 200.

[0032] The active lifting gearbox and the driven lifting gearbox are fixed to the frame 200, thereby providing stable support to both ends of the power transmission shaft 33. This power transmission shaft 33 constitutes the common output shaft 30 in this design.

[0033] The structure of the first rocker arm assembly 1 and the second rocker arm assembly 2 will be described in detail below.

[0034] As an optional implementation, see Figure 8 and Figure 9 As shown, the first rocker arm assembly 1 and the second rocker arm assembly 2 are arranged at intervals along the axial direction of the output shaft 30, and there is a non-zero included angle between their projections in the same vertical plane. Specifically, the included angle is determined according to the required lifting height of the goods and the lengths of the first rocker arm assembly 1 and the second rocker arm assembly 2. In the figure, the projections of the first rocker arm assembly 1 and the second rocker arm assembly 2 in the same vertical plane are at 90°, but this angle is not the only one.

[0035] The first rocker arm assembly 1 and the second rocker arm assembly 2, located on the same side of the frame 200, are both fixed to the same output shaft 30. When the output shaft 30 rotates, the swing ends of the first rocker arm assembly 1 and the second rocker arm assembly 2 will generate movements with a 90-degree phase difference. That is, when the swing end of the first rocker arm assembly 1 moves to the highest point of its trajectory, the swing end of the second rocker arm assembly 2 moves exactly to the horizontal middle position of its trajectory, and vice versa. It is this phase-difference movement that forms the basis for achieving selective lifting.

[0036] As an optional implementation, see Figure 6 , Figure 8 and Figure 9 As shown, the first rocker arm assembly 1 includes a first rocker arm body 11, one end of which is fixedly connected to the output shaft 30 of the lifting drive mechanism, and the first swing end is located at the other end of the first rocker arm body 11.

[0037] See Figure 6 , Figure 8 and Figure 9 As shown, the second rocker arm assembly 2 includes a second rocker arm body 21. One end of the second rocker arm body 21 is fixedly connected to the output shaft 30 of the lifting drive mechanism, and the second swing end is located at the other end of the second rocker arm body 21. When the projections of the first rocker arm assembly 1 and the second rocker arm assembly 2 in the same vertical plane are at 90°, the first rocker arm body 11 and the second swing arm body 21 are perpendicular to each other.

[0038] The first rocker arm assembly 1 and the second rocker arm assembly 2 can have the same structure, only with different extension directions, so that they are in different phases during synchronous movement.

[0039] The first rocker arm assembly 1 drives the first fork 51 to rise and fall in the following manner: The first rocker arm assembly 1 is drive-connected to the first fork 51. Specifically, see... Figure 6 and Figure 11 The first swing end includes a first shaft portion 12 and a first bearing 13 sleeved on the first shaft portion 12. The first shaft portion 12 is fixed to the end of the first rocker arm body 11; see also Figure 10 A lifting block 511 is provided at the bottom of the first fork 51. The first bearing 13 can contact the lifting block 511 when it is in a high position, thereby lifting the first fork 51.

[0040] In this embodiment, the first bearing 13 is located at the swing end of the first rocker arm assembly 1, that is, at the end away from the rotation axis of the first rocker arm assembly 1.

[0041] See Figure 11As shown, the first bearing 13 acts directly on the lifting block 511. When the output shaft 30 rotates to a specific angle, causing the swing end of the first rocker arm assembly 1 (i.e., the first bearing 13) to rise, it will push the lifting block 511 upward, thereby driving the entire first fork 51 to achieve vertical lifting.

[0042] The second rocker arm assembly 2 drives the second fork 52 to rise and fall in the following manner: See Figure 5 , Figure 6 and Figure 7 As shown, the lifting and reversing mechanism also includes a slider 4, which is vertically configurable on the frame 200. The Y-axis traveling wheel assembly 500 on the frame 200 is rotatably connected to the slider 4. The second swing end is driven by the slider 4, and the slider 4 is driven by the second fork 52. When the slider 4 rises under the drive of the second swing end, it can lift the second fork 52. The second rocker arm assembly 2 is driven by the slider 4. The slider 4 slides vertically under the drive of the second rocker arm assembly 2, and the second fork 52 is driven by the slider 4. Therefore, the lifting and lowering of the slider 4 directly drives the second fork 52 to achieve synchronous lifting and lowering. Specifically, to limit the slider 4 to only vertical movement, see... Figure 5 and Figure 7 As shown, a guide post 201 is fixed on the frame 200. The guide post 201 is vertically set, and the slider 4 is slidably connected to the guide post 201, thereby vertically raising and lowering.

[0043] For details, see Figure 7 , Figure 8 and Figure 9 As shown, the second swing end includes a second shaft portion 22 and a second bearing 23 sleeved on the second shaft portion 22. The second shaft portion 22 is fixed to the end of the second rocker arm body 21. In this embodiment, the second bearing 23 is located at the swing end of the second rocker arm assembly 2, that is, at the end away from the rotation axis of the second rocker arm assembly 2.

[0044] See Figure 5 and Figure 7 As shown, a rolling cavity 41 is provided on the slider 4, and the second bearing 23 is located in the rolling cavity 41. The second bearing 23 rolls in the rolling cavity 41 to convert the rotational motion of the second rocker arm assembly 2 into the linear lifting motion of the slider 4. A lifting block 42 is fixed on the slider 4. The lifting block 42 is connected to the second fork 52. The lifting block 42 can lift the second fork 52 when the slider 4 rises.

[0045] Combination Figure 5 and Figure 7As shown, when the output shaft 30 of the corresponding gearbox drives the second rocker arm assembly 2 to rotate, the second bearing 23 at its swing end rolls inside the rolling cavity 41 of the slider 4. The circular motion of the second rocker arm assembly 2 is smoothly and with low friction converted into the linear lifting motion of the slider 4 through the rolling contact between the second bearing 23 and the inner wall of the rolling cavity 41. This rolling contact method effectively reduces the coefficient of friction, and its beneficial effects are: extremely smooth motion, smooth lifting without jamming, ensuring the stability of the shuttle's reversing process; at the same time, rolling friction replaces sliding friction, greatly reducing the wear of the contact surface, extending the service life of the two key moving parts, the rocker arm and the slider 4, and reducing the maintenance frequency; in addition, due to the small friction loss, the energy transfer efficiency is higher, and the power requirements of the lifting drive device are also reduced accordingly.

[0046] To ensure the smoothness and posture stability of the first fork 51 and the second fork 52 during the lifting process, and to prevent tilting or jamming, see [reference needed]. Figure 5 and Figure 7 As shown, a lifting guide assembly 6 is also provided on the frame 200. The lifting guide assembly 6 includes a guide seat 61, a connecting plate 62, a guide rod 63, and a reset elastic member 64. The guide seat 61 is fixed on the frame 200. The guide rod 63 is vertically arranged and slidably connected to the guide seat 61. The reset elastic member 64 is sleeved on the guide rod 63. The lower end of the reset elastic member 64 is fixed on the guide rod 63, and its upper end abuts against the guide seat 61. The connecting plate 62 is fixed to the guide rod 63 and is fixedly connected to the first fork 51 or the second fork 52. When the cover plate 5 rises, the reset elastic member 64 is in a compressed state. When the slider 4 descends, the reset elastic member 64 drives the first fork 51 or the second fork 52 to descend and reset along the guide rod 63.

[0047] See Figure 2 and Figure 11 As shown, the functions of the lifting guide assembly 6 are: firstly, to restrict the vertical movement of the first fork 51 or the second fork 52; and secondly, to enable the first fork 51 or the second fork 52 to be reset by the reset elastic force of the reset elastic member 64 when the slider 4 descends. Correspondingly, different numbers of lifting guide assemblies 6 can also be provided on the frame 200 to achieve the reset of the first fork 51 and the second fork 52, respectively.

[0048] As an optional implementation, see Figure 1 and Figure 10 As shown, the first fork 51 and the second fork 52 are cover plate structures or fork body structures. The second fork 52 is distributed on opposite sides of the first fork 51. When the first fork 51 and the second fork 52 are not lifted, they can close the upper side of the frame 200 to form the upper sealing plate of the frame 200.

[0049] The following describes the driving transmission structure of the four-way shuttle.

[0050] See Figure 1 and Figure 2 As shown, the frame 200 of the four-way shuttle is equipped with an X-axis traveling wheel assembly 600 and a Y-axis traveling wheel assembly 500. The X-axis traveling wheel assembly 600 is rotatably connected to the frame 200. The second rocker arm assembly 2 is drivenly connected to the Y-axis traveling wheel assembly 500 and is used to drive the Y-axis traveling wheel assembly 500 to rise and fall with the second fork 52, so that the Y-axis traveling wheel assembly 500 and the X-axis traveling wheel assembly 600 on the frame 200 can cooperate to switch the traveling direction.

[0051] Among them, see Figure 1 and Figure 2 As shown, the four-way shuttle also includes an active travel gearbox 81, a driven travel gearbox 82, and a drive shaft 83. The first output end of the travel drive device 7 is connected to the active travel gearbox 81. The active travel gearbox 81 is connected to the X-axis travel wheel assembly 600 on one side of the frame 200, and the driven travel gearbox 82 is connected to the X-axis travel wheel assembly 600 on the other side of the frame 200. The output end of the active travel gearbox 81 is connected to one end of the drive shaft 83, and the other end of the drive shaft 83 is connected to the input end of the driven travel gearbox 82. The second and third output ends of the travel drive device 7 are connected to the Y-axis travel wheel assembly 500. The travel drive unit 7 includes a travel motor and a reducer connected to the travel motor. The travel drive unit 7 works in conjunction with the drive gearbox 81 for transmission. When the travel drive unit 7 rotates, it drives the drive gearbox 81 and the coupling to rotate, thereby driving the X-axis travel wheel assembly 600 to rotate. Since the output end of the drive gearbox 81 is connected to one end of the transmission shaft 83, and the other end of the transmission shaft 83 is connected to the input end of the driven gearbox 82, see [link to relevant documentation]. Figure 2 As shown, the active travel gearbox 81 transmits power to the driven travel gearbox 82 and the X-direction travel wheel assembly 600 on the other side of the frame 200.

[0052] See Figure 2As shown, the four-way shuttle also includes two connecting shafts 84, symmetrically arranged on opposite sides of the travel drive device 7. The two ends of each connecting shaft 84 are hinged to the second output end of the travel drive device 7 and the input end of the Y-axis travel wheel assembly 500 via universal joints 85, respectively. The connecting shafts 84 and universal joints 85 form a telescopic coupling structure, allowing the Y-axis travel wheel assembly 500 to rise and fall normally. The output shaft 30 of the travel drive device 7 transmits power to the Y-axis travel wheel assembly 500 via the connecting shafts 84 and universal joints 85, driving the Y-axis travel wheel assembly 500 to rotate. Since the Y-axis travel wheel assembly 500 can rise and fall with the slider 4, the universal joints 85 provide space for the Y-axis travel wheel assembly 500 to rise and fall, preventing a rigid connection from preventing the Y-axis travel wheel assembly 500 from being unable to rise and fall. See also... Figure 1 As shown, a guide wheel assembly 300 is also provided at the corner of the frame 200 for guiding and facilitating smooth movement of the vehicle body.

[0053] The above describes the structure of the four-way shuttle that can switch between Y and X directions.

[0054] In addition to the aforementioned function of lifting pallets of different sizes, the four-way shuttle in this embodiment also has a reversing function. Specifically, since the Y-axis traveling wheel assembly 500 is rotatably connected to the slider 4, when the slider is at a higher position in its stroke (e.g., between the midpoint and the highest point), the Y-axis traveling wheel assembly 500 is lifted as a whole, its wheels leave the ground, and it is in a non-working position. At this time, the X-axis traveling wheel assembly 600 is in contact with the ground, and the four-way shuttle can travel in the X direction. When the slider 4 is driven to the lowest point of its stroke, it will drive the Y-axis traveling wheel assembly 500, causing its wheels to contact the ground and support the vehicle body, while simultaneously lifting the X-axis traveling wheel assembly 600 off the ground. At this time, the Y-axis traveling wheel assembly 500 is in the working position, and the four-way shuttle can travel in the Y direction. By linking the Y-axis traveling wheel assembly 500 with the slider 4 and utilizing the movement of the slider 4 in different height ranges, the switching of the Y-axis traveling wheel assembly 500 between the working and non-working positions is achieved, thereby completing the change of travel direction.

[0055] Therefore, the slider 4 in this embodiment, driven by the second rocker arm assembly 2, has two functions through vertical lifting: firstly, it can lift the second fork 52 to lift larger sized goods (such as pallets); secondly, it can lift the Y-axis traveling wheel assembly 500 to cooperate with the X-axis traveling wheel assembly 600 on the frame 200 to switch the traveling direction.

[0056] The following is combined with Figure 13The functional diagram shown describes the complete working process of the four-way shuttle in this embodiment. It is assumed that the rotation angle of the output shaft 30 starts at 0 degrees, which is defined as the highest point of the swing end of the first rocker arm assembly 1 on its trajectory.

[0057] See Figure 13 b. Lifting Small Pallets: After receiving the instruction to move a small pallet, the central controller controls the lifting drive device 3 to rotate the output shaft 30 to the 0-degree position. At this position, the first swing end (first bearing 13) of the first rocker arm assembly 1 is at its highest point, lifting the first fork 51 to the working position to complete the carrying of the small pallet. Due to the 90-degree phase difference, the second swing end (second bearing 23) of the second rocker arm assembly 2 is in a horizontal position, and the drive slider 4 is in the neutral position. Therefore, the second fork 52 does not move, and the Y-axis traveling wheel assembly 500 is also in the retracted state. The four-way shuttle can carry a large pallet along the X direction under the drive of the X-axis traveling wheel assembly 600.

[0058] See Figure 13 a. Lifting a large pallet: After receiving the instruction to move a large pallet, the central controller controls the lifting drive device 3 to rotate the output shaft 30 to a position of 270 degrees (or -90 degrees). At this position, the second bearing 23 of the second rocker arm assembly 2 is in a high position on its trajectory, driving the slider 4 to rise to its highest position, thereby lifting the second fork 52 to the lifting position, completing the support of the large pallet. At this time, the first swing end (first bearing 13) of the first rocker arm assembly 1 is in a neutral position, and it does not generate lifting force on the first fork 51, which remains in a low position. Simultaneously, because the slider 4 is in a high position, the Y-axis traveling wheel assembly 500 also remains retracted. The four-way shuttle can carry the large pallet along the X direction under the drive of the X-axis traveling wheel assembly 600.

[0059] See Figure 13 c. Switching to Y-axis travel: When the four-way shuttle needs to move laterally, regardless of whether it is loaded, the controller first ensures that the forks are in a lowered state (e.g., by rotating to a 180-degree position). Then, the controller controls the lifting drive 3 to drive the output shaft 30 to rotate to a 90-degree position. In this position, the second bearing 23 of the second rocker arm assembly 2 is in the low position of its movement trajectory, driving the slider 4 to descend to the lowest position. The descent of the slider 4 causes the Y-axis traveling wheel assembly 500 to descend to the working position, its wheels contacting the ground and lifting the vehicle body, causing the X-axis traveling wheel assembly 600 to leave the ground. At this time, the first swing end (first bearing 13) of the first rocker arm assembly 1 is in the neutral position and does not produce a lifting action. The four-way shuttle has completed the reversal and can travel in the Y-axis direction.

[0060] See Figure 13d. X-direction unloaded travel or fork reset: When the four-way shuttle is unloaded or needs to lower all forks to the lowest position, the controller controls the lifting drive device 3 to rotate the output shaft 30 to a 180-degree position. In this position, the first swing end (first bearing 13) of the first rocker arm assembly 1 is in the low position of its movement trajectory and does not exert force on the first fork 51. At the same time, the second swing end (second bearing 23) of the second rocker arm assembly 2 returns to the middle position, and the drive slider 4 is at the midpoint of its stroke. Therefore, the first fork 51 and the large fork are both in the initial state of complete descent, and the Y-direction travel wheel assembly 500 is also in the retracted state. At this time, the X-direction travel wheel is in contact with the ground, and the four-way shuttle can travel unloaded in the X direction.

[0061] In this embodiment, different forks are lifted asynchronously to achieve precise lifting of pallets of different sizes. Specifically, the four-way vehicle is equipped with two sets of forks, each of which can be independently controlled for lifting. When pallets of different sizes need to be moved, the system intelligently selects and controls the corresponding forks to perform the lifting operation based on the actual size of the pallet. Furthermore, the above lifting method uses the same lifting and reversing mechanism, achieving dual lifting of two pallets within the limited vehicle space, significantly reducing the number of transmission components and greatly reducing equipment maintenance frequency and costs.

[0062] The specific features, structures, or characteristics described in this specification may be combined in any suitable manner in one or more embodiments or examples.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A four-way shuttle vehicle adapted to fit various sizes of cargo, characterized by, The four-way shuttle vehicle comprises a vehicle frame and a lifting reversing mechanism, the lifting reversing mechanism comprises a lifting driving mechanism, a first rocker arm assembly, a second rocker arm assembly, and a first fork and a second fork for supporting different size pallets, wherein: The same output shaft of the lifting driving mechanism is in transmission connection with the first rocker arm assembly and the second rocker arm assembly, for driving the two to rotate; The first rocker arm assembly has a first swing end, which is in transmission connection with the first fork; The second rocker arm assembly has a second swing end, which is in transmission connection with the second fork; The first swing end and the second swing end each have a high position state, a low position state and a middle position state, and the states of the two are always different, so as to drive the first fork or the second fork to be in a lifting state.

2. The four-way shuttle vehicle of claim 1, wherein, The first rocker arm assembly and the second rocker arm assembly are arranged in an axial direction of the output shaft, and the projections of the first rocker arm assembly and the second rocker arm assembly in the same vertical plane have a non-zero included angle.

3. The four-way truck of claim 1, wherein, The first rocker arm assembly comprises a first rocker arm body, one end of the first rocker arm body is fixedly connected with the output shaft of the lifting driving mechanism, and the first swing end is located at the other end of the first rocker arm body; The second rocker arm assembly comprises a second rocker arm body, one end of the second rocker arm body is fixedly connected with the output shaft of the lifting driving mechanism, and the second swing end is located at the other end of the second rocker arm body.

4. The four-way truck of claim 3, wherein, The first swing end comprises a first shaft portion and a first bearing sleeved on the first shaft portion, and the first shaft portion is fixed to the end portion of the first rocker arm body; The bottom of the first fork is provided with a lifting block, and the first bearing can be in contact with the lifting block when in the high position state, so as to lift the first fork.

5. The four-way truck of claim 3, wherein, The lifting reversing mechanism further comprises a sliding block, which is in sliding connection with the vehicle frame; The four-way shuttle vehicle further comprises a Y-direction walking wheel assembly, which is rotatably connected to the sliding block; The second swing end is in transmission connection with the sliding block, the sliding block is in transmission connection with the second fork, and the sliding block can lift the second fork when driven by the second swing end to rise.

6. The four-way truck of claim 5, wherein, The second swing end comprises a second shaft portion and a second bearing sleeved on the second shaft portion, and the second shaft portion is fixed to the end portion of the second rocker arm body; The sliding block is provided with a rolling cavity, the second bearing is limited in the rolling cavity, and the second bearing rolls in the rolling cavity to convert the rotary motion of the second rocker arm assembly into the linear lifting motion of the sliding block; The sliding block is fixedly provided with a heightening block, the heightening block is connected with the second fork, and the heightening block can lift the second fork when the sliding block rises.

7. The four-way truck of claim 1, wherein, The first fork and the second fork are in a cover plate structure or a fork body structure, the second fork is distributed on opposite sides of the first fork, and the first fork and the second fork can close the upper side of the vehicle frame when not lifted, forming an upper sealing plate of the vehicle frame.

8. The four-way truck of claim 5, wherein, The vehicle frame is fixedly provided with a guide column, the guide column is vertically arranged, and the sliding block is in sliding connection with the guide column, so as to vertically lift. The lifting guide assembly is arranged on the frame, and comprises a guide seat, a connecting plate, a guide rod and a reset elastic member. The connecting plate is fixed with the guide rod and fixedly connected with the first or second fork. When the first or second fork is lifted, the reset elastic member is in a compressed state.

9. The four-way truck of claim 1, wherein, When the sliding block is lowered, the reset elastic member drives the first or second fork to be lowered along the guide rod. The lifting drive mechanism comprises a lifting drive device, a driving lifting gear box and a driven lifting gear box. The first and second rocker arm assemblies are arranged on opposite sides of the frame, and the driving and driven lifting gear boxes are arranged on opposite sides of the frame. The lifting drive device is drivingly connected with the driving lifting gear box.

10. The four-way shuttle vehicle of claim 1, wherein, The number of output shafts on the driving lifting gear box is two or more, which are drivingly connected with different output gears of the driving lifting gear box. The output shafts are arranged along the length or width direction of the frame. The driving lifting gear box is drivingly connected with the driven lifting gear box through a power transmission shaft, so as to drive the output shafts on opposite sides of the frame to move synchronously. The four-way shuttle vehicle further comprises an X-direction walking wheel assembly and a Y-direction walking wheel assembly. The X-direction walking wheel assembly is rotatably connected to the frame. The second rocker arm assembly is drivingly connected with the Y-direction walking wheel assembly, so as to drive the Y-direction walking wheel assembly to lift with the second fork, and thus the Y-direction walking wheel assembly and the X-direction walking wheel assembly on the frame are switched to change the walking direction.

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