Four-way shuttle vehicle and warehouse storage system

Abstract

The utility model provides a four-way shuttle vehicle and a warehouse storage system. The four-way shuttle vehicle comprises a first support, a first roller set, a second support, a second roller set and a jacking mechanism. The first roller group comprises a plurality of first rollers which are axially parallel in a horizontal plane, the first rollers are arranged on the first bracket, and at least part of the first rollers are provided with first hub motors. The second roller group comprises a plurality of second rollers which are axially parallel in the horizontal plane, are perpendicular to the axial direction of the first rollers and are arranged on the second bracket, and at least part of the second rollers are provided with second hub motors. The jacking mechanism is arranged between the first support and the second support and can drive the second support to move in the vertical direction relative to the first support. According to the embodiment of the utility model, a power system is simplified, light weight and miniaturization of the four-way shuttle vehicle are facilitated, the transmission efficiency is improved, the internal structure arrangement of the four-way shuttle vehicle is more flexible, and meanwhile, modularization of parts of the four-way shuttle vehicle is facilitated.

Description

Technical Field

[0001] The utility model generally relates to the technical field of automated warehousing and transportation, in particular to a four-way shuttle vehicle and a warehouse storage system. Background Art

[0002] The four-way shuttle is an automated storage and transportation equipment that can move along a preset track in four directions within a plane: front, back, left, and right. The four-way shuttle is usually equipped with two sets of drive devices, which are used to achieve drive in the front and back directions and left and right directions respectively. This setting requires two sets of electric motors in the four-way shuttle, as well as a transmission mechanism and a reduction box that cooperate with the motors to drive multiple drive wheels. At the same time, the four-way shuttle also needs to be configured to be able to move vertically to achieve direction switching. Therefore, a motor and a transmission mechanism that can output vertical strokes are also required in the four-way shuttle.

[0003] The existing four-way shuttle has a complex power system with multiple intersecting drive shafts and transmission shafts. The power system design is difficult and will affect the arrangement of components inside the four-way shuttle, and will not be conducive to reducing the overall height of the four-way shuttle. At the same time, the complex power system will also lead to increased costs and will not be conducive to improving the reliability and transmission efficiency of the four-way shuttle.

[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] First bracket;

[0007] A first roller group, the first roller group comprising a plurality of first rollers whose axes are parallel in a horizontal plane, the first rollers being arranged on the first bracket, and at least some of the first rollers being provided with a first hub motor;

[0008] Second bracket;

[0009] a second roller group, the second roller group comprising a plurality of second rollers whose axes are parallel in a horizontal plane, and the axes of the second rollers are perpendicular to the axes of the first rollers, the second rollers are arranged on the second bracket, and at least some of the second rollers are provided with second hub motors; and

[0010] A lifting mechanism is disposed between the first bracket and the second bracket, and is configured to drive the second bracket to move in a vertical direction relative to the first bracket so that the lower edge of the second roller is higher or lower than the lower edge of the first roller.

[0011] According to one aspect of the utility model, the plurality of first rollers in the first roller group are arranged in two rows, each row includes a plurality of first rollers, and at least one of the plurality of first rollers in each row is provided with the first hub motor;

[0012] The plurality of second rollers in the second roller group are arranged in two columns, each column includes a plurality of second rollers, and at least one of the plurality of second rollers in each column is provided with the second hub motor.

[0013] According to one aspect of the utility model, the second bracket comprises:

[0014] A lifting beam, wherein the lifting beam is fixedly connected to the lifting mechanism;

[0015] A first connection portion is disposed between the lifting beam and the first bracket and is fixedly connected to the lifting beam. A guide mechanism is disposed between the first connection portion and the first bracket, and the guide mechanism is configured to limit the lifting beam to move in a vertical direction.

[0016] According to one aspect of the utility model, the second bracket includes at least two lifting beams, and the at least two lifting beams are arranged in parallel; the at least two lifting beams are fixedly connected to the same lifting mechanism, or are respectively fixedly connected to one lifting mechanism.

[0017] According to one aspect of the utility model, the second bracket further includes:

[0018] at least two second connection parts, wherein the second connection parts are fixedly connected to the lifting beam; and

[0019] A third connecting portion, wherein the third connecting portion and the at least two second connecting portions are movably connected.

[0020] According to one aspect of the utility model, the first connection part and some of the at least two second connection parts are hinged to the third connection part; the first connection part and some of the at least two second connection parts are connected to the third connection part through a slide slot hole.

[0021] According to one aspect of the utility model, the four-way shuttle vehicle further includes:

[0022] A stabilizing mechanism is movably connected to the first bracket and the second bracket, and the stabilizing mechanism is arranged along the extension direction of the lifting beam and is configured to keep the lifting beam horizontal.

[0023] According to one aspect of the utility model, the stabilizing mechanism is a double parallelogram structure.

[0024] According to one aspect of the utility model, the lifting mechanism includes a driving source and a transmission member, and the transmission member is any one of a lifting chain, a cam or an eccentric wheel.

[0025] According to one aspect of the utility model, the four-way shuttle vehicle further includes:

[0026] A bearing part is arranged on the second bracket, and a pressure sensor is arranged between the bearing part and the second bracket.

[0027] According to one aspect of the utility model, the utility model also includes a warehouse storage system, the warehouse storage system comprising:

[0028] at least one four-way shuttle as previously described;

[0029] a first track along which a first roller set in the four-way shuttle is configured to roll; and

[0030] A second track, wherein the second roller group in the four-way shuttle is configured to be able to roll along the second track, and the second track is perpendicular to the first track.

[0031] Compared with the prior art, the embodiment of the utility model provides a four-way shuttle, which uses a first hub motor and a second hub motor to directly drive the four-way shuttle to move in two mutually perpendicular directions. There is no need to set a cross transmission shaft in the four-way shuttle, which simplifies the power system and can effectively reduce the structural size of the four-way shuttle, which is conducive to the lightweight and miniaturization of the four-way shuttle, improves the transmission efficiency, and can make the internal structure layout of the four-way shuttle more flexible. This embodiment is also conducive to realizing the modularization of the parts of the four-way shuttle, reducing the failure rate, and simplifying the assembly process, which can reduce the assembly and maintenance costs. The utility model also includes an embodiment of a warehouse storage system, which uses the aforementioned four-way shuttle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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:

[0033] Figure 1 It is a structural schematic diagram of a four-way shuttle in one embodiment of the utility model;

[0034] Figure 2A and Figure 2B It is a cross-sectional view of a four-way shuttle in different directions in one embodiment of the utility model;

[0035] Figure 3 It is a schematic diagram of the coordination of the first connecting part, the second connecting part and the third connecting part in one embodiment of the utility model;

[0036] Figure 4 It is a schematic diagram of the first track and the second track in one embodiment of the utility model. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] In the present invention, 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 below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] 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.

[0042] The following describes embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0043] Figure 1-2B The structure of the four-way shuttle 100 according to the embodiment of the utility model is shown below. Figure 1-2B The four-way shuttle 100 will be described.

[0044] like Figure 1 As shown, the four-way shuttle 100 includes a first bracket 110, a first roller group 120, a second bracket 130, a second roller group 140 and a lifting mechanism 150. The first bracket 110 and the second bracket 130 can, for example, constitute the overall frame structure of the four-way shuttle 100. Preferably, as shown in FIG. Figure 1 As shown, the four-way shuttle 100 is roughly a rectangular parallelepiped structure, wherein the first bracket 110 and the second bracket 130 can be arranged in a roughly rectangular parallelepiped shape. The second bracket 130 can be nested with the first bracket 110, for example, the second bracket 130 is arranged inside or outside the first bracket 110.

[0045] Furthermore, the first bracket 110 includes, for example, a bottom plate, which may be an integrated flat plate structure or a hollow grid structure. Providing the bottom plate can improve the structural stability of the first bracket 110 .

[0046] The first roller group 120 includes a plurality of first rollers 121, wherein the axial directions of the plurality of first rollers 121 are parallel to each other, and the rotation axes of the plurality of first rollers 121 are all located in a horizontal plane, and the horizontal plane in this embodiment refers to the horizontal plane when the four-way shuttle 100 is placed horizontally. The rotation axes of the plurality of first rollers 121 can be located in the same horizontal plane, or in different horizontal planes, for example, the lower edges of the plurality of first rollers 121 are aligned, and the plurality of first rollers 121 can be set to different sizes. The plurality of first rollers 121 preferably have the same size, and the rotation axes are located in the same horizontal plane.

[0047] A plurality of first rollers 121 are disposed on the first bracket 110, and at least some of the first rollers 121 are provided with first hub motors 122. Figure 1 As shown, in this embodiment, the axes of the plurality of first rollers 121 are parallel and are all arranged on the first bracket 110. When all or part of the first rollers 121 rotate under the drive of the first hub motor 122, the first rollers 121 can drive the four-way shuttle 100 to move along a direction perpendicular to the rotation axis of the first rollers 121 in the horizontal plane. For the convenience of description below, the direction in which the first rollers 121 drive the four-way shuttle 100 to move is defined as the X direction, the direction of the rotation axis of the first rollers 121 is defined as the Y direction, and the vertical direction is the Z direction.

[0048] The second roller group 140 includes a plurality of second rollers 141, which are arranged so that their axes are parallel to each other in a horizontal plane, and the axes of the second rollers 141 and the axes of the first rollers 121 are perpendicular to each other. Figure 1 As shown, the axial direction of the first roller 121 is the Y direction, and the axial direction of the second roller 141 is the X direction. Similarly, the rotation axes of the plurality of second rollers 141 may be located in the same horizontal plane or in different horizontal planes. The plurality of second rollers 141 preferably have the same size, and the rotation axes are located in the same horizontal plane.

[0049] The plurality of second rollers 141 are all disposed on the second bracket 130, and at least some of the second rollers 141 are provided with second hub motors 142. The axial directions of the plurality of second rollers 141 are all in the Y direction, and when the second hub motors 142 in some of the second rollers 141 drive the second rollers 141 to rotate, the second rollers 141 can drive the four-way shuttle 100 to move along the Y direction.

[0050] The lifting mechanism 150 is disposed between the first bracket 110 and the second bracket 130, and the lifting mechanism 150 is configured to drive the second bracket 130 to move in a vertical direction relative to the first bracket 110, so that the lower edge of the second roller 141 is higher or lower than the lower edge of the first roller 121. The specific structure of the lifting mechanism 150 will be described in subsequent embodiments.

[0051] For example, the second bracket 130 is arranged above the first bracket 110, the lower edge of the second roller 141 is higher than the lower edge of the first roller 121, the first roller 121 contacts the bearing structure, the second roller 141 is suspended relative to the bearing structure, and the first roller 121 drives the four-way shuttle 100 to move along the X direction. When the lifting mechanism 150 drives the second bracket 130 to move along the Z direction so that the second bracket 130 is close to the first bracket 110, the second roller 141 moves along with the second bracket 130, and the lower edge of the second roller 141 gradually decreases. When the lower edge of the second roller 141 is lower than the lower edge of the first roller 121, the second roller 141 contacts the bearing structure, and the first roller 121 is suspended relative to the bearing structure. At this time, the first roller 121 cannot drive the four-way shuttle 100 to move, and the four-way shuttle 100 is driven by the second roller 141 to move along the Y direction. Correspondingly, the embodiment in which the second bracket 130 is arranged below the first bracket 110 is similar. The four-way shuttle 100 can be reversed by using the lifting mechanism 150 so that the four-way shuttle 100 can have a two-dimensional range of motion in a horizontal plane.

[0052] In this embodiment, the first wheel hub motor 122 is used to drive at least part of the first roller 121, and the second wheel hub motor 142 is used to drive at least part of the second roller 141. There is no need to set a driving and transmission device inside the four-way shuttle 100, which can greatly simplify the internal structure of the four-way shuttle 100, and thus is conducive to the lightweight and miniaturization of the four-way shuttle 100. For example, there is no need to set mutually intersecting transmission shafts, which can reduce the overall height of the four-way shuttle 100. In addition, the first roller 121 and the first wheel hub motor 122, the second roller 141 and the second wheel hub motor 142 in this embodiment can be integrated into a power module, and assembled with the first bracket 110 and the second bracket 130 in units of modules, which is conducive to reducing the difficulty and cost of assembly. At the same time, when the power module is damaged, it can also be quickly replaced and repaired, which can reduce the difficulty and cost of repair.

[0053] In a preferred embodiment of the present invention, Figure 2AAs shown, the four-way shuttle 100 runs in conjunction with tracks, for example, tracks are set along the X direction and the Y direction, and the four-way shuttle 100 can move on the tracks in the X direction and the Y direction to reach different working positions. Preferably, the track in the X direction can be set as two parallel tracks, and the track in the Y direction can also be set as two parallel tracks.

[0054] Correspondingly, such as Figure 1 As shown in , the first rollers 121 in the first roller group 120 are arranged in two rows, which can correspond to the two parallel tracks in the X direction. Each row of first rollers 121 includes a plurality of first rollers 121, for example Figure 1 The two first rollers 211 shown in the figure may also be more, such as three or four, which can reduce the pressure on the track. At least one of the first rollers 121 in each column is provided with a first hub motor 122, such as Figure 1 As shown in , each column includes two first rollers 121. The first hub motor 122 can be set in one of the two first rollers 121 in each column, or in both first rollers 121. Among the four first rollers 121 in two columns, the first hub motor 122 can be set in the same row of first rollers 121 in the X direction, for example Figure 1 The two first rollers 121 on the lower right side of the middle portion may also be arranged crosswise, for example, Figure 1 The first hub motors 122 are arranged in the left and right first rollers 121 as shown in the figure, and the first hub motors 122 may also be arranged in three or four first rollers 121 .

[0055] Similarly, in this embodiment, the plurality of second rollers 141 in the second roller group 140 are arranged in two rows, each row of second rollers 141 includes a plurality of second rollers 141, and at least one second roller 141 in each row of the plurality of second rollers 141 is provided with a second hub motor 142. Specifically, Figure 2B As shown in Figure 2B The second roller 141 on the left side is provided with a second hub motor 142. Figure 2B The second wheel hub motor 142 is not provided in the second wheel hub motor 141 on the right side of the middle, and it is a driven wheel. For example, the four-way shuttle 100 includes four second wheels 141 arranged in two rows, each row including two second wheels 141, and among the four second wheels 141, the second wheel hub motor 142 can be provided in any one or two second wheels 141 in each row.

[0056] In the present embodiment, at least one first hub motor 122 is arranged in a row of first rollers 121, and at least one second hub motor 142 is arranged in a row of second rollers 141, which is beneficial to improving the uniformity of force on the four-way shuttle 100, avoiding the first roller 121 and the second roller 141 from offset relative to the track, and can reduce the lateral extrusion between the first roller 121, the second roller 141 and the track, thereby improving the structural stability and service life.

[0057] According to a preferred embodiment of the utility model, the second bracket 130 includes a lifting beam 131 and a first connecting portion 132, wherein the lifting beam 131 and the lifting mechanism 150 are fixedly connected, and the lifting mechanism 150 can be configured to drive the lifting beam 131 to move in the vertical direction.

[0058] The first connection portion 132 is disposed between the lifting beam 131 and the first bracket 110, and the first connection portion 132 is fixedly connected to the lifting beam 131. A guide mechanism 160 is disposed between the first connection portion 132 and the first bracket 110, for example, and the guide mechanism 160 can limit the movement direction of the lifting beam 131 so that the lifting beam 131 can only move in the vertical direction.

[0059] Specifically, for example, the guide mechanism 160 can be an oil-free bushing, a linear (vertical direction) guide rail, a guide wheel set, or other structures capable of achieving linear limiting, which is not limited in the present invention.

[0060] A plurality of guide mechanisms 160 may be provided at a plurality of locations in the four-way shuttle 100, for example Figure 1 The four-way shuttle 100 shown in the figure is roughly in the shape of a rectangular parallelepiped, and guide mechanisms 160 can be arranged near the four corners to improve the stability of the four-way shuttle 100 and prevent the second bracket 130 from tilting relative to the first bracket 110. The lifting beam 131 can be arranged in the middle of the four-way shuttle 100, and the first connecting portion 132 can extend to the edge of the four-way shuttle 100 to cooperate with the guide mechanism 160.

[0061] In a preferred embodiment of the present invention, the second bracket 130 includes at least two lifting beams 131, and the two lifting beams 131 are arranged in parallel, preferably arranged near the edge position of the four-way shuttle 100, so as to improve the structural strength of the second bracket 130 and help balance the center of gravity of the four-way shuttle 100.

[0062] At least two lifting beams 131 in this embodiment can be arranged to be fixedly connected to the same lifting mechanism 150, for example, through a transmission device, so that one lifting mechanism 150 can simultaneously drive multiple lifting beams 131 to move in the vertical direction. At least two lifting beams 131 can also be arranged to be fixedly connected to one lifting mechanism 150 respectively. When multiple lifting beams 131 are fixedly connected to multiple lifting mechanisms 150 respectively, it is preferred to synchronously control the multiple lifting mechanisms 150 so that the lifting beams 131 rise or fall to the same height to avoid the second bracket 130 from tilting.

[0063] According to a preferred embodiment of the utility model, the second bracket 130 further includes at least two second connection parts 133 and a third connection part 134. The second connection part 133 is fixedly connected to the lifting beam 131. Specifically, the lifting beam 131 and the second connection part 133 can be integrally formed, or fixed by welding, riveting, bonding, bolts, etc. Further, the first connection part 132 and the third connection part 134 can also be provided with reinforcing ribs to improve the overall strength of the second bracket 130.

[0064] The second bracket 130 also includes a third connection portion 134, wherein the third connection portion 134 is configured to be movably connected to the first connection portion 132 and at least two second connection portions 133. The second connection portion 133 is fixedly connected to the lifting beam 131, and the third connection portion 134 is connected to at least two second connection portions 133, so that the vertical strokes of two or more lifting beams 131 can be synchronized. At the same time, the third connection portion 134 is movably connected to the first connection portion 132 and at least two second connection portions 133, so as to absorb a part of the deformation caused by the different heights of the multiple lifting beams 131 in the vertical direction, and avoid excessive extrusion between the first connection portion 132 and the guide mechanism 160, which may cause structural damage.

[0065] In a preferred embodiment of the present invention, Figure 3 As shown, the first connection part 132 and some of the at least two second connection parts 133 are hinged to the third connection part 134, for example, hinged at the hinge hole 135. The first connection part 132 and some of the at least two second connection parts 133 are connected to the third connection part 134 through the slide slot hole 136, and the slide slot hole 136 can provide a displacement range in the horizontal direction and the vertical direction of the movement.

[0066] Specifically, the four-way shuttle 100 includes two lifting beams 131, two second connecting parts 133 are fixedly connected to the two lifting beams 131 respectively, and the third connecting part 134 is hinged to one of the second connecting parts 133 and the first connecting part 132. For example, one end of the third connecting part 134 is Figure 3The third connection part 134 is hinged at the hinge hole 135 on the left side. The other end of the third connection part 134 is also connected to another second connection part 133 and the first connection part 132 through a slide slot hole 136. When the heights of the two lifting beams 131 are not in the same horizontal plane, the third connection part 134 rotates and moves, allowing the two lifting beams 131 to be located at different heights, which can avoid excessive lateral pressure between the first connection part 132 and the guide mechanism 160, prevent structural damage, and increase service life. At the same time, it can also reduce the difficulty of assembly and the requirements for installation accuracy.

[0067] In a preferred embodiment of the present utility model, the four-way shuttle 100 further includes a stabilizing mechanism 170, which is movably connected to the first bracket 110 and the second bracket 130. The stabilizing mechanism 170 is arranged in the extension direction of the lifting beam 131, and is arranged to keep the lifting beam 131 horizontal. For example, the stabilizing mechanism 170 is an "X"-shaped structure hinged in the middle, and the upper and lower four ends are respectively hinged to the first bracket 110 and the second bracket 130, so that the lifting beam 131 is kept horizontal. The stabilizing mechanism 170 can prevent the lifting beam 131 from tilting during the lifting process. For example, when the load of the four-way shuttle 100 deviates and the pressure on one side is too large, the stabilizing mechanism 170 can keep the lifting beam 131 horizontal to prevent the four-way shuttle 100 from overturning.

[0068] Specifically, Figure 2B As shown, in this embodiment, the stabilizing mechanism 170 is a double parallelogram structure, and the upper and lower four ends are respectively hinged to the first bracket 110 and the second bracket 130, and the middle is hinged by a rigid connecting rod. Figure 2B The left or right side of the vehicle is tilted to improve the stability of the four-way shuttle 100 and prevent it from overturning due to uneven loading.

[0069] According to a preferred embodiment of the utility model, the lifting mechanism 150 includes a driving source (not shown in the figure) and a transmission member 151. The driving source can be an electric motor, and the transmission member 151 can be any one of a lifting chain, a cam or an eccentric wheel.

[0070] Specifically, Figure 2A As shown, the transmission member 151 is a lifting chain, and the driving source can move the lifting beam 131 along a straight line (vertical direction) through the lifting chain.

[0071] Or Figure 2BAs shown, the transmission member 151 is an eccentric wheel, and a slide groove can be correspondingly arranged on the second bracket 130 to match the eccentric wheel. When the eccentric wheel rotates, the slide groove is limited to make the lifting beam 131 rise or fall. Further, in order to limit the movement of the second bracket 130 in the horizontal direction, the guide mechanism 160 can be arranged to include a guide shaft 161 and a sliding bearing seat 162. The guide shaft 161 is arranged on the first bracket 110, and the sliding bearing seat 162 is arranged on the side of the lifting beam 131, and cooperates with the guide shaft 161 to limit the movement of the lifting beam 131 in the horizontal direction.

[0072] In a preferred embodiment of the present invention, Figure 2A As shown, the four-way shuttle 100 further includes a load-bearing portion 180, which is disposed on the second bracket 130, and a pressure sensor 181 is disposed between the load-bearing portion 180 and the second bracket. Objects to be transported by the four-way shuttle 100 can be placed on the load-bearing portion 180, and the pressure sensor 181 can be used to weigh the objects, thereby improving the automation of the four-way shuttle 100, reducing manual operations, improving accuracy, and providing more data support for the warehouse storage system.

[0073] The utility model also includes an embodiment of a warehouse storage system 1, which can be used for cargo transfer in a warehouse, such as outbound or inbound. The warehouse storage system 1 includes at least one four-way shuttle 100 ( Figure 4 not shown).

[0074] The warehouse storage system 1 also includes a first track 200 and a second track 300, wherein the first roller group 120 in the four-way shuttle 100 is configured to be able to roll along the first track 200, the second roller group 140 in the four-way shuttle 100 is configured to be able to roll along the second track 300, and the first track 200 and the second track 300 are perpendicular to each other in the horizontal direction.

[0075] The four-way shuttle 100 can move within the coverage of the first track 200 and the second track 300 , and can be changed direction by moving to a position where the first track 200 and the second track 300 intersect each other through the lifting mechanism 150 .

[0076] Finally, it should be noted that the above description is only an embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described 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 present utility model shall be included in the protection scope of the present utility model.

Claims

1. A four-way shuttle vehicle, characterized in that: include First bracket; A first roller group, the first roller group comprising a plurality of first rollers whose axes are parallel in a horizontal plane, the first rollers being arranged on the first bracket, and at least some of the first rollers being provided with a first hub motor; Second bracket; a second roller group, the second roller group comprising a plurality of second rollers whose axes are parallel in a horizontal plane, and the axes of the second rollers are perpendicular to the axes of the first rollers, the second rollers are arranged on the second bracket, and at least some of the second rollers are provided with second hub motors; and a lifting mechanism, the lifting mechanism being disposed between the first bracket and the second bracket, the lifting mechanism being configured to drive the second bracket to move in a vertical direction relative to the first bracket so that the lower edge of the second roller is higher or lower than the lower edge of the first roller; Wherein, the second bracket comprises: A lifting beam, wherein the lifting beam is fixedly connected to the lifting mechanism; A first connection portion is disposed between the lifting beam and the first bracket and is fixedly connected to the lifting beam. A guide mechanism is disposed between the first connection portion and the first bracket, and the guide mechanism is configured to limit the lifting beam to move in a vertical direction.

2. The four-way shuttle according to claim 1, characterized in that: The plurality of first rollers in the first roller group are arranged in two rows, each row includes a plurality of first rollers, and at least one of the plurality of first rollers in each row is provided with the first hub motor; The plurality of second rollers in the second roller group are arranged in two columns, each column includes a plurality of second rollers, and at least one of the plurality of second rollers in each column is provided with the second hub motor.

3. The four-way shuttle according to claim 1, characterized in that: The lifting mechanism drives the lifting beam to move in the vertical direction.

4. The four-way shuttle according to claim 1, characterized in that: The second bracket includes at least two lifting beams, and the at least two lifting beams are arranged in parallel; the at least two lifting beams are fixedly connected to the same lifting mechanism, or are respectively fixedly connected to one lifting mechanism.

5. The four-way shuttle vehicle according to claim 4, characterized in that: The second bracket also includes: at least two second connection parts, wherein the second connection parts are fixedly connected to the lifting beam; and A third connecting portion, wherein the third connecting portion is movably connected to the first connecting portion and the at least two second connecting portions.

6. The four-way shuttle vehicle according to claim 5, characterized in that: The first connection part and some of the at least two second connection parts are hinged to the third connection part; the first connection part and some of the at least two second connection parts are connected to the third connection part through a slide slot hole.

7. The four-way shuttle according to any one of claims 1 to 6, characterized in that: Also includes: A stabilizing mechanism is movably connected to the first bracket and the second bracket, and the stabilizing mechanism is arranged along the extension direction of the lifting beam and is configured to keep the lifting beam horizontal.

8. The four-way shuttle vehicle according to claim 7, characterized in that: The stabilizing mechanism is a double parallelogram structure.

9. The four-way shuttle according to any one of claims 1 to 6, characterized in that: The lifting mechanism comprises a driving source and a transmission member, and the transmission member is any one of a lifting chain, a cam or an eccentric wheel.

10. The four-way shuttle according to any one of claims 1 to 6, characterized in that: Also includes: A bearing part is arranged on the second bracket, and a pressure sensor is arranged between the bearing part and the second bracket.

11. A warehouse storage system, characterized in that: include: At least one four-way shuttle according to any one of claims 1-10; a first track, the first roller set in the four-way shuttle being configured to be able to roll along the first track; and A second track, wherein the second roller group in the four-way shuttle is configured to be able to roll along the second track, and the second track is perpendicular to the first track.

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