Four-way shuttle vehicle

Abstract

The utility model 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 cargo detection device, a walking device is arranged on the vehicle body frame, the supporting plate is arranged at the upper end of the vehicle body frame, and when the supporting plate is in a jacking state, the jacking device is configured to enable the cargo detection device to upwards stretch out of the upper end of the vehicle body frame. The goods detection device can detect whether goods exist on the front side of the equal-height horizontal plane. According to the arrangement mode of the cargo detection device, the cargo detection misjudgment of the cargo detection device caused by the interference of the cargo height, the cargos on the upper layer and other shelf mechanisms on the upper layer can be avoided, and the accurate detection of the cargo detection device can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent logistics, and in particular to a four-way shuttle vehicle. Background Art

[0002] like Figure 1 As shown, the existing four-way shuttle 100 can run through the sub-aisle to the bottom of the support pallet 230, the jacking device 10 puts the pallet 40 in a raised state, the pallet 40 lifts the support pallet 230 off the bracket 220, and the four-way shuttle 100 then uses the first walking mechanism 30 to transport the support pallet 230 and the goods 300 thereon along the sub-aisle.

[0003] Since there is a height difference between the storage of the support tray 230 and the cargo 300 and the four-way shuttle 100, in order to be able to detect the support tray 230 and the cargo 300 in time, the four-way shuttle 100 also includes a cargo detection device 60. The cargo detection device 60 is generally installed on the housing 70 at an angle upward, and the first detection light P2 emitted by the cargo detection device 60 is inclined upward.

[0004] Since the goods 300 on the support tray 230 are stored at different heights, the oblique upward irradiation will be affected by the different heights of the goods 300, resulting in misjudgment of the detection result of the goods detection device 60. In addition, the first detection light P2 emitted by the goods detection device 60 may sometimes detect the support tray 230 and the goods 300 on the upper sub-lane, thereby causing misjudgment of the detection result of the goods detection device 60.

[0005] Therefore, a new four-way shuttle vehicle is urgently needed to be designed to improve the above problems. Utility Model Content

[0006] The utility model aims to provide a four-way shuttle vehicle, which can avoid misjudgment of cargo detection by a cargo detection device caused by interference from cargo height, cargo on the upper layer and other shelf mechanisms on the upper layer, and can achieve accurate detection by the cargo detection device.

[0007] To achieve this purpose, the utility model adopts the following technical solutions:

[0008] A four-way shuttle vehicle, comprising:

[0009] A vehicle body frame, wherein a running device is arranged on the vehicle body frame;

[0010] A support plate, arranged at the upper end of the vehicle body frame;

[0011] A lifting device and a cargo detection device. When the pallet is in a lifting state, the lifting device is configured to make the cargo detection device extend upward from the upper end of the vehicle body frame, and the cargo detection device can detect whether there is cargo in front of its equal height level.

[0012] As an optional solution, the four-way shuttle vehicle further includes a shell, wherein the shell is covered on the upper end of the vehicle body frame, and an escape opening is provided on the shell, and the cargo detection device is directly opposite to the escape opening.

[0013] As an optional solution, the cargo detection device is provided in two numbers, and the two cargo detection devices are arranged at intervals along the travel direction of the four-way shuttle vehicle, and the cargo detection device can emit detection light toward the outside of the four-way shuttle vehicle along the travel direction.

[0014] As an optional solution, the walking device includes a first walking mechanism and a second walking mechanism, the first walking mechanism can drive the vehicle frame to move in a first direction, the second walking mechanism can drive the vehicle frame to move in a second direction, and the lifting device can switch between a first state, a second state and a third state;

[0015] When the jacking device is in a first state, the jacking device places the second traveling mechanism in a lower position and places the pallet in a non-lifting state; when the jacking device is in a second state, the jacking device places the second traveling mechanism in an intermediate position and places the pallet in a non-lifting state; when the jacking device is in a third state, the jacking device places the second traveling mechanism in an intermediate position and places the pallet in a lifting state.

[0016] As an optional solution, the lifting device includes:

[0017] A lifting frame is movably connected to the vehicle body frame, the support plate, the lifting frame and the second walking mechanism are arranged from top to bottom, and the cargo detection device is arranged on the lifting frame;

[0018] A driving mechanism capable of driving the lifting frame to move in an up-down direction;

[0019] A reset member is arranged between the vehicle body frame and the second walking mechanism; and

[0020] A limiter, arranged on the vehicle body frame and / or the second walking mechanism;

[0021] When the lifting device is in the third state, the driving mechanism can drive the lifting frame to lift the support plate so that the support plate is separated from the vehicle body frame, and the limiting member and the resetting member together place the second walking mechanism in the middle position.

[0022] As an optional solution, the lifting device further includes:

[0023] The first guide mechanism includes a first guide shaft and a first sliding sleeve. The first guide shaft extends in the up-down direction and is arranged on the vehicle body frame. The first sliding sleeve is arranged on the lifting frame and is sleeved on the outer periphery of the first guide shaft. The first sliding sleeve can slide along the first guide shaft.

[0024] 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 up and down directions and is arranged on the vehicle body frame, the second sliding sleeve is arranged on the second walking mechanism and is sleeved on the outer periphery of the second guide shaft, and the second sliding sleeve can slide along the second guide shaft.

[0025] As an optional solution, the number of the first guide shafts is at least two, and the number of the second guide shafts is at least two.

[0026] As an optional solution, the first guide shaft is a spline shaft, and the first sliding sleeve is a spline sleeve matched with the first guide shaft.

[0027] The second guide shaft is a spline shaft, and the second sliding sleeve is a spline sleeve matched with the second guide shaft.

[0028] As an optional solution, the length of the first sliding sleeve is greater than the thickness of the lifting frame, and the second walking mechanism includes a mounting frame, which is provided with a first avoidance hole extending in the up and down directions, and the first sliding sleeve can be inserted into the first avoidance hole.

[0029] As an optional solution, the second walking mechanism includes a mounting frame, the second sliding sleeve is arranged on the mounting frame, the length of the second sliding sleeve is greater than the thickness of the mounting frame, and a second avoidance hole is opened on the lifting frame body, and the second sliding sleeve can be inserted into the second avoidance hole.

[0030] As an optional solution, the reset member is sleeved on the outer periphery of the first guide shaft.

[0031] The outer periphery of the second guide shaft is sleeved with the reset member.

[0032] As an optional solution, at least one of the second walking mechanism and the vehicle body frame is provided with a limiting groove, and an end portion of the reset member is inserted into the corresponding limiting groove.

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

[0034] As an optional solution, the driving mechanism also includes a motor, the output end of the motor can rotate around the first direction, the transmission assembly also includes an input shaft and an output shaft, the input shaft is transmission-connected to the output end, and the motor and the transmission assembly are arranged along the first direction.

[0035] As an optional solution, the number of output shafts is four, two of the output shafts constitute an output shaft group, the two output shaft groups are arranged along the second direction, the two output shafts in each output shaft group are arranged along the first direction, the two output shafts in the same group have the same direction, and the two output shaft groups have opposite directions.

[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 the roller rotates around the first direction, and the roller is inserted into the guide groove.

[0037] As an optional solution, the lifting device includes:

[0038] A rotation driving mechanism, arranged on the vehicle body frame;

[0039] The conveying mechanism includes a driving wheel, a driven wheel and an endless conveyor belt. The driving wheel is coaxially fixed with the output shaft of the rotary drive mechanism, the driven wheel is pivotally connected to the vehicle body frame, the endless conveyor belt is arranged around the outer circumference of the driving wheel and the driven wheel, and the endless conveyor belt is tensioned by the driving wheel and the driven wheel. The cargo detection device is fixedly arranged on the endless conveyor belt.

[0040] Beneficial effects of the utility model:

[0041] The four-way shuttle provided by the utility model includes a vehicle frame, a pallet, a lifting device and a cargo detection device. A walking device is arranged on the vehicle frame, and the pallet is arranged at the upper end of the vehicle frame. When the pallet is in a lifting state, the lifting device is configured to make the cargo detection device extend upward from the upper end of the vehicle frame, and the cargo detection device can detect whether there is cargo in front of its equal height level. The setting method of the cargo detection device can avoid the cargo detection device from misjudging the cargo due to the height of the cargo, the cargo on the upper layer and the interference of other shelf mechanisms on the upper layer, and can realize the accurate detection of the cargo detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of another cargo storage and retrieval system provided by the first embodiment of the utility model;

[0043] Figure 2 This is a structural schematic diagram of a goods storage and retrieval system provided in Embodiment 1 of the present utility model;

[0044] Figure 3 This is a schematic diagram of the structure of the four-way shuttle provided in the first embodiment of the utility model. Figure 1 ;

[0045] Figure 4 This is a schematic diagram of the structure of the four-way shuttle provided in the first embodiment of the utility model. Figure 2 ;

[0046] Figure 5 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model. Figure 1 ;

[0047] Figure 6 It is a schematic diagram of the structure of a four-way shuttle, a supporting pallet and cargo provided by the prior art;

[0048] Figure 7 This is a schematic diagram of the structure of a four-way shuttle, a supporting tray and cargo provided in the first embodiment of the utility model;

[0049] Figure 8 is a cross-sectional view of the four-way shuttle provided by the first embodiment of the utility model when it is in the first state;

[0050] Fig. 9 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model in the first state. Figure 1 ;

[0051] Fig.10 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell and part of the mounting frame) provided in the first embodiment of the utility model in the first state. Figure 1 ;

[0052] Fig.11 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model in the first state. Figure 2 ;

[0053] Fig.12 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell and part of the mounting frame) provided in the first embodiment of the utility model in the first state. Figure 2 ;

[0054] Fig.13 is a cross-sectional view of the four-way shuttle provided by the first embodiment of the utility model when it is in the second state;

[0055] Fig.14 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model in the second state. Figure 1 ;

[0056] Fig.15 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell and part of the mounting frame) provided in the first embodiment of the utility model in the second state. Figure 1 ;

[0057] Fig.16 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model in the second state. Figure 2 ;

[0058] Fig.17 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell and part of the mounting frame) provided in the first embodiment of the utility model in the second state. Figure 2 ;

[0059] Fig.18 is a cross-sectional view of the four-way shuttle provided by the first embodiment of the utility model when it is in the third state;

[0060] Fig.19 This is a schematic diagram of the structure of the four-way shuttle provided in the first embodiment of the utility model when it is in the third state. Figure 1 ;

[0061] Fig. 20 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model in the third state. Figure 1 ;

[0062] Fig.21 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell and part of the mounting frame) provided in the first embodiment of the utility model in the third state. Figure 1 ;

[0063] Fig. 22This is a schematic diagram of the structure of the four-way shuttle provided in the first embodiment of the utility model when it is in the third state. Figure 2 ;

[0064] Fig.23 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model in the third state. Figure 2 ;

[0065] Fig.24 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell and part of the mounting frame) provided in the first embodiment of the utility model in the third state. Figure 2 ;

[0066] Fig.25 is a cross-sectional view of the speed reduction mechanism provided in the first embodiment of the utility model;

[0067] Fig.26 It is a structural schematic diagram of the speed reduction mechanism (part of the housing is removed) provided in the first embodiment of the utility model;

[0068] Fig. 27 It is a structural schematic diagram of the speed reduction mechanism provided in the first embodiment of the utility model;

[0069] Fig.28 It is a structural schematic diagram of the jacking device and the second walking mechanism provided in the first embodiment of the utility model;

[0070] Fig.29 is a cross-sectional view of a transmission assembly provided in Embodiment 1 of the present utility model;

[0071] Fig.30 This is a schematic diagram of the structure of the four-way shuttle vehicle (without the outer shell) provided in the first embodiment of the utility model. Figure 2 ;

[0072] Fig.31 It is a partial enlarged view of the four-way shuttle provided in the first embodiment of the utility model;

[0073] Fig.32 It is a structural schematic diagram of the lifting frame provided in the first embodiment of the utility model;

[0074] Fig.33 It is a structural schematic diagram of the second walking mechanism provided in the first embodiment of the utility model;

[0075] Fig.34 It is a structural schematic diagram of a vehicle body frame, a first guide shaft and a second guide shaft provided in the first embodiment of the utility model;

[0076] Fig.35 It is a structural schematic diagram of a vehicle body frame and a first walking mechanism provided in the first embodiment of the utility model;

[0077] Fig.36 is a cross-sectional view of the second walking mechanism provided in the first embodiment of the utility model;

[0078] Fig.37 This is a schematic diagram of the structure of the support plate provided in the first embodiment of the utility model. Figure 1 ;

[0079] Fig.38 This is a schematic diagram of the structure of the support plate provided in the first embodiment of the utility model. Figure 2 ;

[0080] Fig.39 It is a structural schematic diagram of a vehicle body frame and a first walking mechanism provided in the second embodiment of the utility model;

[0081] Fig.40 It is a cross-sectional view of the second walking mechanism provided in the second embodiment of the utility model;

[0082] Fig.41 This is a schematic diagram of the structure of the support plate provided in the third embodiment of the present utility model. Figure 1 ;

[0083] Fig.42 This is a schematic diagram of the structure of the support plate provided in the third embodiment of the present utility model. Figure 2 .

[0084] In the figure:

[0085] 1000. Goods in and out system;

[0086] 100, four-way shuttle; 200, shelf; 210, track; 220, bracket; 230, support pallet; 240, avoidance channel; 300, goods;

[0087] 10. Lifting device; 11. Lifting frame; 111. Second avoidance hole; 112. Guide groove; 12. Driving 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. Speed ​​reduction mechanism; 12231. Housing; 12232. Gear set; 122321. Main gear; 122322. First gear set; 122323. Second gear set; 12236. Input shaft; 12237. Output shaft; 12238. Rocker; 122381. Rocker body; 122382. Roller; 1224. First bearing seat; 1225. Coupling; 13. Complex Positioning member; 14, limiting member; 15, first guide mechanism; 151, first guide shaft; 152, first sleeve; 16, second guide mechanism; 161, second guide shaft; 1611, guide hole; 162, second sleeve; 163, guide sleeve; 17, rotary drive mechanism; 18, transmission mechanism; 181, driving wheel; 182, driven wheel; 183, endless conveyor belt; 19, third lifting mechanism; 191, driving motor; 192, synchronous belt assembly; 1921, first pulley; 1922, second pulley; 1923, endless synchronous belt; 193, lead screw and nut assembly; 1931, lead screw; 1932, nut; 1933, first support seat; 194, connecting rod assembly; 1941, first connecting rod; 1942, second connecting rod; 1943, second support seat;

[0088] 20. Vehicle frame; 21. Upper plate; 22. Lower plate; 221. Limiting groove; 23. Side plate; 231. Avoidance groove;

[0089] 30. The first walking mechanism;

[0090] 40. support plate; 41. support plate body; 42. third guide shaft; 421. guide shaft body; 422. mounting flange;

[0091] 50. Second walking mechanism; 51. Mounting frame; 511. First avoidance hole; 52. Second walking wheel; 53. Rotating shaft; 54. Bearing; 55. Second bearing seat;

[0092] 60. Cargo detection device;

[0093] 70. Shell; 71. Escape. DETAILED DESCRIPTION

[0094] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and implementation methods. It is understood that the specific embodiments described herein are only used to explain the utility model, rather than to limit the utility model. It should also be noted that, for the convenience of description, only the parts related to the utility model are shown in the accompanying drawings, rather than all.

[0095] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0096] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0097] In the description of this embodiment, the terms "upper", "lower", "left", "right", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplified operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0098] Embodiment 1

[0099] With the development of technology, such as Figure 1 As shown, the cargo in-and-out system 1000 used in modern logistics operations has gradually become popular. The continuous improvement and optimization of the cargo in-and-out system 1000 has a huge driving effect on the development of modern logistics. The embodiment of the present disclosure provides a cargo in-and-out system 1000. Among them, the cargo in-and-out system 1000 generally includes a shelf 200 and a four-way shuttle 100, etc. The four-way shuttle 100 can be a mother-and-child vehicle or a four-way four-way shuttle. The four-way shuttle 100 of the embodiment of the present disclosure is described by taking a four-way four-way shuttle as an example.

[0100] Among them, Figure 1 As shown, the shelves 200 are arranged in multiple groups, and a main lane (not shown in the figure) and a sub-lane (not shown in the figure) are formed between the multiple groups of shelves 200. The main lane extends along the left-right direction (i.e., the second direction), and the sub-lane extends along the front-back direction (i.e., the first direction). The shelf 200 includes a track 210, a support tray 230, and a bracket 220. The track 210 extends along the sub-lane, and the four-way shuttle 100 can move along the track 210, so as to realize the four-way shuttle 100 and the goods 300 at different positions of the shelf 200. Brackets 220 are provided on both sides of the sub-lane, and the brackets 220 are located above the track 210. The brackets 220 on both sides jointly support the support tray 230, and the support tray 230 is used to place the goods 300. The four-way shuttle 100 can move along the main lane and the sub-lane.

[0101] like Figure 3 to Figure 5 As shown, the four-way shuttle 100 includes a vehicle frame 20, a first walking mechanism 30 and a second walking mechanism 50. The first walking mechanism 30 and the second walking mechanism 50 are arranged on the vehicle frame 20. The first walking mechanism 30 can drive the four-way shuttle 100 to move in the front-rear direction, and the second walking mechanism 50 can drive the four-way shuttle 100 to move in the left-right direction. Figure 3 to Figure 5 As shown, the four-way shuttle 100 further includes a housing 70, which is disposed above the vehicle frame 20. The housing 70 can shield the internal structure of the vehicle frame 20, thereby achieving a better overall aesthetics of the four-way shuttle 100. Figure 3 to Figure 5 As shown, the four-way shuttle 100 also includes a lifting device 10 and a pallet 40. The lifting device 10 is arranged in the vehicle frame 20, and the pallet 40 is arranged above the vehicle frame 20. The lifting device 10 can switch the pallet 40 between a raised state and a lowered state.

[0102] like Figure 1 As shown, the four-way shuttle 100 can run through the sub-aisle to the bottom of the support pallet 230, the lifting device 10 puts the pallet 40 in a raised state, the pallet 40 lifts the support pallet 230 off the bracket 220, and the four-way shuttle 100 then uses the first walking mechanism 30 to transport the support pallet 230 and the goods 300 thereon along the sub-aisle.

[0103] In an optional embodiment, if Figure 1 As shown, the four-way shuttle 100 also includes a cargo detection device 60. When the four-way shuttle 100 moves along the sub-alley, it needs to use the cargo detection device 60 to detect whether there are other support trays 230 for storing cargo 300 on the corresponding bracket 220 on the same sub-alley walking path, so as to perform path planning.

[0104] like Figure 1 As shown, since there is a height difference between the storage of the support tray 230 and the goods 300 and the four-way shuttle 100, in order to detect the support tray 230 and the goods 300 in time, the cargo detection device 60 is generally installed on the housing 70 tilted upward, and the first detection light P2 emitted by the cargo detection device 60 tilts upward. Since the storage heights of the goods 300 on the support tray 230 are inconsistent, the tilted upward irradiation will be affected by the different heights of the goods 300, resulting in misjudgment of the detection result of the cargo detection device 60. In addition, the first detection light P2 emitted by the cargo detection device 60 sometimes detects the support tray 230 and the goods 300 on the upper sub-lane, thereby causing misjudgment of the detection result of the cargo detection device 60.

[0105] To solve the above problems, Figure 3 , Figure 5 as well as Fig. 22 As shown, the four-way shuttle 100 further includes a lifting device 10 and a cargo detection device 60. When the pallet 40 is in the lifting state, the lifting device 10 can make the cargo detection device 60 extend upward from the upper end of the vehicle frame 20, and the cargo detection device 60 can detect whether there is cargo 300 in front of the same height level. Specifically, Figure 2 As shown, the cargo detection device 60 emits a second detection light P1 along the horizontal direction. The cargo detection device 60 can detect whether there is cargo 300 in front of its equal height horizontal plane. The arrangement of this cargo detection device 60 can avoid misjudgment of cargo detection by the cargo detection device 60 due to interference from the height of the cargo 300, the cargo 300 on the upper layer and other shelf mechanisms on the upper layer, and can achieve accurate detection of the cargo detection device 60.

[0106] Specifically, the cargo detection device 60 of the disclosed embodiment is a diffuse reflection laser sensor, which can emit a second detection light P1. When a support tray 230 and cargo 300 are arranged directly in front of the cargo detection device 60, the second detection light P1 is reflected by the support tray 230 and cargo 300 and then received by the cargo detection device 60, so that the cargo detection device 60 can 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 P1 is a light that does not diverge or diverges very little, which can avoid the cargo detection device 60 from misjudging the cargo due to the height of the cargo 300, the cargo 300 on the upper layer, and the interference of other shelf mechanisms on the upper layer.

[0107] like Figure 3 and Fig. 22As shown, a clearance opening 71 is provided on the housing 70, and the cargo detection device 60 is directly opposite to the clearance opening 71. When the pallet 40 is in the jacking state, the cargo detection device 60 extends upward from the vehicle frame 20 through the clearance opening 71. The setting of the clearance opening 71 can avoid interference of the housing 70 with the cargo detection device 60.

[0108] Two cargo detection devices 60 are provided, and the two cargo detection devices 60 are arranged at intervals along the traveling direction of the four-way shuttle 100. The cargo detection devices 60 can emit detection light toward the outside of the four-way shuttle 100 along the front-to-back direction, so no matter whether the four-way shuttle 100 moves forward or backward, the corresponding cargo detection device 60 can achieve a more accurate detection effect on whether there is cargo 300 in front of the forward direction.

[0109] The existing four-way shuttle 100 also includes a set of separate driving devices, which can drive the second traveling mechanism 50 to perform lifting and lowering movements. Through the lifting and lowering movements of the second traveling mechanism 50, the four-way shuttle 100 can be driven to change direction. Specifically, when the second traveling mechanism 50 is in a low position, the second traveling mechanism 50 drives the four-way shuttle 100 to move in the left-right direction on the mother lane. When the second traveling mechanism 50 is in a high position, the first traveling mechanism 30 drives the four-way shuttle 100 to move in the front-back direction on the sub-lane. However, the existing four-way shuttle 100 also includes a set of separate lifting devices 10 and a set of separate driving devices, resulting in the four-way shuttle 100 having multiple structures, large volume, complex control, and prone to problems.

[0110] To solve the above problem, in some existing four-way shuttles 100, the pallet 40 is fixedly arranged on the second traveling mechanism 50, and the lifting device 10 can simultaneously lift the second traveling mechanism 50 and the pallet 40. When the lifting device 10 lifts the pallet 40, if the shell 70 is fixed, the rise of the second traveling mechanism 50 will interfere with the shell 70, so the shell 70 basically rises and falls synchronously with the pallet 40. Figure 6 As shown, two support trays 230 are provided, and the two support trays 230 are spaced apart in the left-right direction, and an avoidance channel 240 is formed between the two support trays 230. Figure 6 As shown, if the four-way shuttle 100 of the prior art is used, in order to avoid interference between the shell 70 and the support tray 230, the first width W1 of the shell 70 of the existing four-way shuttle 100 needs to be less than or equal to the width of the avoidance channel 240 along the left-right direction. The width of the existing four-way shuttle 100 along the left-right direction is small, the overall volume of the four-way shuttle 100 is small, the volume and power of the power components in the four-way shuttle 100 are small, and the four-way shuttle 100 cannot perform a good lifting effect on the heavier cargo 300.

[0111] To solve the above problems, Figure 3 to Figure 5 As shown, the embodiment of the present disclosure adopts a new lifting device 10, and only one set of lifting device 10 is needed to realize the switching between the second walking mechanism 50 and the support plate 40 in different states. The lifting device 10 can switch between the first state, the second state and the third state: Figure 8 to Figure 12 As shown, when the lifting device 10 is in the first state, the lifting device 10 places the second walking mechanism 50 in the lower position and places the support plate 40 in the non-lifting state; Figures 13 to 19 As shown, when the lifting device 10 is in the second state, the lifting device 10 makes the second walking mechanism 50 in the middle position and makes the support plate 40 in the non-lifting state; Figure 20 to Figure 24 As shown, when the lifting device 10 is in the third state, the lifting device 10 makes the second traveling mechanism 50 in the middle position and makes the pallet 40 in the lifting state, only the pallet 40 rises, and the second traveling mechanism 50 no longer rises, so the shell 70 does not need to rise, so the shell 70 is fixed to the vehicle body frame 20 and remains fixed, and only the pallet 40 rises to lift the support tray 230 and the goods 300 thereon. Figure 7 As shown, since there is no need to consider the interference between the shell 70 and the support tray 230, the second width W2 of the shell 70 of the four-way shuttle 100 of the embodiment of the present disclosure can be greater than the width of the avoidance channel 240 along the left-right direction, and the second width W2 is much greater than the first width W1. The width of the four-way shuttle 100 in the left-right direction of the embodiment of the present disclosure is larger, and the overall volume of the four-way shuttle 100 is larger. A power element with a larger volume and power can be arranged in the four-way shuttle 100. The four-way shuttle 100 of the embodiment of the present disclosure can achieve a better lifting effect on heavier goods 300.

[0112] like Figure 8 to Figure 24 As shown, the lifting device 10 includes a lifting frame 11, a driving mechanism 12, a reset member 13 and a limit member 14. The lifting frame 11 is movably connected to the vehicle frame 20. The support plate 40, the lifting frame 11 and the second traveling mechanism 50 are arranged from top to bottom. The driving mechanism 12 can drive the lifting frame 11 to move in the up and down direction. The reset member 13 is arranged between the vehicle frame 20 and the second traveling mechanism 50, and the limit member 14 is arranged on the vehicle frame 20. Figure 8 to Figure 12 As shown, when the driving mechanism 12 is in the first state, the driving mechanism 12 makes the lifting frame 11 in the lower position, the lifting frame 11 can drive the second walking mechanism 50 to move downward and make the second walking mechanism 50 in the lower position, the lifting frame 11 and the support plate 40 are arranged in a vertical direction, the support plate 40 overlaps the upper end of the vehicle frame 20, and the support plate 40 is in a non-lifting state. Figures 13 to 19As shown, when the driving mechanism 12 is in the second state, the driving mechanism 12 makes the lifting frame 11 in the middle position, and under the joint limiting action of the reset member 13 and the lifting frame 11, the second walking mechanism 50 is in the middle position; the lifting frame 11 is in contact with the support plate 40 in the up-down direction, the support plate 40 is overlapped on the upper end of the vehicle frame 20, and the support plate 40 is in the non-lifting state. Figure 20 to Figure 24 As shown, when the driving mechanism 12 is in the third state, the driving mechanism 12 makes 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 body frame 20, and the pallet 40 is in a lifted state; under the joint action of the limit member 14 and the reset member 13, the second walking mechanism 50 can be maintained in the middle position, and the second walking mechanism 50 no longer moves upward with the lifting frame 11.

[0113] like Fig. 22 As shown, the cargo detection device 60 is arranged on the lifting frame 11, so the lifting of the cargo detection device 60, the lifting of the walking mechanism 50 and the lifting of the pallet 40 can share a set of lifting devices 10, which can greatly reduce the space occupied by the lifting device 10 in the four-way shuttle 100.

[0114] like Figure 3 , Fig.12 and Fig.17 As shown, the cargo detection device 60 can move synchronously with the up and down movement of the lifting frame 11. When the lifting device 10 is in the first state or the second state, the cargo detection device 60 is stored in the vehicle body frame 20; when the lifting device 10 is in the third state, the cargo detection device 60 extends out of the upper end of the vehicle body frame 20.

[0115] In an optional embodiment, the limiting member 14 may be provided on the second traveling mechanism 50. In an optional embodiment, the limiting member may be provided on both the vehicle frame 20 and the second traveling mechanism 50.

[0116] In an optional embodiment, if Figure 8 and Fig.12 As shown, the second walking mechanism 50 includes a mounting frame 51, a second walking wheel 52 and a first power mechanism (not shown in the figure), the second walking wheel 52 is arranged on the mounting frame 51 and is pivotally connected to the mounting frame 51, and the first power mechanism can drive the second walking wheel 52 to rotate. Among them, the first power mechanism can be a motor, a reducer and other mechanisms, and all mechanisms that can drive the rotation of the second walking wheel 52 are within the protection scope of this optional embodiment.

[0117] In the existing four-way shuttle 100, the lifting device 10 can be a linear cylinder or a linear motor. The main body of the lifting device 10 is arranged on the vehicle frame 20, and the output end of the lifting device 10 is fixedly connected to the second walking mechanism 50. The main body of the lifting device 10 and the second walking mechanism 50 are arranged in the up and down direction. Due to the large volume of the main body of the lifting device 10, the thickness of the four-way shuttle 100 is relatively thick, resulting in a large single-layer height of the shelf 200. At a fixed height, the shelf 200 can only be set up with fewer layers, the shelf 200 can store fewer goods 300, and the inventory rate of the shelf 200 is low.

[0118] In order to solve the above problem, in an optional embodiment, as Fig.10 As shown, a guide groove 112 extending in the left-right direction is provided on the lifting frame 11, and the driving mechanism 12 includes an output shaft 12237 and a rocker arm 12238. The output shaft 12237 can rotate in the front-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 rocker arm 12238 cooperates with the guide groove 112 to convert it into movement of the lifting frame 11 in the up and down directions. The driving mechanism 12 and the lifting frame 11 are in the same horizontal plane. Through the arrangement of the driving mechanism 12 and the lifting frame 11, the overall thickness of the four-way shuttle 100 is relatively small, and the lightweight design of the four-way shuttle 100 can be achieved, and the single-layer height of the shelf 200 can be reduced. At a fixed height, the shelf 200 can achieve a design with more layers, and the shelf 200 can store more goods 300, thereby improving the inventory rate of the shelf 200.

[0119] Specifically, if Figure 5 , Fig.12 , Figure 25 to Figure 28 As shown, the driving mechanism 12 includes a motor 121 and a transmission assembly 122. The output end 1211 of the motor 121 can rotate in the front and rear directions. 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 in a transmission connection. 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 accurately adjusted to different positions in the up and down directions.

[0120] In addition, if Figure 5 , Fig.12 , Fig.28As shown, the motor 121 and the transmission assembly 122 are arranged along the left-right direction, and the overall thickness of the four-way shuttle 100 is relatively small, which can realize the lightweight design of the four-way shuttle 100 and reduce the single-layer height of the shelf 200. At a fixed height, the shelf 200 can realize a multi-layer design, and the shelf 200 can store more goods 300, thereby improving the inventory rate of the shelf 200.

[0121] In an optional embodiment, if Figure 8 , Fig.12 , Fig.17 , Fig.24 and Fig.28 As shown, the lifting frame 11 and the mounting frame 51 are sequentially mounted on the outer periphery of the reduction mechanism 1223 from the inside to the outside, and the reduction mechanism 1223, the lifting frame 11 and the mounting frame 51 are sequentially arranged from top to bottom. The reduction mechanism 1223, the lifting frame 11 and the mounting frame 51 are compactly arranged, and the overall space occupied is small, which can realize the rational use of the limited space in the vehicle body frame 20.

[0122] In an optional embodiment, if Fig.25 and Fig. 27 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 the roller 122382 rotates in the front and rear directions, the roller 122382 is inserted into the guide groove 112, and can realize the smooth sliding of the roller 122382 in the guide groove 112, avoiding the rocker arm 12238 from getting stuck in the guide groove 112, and realizing smoother position adjustment of the lifting frame 11 along the up and down directions.

[0123] In an optional embodiment, if Figure 25-26 As 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 is meshed 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, and the reduction motion of the output shaft 12237 is achieved by adjusting the sizes of the main gear 122321 and the first gear set 122322.

[0124] In an optional embodiment, if Figure 25 to Figure 27 As shown, the output shafts 12237 are set to four, and two output shafts 12237 constitute an output shaft group. Fig.25 and Fig.26As shown, two output shaft groups are arranged in the left-right direction, and two output shafts 12237 of each output shaft group are arranged in the front-back direction and fixed coaxially. The two output shafts 12237 of the same group have the same direction of rotation, and the two output shaft groups have opposite directions of rotation. Only by inputting power from one input shaft 12236, the two output shaft groups can rotate in opposite directions at the same time, and the four output shafts 12237 can simultaneously drive the lifting frame 11 to rise and fall, thereby achieving a stable lifting action of the lifting frame 11. For example, Fig.25 and Fig.26 As shown, the speed reduction mechanism 1223 also includes a second gear set 122323 , wherein one output shaft set is transmission-connected to the input shaft 12236 via the second gear set 122323 , and the other output shaft set is transmission-connected to the input shaft 12236 via the first gear set 122322 .

[0125] In an optional embodiment, if Fig.28 As shown, there are two lifting devices 10, and the two groups of lifting devices 10 are arranged along the front-to-back direction. The two groups of lifting devices 10 share a motor 121, and the motor 121 is located between the two lifting devices 10. Only by setting up one motor 121, the two groups of lifting devices 10 can be driven synchronously. The four-way shuttle 100 has a simple structure and a small size.

[0126] Specifically, if Figure 5 and Fig.28 As 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 an input shaft 12236 of a reduction mechanism 1223, and the other end of the transmission shaft 1222 is coaxially fixed to an input shaft 12236 of another reduction mechanism 1223. The output end 1211 of the motor 121 is connected to the transmission belt mechanism 1221. Only by setting a motor 121, the synchronous drive of the two lifting devices 10 can be achieved. The four-way shuttle 100 has a simple structure and a small size. Specifically, as Fig.28 and Fig.29 As shown, the transmission assembly 122 also includes a coupling 1225 , and the transmission shaft 1222 is connected to the input shaft 12236 of the reduction mechanism 1223 via the coupling 1225 , so that the power on the transmission shaft 1222 can be better transmitted to the input shaft 12236 of the reduction mechanism 1223 .

[0127] In addition, if Fig.28As shown, the motor 121 and the transmission shaft 1222 are arranged along the left-right direction and are located between the two lifting devices 10. Through the arrangement and setting of the aforementioned structure, the compact arrangement of the various components of the four-way shuttle 100 can be achieved, the limited space in the vehicle frame 20 can be reasonably utilized, and the motor 121 with higher power can be used as much as possible to achieve a better lifting and lowering driving effect of the motor 121 on the lifting frame 11.

[0128] Specifically, if Fig.28 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 with the transmission shaft 1222, the second transmission wheel 12212 is coaxially fixed with the output end 1211 of the motor 121, and the annular transmission belt 12213 is arranged around the periphery of the first transmission wheel 12211 and the second transmission wheel 12212 and is tensioned by the first transmission wheel 12211 and the second transmission wheel 12212. The use of the transmission belt mechanism 1221 can realize the stable and efficient transmission of the power of the motor 121, and the service life of the transmission belt mechanism 1221 is long. In an optional embodiment, the transmission belt mechanism 1221 can also be a gear assembly, etc., and all structures that can realize power transmission are within the protection scope of this optional embodiment.

[0129] In an optional embodiment, if Fig.28 and Fig.29 As shown, the transmission assembly 122 also includes a first bearing seat 1224, which is disposed on the vehicle body frame 20, and the transmission shaft 1222 is plugged into the first bearing seat 1224 and supported by the first bearing seat 1224. The provision of the first bearing seat 1224 can achieve stable support for the transmission shaft 1222 and can also ensure smoother rotation of the transmission shaft 1222. Exemplarily, the number of the first bearing seats 1224 can be one, two, three or more, and by providing a plurality of first bearing seats 1224, stable support for the transmission shaft 1222 can be achieved.

[0130] In an optional embodiment, if Figure 8 , Fig.13 , Fig.18 , Fig.30 and Fig.31 As shown, the lifting device 10 also includes a first guide mechanism 15, which is arranged 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 moves in the up and down directions. Through the setting of the first guide mechanism 15, the lifting frame 11 can always change its position in the up and down directions in a good manner.

[0131] Specifically, if Figure 8 , Fig.13 , Fig.18 , Fig.30 and Fig.31 As shown, the first guide mechanism 15 includes a first guide shaft 151 and a first sleeve 152. The first guide shaft 151 extends in the up-down direction and is arranged on the vehicle frame 20. The first sleeve 152 is arranged on the lifting frame 11 and is sleeved on the outer periphery of the first guide shaft 151. The first sleeve 152 can slide along the first guide shaft 151. Through the cooperation of the first guide shaft 151 and the first sleeve 152, a better guiding effect on the lifting frame 11 moving in the up-down direction can be achieved.

[0132] In an optional embodiment, the first guide mechanism 15 may further include a first guide rail and a first slider. The first guide rail extends in the up-down direction and is arranged on the vehicle body frame 20. The first slider is arranged 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 lifting frame 11 to move in the up-down direction.

[0133] In an optional embodiment, if Figure 8 , Fig.13 and Fig.18 As shown, the first guide mechanism 15 is provided in at least two groups. By providing at least two groups of the first guide mechanism 15, the lifting frame 11 can be prevented from rotating during the process of moving in the up and down directions.

[0134] In an optional embodiment, if Fig.31 As shown, the first guide shaft 151 is a spline shaft, and the first sliding sleeve 152 is a spline sleeve matched with the first guide shaft 151. The spline shaft and the spline sleeve cooperate with each other to prevent the lifting frame 11 from rotating during the upward and downward movement.

[0135] In an optional embodiment, if Figure 8 , Fig.13 , Fig.18 , Fig.28 , Figure 30 to Figure 33 As shown, the length of the first sliding sleeve 152 is greater than the thickness of the lifting frame 11, and a first avoidance hole 511 extending in the vertical direction is provided on the mounting frame 51, and the first sliding sleeve 152 can be inserted into the first avoidance hole 511. Since the length of the first sliding sleeve 152 is relatively large, a better guiding effect can be achieved for the lifting frame 11 to move in the vertical direction.

[0136] In an optional embodiment, if Figure 8 , Fig.13 , Fig.18 , Fig.30 and Fig.31As shown, the lifting device 10 also includes a second guide mechanism 16, which is arranged between the vehicle frame 20 and the second traveling mechanism 50, so that the second traveling mechanism 50 moves in the up-down direction. The second guide mechanism 16 can guide the movement of the second traveling mechanism 50 in the up-down direction, so that the second traveling mechanism 50 can always change its position in the up-down direction well. In an optional embodiment, the second guide mechanism 16 can also be arranged between the lifting frame 11 and the second traveling mechanism 50, which can also achieve the above effect.

[0137] Specifically, if Fig.31 As shown, the second guide mechanism 16 includes a second guide shaft 161 and a second sleeve 162. The second guide shaft 161 extends in the up-down direction and is arranged on the vehicle body frame 20. The second sleeve 162 is arranged on the second traveling mechanism 50 and is sleeved on the outer periphery of the second guide shaft 161. The second sleeve 162 can slide along the second guide shaft 161. Through the cooperation of the second guide shaft 161 and the second sleeve 162, a better guiding effect can be achieved for the second traveling mechanism 50 to move in the up-down direction.

[0138] Specifically, if Fig.31 As shown, the vehicle body 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 up and down directions. The side plate 23 is arranged 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.

[0139] In an optional embodiment, the second guiding mechanism 16 may further include a second guide rail and a second slider, the second guide rail extending in the up-down direction and being arranged on the vehicle body frame 20, the second slider being arranged on the second traveling mechanism 50 and being slidably connected to the second guide rail, the second slider being able to slide along the second guide rail, and through the cooperation of the second guide rail and the second slider, a better guiding effect on the movement of the second traveling mechanism 50 in the up-down direction can be achieved.

[0140] In an optional embodiment, if Figure 8 , Fig.13 and Fig.18 As shown, at least two second guide shafts 161 are provided. By providing at least two second guide shafts 161 , the second walking mechanism 50 can be prevented from rotating during the process of moving in the up and down directions.

[0141] In an optional embodiment, if Fig.31 As shown, the second guide shaft 161 is a spline shaft, and the second sliding sleeve 162 is a spline sleeve matched with the second guide shaft 161. The spline shaft and the spline sleeve cooperate to prevent the second walking mechanism 50 from rotating during the upward and downward movement.

[0142] In an optional embodiment, if Figure 8 , Fig.13 , Fig.18 , Fig.28 , Figure 30 to Figure 33 As shown, the second sliding sleeve 162 is arranged on the mounting frame 51, the length of the second sliding sleeve 162 is greater than the thickness of the mounting frame 51, and the lifting frame body 11 is provided with a second avoidance hole 111, and the second sliding sleeve 162 can be inserted into the second avoidance hole 111. Since the length of the first sliding sleeve 152 is relatively large, a better guiding effect can be achieved for the second walking mechanism 50 to move in the up and down directions.

[0143] In an optional embodiment, if Figure 8 , Fig.13 , Fig.18 and Fig.31 As shown, the reset member 13 may be a spring, which is sleeved on the outer circumference of the second guide shaft 161. The spring avoids bending during the compression process, so that the spring can achieve a better reset effect on the second walking mechanism 50. In an optional embodiment, the outer circumference of the first guide shaft 151 may be sleeved with a spring, which avoids bending during the compression process, so that the spring can achieve a better reset effect on the second walking mechanism 50. In an optional embodiment, the reset member 13 may also be a rubber member, an electromagnetic component, etc. All structures that can achieve the reset of the second walking mechanism 50 are within the protection scope of the embodiment of the present disclosure.

[0144] In an optional embodiment, if Figure 8 , Fig.13 , Fig.18 , Fig.30 , Fig.31 , Fig.34 as well as Fig.35 As shown, the lower plate 22 is provided with a limiting groove 221, and the end of the reset member 13 is inserted into the corresponding limiting groove 221, and the limiting groove 221 can achieve a better 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 walking mechanism 50, and the end of the reset member 13 is inserted into the corresponding limiting groove, and the limiting groove can achieve a better limiting effect on the reset member 13.

[0145] like Fig.36 As shown, the second walking mechanism 50 also includes a rotating shaft 53, a bearing 54 and a second bearing seat 55. The second bearing seat 55 is arranged on the mounting frame 51, the bearing 54 is arranged on the second bearing seat 55, the rotating shaft 53 is inserted into the bearing 54, and the second walking wheel 52 is coaxially fixed with the rotating shaft 53. The setting of the bearing 54 can realize smoother rotation of the second walking wheel 52.

[0146] like Fig. 9 and Fig.35As shown, the side plate 23 is also provided with an avoidance groove 231 extending in the up-down direction, the rotating shaft 53 is inserted into the avoidance groove 231 and can slide along the avoidance groove 231, and the setting of the avoidance groove 231 can avoid the interference between the rotating shaft 53 and the side plate 23 caused by the movement of the second walking mechanism 50 in the up-down direction.

[0147] In an optional embodiment, if Fig.18 , Fig.34 , Fig.37 and Fig.38 As shown, the support plate 40 includes a support plate body 41 and a third guide shaft 42 arranged thereon, the third guide shaft 42 extends in the up-down direction, and a guide hole 1611 extending in the up-down 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, and through the cooperation between the third guide shaft 42 and the guide hole 1611, the support plate 40 can be better moved in the up-down direction without deflection.

[0148] In an optional embodiment, if Fig.18 , Fig.34 , Fig.37 and Fig.38 As shown, a guide sleeve 163 extending in the up-down 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 , and the guide sleeve 163 can enable the support plate 40 to slide more smoothly in the up-down direction.

[0149] In an optional embodiment, if Fig.37 and Fig.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 is fixedly connected to the pallet body 41 through a fixing member, thereby achieving a stable connection between the third guide shaft 42 and the pallet body 41. In addition, the third guide shaft 42 can be quickly replaced to improve the adaptability of the pallet 40 to different four-way shuttles 100.

[0150] For the convenience of explanation, Figure 8 to Figure 24 The working process of the four-way shuttle 100 is described as follows:

[0151] like Figure 8 to Figure 12 As shown, the four-way shuttle 100 is in the first state, at which time the second travel mechanism 50 is in the lower position, the second travel mechanism 50 can drive the four-way shuttle 100 to move along the mother lane, and the pallet body 41 is in the non-lifting state. Fig.10As shown, the roller 122382 is at the bottom, and the roller 122382 can slide along the guide groove 112 at the same time. The roller 122382 drives the lifting frame 11 to the lower position, and the lifting frame 11 drives the second walking mechanism 50 to the lower position. At this time, the second walking mechanism 50 can drive the four-way shuttle 100 to move along the mother lane. Figure 8 As shown, the lifting frame 11 is located below the pallet body 41, the lifting frame 11 does not contact the pallet body 41, the pallet body 41 is still overlapped on the vehicle body frame 20, and the pallet body 41 is in a non-lifted state.

[0152] like Figure 13 to Figure 17 As shown, the four-way shuttle 100 is in the second state, at which 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 non-lifting state. Fig.15 As shown, the roller 122382 is in the middle position, and the roller 122382 can slide along the guide groove 112 at the same time, and the roller 122382 drives the lifting frame 11 to be in the middle position. Fig.13 As shown, the reset member 13 resets the second travel mechanism 50. When the reset member 13 and the lifting frame 11 are both limited to the bottom, the second travel mechanism 50 is in the middle position. At this time, the first travel mechanism 30 can drive the four-way shuttle 100 to move along the sub-lane. Fig.13 As shown, the lifting frame 11 is located below the pallet body 41, and the lifting frame 11 contacts the pallet body 41, but the lifting frame 11 does not apply force to the pallet body 41. The pallet body 41 is still overlapped on the vehicle body frame 20, and the pallet body 41 is in a non-lifted state.

[0153] like Figure 18 to Figure 24 As shown, the four-way shuttle 100 is in the third state, at which 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 jacking state to jack up and support the cargo 300. Fig. 20 and Fig.21 As shown, the roller 122382 is at the uppermost end, and the roller 122382 can slide along the guide groove 112 at the same time, and the roller 122382 drives the lifting frame 11 to be in the upper position, and the lifting frame 11 drives the support plate body 41 to move upward and separate from the vehicle frame 20, and the support plate body 41 is in the lifting state. Fig.18 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 is still in the middle position.

[0154] Embodiment 2

[0155] The structure of the four-way shuttle 100 of the embodiment of the present disclosure is basically the same as that of the first embodiment, and the main difference between the two is that the lifting device 10 includes a first lifting mechanism and a second lifting mechanism, wherein the first lifting mechanism is used to drive the lifting of the cargo detection device 60 alone, and the second lifting mechanism is used to drive the lifting of the second walking mechanism 50 and the pallet 40. By respectively setting the first lifting mechanism and the second lifting mechanism, the four-way shuttle 100 can be flexibly adapted to different application scenarios. Specifically, the four-way shuttle 100 also includes a controller, which is electrically connected to the first lifting mechanism and the second lifting mechanism.

[0156] like Fig.39 and Fig.40 As shown, the first lifting mechanism of the disclosed embodiment includes a rotary drive mechanism 17 and a transmission mechanism 18, the rotary drive mechanism 17 is arranged on the vehicle frame 20, the transmission mechanism 18 includes a driving wheel 181, a driven wheel 182 and an annular conveyor belt 183, the driving wheel 181 is coaxially fixed with the output shaft of the rotary drive mechanism 17, the driven wheel 182 is pivotally connected to the vehicle frame 20, the annular conveyor belt 183 is arranged around the outer circumference of the driving wheel 181 and the driven wheel 182, and the annular conveyor belt 183 is tensioned by the driving wheel 181 and the driven wheel 182, and the cargo detection device 60 is fixed on the annular conveyor belt 183. When the rotary drive mechanism 17 is working, the rotary drive mechanism 17 can make the driving wheel 181 rotate, and the driving wheel 181 drives the driven wheel 182 and the annular conveyor belt 183 to rotate, and the annular conveyor belt 183 drives the cargo detection device 60 thereon to rotate, and the cargo detection device 60 realizes its own lifting and lowering by rotating, and can realize the rapid lifting and lowering action of the cargo detection device 60.

[0157] Specifically, the rotary drive mechanism 17 of the embodiment of the present disclosure may be a rotary motor, a reducer or other structures. All mechanisms capable of outputting rotation are within the protection scope of the embodiment of the present disclosure and will not be described in detail in the embodiment of the present disclosure.

[0158] In an optional embodiment, the first lifting mechanism can also be a separate motor, cylinder, etc., which has a simple structure and is easy to install. In addition, in an optional embodiment, the first lifting mechanism can also be the aforementioned separate structure with a lead screw nut assembly, a gear rack assembly, a multi-link assembly, etc. All drive-type structures that can realize the switching of the cargo detection device 60 between the extended position extending from the upper end of the vehicle frame 20 and the storage position stored in the vehicle frame 20 are within the protection scope of the embodiment of the present disclosure, and the embodiment of the present disclosure will not be repeated.

[0159] The second lifting mechanism may adopt the same structure as the lifting device 10 in the first embodiment.

[0160] In an optional embodiment, the second lifting mechanism can also adopt a structure different from the lifting device 10 in Example 1, wherein the second lifting mechanism can be a motor, cylinder, etc. that outputs movement in the up and down directions, the support plate 40 is fixedly connected to the second walking mechanism 50, and the output end of the second lifting mechanism is fixedly connected to the second walking mechanism 50. The second lifting mechanism can drive the support plate 40 and the second walking mechanism 50 to rise and fall synchronously in the up and down directions.

[0161] Embodiment 3

[0162] The structure of the four-way shuttle 100 of the embodiment of the present disclosure is basically the same as that of the second embodiment, and the main difference between the two is that the second lifting mechanism may include a third lifting mechanism and a fourth lifting mechanism, wherein the third lifting mechanism is used to independently drive the lifting movement of the pallet 40, and the fourth lifting mechanism is used to independently drive the lifting movement of the second walking mechanism 50. By independently driving the lifting movement of the pallet 40 and the lifting movement of the second walking mechanism 50, the four-way shuttle 100 can be flexibly switched between different modes, and can match the switching of working modes of different types of cargo in-and-out storage systems 1000. The use of the four-way shuttle 100 is more flexible and diversified.

[0163] Exemplarily, the third lifting mechanism and the fourth lifting mechanism may be motors, cylinders, etc. capable of outputting movement in the up and down directions, respectively; the output end of the third lifting mechanism is fixedly connected to the support plate 40 , and the output end of the fourth lifting mechanism is fixedly connected to the second walking mechanism 50 .

[0164] In an optional embodiment, if Fig.41 and Fig.42As shown, the third lifting mechanism 19 includes a driving motor 191, a synchronous belt assembly 192, a lead screw nut assembly 193 and a connecting rod assembly 194, wherein the synchronous belt assembly 192 includes a first pulley 1921, a second pulley 1922, and an annular synchronous belt 1923, the lead screw nut assembly 193 includes a lead screw 1931, a nut 1932 and a first support seat 1933, and the connecting rod assembly 194 includes a first connecting rod 1941, a second connecting rod 1942 and a second support seat 1943. The driving motor 191 is arranged on the vehicle body frame 20, the first pulley 1921 is coaxially fixed to the output shaft of the driving motor 191, the annular synchronous belt 1923 is arranged around the outer periphery of the first pulley 1921 and the second pulley 1922, and the annular synchronous belt 1923 is tensioned by the first pulley 1921 and the second pulley 1922, and the second pulley 1922 is coaxially fixed to the lead screw 1931. The first support seat 1933 is disposed on the vehicle body frame 20, the lead screw 1931 is pivotally connected to the first support seat 1933, and the nut 1932 is threadedly connected to the lead screw 1931. The second support seat 1943 is disposed on the vehicle body frame 20, one end of the first connecting rod 1941 is pivotally connected to the support plate 40, the middle position of the first connecting rod 1941 is pivotally connected to one end of the second connecting rod 1942, the other end of the second connecting rod 1942 is pivotally connected to the second support seat 1942, and the nut 1932 can abut against the other end of the first connecting rod 1941. When the driving motor 191 is working, the driving motor 191 drives the first pulley 1921 to rotate, the first generation wheel 1921 can drive the second pulley 1922 and the annular synchronous belt 1923 to rotate, the second pulley 1922 can drive the lead screw 1931 to rotate, the lead screw 1931 can drive the nut 1932 to reciprocate along the length direction of the lead screw 1931, and the nut 1932 cooperates with the other end of the first connecting rod 1941, so that the first connecting rod 1941 can realize the lifting and lowering effect of the support plate 40, thereby completing the lifting and lowering effect of the support plate 40.

[0165] Of course, the third lifting mechanism 19 can also be other mechanisms that can realize the lifting and lowering of the support plate 40 in the up and down directions, and the embodiment of the present disclosure will not be further described.

[0166] 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 methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A four-way shuttle vehicle, characterized in that: include: A vehicle body frame (20), wherein a running device is arranged on the vehicle body frame (20); A support plate (40) is arranged on the upper end of the vehicle body frame (20); A lifting device (10) and a cargo detection device (60), when the pallet (40) is in a lifting state, the lifting device (10) is configured to make the cargo detection device (60) extend upward from the upper end of the vehicle body frame (20), and the cargo detection device (60) can detect whether there is cargo (300) in front of its equal height level.

2. The four-way shuttle according to claim 1, characterized in that: The four-way shuttle vehicle further comprises a shell (70), the shell (70) being arranged on the upper end of the vehicle body frame (20), the shell (70) being provided with an escape opening (71), and the cargo detection device (60) being directly opposite to the escape opening (71).

3. The four-way shuttle according to claim 1, characterized in that: The cargo detection devices (60) are provided in two numbers, and the two cargo detection devices (60) are arranged at intervals along the travel direction of the four-way shuttle vehicle. The cargo detection devices (60) can emit detection light toward the outside of the four-way shuttle vehicle along the travel direction.

4. The four-way shuttle according to any one of claims 1 to 3, characterized in that: The walking device comprises a first walking mechanism (30) and a second walking mechanism (50), the first walking mechanism (30) can drive the vehicle frame (20) to move along a first direction, the second walking mechanism (50) can drive the vehicle frame (20) to move along a second direction, and the lifting device (10) can switch between a first state, a second state and a third state; When the lifting device (10) is in a first state, the lifting device (10) places the second walking mechanism (50) in a lower position and places the pallet (40) in a non-lifting state; when the lifting device (10) is in a second state, the lifting device (10) places the second walking mechanism (50) in a middle position and places the pallet (40) in a non-lifting state; when the lifting device (10) is in a third state, the lifting device (10) places the second walking mechanism (50) in a middle position and places the pallet (40) in a lifting state.

5. The four-way shuttle vehicle according to claim 4, characterized in that: The lifting device (10) comprises: A lifting frame (11) is movably connected to the vehicle body frame (20); the support plate (40), the lifting frame (11) and the second walking mechanism (50) are arranged from top to bottom; and the cargo detection device (60) is arranged on the lifting frame (11); A driving mechanism (12) capable of driving the lifting frame (11) to move in an up-down direction; A reset member (13) is arranged between the vehicle body frame (20) and the second walking mechanism (50); and A limiting member (14) is arranged on the vehicle body frame (20) and / or the second walking mechanism (50); When the lifting device (10) is in the third state, the driving mechanism (12) can drive the lifting frame (11) to lift the support plate (40) so that the support plate (40) is separated from the vehicle body frame (20), and the limiting member (14) and the resetting member (13) together make the second walking mechanism (50) be in the middle position.

6. The four-way shuttle vehicle according to claim 5, characterized in that: The lifting device (10) further comprises: a first guide mechanism (15), comprising a first guide shaft (151) and a first sliding sleeve (152), wherein the first guide shaft (151) extends in the up-down direction and is arranged on the vehicle frame (20), the first sliding sleeve (152) is arranged on the lifting frame (11) and sleeved on the outer periphery of the first guide shaft (151), and the first sliding sleeve (152) can slide along the first guide shaft (151); and / or The second guide mechanism (16) comprises a second guide shaft (161) and a second sliding sleeve (162), wherein the second guide shaft (161) extends in the up-down direction and is arranged on the vehicle body frame (20), and the second sliding sleeve (162) is arranged on the second walking mechanism (50) and is sleeved on the outer periphery of the second guide shaft (161), and the second sliding sleeve (162) can slide along the second guide shaft (161).

7. The four-way shuttle according to claim 6, characterized in that: The number of the first guide shafts (151) is at least two, and the number of the second guide shafts (161) is at least two; and / or The first guide shaft (151) is a spline shaft, and the first sliding sleeve (152) is a spline sleeve matched with the first guide shaft (151); and / or The second guide shaft (161) is a spline shaft, and the second sliding sleeve (162) is a spline sleeve matched with 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 walking mechanism (50) comprises a mounting frame (51); a first avoidance hole (511) extending in an up-down direction is provided on the mounting frame (51); the first sliding sleeve (152) can be inserted into the first avoidance hole (511); and / or The second walking mechanism (50) comprises a mounting frame (51), the second sliding sleeve (162) is arranged 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 body (11) is provided with a second avoidance hole (111), and the second sliding sleeve (162) can be inserted into the second avoidance hole (111); and / or The outer periphery of the first guide shaft (151) is sleeved with the reset element (13); and / or The outer circumference of the second guide shaft (161) is sleeved with the reset element (13); and / or At least one of the second walking mechanism (50) and the vehicle body frame (20) is provided with a limiting groove (221), and an end of the reset member (13) is inserted into the corresponding limiting groove (221).

8. The four-way shuttle according to claim 5, characterized in that: The lifting frame (11) is provided with a guide groove (112) extending along the second direction, and the driving mechanism (12) includes a transmission component (122), and the transmission component (122) includes an output shaft (12237) and a rocker arm (12238), and 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).

9. The four-way shuttle vehicle according to claim 8, characterized in that: The driving mechanism (12) further comprises a motor (121), an output end (1211) of the motor (121) being capable of rotating about the first direction, the transmission assembly (122) further comprises an input shaft (12236) and an output shaft (12237), the input shaft (12236) being in transmission connection with the output end (1211), and the motor (121) and the transmission assembly (122) being arranged along the first direction; and / or The output shafts (12237) are arranged in four numbers, two of the output shafts (12237) constitute an output shaft group, the two output shaft groups are arranged along the second direction, the two output shafts (12237) in each output shaft 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 output shaft groups have opposite directions of rotation; and / or The rocker arm (12238) comprises 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, and the roller (122382) is inserted into the guide groove (112).

10. The four-way shuttle vehicle according to any one of claims 1 to 3, characterized in that: The lifting device (10) comprises: A rotation drive mechanism (17) is arranged on the vehicle body frame (20); The conveying mechanism (18) comprises a driving wheel (181), a driven wheel (182) and an annular conveyor belt (183); the driving wheel (181) is coaxially fixed with the output shaft of the rotary drive mechanism (17); the driven wheel (182) is pivotally connected to the vehicle body frame (20); the annular conveyor belt (183) is arranged around the outer circumference of the driving wheel (181) and the driven wheel (182); the annular conveyor belt (183) is tensioned by the driving wheel (181) and the driven wheel (182); and the cargo detection device (60) is fixedly arranged on the annular conveyor belt (183).

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