Four-way shuttle vehicle

Abstract

The utility model provides a four-way shuttle vehicle. The four-way shuttle vehicle comprises a first driving device, a cam shaft, an equilateral triangle cam for equipment, an equilateral triangle cam for a wheel train, an equipment jacking sliding block, a wheel train jacking sliding block and a rail changing wheel set. Equilateral triangle cams for the equipment and equilateral triangle cams for the gear train are fixed on the cam shaft at intervals; the equilateral triangle cam for the equipment comprises a first arc and second arcs located on the two sides. The equilateral triangle cam for the gear train comprises a third arc and fourth arcs located on the two sides. The second arc which is adjacent to the first arc and is located at the downstream position in the rotating direction is used for jacking the goods through the equipment jacking sliding block when the second arc is located at the highest position, and the first arc is used for keeping jacking the goods when the first arc is located at the highest position; the fourth arc which is adjacent to the third arc and located on the downstream portion in the rotating direction is used for pressing the rail changing wheel set down to change the rail to the corresponding rail when the fourth arc is located at the lowest position, and the third arc is used for keeping the rail changing wheel set pressed down to the corresponding rail when the third arc is located at the lowest position.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics and warehousing, and more specifically to a four-way shuttle vehicle. Background Art

[0002] A 4-direction shuttle is a shuttle that can move "front, back, left, and right". Structurally, compared to a multi-shuttle (also called a linear shuttle), a 4-direction shuttle has two sets of wheel trains, responsible for movement in the X and Y directions respectively; the system mainly includes hardware equipment such as shuttles, layer-changing elevators, rail conveyor lines and shelf systems, as well as software such as the equipment dispatching control system WCS.

[0003] The movement principle of the four-way shuttle vehicles on the market relies on the lifting and lowering of two sets of wheels to achieve the switching of the xy direction tracks to achieve movement in two directions.

[0004] The Chinese patent document CN115158946A adopts a triangular lifting cam to realize the lifting of goods and adopts the movement of a needle bearing of an eccentric sleeve coaxially connected to the triangular lifting cam in a reversing groove with continuous arc segments and straight segments to realize the reversing operation of the track-changing wheel set. The matching mode of the triangular lifting cam and the reversing groove is relatively complex in terms of structural design and control operation. Utility Model Content

[0005] In view of the problems existing in the background technology, an object of the present disclosure is to provide a four-way shuttle vehicle which can simplify the structural design.

[0006] An object of the present disclosure is to provide a four-way shuttle vehicle that can be controlled and operated simply.

[0007] Thus, a four-way shuttle is provided, which includes a first drive device, a camshaft, an equilateral triangle cam for equipment, an equilateral triangle cam for a wheel train, an equipment lifting slider, a wheel train lifting slider, and a track-changing wheel set. The first driving device is used to drive the camshaft to rotate, and the camshaft has an axis; the equilateral triangle cam for equipment and the equilateral triangle cam for gear train are fixedly arranged on the camshaft at intervals and are both composed of arcs at the vertices and sides of the equilateral triangle; the equilateral triangle cam for equipment includes a first arc, a second arc located on both sides of the first arc, a first midline, a first center, and a first vertex, the midpoint of the first arc, the first center, the axis and the first vertex form a straight line coinciding with the first midline, and the axis is located between the first center and the first vertex; the equilateral triangle cam for gear train includes a third arc, a fourth arc located on both sides of the third arc, a second center, a second midline, and a second vertex, the midpoint of the third arc, the second center, the axis, and the second vertex form a straight line coinciding with the second midline, the axis is located between the second center and the second vertex, and the second midline is perpendicular to the first midline; the equipment lifting slider can move up and down and has a receiving cavity, and the gear train lifting slider The block can move up and down and has a accommodating cavity, the track-changing wheel group is arranged on the lateral outer side of the accommodating cavity and can move up and down with the wheel train lifting slider; the equilateral triangle cam for the equipment is used to always contact the two opposite inner walls of the accommodating cavity in the vertical direction at two points respectively located on the upper and lower sides of the axis, the second arc adjacent to the first arc and located downstream in the rotation direction is used to lift the goods via the equipment lifting slider when it is in the highest position, and the first arc is used to keep the goods lifted via the equipment lifting slider when it is in the highest position; the equilateral triangle cam for the wheel train is used to always contact the two opposite inner walls of the accommodating cavity in the vertical direction at two points respectively located on the upper and lower sides of the axis, the fourth arc adjacent to the third arc and located downstream in the rotation direction is used to press the track-changing wheel group down to the corresponding track via the wheel train lifting slider when it is in the lowest position, and the third arc is used to keep the track-changing wheel group pressed down on the corresponding track via the wheel train lifting slider when it is in the lowest position.

[0008] The beneficial effects of the present disclosure are as follows: In the four-way shuttle according to the present disclosure, the equilateral triangle cam for equipment and the equilateral triangle cam for gear train are simpler in structural design than the patent literature of the background technology. By setting the equilateral triangle cam for equipment and the equilateral triangle cam for gear train with the camshaft, the structural setting and control are simple, thereby improving the reliability of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a stereoscopic view of the use of the four-way shuttle according to the present disclosure.

[0010] Figure 2 yes Figure 1 Exploded view of the four-way shuttle.

[0011] Figure 3 yes Figure 2 An enlarged view of the invention, wherein the housing is omitted.

[0012] Figure 4 yes Figure 3 A simplified diagram in which the bottom plate and side plates are omitted.

[0013] Figure 5 yes Figure 4 A further simplified diagram is used to illustrate the relevant components for cargo lifting and wheel train lifting.

[0014] Figure 6 yes Figure 5 Exploded diagram of .

[0015] Figure 7 yes Figure 6 A stereoscopic view of a single camshaft and associated equipment using an equilateral triangle cam and a gear train using an equilateral triangle cam.

[0016] Figure 8 yes Figure 7 A view of the camshaft as viewed from one axial end.

[0017] Fig. 9 Show Figure 8 The change in movement from 0° to 360° during a 360° rotation of the camshaft, wherein the camshaft is omitted.

[0018] Fig.10 Show Fig. 9 Exploded diagram of 0°.

[0019] Fig.11 yes Figure 4 A view from one axial end of the camshaft, wherein the equipment lifting slider is in an ascending state and the gear train lifting slider is in a descending state.

[0020] The reference numerals are described as follows:

[0021] 1000 four-way shuttle 20 bottom plate

[0022] 11 first driving device 21 first sliding pair

[0023] 12 Camshaft 22 Side plate

[0024] 121 axis 23 second sliding pair

[0025] 13 Equilateral triangle cam 24 bearing seat for equipment

[0026] 131 first arc 25 second driving device

[0027] 131a midpoint 26 first bevel gear

[0028] 132 second arc 27 second bevel gear

[0029] 133 first center line 28 third bevel gear

[0030] 134 first center 29 first output shaft

[0031] 135 first vertex 30 second output shaft

[0032] 14 equilateral triangle cam 31 first transmission mechanism for gear train

[0033] 141 third arc 311 first major axis

[0034] 141a midpoint 312 first gear chain assembly

[0035] 142 fourth arc 32 second transmission mechanism

[0036] 143 second center 321 second major axis

[0037] 144 second center line 322 transition gear chain assembly

[0038] 145 second vertex 323 second gear chain assembly

[0039] 15 Equipment lifting slider 33 fixed wheel set

[0040] 151 receiving cavity 34 connected to the long axis

[0041] 16 gear train lifting slider 35 housing

[0042] 161 compartments for 2000 cargoes

[0043] 17 track change wheel set 3000 track

[0044] 18 First gear chain set

[0045] 19 Second gear chain set DETAILED DESCRIPTION

[0046] The accompanying drawings show embodiments of the present disclosure, and it will be understood that the disclosed embodiments are merely examples of the present disclosure, and the present disclosure can be implemented in various forms. Therefore, the specific details disclosed herein should not be interpreted as limiting, but merely as the basis for the claims and as a representative basis for teaching ordinary technicians in the field to implement the present disclosure in various ways.

[0047] In the description of the present disclosure, unless otherwise specified, the terms “first”, “second”, “third”, etc. are only used for the purpose of description and component identification and should not be understood as relative importance and mutual relationship.

[0048] Reference Figures 1 to 11According to the present disclosure, the four-way shuttle 1000 includes a first driving device 11, a camshaft 12, an equilateral triangle cam 13 for equipment, an equilateral triangle cam 14 for a gear train, an equipment lifting slider 15, a gear train lifting slider 16, and a track-changing wheel set 17.

[0049] The first driving device 11 is used to drive the camshaft 12 to rotate, that is, the first driving device 11 is connected to the camshaft 12. The camshaft 12 has an axis 121. The equilateral triangle cam 13 for equipment and the equilateral triangle cam 14 for gear train are fixedly arranged on the camshaft 12 at intervals (that is, they rotate under the drive of the camshaft 12) and are both composed of arcs at each vertex and each side of an equilateral triangle. The equilateral triangle cam 13 for equipment includes a first arc 131, a second arc 132 located on both sides of the first arc 131, a first midline 133, a first center 134, and a first vertex 135. The midpoint 131a of the first arc 131, the first center 134, the axis 121 and the first vertex 135 form a straight line coinciding with the first midline 133, and the axis 121 is located between the first center 134 and the first vertex 135. The equilateral triangle cam 14 for the gear train includes a third arc 141, a fourth arc 142 located on both sides of the third arc 141, a second center 143, a second center line 144, and a second vertex 145. The midpoint 141a of the third arc 141, the second center 143, the axis 121, and the second vertex 145 form a straight line that coincides with the second center line 144. The axis 121 is located between the second center 143 and the second vertex 145. The second center line 144 is perpendicular to the first center line 133. The equipment lifting slider 15 can move up and down and has a receiving chamber 151. The gear train lifting slider 16 can move up and down and has a receiving chamber 161. The track-changing wheel group 17 is arranged at the lateral outer side of the receiving chamber 161 and can move up and down with the gear train lifting slider 16. The equilateral triangle cam 13 for the equipment is used to always contact the two opposite inner walls of the accommodating cavity 151 in the vertical direction at two points respectively located on the upper and lower sides of the axis 121. The second arc 132 adjacent to the first arc 131 and located downstream along the rotation direction is used to lift the cargo 2000 via the equipment lifting slider 15 when it is in the highest position. The first arc 131 is used to maintain the lifting of the cargo 2000 via the equipment lifting slider 15 when it is in the highest position. The equilateral triangle cam 14 for the gear train is used to always contact the two opposite inner walls of the accommodating cavity 161 in the vertical direction at two points respectively located on the upper and lower sides of the axis 121. The fourth arc 142 adjacent to the third arc 141 and downstream in the rotation direction is used to press the track-changing wheel group 17 down to the corresponding track 3000 via the gear train lifting slider 16 when it is in the lowest position. The third arc 141 is used to keep the track-changing wheel group 17 pressed down on the corresponding track 3000 via the gear train lifting slider 16 when it is in the lowest position.

[0050] In the four-way shuttle 1000 according to the present disclosure, the equilateral triangle cam 13 for equipment and the equilateral triangle cam 14 for gear train are simpler in structural design than those in the patent literature of the background art.

[0051] In the four-way shuttle 1000 according to the present disclosure, for example, the device is lifted by the equilateral triangle cam 13 as a start, as shown in FIG. Fig.11 As shown, the first center line 133 of the equilateral triangle cam 13 used in the equipment is horizontal as 0° for the rotation of the camshaft 12. Since the second center line 144 is perpendicular to the first center line 133 and the axis 121 of the camshaft 12 is located at the intersection of the second center line 144 and the first center line 133, the first drive device 11 drives the camshaft 12 to rotate once as a cycle. At 330°-30°, the track-changing wheel group 17 is kept pressed down to change the track to the corresponding track 3000 (which can be called the Y-reversing wheel system) and at other remaining angles (at 30°-330°, the track-changing wheel group 17 is lifted off the corresponding track 3000, and the fixed wheel group 33 (which can be called the X-wheel system) described later can work within this angle range), at 60°-120°, the cargo 2000 is kept lifted and the remaining angles can be used to lower the cargo 2000 and reset the cargo after it is lowered and unloaded). Therefore, by setting the equilateral triangle cam 13 for the equipment and the equilateral triangle cam 14 for the gear train and the camshaft 12, the structural setting and control are simple, thereby improving the reliability of control.

[0052] In the four-way shuttle 1000 according to the present disclosure, the arc shapes of the wheel train equilateral triangle cam 14 and the equipment equilateral triangle cam 13 can be set arbitrarily and appropriately, as long as the continuity of the cam movement can be made as smooth as possible.

[0053] like Figure 8 As shown, in one example, the midpoints of the arcs at the vertices of the equilateral triangle cam 13 for the device and the equilateral triangle cam 14 for the gear train are located on the corresponding midlines passing through the midpoints; the midpoints of the arcs at the sides of the equilateral triangle cam 13 for the device and the equilateral triangle cam 14 for the gear train are located on the corresponding midlines passing through the midpoints of the arcs at the sides.

[0054] like Figure 8 and Fig.10 As shown, in one example, the equilateral triangle cam 13 for equipment and the equilateral triangle cam 14 for gear train are the same in shape and size, and the distance between the axis 121 of the camshaft 12 and the first vertex 135 is the same as the distance between the axis 121 of the camshaft 12 and the second vertex 145. Therefore, the equilateral triangle cam 13 for equipment and the equilateral triangle cam 14 for gear train can be made of the same equilateral triangle cam.

[0055] like Figures 2 to 6As shown, in one example, each axial end of the camshaft 12 is provided with an equilateral triangle cam 13 for equipment, an equilateral triangle cam 14 for a gear train, an equipment lifting slider 15, a gear train lifting slider 16, and a track-changing wheel set 17. Thus, not only the design of the gear train lifting slider 16 and the track-changing wheel set 17 at both axial ends of the camshaft 12 is simplified, but also the equilateral triangle cam 13 for equipment and the equipment lifting slider 15 are provided in two sets, so that the lifting and unloading of the cargo 2000 is more stable.

[0056] like Figures 2 to 6 As shown, in one example, two camshafts 12 are provided; the two camshafts 12 are arranged side by side and spaced apart, and the four-way shuttle 1000 also includes a first gear chain group 18 and a second gear chain group 19; the first gear chain group 18 connects the first driving device 11 and one of the camshafts 12 adjacent to the first driving device 11; the second gear chain group 19 connects the two camshafts 12; the equilateral triangle cams 13 for equipment on the axial sides of the two camshafts 12 and the equilateral triangle cams 14 for the gear train have the same posture, the equilateral triangle cams 13 for equipment on the axial sides of the two camshafts 12 are accommodated in the accommodating cavity 151 of the same equipment lifting slider 15, and the equilateral triangle cams 14 for the gear train on the axial sides of the two camshafts 12 are accommodated in the accommodating cavity 161 of the same gear train lifting slider 16. By arranging two camshafts 12, two equilateral triangle cams 13 for equipment on the axial sides of the two camshafts 12, and two equilateral triangle cams 14 for gear trains, the lifting and lowering of the equipment lifting slider 15 on the axial sides of the two camshafts 12 and the lifting and lowering of the gear train lifting slider 16 are made smoother and more reliable.

[0057] like Figure 3 As shown, in one example, the four-way shuttle 1000 further includes a bottom plate 20 and two first sliding pairs 21; the two first sliding pairs 21 are respectively arranged between the bottom plate 20 and the two sides of the device lifting slider 15, and the first sliding pairs 21 are used to guide the device lifting slider 15 to slide and rise during the lifting process of the device lifting slider 15. Figure 3 In the example shown, the first sliding pair 21 adopts a plug-in and socket matching method.

[0058] like Figure 3 As shown, in one example, the four-way shuttle 1000 further includes two side plates 22 and a second sliding pair 23; the second sliding pair 23 is disposed between the two side plates 22 and the two sides of the gear train lifting slider 16, and the second sliding pair 23 is used to guide the gear train lifting slider 16 to slide and rise during the lifting process of the gear train lifting slider 16. Figure 3 In the example shown, the second sliding pair 23 adopts a slide rail and a sliding block cooperation mode.

[0059] like Figures 3 to 6As shown, in one example, the four-way shuttle 1000 further includes two bearing seats 24, each bearing seat 24 is arranged corresponding to the equilateral triangle cam 13 for equipment and the equilateral triangle cam 14 for gear train on one side close to the camshaft 12, and each bearing seat 24 is used to support the camshaft 12. The two bearing seats 24 allow the camshaft 12 to be more straight in the axial direction, thereby ensuring the stability and reliability of the cam motion of the equilateral triangle cam 13 for equipment and the equilateral triangle cam 14 for gear train.

[0060] like Figure 4 As shown, in one example, the track-changing wheel set 17 is arranged on each of the two lateral outer sides of the accommodating cavity 161 of the wheel train lifting slider 16. The four-way shuttle 1000 also includes a second driving device 25, a first bevel gear 26, a second bevel gear 27, a third bevel gear 28, a first output shaft 29, a second output shaft 30, a first transmission mechanism 31, a second transmission mechanism 32, a fixed wheel set 33, and a connecting long shaft 34. The second driving device 25 is connected to the third bevel gear 28, and the second driving device 25 is used to drive the third bevel gear 28 to rotate. The second bevel gear 27 and the third bevel gear 28 are perpendicular to the axis, and the second bevel gear 27 and the third bevel gear 28 are meshed with each other. The first bevel gear 26 and the third bevel gear 28 are parallel on the axis (in the example in the figure, the first bevel gear 26 and the third bevel gear 28 overlap on the axis), the first bevel gear 26 and the third bevel gear 28 are spaced apart from each other, the first bevel gear 26 and the third bevel gear 28 are connected via the second bevel gear 27, and the first bevel gear 26 and the third bevel gear 28 are respectively meshed with the second bevel gear 27. The first output shaft 29 is connected to the first bevel gear 26; the second output shaft 30 is connected to the second bevel gear 27. The first transmission mechanism 31 connects the first output shaft 29 to the track-changing wheel set 17 on one of the lateral outer sides of the accommodating cavity 161 of the gear train lifting slider 16. The second transmission mechanism 32 connects the second output shaft 30 to the fixed wheel set 33. The fixed wheel set 33 can travel on two tracks 3000 perpendicular to the track 3000 of the track-changing wheel set 17. The connecting long shaft 34 connects the track-changing wheel set 17 arranged on the other lateral outer side of the accommodating cavity 161 of the gear train lifting slider 16. Thus, the track-changing wheel set 17 arranged on one lateral outer side of the accommodating cavity 161 of the gear train lifting slider 16 is active and the fixed wheel set 33 is active.

[0061] Furthermore, if Figure 4As shown, the first transmission mechanism 31 includes a first long shaft 311 and a first gear chain assembly 312. The first long shaft 311 is parallel to the first output shaft 29 and is separated from the first output shaft 29. The two ends of the first long shaft 311 are connected with a track-changing wheel set 17. The first gear chain assembly 312 connects the first output shaft 29 and the first long shaft 311. The second transmission mechanism 32 includes a second long shaft 321, a transition gear chain assembly 322 and two second gear chain assemblies 323. The second long shaft 321 is parallel to the second output shaft 30 and is separated from the second output shaft 30. The transition gear chain assembly 322 connects the second output shaft 30 and the second long shaft 321. The two second gear chain assemblies 323 respectively connect the two ends of the second long shaft 321 with the corresponding fixed wheel sets 33. In this way, the arrangement of the active track-changing wheel set 17 and the active fixed wheel set 33 on the opposite sides of the four-way shuttle 1000 is realized.

[0062] like Figure 3 As shown, in one example, the four-way shuttle 1000 further includes four side panels 22, which form a rectangular frame, wherein two opposite side panels 22 are used for the first long axis 311 and the connecting long axis 34 to pass through, and the other two opposite side panels 22 are used for the second long axis 321 to pass through. The four side panels 22 protect the components of the rectangular frame from being contaminated by external dust and the like.

[0063] like Figure 1 and Figure 2 As shown, the four-way shuttle 1000 also includes a housing 35; the housing 35 is connected to the top of the equipment lifting slider 15 and can be raised and lowered with the equipment lifting slider 15. The housing 35 can not only assist the equipment lifting slider 15 in lifting the cargo 2000, but also protect the components in the housing 35 from being polluted by external dust and the like.

[0064] In one example, the first drive device 11 and the second drive device 25 are both motors. Motors have more advantages than hydraulic cylinder transmission in terms of food safety and environmental safety, and are more competent in special operations such as cold storage and high-temperature warehouses.

[0065] The above detailed description is used to describe multiple exemplary embodiments, but this document is not intended to be limited to the explicitly disclosed combinations. Therefore, unless otherwise stated, the various features disclosed herein can be combined together to form multiple additional combinations that are not shown for the sake of simplicity.

Claims

1. A four-way shuttle vehicle, characterized in that: The four-way shuttle vehicle (1000) comprises a first driving device (11), a camshaft (12), an equilateral triangle cam for equipment (13), an equilateral triangle cam for a wheel train (14), an equipment lifting slider (15), a wheel train lifting slider (16), and a track-changing wheel set (17). The first driving device (11) is used to drive the camshaft (12) to rotate, and the camshaft (12) has an axis (121); An equilateral triangle cam (13) for equipment and an equilateral triangle cam (14) for a gear train are fixedly arranged on a cam shaft (12) at intervals and are both composed of arcs at the vertices and sides of an equilateral triangle; The equilateral triangle cam (13) for equipment comprises a first arc (131), second arcs (132) located on both sides of the first arc (131), a first midline (133), a first center (134), and a first vertex (135); the midpoint (131a) of the first arc (131), the first center (134), the axis (121) and the first vertex (135) form a straight line that coincides with the first midline (133); the axis (121) is located between the first center (134) and the first vertex (135); The equilateral triangle cam (14) for a gear train comprises a third arc (141), fourth arcs (142) located on both sides of the third arc (141), a second center (143), a second midline (144), and a second vertex (145); the midpoint (141a) of the third arc (141), the second center (143), the axis (121), and the second vertex (145) form a straight line that coincides with the second midline (144); the axis (121) is located between the second center (143) and the second vertex (145); and the second midline (144) is perpendicular to the first midline (133); The equipment lifting slider (15) can move up and down and has a receiving chamber (151); the wheel train lifting slider (16) can move up and down and has a receiving chamber (161); the track-changing wheel set (17) is arranged on the lateral outer side of the receiving chamber (161) and can move up and down with the wheel train lifting slider (16); The equilateral triangle cam (13) for equipment is used to always contact two opposite inner walls of the receiving chamber (151) in the vertical direction at two points respectively located on the upper and lower sides of the axis (121); the second arc (132) adjacent to the first arc (131) and located downstream in the rotation direction is used to lift the goods (2000) via the equipment lifting slider (15) when it is in the highest position; the first arc (131) is used to maintain the lifting of the goods (2000) via the equipment lifting slider (15) when it is in the highest position; The equilateral triangle cam (14) for the gear train is used to always contact the two opposite inner walls of the accommodating cavity (161) in the vertical direction at two points respectively located on the upper and lower sides of the axis (121); the fourth arc (142) adjacent to the third arc (141) and located downstream in the rotation direction is used to press the track-changing wheel group (17) down to the corresponding track (3000) via the gear train lifting slider (16) when it is in the lowest position; the third arc (141) is used to keep the track-changing wheel group (17) pressed down on the corresponding track (3000) via the gear train lifting slider (16) when it is in the lowest position.

2. The four-way shuttle according to claim 1, characterized in that: The midpoints of the arcs at the vertices of the equilateral triangle cam (13) for the equipment and the equilateral triangle cam (14) for the gear train are located on the corresponding midlines passing through the midpoints; The midpoints of the arcs at the sides of the equilateral triangle cam (13) for equipment and the equilateral triangle cam (14) for gear train are located on the corresponding midlines passing through the midpoints of the arcs at the sides.

3. The four-way shuttle according to claim 1, characterized in that: The equilateral triangle cam (13) for the equipment and the equilateral triangle cam (14) for the gear train are identical in shape and size. The distance between the axis (121) and the first vertex (135) is the same as the distance between the axis (121) and the second vertex (145).

4. The four-way shuttle according to claim 1, characterized in that: Each axial end of the camshaft (12) is provided with an equilateral triangle cam (13) for equipment, an equilateral triangle cam (14) for a gear train, an equipment lifting slider (15), a gear train lifting slider (16) and a track-changing wheel set (17).

5. The four-way shuttle vehicle according to claim 4, characterized in that: The camshafts (12) are provided in pairs; The two camshafts (12) are arranged side by side and spaced apart. The four-way shuttle (1000) further comprises a first gear chain set (18) and a second gear chain set (19); A first gear chain set (18) connects the first drive device (11) and one of the camshafts (12) adjacent to the first drive device (11); The second gear chain set (19) connects the two camshafts (12); The equilateral triangle cams (13) for equipment and the equilateral triangle cams (14) for gear trains on the two camshafts (12) have the same posture. The equilateral triangular cams (13) for the equipment on the axial sides of the two camshafts (12) are received in a receiving cavity (151) of a lifting slide block (15) of the same equipment. The axially lateral gear trains on the two camshafts (12) are accommodated in a receiving cavity (161) of the same gear train lifting slider (16) using equilateral triangle cams (14).

6. The four-way shuttle vehicle according to claim 1, characterized in that: The four-way shuttle (1000) also includes a bottom plate (20) and two first sliding pairs (21); The two first sliding pairs (21) are respectively arranged between the bottom plate (20) and the two sides of the equipment lifting slider (15), and the first sliding pairs (21) are used to guide the equipment lifting slider (15) to slide and rise during the lifting process of the equipment lifting slider (15).

7. The four-way shuttle according to claim 4, characterized in that: The four-way shuttle (1000) also includes two side plates (22) and a second sliding pair (23); The second sliding pair (23) is arranged between the two side plates (22) and the two sides of the gear train lifting slider (16), and the second sliding pair (23) is used to guide the gear train lifting slider (16) to slide and rise during the lifting process of the gear train lifting slider (16).

8. The four-way shuttle vehicle according to claim 1 or 5, characterized in that: The four-way shuttle (1000) also includes two bearing seats (24). Each bearing seat (24) is arranged corresponding to an equilateral triangle cam (13) for equipment and an equilateral triangle cam (14) for a gear train on a side close to the camshaft (12), and each bearing seat (24) is used for bearing support of the camshaft (12).

9. The four-way shuttle vehicle according to claim 8, characterized in that: The track-changing wheel set (17) is arranged on each of the two lateral outer sides of the accommodating cavity (161) of the wheel train lifting slider (16); The four-way shuttle vehicle (1000) further comprises a second driving device (25), a first bevel gear (26), a second bevel gear (27), a third bevel gear (28), a first output shaft (29), a second output shaft (30), a first transmission mechanism (31), a second transmission mechanism (32), a fixed wheel set (33), and a connecting long shaft (34); The second driving device (25) is connected to the third bevel gear (28), and the second driving device (25) is used to drive the third bevel gear (28) to rotate; The second bevel gear (27) and the third bevel gear (28) are perpendicular to each other on the axis, and the second bevel gear (27) and the third bevel gear (28) are meshed with each other; The first bevel gear (26) and the third bevel gear (28) are parallel on the axis, the first bevel gear (26) and the third bevel gear (28) are spaced apart from each other, the first bevel gear (26) and the third bevel gear (28) are connected via the second bevel gear (27), and the first bevel gear (26) and the third bevel gear (28) are respectively meshed with the second bevel gear (27); The first output shaft (29) is connected to the first bevel gear (26); The second output shaft (30) is connected to the second bevel gear (27); The first transmission mechanism (31) connects the first output shaft (29) and a track-changing wheel set (17) disposed on one of the lateral outer sides of a accommodating cavity (161) of a wheel train lifting slider (16); The second transmission mechanism (32) connects the second output shaft (30) and the fixed wheel set (33); The fixed wheel set (33) can travel on two tracks (3000) perpendicular to the track (3000) of the track-changing wheel set (17); The connecting long shaft (34) is connected to the track-changing wheel set (17) on the other lateral outer side of the accommodating cavity (161) of the wheel train lifting slider (16).

10. The four-way shuttle vehicle according to claim 9, characterized in that: The first transmission mechanism (31) comprises a first long shaft (311) and a first gear chain assembly (312). The first long axis (311) is parallel to the first output axis (29) and spaced apart from the first output axis (29), and both ends of the first long axis (311) are respectively connected to a track-changing wheel set (17); A first gear chain assembly (312) connects the first output shaft (29) and the first long shaft (311); The second transmission mechanism (32) comprises a second long shaft (321), a transition gear chain assembly (322) and two second gear chain assemblies (323); The second major axis (321) is parallel to the second output shaft (30) and is spaced apart from the second output shaft (30), The transition gear chain assembly (322) connects the second output shaft (30) and the second long shaft (321); The two second gear chain assemblies (323) respectively connect the two ends of the second long shaft (321) to the corresponding fixed wheel assemblies (33).

11. The four-way shuttle vehicle according to claim 10, characterized in that: The four-way shuttle (1000) further comprises four side panels (22), wherein the four side panels (22) form a rectangular frame, wherein two opposite side panels (22) allow the first long axis (311) and the connecting long axis (34) to pass through, and the other two opposite side panels (22) allow the second long axis (321) to pass through.

12. The four-way shuttle vehicle according to claim 9, characterized in that: The first driving device (11) and the second driving device (25) are both motors.

13. The four-way shuttle according to claim 1, characterized in that: The four-way shuttle (1000) further includes a housing (35); The shell (35) is connected to the top of the equipment lifting slider (15) and can be raised and lowered along with the equipment lifting slider (15).

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