Four-way shuttle vehicle

Abstract

The utility model provides a four-way shuttle vehicle. The four-way shuttle vehicle comprises a bottom plate, the jacking cross beam is arranged above the bottom plate; the jacking device is configured to be suitable for driving the jacking cross beam to ascend and descend, and the jacking device comprises a guide mechanism connected between the bottom plate and the jacking cross beam and configured to be suitable for guiding the jacking cross beam to move in the first direction; the double-connecting-rod mechanism comprises an upper connecting rod and a lower connecting rod which are hinged to each other, the upper connecting rod is further hinged to the jacking cross beam, and the lower connecting rod is further hinged to the bottom plate; and the driving mechanism is connected with the double-connecting-rod mechanism and is configured to be suitable for driving the upper connecting rod and the lower connecting rod in the double-connecting-rod mechanism to rotate relatively. According to the jacking device, the guiding mechanism, the double-connecting-rod mechanism and the driving mechanism are combined, stable jacking of the jacking cross beam can be achieved, a complex gearbox is omitted, and the material cost and the labor cost can be effectively reduced.

Description

Technical Field

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

[0002] At present, the four-way shuttle vehicle generally adopts an eccentric wheel lifting device in the lifting operation. This device mainly relies on the eccentric distance of the eccentric wheel to produce the lifting action when it rotates. The eccentric wheel lifting device is usually a combination of an eccentric wheel, a guide mechanism and a stabilizing mechanism, or a double eccentric wheel with a full gear box and a guide mechanism. This type of eccentric wheel lifting device not only takes up a large vertical space, but also limits the applicability of goods on the bottom layer of the shelf and increases labor costs. In order to solve the applicability problem, it is usually necessary to adjust the height of the bottom layer of the shelf, which may cause a series of stability problems. In addition, the manufacturing process of the full gear box requires high precision and a complex manufacturing process, resulting in high costs.

[0003] With the rapid development of my country's logistics industry, the demand for real-time monitoring of cargo weight in warehouse storage systems is growing. At present, most warehouse storage systems still rely on manual weighing, which not only consumes a lot of manpower but also has difficulty in ensuring accuracy.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Utility Model Content

[0005] In view of one or more defects in the prior art, the utility model provides a four-way shuttle vehicle, comprising:

[0006] Base plate;

[0007] A lifting beam disposed above the bottom plate; and

[0008] A lifting device is configured to drive the lifting beam to move up and down, and the lifting device comprises:

[0009] a guide mechanism connected between the bottom plate and the lifting beam and configured to guide the lifting beam to move along a first direction;

[0010] A double-link mechanism, comprising an upper link and a lower link that are hinged to each other, wherein the upper link is also hinged to the lifting beam, and the lower link is also hinged to the bottom plate; and

[0011] The driving mechanism is connected to the double-link mechanism and is configured to drive the upper link and the lower link in the double-link mechanism to rotate relative to each other.

[0012] According to one aspect of the present invention, the first direction is substantially perpendicular to the bottom plate.

[0013] According to one aspect of the utility model, the guide mechanism is a linear guide mechanism, a guide wheel mechanism, a gear rack mechanism or a sliding bearing guide mechanism.

[0014] According to one aspect of the utility model, the jacking device further includes a middle connecting rod, and two groups of the double-connecting rod mechanisms are provided in the jacking device, and the middle connecting rod is hinged between the two groups of the double-connecting rod mechanisms.

[0015] According to one aspect of the utility model, the driving mechanism comprises:

[0016] a rotary driver mounted on the base plate; and

[0017] A crank rocker assembly has one end connected to the output shaft of the rotary driver and the other end hinged to the double-link mechanism.

[0018] According to one aspect of the present invention, the rotary drive is a rotary motor.

[0019] According to one aspect of the utility model, the driving mechanism is a linear driver, one end of which is hinged to the base plate, and the other end of which is hinged to the double-link mechanism.

[0020] According to one aspect of the utility model, at least two first traveling wheels are installed on the lifting beam.

[0021] According to one aspect of the utility model, at least part of the first running wheels comprises a hub motor; or,

[0022] At least part of the first running wheels is driven by a reduction motor, a stepping motor or a servo motor.

[0023] According to one aspect of the utility model, two groups of the lifting beams and the lifting devices are provided, wherein the two groups of the lifting beams and the lifting devices are respectively provided on both sides of the bottom plate.

[0024] According to one aspect of the utility model, the four-way shuttle vehicle further includes a reinforcing connecting plate, and the reinforcing connecting plate is connected between the two lifting beams.

[0025] According to one aspect of the utility model, the four-way shuttle further comprises a first reinforcing rib and a second reinforcing rib, wherein the first reinforcing rib is connected to one of the lifting beams and is provided with a hinge hole, and the second reinforcing rib is connected to another of the lifting beams and is provided with a connecting hole;

[0026] A first pin is arranged at one end of the reinforcing connecting plate, the first pin penetrates into the hinge hole and can rotate in the hinge hole; a second pin is arranged at the other end of the reinforcing connecting plate, the second pin penetrates into the connecting hole and can float in the connecting hole.

[0027] According to one aspect of the utility model, the four-way shuttle vehicle further includes:

[0028] A plurality of weighing sensors, wherein the plurality of weighing sensors are respectively mounted on the lifting beam and / or the reinforcing connecting plate; and

[0029] A weighing plate is arranged above the lifting beam and is connected to the plurality of weighing sensors respectively.

[0030] According to one aspect of the utility model, the four-way shuttle vehicle further comprises two frames, the two frames are respectively mounted on the other two sides of the base plate, and at least two second running wheels are mounted on the frames.

[0031] According to one aspect of the utility model, at least part of the second running wheels comprises a hub motor; or,

[0032] At least part of the second running wheels is driven by a reduction motor, a stepping motor or a servo motor.

[0033] Compared with the prior art, the embodiment of the utility model provides a four-way shuttle vehicle. By adopting a lifting device combining a guide mechanism, a double-link mechanism and a driving mechanism, the stable lifting of the lifting beam can be achieved, and the complex gear box is eliminated, which can effectively reduce material costs and labor costs. By setting at least part of the first running wheel and at least part of the running wheel to be driven by a hub motor, the transmission system can be simplified, the structural size of the four-way shuttle vehicle can be reduced, the transmission efficiency and structural layout flexibility can be increased, the failure rate can be reduced, and the assembly and maintenance costs can be reduced. By setting a weighing sensor and a weighing plate, the four-way shuttle vehicle can weigh the goods when picking up the goods, which is conducive to improving logistics efficiency, improving weighing accuracy, reducing manual operations, and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 A schematic diagram of a four-way shuttle according to an embodiment of the utility model is shown;

[0036] Figure 2 A partial structural schematic diagram of a four-way shuttle according to an embodiment of the utility model is shown;

[0037] Figure 3 A schematic diagram of a lifting device according to an embodiment of the utility model is shown;

[0038] Figure 4 A schematic diagram of a lifting device according to another embodiment of the utility model is shown;

[0039] Figure 5 A schematic diagram of the connection structure between the reinforcing connecting plate and the lifting beam according to an embodiment of the utility model is shown.

[0040] In the figure: 100, four-way shuttle; 110, bottom plate; 120, lifting beam; 130, lifting device; 131, guide mechanism; 1311, sliding guide rail; 1312, guide seat; 1313, guide wheel; 132, double-link mechanism; 1321, upper connecting rod; 1322, lower connecting rod; 133, crank rocker assembly; 134, rotary drive; 135, middle connecting rod; 136, linear drive; 140, reinforcing connecting plate; 141, first pin shaft; 142, second pin shaft; 150, first reinforcing rib; 151, hinge hole; 160, second reinforcing rib; 161, connecting hole; 170, weighing plate; 180, weighing sensor; 190, frame; 200, first running wheel; 210, second running wheel; 220, control board; 230, drive; 240, battery. DETAILED DESCRIPTION

[0041] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0042] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0043] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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, an electrical connection, or mutual communication; it can be directly connected, or indirectly connected 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 utility model can be understood according to specific circumstances.

[0044] 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 means 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 above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] The disclosure below provides many different embodiments or examples for realizing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the utility model. In addition, the utility model may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the utility model provides various specific examples of processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0046] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] Figure 1 FIG. 1 shows a schematic diagram of a four-way shuttle 100 according to an embodiment of the present utility model. Figure 2 A partial structural schematic diagram of a four-way shuttle 100 according to an embodiment of the utility model is shown below. Figure 1 and Figure 2 Describe in detail.

[0048] like Figure 1 and Figure 2As shown, the four-way shuttle 100 includes a bottom plate 110, a lifting beam 120 and a lifting device 130, wherein the bottom plate 110 serves as the supporting base of the entire four-way shuttle 100, and can provide installation positions and supports for other components of the four-way shuttle 100, thereby ensuring the stability of the four-way shuttle 100. The lifting beam 120 is disposed above the four-way shuttle 100, and is used to carry and support cargo. The lifting device 130 is connected between the bottom plate 110 and the lifting beam 120, and is configured to drive the lifting beam 120 to rise and fall, so that the lifting beam 120 can lift or lower cargo, thereby achieving efficient loading and unloading operations. Figure 3 A schematic diagram of a lifting device 130 according to an embodiment of the present utility model is shown. Figure 3 As shown, the lifting device 130 includes a guiding mechanism 131, a double-link mechanism 132 and a driving mechanism, wherein the base plate 110 and the lifting beam 120 are respectively connected to the guiding mechanism 131, and the guiding mechanism 131 is configured to guide the lifting beam 120 to move along a first direction (the first direction is approximately perpendicular to the base plate 110); the double-link mechanism 132 includes an upper link 1321 and a lower link 1322 hinged to each other, wherein the upper link 1321 is also hinged to the lifting beam 120, and the lower link 1322 is also hinged to the base plate 110; the driving mechanism is connected to the double-link mechanism 132, and is configured to drive the upper link 1321 and the lower link 1322 in the double-link mechanism 132 to rotate relative to each other, so that the lifting beam 120 rises or falls. Among them, by adopting the jacking device 130 combining the guide mechanism 131, the double-link mechanism 132 and the driving mechanism, the jacking beam 120 can be stably lifted, the complex gear box is eliminated, and the material cost and labor cost can be effectively reduced.

[0049] According to one embodiment of the utility model, Figure 2 As shown, the guide mechanism 131 can be a linear guide mechanism, a guide wheel mechanism, a gear rack mechanism or a sliding bearing guide mechanism. Figure 2 and Figure 3For example, the guide wheel mechanism may include a sliding guide rail 1311, a guide seat 1312 and a guide wheel 1313, wherein the sliding guide rail 1311 may be installed on the lifting beam 120 along the first direction (for example, installed on the inner side of the lifting beam 120); one or more guide seats 1312 may be provided, and the guide seats 1312 may be installed on the base plate 110 or directly installed on the frame 190 (which will be described in detail later); one or more guide wheels 1313 may be installed on each guide seat, and rolling contact is adopted between these guide wheels 1313 and the sliding guide rail 1311, which not only reduces friction, improves the smoothness of movement, but also helps to extend the service life of the guide mechanism 131. The sliding bearing guide mechanism may include a sliding bearing (oil-free bushing) and a guide column, which may be installed on the lifting beam 120 and the base plate 110 respectively and slide in cooperation.

[0050] According to one embodiment of the utility model, Figure 3 As shown, two sets of double-link mechanisms 132 may be provided in the lifting device 130, and the two sets of double-link mechanisms 132 are respectively hinged between the lifting beam 120 and the bottom plate 110, and there is a preset interval between the two sets of double-link mechanisms 132. The lifting device 130 may also include a middle link 135, and the middle link 135 is respectively hinged to the two sets of double-link mechanisms 132, so that the two sets of double-link mechanisms 132 can move synchronously. Specifically, the middle link 135 may be hinged at the hinge between the upper link 1321 and the lower link 1322, or the middle link 135 may also be hinged on the upper link 1321 (for example, the middle part of the upper link 1321), or the middle link 135 may also be hinged on the lower link 1322 (for example, the middle part of the lower link 1322). In other embodiments, more sets of double-link mechanisms 132 (for example, three sets or four sets) may be provided in the lifting device 130. By providing multiple sets of double-link mechanisms 132 in the lifting device 130 and connecting the double-link mechanisms 132 together using the middle link 135, the load-bearing capacity and stability of the lifting device 130 may be greatly improved.

[0051] According to one embodiment of the utility model, Figure 2 and Figure 3As shown, the driving mechanism may include a crank rocker assembly 133 and a rotary driver 134, wherein the rotary driver 134 is mounted on a base plate, one end of the crank rocker assembly 133 is connected to the output shaft of the rotary driver 134 (for example, the crank of the crank rocker assembly 133 is fixedly connected to the output shaft of the rotary driver 134), and the other end of the crank rocker assembly 133 is hinged to the double-link mechanism 132 (for example, the rocker of the crank rocker assembly 133 is connected to the double-link mechanism 132, wherein the rocker can be hinged on the upper connecting rod 1321, or on the lower connecting rod 1322, or at the hinge between the upper connecting rod 1321 and the lower connecting rod 1322, and the connection position of the rocker and the double-link mechanism 132 can be adjusted according to actual needs, as long as the lifting and lowering of the lifting beam 120 can be achieved, and the utility model does not impose any special restrictions on this). When the lifting beam 120 needs to be driven to rise or fall, the rotary driver 134 can drive the crank of the crank rocker assembly 133 to rotate, thereby causing the rocker of the crank rocker assembly to drive the upper connecting rod 1321 and the lower connecting rod 1322 in the double connecting rod mechanism 132 to rotate relative to each other. At the same time, under the action of the upper connecting rod 1321 and the lower connecting rod 1322, the lifting beam 120 rises or falls along the guide mechanism 131. In another embodiment, Figure 4 As shown, the driving mechanism can also be a linear drive 136 (such as an electric cylinder, a hydraulic cylinder, etc.), one end (fixed end) of the linear drive 136 is hinged to the base plate, and the other end (telescopic end) is hinged to the double-link mechanism. For example: the telescopic end of the linear drive can be hinged at the hinge between the upper connecting rod 1321 and the lower connecting rod 1322.

[0052] According to one embodiment of the utility model, Figure 2 and Figure 3 As shown, the rotary driver 134 may be a rotary motor. The rotary motor may be, for example, a servo motor, a stepper motor, a reduction motor, etc., wherein the reduction motor may generate a larger torque at a lower speed. By using the reduction motor as the power source of the lifting device 130, the lifting device 130 may effectively lift the lifting beam 120 (and the cargo) while maintaining high-precision control.

[0053] According to one embodiment of the utility model, Figure 2 As shown, two groups of lifting beams 120 and lifting devices 130 are provided, wherein one group of lifting beams 120 and lifting devices 130 is provided on the left side of the bottom plate 110, and the other group of lifting beams 120 and lifting devices 130 is provided on the right side of the bottom plate 110. By providing two groups of lifting beams 120 and lifting devices 130, the four-way shuttle 100 can be able to stably lift the cargo, thereby improving the stability of the four-way shuttle 100.

[0054] According to one embodiment of the utility model, Figure 2As shown, the four-way shuttle 100 may include two reinforcing connecting plates 140, and the reinforcing connecting plates 140 may be floatingly connected between the two lifting beams 120. Specifically, Figure 5 FIG. 1 shows a schematic diagram of the connection structure between the reinforcing connecting plate 140 and the lifting beam 120 according to an embodiment of the present utility model. Figure 5 As shown, the four-way shuttle 100 also includes a first reinforcing rib 150 and a second reinforcing rib 160, wherein the first reinforcing rib 150 is provided with a hinge hole 151, and the first reinforcing rib 150 can be fixedly connected to the inner side of a lifting beam 120 (for example, the lifting beam 120 located on the right side of the base plate 110) by welding, bolting, etc.; the second reinforcing rib 160 is provided with a connecting hole 161, and the second reinforcing rib 160 can be fixedly connected to the inner side of another lifting beam 120 (for example, the lifting beam 120 located on the left side of the base plate 110) by welding, bolting, etc. One end (e.g., the right end) of the reinforcing connecting plate 140 is provided with a first pin shaft 141, and the reinforcing connecting plate 140 is hinged with the first reinforcing rib 150 through the cooperation of the first pin shaft 141 and the hinge hole 151. Specifically, the first pin shaft 141 penetrates the hinge hole 151 and can rotate in the hinge hole 151. Accordingly, in order to prevent the first pin shaft 141 from falling off from the hinge hole 151, an elastic locking piece or a nut can be provided at the end of the first pin shaft 141. The other end (e.g., the right end) of the reinforcing connecting plate 140 is provided with a first pin shaft 141. As shown in the left end, a second pin shaft 142 is provided, and the second pin shaft 142 is matched with the connecting hole 161 to realize floating connection with the second reinforcing rib 160. Specifically, the diameter of the second pin shaft 142 is smaller than the hole diameter of the connecting hole 161, and the second pin shaft 142 penetrates the connecting hole 161 and can float in the connecting hole 161. Accordingly, in order to prevent the second pin shaft 142 from falling off from the connecting hole 161, an elastic locking piece or a nut can be provided at the end of the second pin shaft 142. Among them, by providing the first reinforcing rib 150 or the second reinforcing rib 160 on the inner side of the lifting beam 120, the ability of the lifting beam 120 to bear eccentric load can be improved, so that the lifting beam 120 can still remain parallel to the bottom plate 110 when bearing eccentric load, and reduce the bending moment borne by the guide device. At the same time, connecting the reinforcing connecting plate 140 between the two lifting beams 120 can improve the load-bearing capacity of the four-way shuttle 100. In addition, floatingly connecting the reinforcing connecting plate 140 between the two lifting beams 120 can avoid the jamming of the guide device caused by the asynchronous lifting of the lifting beams 120 on both sides, extend the service life of the guide device, and reduce the installation precision requirements. In some embodiments, the reinforcing connecting plate 140 can also be directly or indirectly fixedly connected between the two lifting beams 120.

[0055] According to one embodiment of the utility model, Figure 1 and Figure 2As shown, the four-way shuttle 100 may also include a weighing plate 170 and a plurality of weighing sensors 180, and the plurality of weighing sensors 180 are respectively mounted on the lifting beam 120 and / or the reinforcing connecting plate 140. For example, four weighing sensors 180 are provided, and the four weighing sensors 180 are respectively provided on the top of the two lifting beams 120 and the top of the two reinforcing connecting plates 140. The weighing plate 170 is provided above the lifting beam 120 and the reinforcing connecting plate 140, and the weighing plate 170 is respectively connected to the plurality of weighing sensors 180. By providing the weighing plate 170 and the weighing sensor 180 in the four-way shuttle 100, the four-way shuttle 100 can weigh the goods when picking up the goods, which is conducive to improving the logistics efficiency, improving the accuracy of weighing, reducing manual operations, and reducing labor costs. Among them, when the weighing sensor 180 cannot stably support the weighing plate 170 and the cargo (for example, when only two weighing sensors 180 are set), a linear guide module (such as a guide shaft, a linear guide rail, a guide wheel assembly, etc.) can be set between the weighing plate 170 and the lifting beam 120 and / or the reinforcing connecting plate 140 to improve the stability of the weighing plate 170.

[0056] According to one embodiment of the utility model, Figure 2 As shown, the four-way shuttle 100 may also include two racks 190, wherein one rack 190 is installed on the front side of the base plate 110, and the other rack 190 is installed on the rear side of the base plate 110. By arranging the racks 190 on the base plate 110, not only the structural strength of the base plate 110 can be improved, but also an installation position can be provided for other components of the four-way shuttle 100 (such as the guide seat 1312).

[0057] According to one embodiment of the utility model, Figure 2As shown, at least two first running wheels 200 can be installed on each lifting beam 120, and at least two second running wheels 210 can be installed on each frame 190, wherein the first running wheels 200 give the four-way shuttle 100 the ability to move in the front-to-back direction, and the second running wheels 210 give the four-way shuttle 100 the ability to move in the left-to-right direction. The moving direction of the four-way shuttle 100 can be changed by driving the lifting beam 120 to move in the first direction through the lifting device 130. For example, when the four-way shuttle 100 can move in the front-to-back direction, the first running wheel 200 contacts the track (or the ground), and the second running wheel 210 is suspended. By driving the lifting beam 120 to move upward through the lifting device 130, the second running wheel 210 can be made to contact the track (or the ground), and the first running wheel 200 is suspended. At this time, the four-way shuttle 100 can move in the left-to-right direction. For another example, when the four-way shuttle 100 can move in the left and right directions, the second running wheel 210 is in contact with the track (or the ground), and the first running wheel 200 is suspended in the air. By driving the lifting beam 120 downward through the lifting device 130, the first running wheel 200 can be in contact with the track (or the ground), and the second running wheel 210 is suspended in the air. At this time, the four-way shuttle 100 can move in the front and rear directions.

[0058] According to one embodiment of the utility model, Figure 2 As shown, at least part of the first running wheel 200 includes a hub motor, and at least part of the second running wheel 210 includes a hub motor. By setting at least part of the first running wheel 200 and at least part of the running wheel to be driven by a hub motor, the transmission system can be simplified, the structural size of the four-way shuttle 100 can be reduced, the transmission efficiency and structural layout flexibility can be increased, the failure rate can be reduced, and the assembly and maintenance costs can be reduced. In some embodiments, at least part of the first running wheel can be driven by a reduction motor, a stepper motor or a servo motor (either directly or indirectly), and at least part of the second running wheel can be driven by a reduction motor, a stepper motor or a servo motor (either directly or indirectly).

[0059] According to one embodiment of the utility model, Figure 2 As shown, the four-way shuttle 100 may also include a control board 220, a driver 230 and a battery 240, wherein the battery 240 may supply power to electrical components such as the rotary driver 134, the hub motor, the weighing sensor 180, the controller, and the driver 230.

[0060] Compared with the prior art, the embodiment of the utility model provides a four-way shuttle 100. By adopting a jacking device 130 combining a guide mechanism 131, a double connecting rod mechanism 132 and a crank rocker assembly 133, a stable jacking of the jacking beam 120 can be achieved, and a complex gear box is eliminated, which can effectively reduce material costs and labor costs. By setting at least part of the first running wheel 200 and at least part of the running wheel to be driven by a hub motor, the transmission system can be simplified, the structural size of the four-way shuttle 100 can be reduced, the transmission efficiency and structural layout flexibility can be increased, the failure rate can be reduced, and the assembly and maintenance costs can be reduced. By setting a weighing sensor 180 and a weighing plate 170, the four-way shuttle 100 can weigh the goods when picking up the goods, which is conducive to improving logistics efficiency, improving weighing accuracy, reducing manual operations, and reducing labor costs.

[0061] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A four-way shuttle vehicle, characterized in that: include: Base plate; A lifting beam is arranged above the bottom plate; and A lifting device is configured to drive the lifting beam to move up and down, and the lifting device comprises: a guide mechanism connected between the bottom plate and the lifting beam and configured to guide the lifting beam to move along a first direction; A double-link mechanism, comprising an upper link and a lower link that are hinged to each other, wherein the upper link is also hinged to the lifting beam, and the lower link is also hinged to the bottom plate; and The driving mechanism is connected to the double-link mechanism and is configured to drive the upper link and the lower link in the double-link mechanism to rotate relative to each other.

2. The four-way shuttle according to claim 1, characterized in that: The first direction is substantially perpendicular to the bottom plate.

3. The four-way shuttle according to claim 1, characterized in that: The guide mechanism is a linear guide mechanism, a guide wheel mechanism, a slide wheel mechanism, a gear rack mechanism or a sliding bearing guide mechanism.

4. The four-way shuttle according to claim 1, characterized in that: The lifting device further comprises a middle connecting rod. Two groups of double connecting rod mechanisms are arranged in the lifting device. The middle connecting rod is hinged between the two groups of double connecting rod mechanisms.

5. The four-way shuttle according to claim 1, characterized in that: The driving mechanism comprises: a rotary driver mounted on the base plate; and A crank rocker assembly has one end connected to the output shaft of the rotary driver and the other end hinged to the double-link mechanism.

6. The four-way shuttle vehicle according to claim 5, characterized in that: The rotary drive is a rotary motor.

7. The four-way shuttle according to claim 1, characterized in that: The driving mechanism is a linear driver, one end of which is hinged to the base plate, and the other end of which is hinged to the double-link mechanism.

8. The four-way shuttle according to claim 1, characterized in that: At least two first traveling wheels are installed on the lifting beam.

9. The four-way shuttle vehicle according to claim 8, characterized in that: At least part of the first running wheels comprises a hub motor; or, At least part of the first running wheels is driven by a reduction motor, a stepping motor or a servo motor.

10. The four-way shuttle according to any one of claims 1 to 9, characterized in that: The lifting beam and the lifting device are provided in two groups, wherein the two groups of the lifting beam and the lifting device are respectively arranged on both sides of the bottom plate.

11. The four-way shuttle vehicle according to claim 10, characterized in that: The four-way shuttle vehicle further comprises a reinforcing connecting plate, wherein the reinforcing connecting plate is connected between the two lifting beams.

12. The four-way shuttle vehicle according to claim 11, characterized in that: The four-way shuttle further comprises a first reinforcing rib and a second reinforcing rib, wherein the first reinforcing rib is connected to one of the lifting beams and is provided with a hinge hole, and the second reinforcing rib is connected to another of the lifting beams and is provided with a connecting hole; A first pin is arranged at one end of the reinforcing connecting plate, the first pin penetrates into the hinge hole and can rotate in the hinge hole; a second pin is arranged at the other end of the reinforcing connecting plate, the second pin penetrates into the connecting hole and can float in the connecting hole.

13. The four-way shuttle vehicle according to claim 11, characterized in that: The four-way shuttle vehicle also includes: A plurality of weighing sensors, wherein the plurality of weighing sensors are respectively mounted on the lifting beam and / or the reinforcing connecting plate; and A weighing plate is arranged above the lifting beam and is connected to the plurality of weighing sensors respectively.

14. The four-way shuttle according to claim 1, characterized in that: The four-way shuttle vehicle further comprises two frames, which are respectively mounted on the other two sides of the bottom plate, and at least two second running wheels are mounted on the frames.

15. The four-way shuttle vehicle according to claim 14, characterized in that: At least part of the second running wheels comprises a hub motor; or, At least part of the second running wheels is driven by a reduction motor, a stepping motor or a servo motor.

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