Walking transmission mechanism, four-way shuttle vehicle and carrying system

Abstract

The utility model provides a walking transmission mechanism, a four-way shuttle vehicle and a carrying system.The walking transmission mechanism comprises a main body support, two first walking assemblies, two second walking assemblies and a driving device, and the two first walking assemblies are arranged on the two first sides of the main body support correspondingly and connected through a first transmission shaft; the two second walking assemblies are arranged on the two second sides of the body support correspondingly and connected through the second transmission shaft, the driving device is connected with the first transmission shaft to drive the first transmission shaft to rotate, the first transmission shaft is connected with the second transmission shaft through the gear transmission set, and the gear transmission set is provided with a first output structure and a second output structure. One of the first output structure and the second output structure is connected with the first walking assembly, and the other one is connected with the second walking assembly. According to the shuttle vehicle, the synchronism in the walking process can be improved, the formed return stroke difference is reduced, then the transmission precision of the shuttle vehicle can be improved, in addition, the service life of the shuttle vehicle can be prolonged, and the maintenance cost of the shuttle vehicle can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of cargo transportation, and in particular, to a traveling transmission mechanism, a four-way shuttle vehicle and a handling system. Background Art

[0002] The four-way shuttle is a fully automatic rail transporter used in densely stored stereoscopic warehouses. Due to the compact transmission structure of the four-way shuttle, it is generally moved in two directions by one motor. Since the main lane walking components and the sub-lane walking components have displacement movement up and down, the transmission from the motor to the sub-lane and main lane drive shafts is generally connected by a chain. The four-way shuttle needs to reciprocate and control the relative position of the main lane walking components and the sub-lane walking components. The chain drive cannot keep the chain in a state of tension and gaplessness at all times. During the walking process, a return difference will be formed, affecting the running accuracy of the shuttle. In addition, there are problems such as low service life and high maintenance cost. Utility Model Content

[0003] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present application, a travel transmission mechanism is provided. The travel transmission mechanism includes a main frame, two sets of first travel components, two sets of second travel components and a driving device, the main frame has two first sides arranged along the first direction and two second sides arranged along the second direction, and the first direction and the second direction meet the vertical condition; the two sets of first travel components are respectively arranged on the two first sides of the main frame, and the two sets of first travel components are connected through a first transmission shaft; the two sets of second travel components are respectively arranged on the two second sides of the main frame, and the two sets of second travel components are connected through a second transmission shaft; the driving device is connected to the first transmission shaft to drive the first transmission shaft to rotate, and the first transmission shaft is connected to the second transmission shaft through a gear transmission group; wherein the gear transmission group has a first output structure and a second output structure, one of the first output structure and the second output structure is connected to the first travel component to drive the first travel component to move along the second direction, and the other is connected to the second travel component to drive the second travel component to move along the first direction.

[0004] Exemplarily, the first output structure includes a first bevel gear, and the second output structure includes a second bevel gear. The second bevel gear is meshed with the first bevel gear so that the second output structure and the first output structure are synchronously driven.

[0005] Exemplarily, the first travel assembly has a travel input shaft, and the first bevel gear is coaxially fixed to the travel input shaft or the first transmission shaft; the second bevel gear is coaxially fixed to the second transmission shaft.

[0006] Exemplarily, the gear transmission group further includes a first gear and a second gear, wherein the first gear is coaxially fixed to the first transmission shaft, and the second gear is coaxially fixed to the travel input shaft and meshes with the first gear.

[0007] Exemplarily, the first traveling assembly includes a group of traveling wheel groups or two groups of traveling wheel groups symmetrically distributed on both sides of the gear transmission group, each group of traveling wheel groups includes two first traveling wheels rotatably connected to the main body support; wherein, the rotating shaft of the first traveling wheel in each group of traveling wheel groups close to the first transmission shaft constitutes the traveling input shaft.

[0008] Exemplarily, sprockets are coaxially fixed on the rotating shafts of the two first traveling wheels in each traveling wheel group, and the two sprockets in the same traveling wheel group are connected by a chain transmission so that the two first traveling wheels in the same traveling wheel group rotate synchronously.

[0009] Exemplarily, a lifting mechanism is provided between the main support and the second traveling assembly, and the second traveling assembly can be lifted and lowered in a third direction relative to the main support through the lifting mechanism, and the third direction, the second direction and the first direction all meet vertical conditions.

[0010] Exemplarily, the second traveling assembly includes at least two second traveling wheels, and at least two second transmission shafts are provided. The at least two second traveling wheels are respectively provided in a one-to-one correspondence with the at least two second transmission shafts, and the second transmission shaft is connected to the corresponding second traveling wheels through a universal coupling to drive the second traveling wheels to rotate.

[0011] According to another aspect of the present application, a four-way shuttle is provided, which comprises a frame and any one of the above travel transmission mechanisms, wherein the frame is fixedly arranged on a main body support.

[0012] According to another aspect of the present application, a transport system is provided. The transport system includes a track assembly and a four-way shuttle provided above; the track assembly includes a first track extending along the second direction and a second track extending along the first direction; wherein the first travel assembly is limited to move on the first track, and the second travel assembly is limited to move on the second track.

[0013] In the technical solution of the present application, a first transmission shaft for driving the first walking component and a second transmission shaft for driving the second walking component are connected together through a gear transmission group. The rigid transmission characteristics between the gears are utilized to drive the first walking component and the second walking component at the same time, which can improve the synchronization during the walking process, reduce the return difference formed, and thus improve the transmission accuracy of the transmission process. In addition, based on the reliability and stability of the gear transmission group, not only the service life of the shuttle car can be improved, but also the maintenance cost of the shuttle car can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The following drawings of the present application are used as part of the present application for understanding the present application. The drawings show the implementation methods of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0015] Figure 1 A top view of the travel transmission mechanism provided according to the present application;

[0016] Figure 2 for Figure 1 A schematic diagram of the structure of the walking mechanism along the MM section;

[0017] Figure 3 for Figure 1 Another structural schematic diagram of the gear transmission group in the walking mechanism shown;

[0018] Figure 4 for Figure 1 A schematic diagram of the partial structure of the walking mechanism shown;

[0019] Figure 5 for Figure 1 A three-dimensional view of the walking mechanism shown.

[0020] The above drawings include the following reference numerals:

[0021] 100, main frame; 110, first travel component; 111, travel input shaft; 120, second travel component; 121, lifting mechanism; 122, second travel wheel; 200, driving device; 210, motor; 220, reducer; 300, first transmission shaft; 400, second transmission shaft; 500, gear transmission group; 510, first bevel gear; 520, second bevel gear; 530, first gear; 540, second gear; 600, travel wheel group; 610, first travel wheel; 620, sprocket; 700, universal coupling. DETAILED DESCRIPTION

[0022] In the following description, a large amount of details are provided so that the present application can be thoroughly understood. However, it will be appreciated by those skilled in the art that the following description only exemplarily illustrates the preferred embodiments of the present application, and the present application can be implemented without one or more such details. In addition, in order to avoid confusion with the present application, some technical features well known in the art are not described in detail.

[0023] In order to thoroughly understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art. The preferred implementation of the present application is described in detail below, but in addition to these detailed descriptions, the present application may also have other implementations.

[0024] The embodiment of the present application provides a travel transmission mechanism, which is mainly used in four-way shuttle vehicles, and can also be used in other cargo transport vehicles.

[0025] Combined with reference Figures 1 to 5 The travel transmission mechanism includes a main frame 100, two sets of first travel components 110, two sets of second travel components 120 and a driving device 200. The main frame 100 is a frame-shaped structure for supporting the first travel component 110, the second travel component 120 and the driving device 200. The main frame 100 has a first direction (such as Figure 1 The two first sides arranged along the X direction (as shown) and the second side arranged along the second direction (as shown Figure 1 The two second sides (in the Y direction shown in the figure) of the main frame 100 are arranged, and the first direction and the second direction meet the vertical condition. Two sets of first walking components 110 are respectively arranged on the two first sides of the main frame 100, and the two sets of first walking components 110 are connected through the first transmission shaft 300. Two sets of second walking components 120 are respectively arranged on the two second sides of the main frame 100, and the two sets of second walking components 120 are connected through the second transmission shaft 400, so that the two sets of second walking components 120 can be synchronously driven. The driving device 200 is connected to the first transmission shaft 300 to drive the first transmission shaft 300 to rotate, and the first transmission shaft 300 is connected to the second transmission shaft 400 through the gear transmission group 500. Among them, the first transmission shaft 300 and the second transmission shaft 400 are both rotatably connected to the main support 100, and the gear transmission group 500 has a first output structure and a second output structure. One of the first output structure and the second output structure is connected to the first walking component 110 to drive the first walking component 110 to move along the second direction Y, and the other is connected to the second walking component 120 through the second transmission shaft 400 to drive the second walking component 120 to move along the first direction X.

[0026] The travel transmission mechanism provided by the present application starts the driving device 200 to drive the first transmission shaft 300 to rotate. Based on the action of the gear transmission group 500 connected between the first transmission shaft 300 and the second transmission shaft 400, the second transmission shaft 400 rotates synchronously with the first transmission shaft 300. The driving device 200 can simultaneously drive the two sets of first travel components 110 connected to the gear transmission group 500 and the two sets of second travel components 120 connected to the second transmission shaft 400, thereby improving the synchronization of the first travel component 110 and the second travel component 120, reducing the return difference formed during the movement of the first travel component 110 and the second travel component 120, and thus improving the transmission accuracy of the transmission process. In addition, based on the setting of the gear transmission group 500, it can also save structural space and reduce transmission noise.

[0027] See again Figure 1The first output structure can be connected to the first traveling assembly 110 to drive the first traveling assembly 110 to move the traveling transmission mechanism along the second direction Y. The second output structure can be connected to the second traveling assembly 120 through the second transmission shaft 400 to drive the second traveling assembly 120 to move the traveling transmission mechanism along the first direction X.

[0028] In another embodiment of the present application, the first output structure can be connected to the second travel assembly 120 through the second transmission shaft 400 to drive the second travel assembly 120 to move the travel transmission mechanism along the first direction X. The second output structure can be connected to the first travel assembly 110 to drive the first travel assembly 110 to move the travel transmission mechanism along the second direction Y.

[0029] The driving device 200 may adopt various types of driving devices 200 known in the art or that may appear in the future, including but not limited to motors. In some embodiments, the driving device 200 may include a motor 210 and a reducer 220, the motor 210 may be connected to the reducer 220, the reducer 220 may be connected to the first transmission shaft 300, and the driving motor 210 may drive the first transmission shaft 300 to rotate through the reducer 220.

[0030] The gear transmission group 500 may include one or more combinations of spur gears, helical gears or bevel gears, and the first transmission shaft 300 and at least some of the gears in the gear transmission group 500 are on different axes. The same driving device 200 can drive the first travel assembly 110 and the second travel assembly 120 in different directions.

[0031] In some embodiments, the first output structure of the gear transmission group 500 includes a first bevel gear 510, and the second output structure of the gear transmission group 500 includes a second bevel gear 520, and the first bevel gear 510 and the second bevel gear 520 are meshed. Through the meshing arrangement of the first bevel gear 510 and the second bevel gear 520, the same driving device 200 can drive the first travel assembly 110 and the second travel assembly 120 in different directions. In addition to the first bevel gear 510, the first output structure can also include one or a combination of spur gears, helical gears, etc., or various other forms of gears that may appear in the future, as long as the purpose of driving the first travel assembly 110 can be achieved. In addition to the second bevel gear 520, the second output structure can also include one or a combination of spur gears, helical gears, etc., or various other forms of gears that may appear in the future can be used, as long as the purpose of driving the second travel assembly 120 can be achieved.

[0032] Combined with reference Figure 1 and Figure 2In some embodiments, the first travel component 110 has a travel input shaft 111, a first bevel gear 510 is coaxially fixed to the travel input shaft 111, and a second bevel gear 520 is coaxially fixed to the second transmission shaft 400. When the first transmission shaft 300 rotates, the second transmission shaft 400 is driven to rotate by the meshing of the first bevel gear 510 and the second bevel gear 520. The travel input shaft 111 and the first transmission shaft 300 are connected by gear transmission. In order to ensure the smooth meshing of the first bevel gear 510 and the second bevel gear 520, the travel input shaft 111 and the second transmission shaft 400 are in the same plane. Figure 3 In some embodiments, the first bevel gear 510 is coaxially fixed to the first transmission shaft 300, and the second bevel gear 520 is coaxially fixed to the second transmission shaft 400. When the first transmission shaft 300 rotates, the second transmission shaft 400 is driven to rotate by the meshing of the first bevel gear 510 and the second bevel gear 520. The first transmission shaft 300 and the second transmission shaft 400 are connected by gear transmission. In order to ensure the smooth meshing of the first bevel gear 510 and the second bevel gear 520, the first transmission shaft 300 and the second transmission shaft 400 are in the same plane.

[0033] See again Figure 2 In some embodiments, the gear transmission group 500 may further include a first gear 530 and a second gear 540. The first gear 530 is coaxially fixed to the first transmission shaft 300, and the second gear 540 is coaxially fixed to the travel input shaft 111. The first gear 530 and the second gear 540 are meshed with each other, and the first transmission shaft 300 and the travel input shaft 111 are located on different transmission axes. Based on the meshing arrangement of the first gear 530 and the second gear 540, the first transmission shaft 300 can drive the travel input shaft 111 to rotate. Figure 1 , Figure 2 and Figure 4 In some embodiments, the first walking assembly 110 includes two groups of walking wheel groups 600 symmetrically distributed on both sides of the gear transmission group 500, and each group of walking wheel groups 600 may include two first walking wheels 610 rotatably connected to the main frame 100. Among them, the rotating shaft of the first walking wheel 610 on the side close to the first transmission shaft 300 in each group of walking wheel groups 600 constitutes the walking input shaft 111. The rotating shaft of the first walking wheel 610 on the side close to the first transmission shaft 300 in each group of walking wheel groups 600 is connected to the second gear 540, and the first walking wheel 610 can be driven to rotate by the meshing of the second gear 540 and the first gear 530, so that the first walking assembly 110 moves along the second direction.

[0034] See again Figure 2Each first travel assembly 110 includes two travel wheel groups 600, that is, there are two input ends on the first travel assembly 110, and the rotation axes of the two first travel wheels 610 close to the first transmission shaft 300 are respectively used as the travel input shafts 111 in the two travel wheel groups 600, and the two travel input shafts 111 are coaxially fixed with second gears 540, and the two second gears 540 are symmetrically distributed on both sides of the first gear 530, and are both meshed with the first gear 530. In this way, the meshing of the two symmetrically distributed second gears 540 and the first gear 530 can be utilized, so that the rotating first gear 530 can simultaneously drive the two first travel wheels 610 in the two travel wheel groups 600 to rotate, so that the first travel assembly 110 moves along the second direction Y.

[0035] In some embodiments, the two first traveling wheels 610 in each traveling wheel group 600 are driven by a chain. Specifically, a sprocket 620 is coaxially fixed on the rotating shaft of the two first traveling wheels 610 in each traveling wheel group 600. The two sprockets 620 in the same traveling wheel group 600 are connected by a chain transmission so that the two first traveling wheels 610 in the same traveling wheel group 600 rotate synchronously. When the driving device 200 is started, the rotating shaft of one of the two first traveling wheels 610 is used as the traveling input shaft 111 to rotate with the first transmission shaft 300 under the action of the gear transmission group 500. By fixing the sprocket 620 on the rotating shaft of the first traveling wheel 610 and connecting them together by chain transmission, the other first traveling wheel 610 can rotate with the first traveling wheel 610 as the traveling input shaft 111, so as to drive the two first traveling wheels 610 in the same traveling wheel group 600 at the same time, so that each first traveling wheel 610 can provide traction for the traveling transmission mechanism, so that the first traveling assembly 110 can run more stably. In this way, the entire travel transmission mechanism is mainly gear-driven and supplemented by chain transmission. When applied to a four-way shuttle vehicle, it can improve the parking positioning accuracy and save positioning time.

[0036] In an embodiment not shown, the first walking component 110 may also include only one set of walking wheel groups 600, that is, there is only one input end on the first walking component 110, so that the rotating axis of the first walking wheel 610 close to the first transmission shaft 300 is used as the walking input axis 111 and is coaxially fixed with the second gear 540. The second gear 540 can be engaged with the first gear 530 to make the rotating first gear 530 drive the first walking wheel 610 to rotate, so as to drive the first walking component 110 to move along the second direction Y.

[0037] See also Figure 5In some embodiments, a lifting mechanism 121 is provided between the main support 100 and the second travel assembly 120. The second travel assembly 120 can be lifted and lowered in the third direction Z relative to the main support 100 through the lifting mechanism 121. The third direction Z, the second direction Y and the first direction X meet the vertical condition. The lifting mechanism 121 can be one or more of a lifting assembly of a slider and a slide rail, a lifting assembly of a nut and a screw rod, a scissor-type lifting assembly, a gear and rack lifting assembly, etc., or can be used in various other forms that may appear in the future, as long as it can drive the second travel assembly 120 to move relative to the main support 100 along the third direction Z. In this way, by using the lifting mechanism 121 to drive the lifting and lowering of the second travel assembly 120, the first travel assembly 110 or the second travel assembly 120 can be switched to contact with the track or the road surface, and the driving device 200 can be used to make the entire travel transmission mechanism move along the first direction X or the second direction Y.

[0038] Combined with reference Figure 1 and Figure 5 In some embodiments, the second travel assembly 120 includes two second travel wheels 122, and the second transmission shaft 400 is provided with two. The two second travel wheels 122 are respectively provided in a one-to-one correspondence with the two second transmission shafts 400, and the second transmission shaft 400 is connected to the ends of the corresponding second travel wheels 122 through a universal coupling 700 to drive the second travel wheels 122 to rotate. The second transmission shaft 400 will rotate with the first transmission shaft 300 under the meshing of the first bevel gear 510 and the second bevel gear 520. The rotating second transmission shaft 400 can drive the correspondingly connected second travel wheels 122 to rotate through the universal coupling 700 to make the second travel assembly 120 move along the first direction X. In an embodiment not shown, the second travel assembly 120 may include three or even more than three second travel wheels 122, and the second transmission shaft 400 may also be provided with three or even more than three correspondingly.

[0039] In the embodiment of the present application, each set of the second walking assembly 120 can achieve the purpose of moving the entire walking transmission mechanism along the first direction X without the help of other supporting mechanisms based on the arrangement of at least two second walking wheels 122. The at least two second walking wheels 122 are arranged in a one-to-one correspondence with the at least two second transmission shafts 400, so that each second walking wheel 122 can provide traction for the walking transmission mechanism, making the second walking assembly 120 run more stably.

[0040] According to another aspect of the present application, a four-way shuttle is provided. The four-way shuttle includes a frame and any one of the travel transmission mechanisms provided above, and the frame is fixedly arranged on the main frame 100. The frame has a load-bearing function, and the frame can be used to carry goods. The first travel assembly 110 can drive the four-way shuttle to move along the second direction Y, and the second travel assembly 120 can drive the four-way shuttle to move along the first direction X to transport the goods to a designated area.

[0041] According to another aspect of the present application, a transport system is provided, which includes a track assembly and a four-way shuttle provided above. The track assembly includes a first track extending along the second direction Y and a second track extending along the first direction X; wherein the first walking assembly 110 is limited to move on the first track, and the second walking assembly 120 is limited to move on the second track. The lifting mechanism 121 can be used to switch to the first walking assembly 110 to contact the first track, and the first walking assembly 110 can be driven to move along the first track by the driving device 200, or the second walking assembly 120 can be switched to contact the second track, and the second walking assembly 120 can be driven to move along the second track by the driving device 200, so that the goods can be transported to the designated area.

[0042] In the description of the present application, it should be understood that the orientation or positional relationship indicated by directional words such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "vertical", "horizontal", "top", "bottom", etc. is usually based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0043] For ease of description, regional relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figure and other components or features. It should be understood that regional relative terms include not only the orientation of the components as described in the figure, but also different orientations in use or operation. For example, if the components in the accompanying drawings are inverted as a whole, the components "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Therefore, the exemplary term "above" may include both "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this article is intended to include all of these situations.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, parts, components and / or combinations thereof.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0046] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application. The scope of protection of the present application is defined by the attached claims and their equivalents.

Claims

1. A travel transmission mechanism, characterized in that: include: The main frame has two first sides arranged along a first direction and two second sides arranged along a second direction, and the first direction and the second direction meet a perpendicular condition; Two sets of first walking assemblies, the two sets of the first walking assemblies are respectively arranged on the two first sides of the main frame, and the two sets of the first walking assemblies are connected through a first transmission shaft; Two sets of second walking assemblies, the two sets of the second walking assemblies are respectively arranged on the two second sides of the main frame, and the two sets of the second walking assemblies are connected by a second transmission shaft; as well as A driving device, the driving device is connected to the first transmission shaft to drive the first transmission shaft to rotate, and the first transmission shaft is connected to the second transmission shaft through a gear transmission group; Wherein, the gear transmission group has a first output structure and a second output structure, one of the first output structure and the second output structure is connected to the first walking component to drive the first walking component to move along the second direction, and the other is connected to the second walking component to drive the second walking component to move along the first direction.

2. The travel transmission mechanism according to claim 1, characterized in that: The first output structure includes a first bevel gear, and the second output structure includes a second bevel gear. The second bevel gear is meshed with the first bevel gear so that the second output structure and the first output structure are synchronously driven.

3. The travel transmission mechanism according to claim 2, characterized in that: The first travel component has a travel input shaft, the first bevel gear is coaxially fixed to the travel input shaft or the first transmission shaft, and the second bevel gear is coaxially fixed to the second transmission shaft.

4. The travel transmission mechanism according to claim 3, characterized in that: The gear transmission group further includes a first gear and a second gear, wherein the first gear is coaxially fixed to the first transmission shaft, and the second gear is coaxially fixed to the travel input shaft and meshes with the first gear.

5. The travel transmission mechanism according to claim 3, characterized in that: The first walking assembly includes a set of walking wheel groups or two sets of walking wheel groups symmetrically distributed on both sides of the gear transmission group, and each set of the walking wheel groups includes two first walking wheels rotatably connected to the main frame; Wherein, the rotating shaft of the first traveling wheel on the side close to the first transmission shaft in each group of the traveling wheel groups constitutes the traveling input shaft.

6. The travel transmission mechanism according to claim 5, characterized in that: A sprocket is coaxially fixed on the rotating shaft of the two first traveling wheels in each group of the traveling wheel groups, and the two sprockets in the same group of the traveling wheel groups are connected by a chain transmission so that the two first traveling wheels in the same group of the traveling wheel groups rotate synchronously.

7. The travel transmission mechanism according to claim 1, characterized in that: A lifting mechanism is provided between the main support and the second traveling assembly, and the second traveling assembly can be lifted and lowered in a third direction relative to the main support through the lifting mechanism, and the third direction, the second direction and the first direction all meet vertical conditions.

8. The travel transmission mechanism according to claim 7, characterized in that: The second traveling assembly includes at least two second traveling wheels, and the second transmission shafts are provided with at least two. The at least two second traveling wheels are respectively provided in a one-to-one correspondence with the at least two second transmission shafts, and the second transmission shaft is connected to the corresponding second traveling wheels through a universal coupling to drive the second traveling wheels to rotate.

9. A four-way shuttle vehicle, characterized in that: It comprises a vehicle frame and a travel transmission mechanism as described in any one of claims 1 to 8, wherein the vehicle frame is fixedly arranged on the main body support.

10. A transport system, characterized in that: comprising a track assembly and the four-way shuttle as claimed in claim 9; The track assembly includes a first track extending along the second direction and a second track extending along the first direction; Wherein, the first traveling component is limited to move on the first track, and the second traveling component is limited to move on the second track.

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