Driving wheel and four-way shuttle vehicle

Abstract

The utility model provides a driving wheel and a four-way shuttle vehicle, and the driving wheel comprises a housing which is provided with a mounting cavity and a shaft hole; one end of the wheel shaft extends into the shaft hole and is rotationally connected with the shell; the axial coil winding module is arranged in the mounting cavity and connected with the wheel shaft, and the axial coil winding module is configured to generate a first magnetic field when powered on; the permanent magnet is connected with the shell, and the permanent magnet is configured to generate a second magnetic field; torque can be generated between the permanent magnet and the axial coil winding module through interaction of the first magnetic field and the second magnetic field, and the shell is driven to rotate around the wheel shaft. Through the interaction of magnetic fields between the permanent magnet and the axial coil winding module, the driving wheel can generate enough torque to drive the shell to rotate around the wheel shaft, and then the four-way shuttle vehicle can be driven to move; the driving wheels can provide large output torque under the condition of occupying small space, and stable driving force can be provided for the four-way shuttle vehicle under the load change or different rail conditions.

Description

Technical Field

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

[0002] The four-way shuttle is an efficient and flexible intelligent transportation equipment that integrates a number of advanced technologies, including four-way movement capability, in-situ track change mechanism and automated handling function. The shuttle can move flexibly along the longitudinal or transverse track in the cross-track system, greatly improving the efficiency and flexibility of logistics handling.

[0003] At present, the travel mechanism of the four-way shuttle usually adopts a dual-motor drive solution, that is, independent motors are configured for movement in the X-axis direction and the Y-axis direction, and the power is transmitted to multiple drive wheels through the use of transmission systems such as transmission shafts, gear boxes or chains to achieve smooth movement of the vehicle body. This dual-motor drive solution will complicate the vehicle layout, affect the design and height of the entire vehicle, and multiple sets of complex customized transmission systems will not only increase manufacturing costs, but may also reduce the reliability and transmission efficiency of the system.

[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 driving wheel of a four-way shuttle vehicle, comprising:

[0006] A housing having a mounting cavity and an axial hole, wherein the axial hole is communicated with the mounting cavity;

[0007] A wheel axle, one end of which extends into the shaft hole and is rotatably connected to the housing;

[0008] an axial coil winding module, disposed in the mounting cavity and connected to the wheel axle, the axial coil winding module being configured to generate a first magnetic field when powered on; and

[0009] a permanent magnet connected to the housing, the permanent magnet being configured to generate a second magnetic field;

[0010] The permanent magnet and the axial coil winding module can generate torque through the interaction between the first magnetic field and the second magnetic field, and drive the housing to rotate around the wheel axle.

[0011] According to one aspect of the utility model, the outer shell includes a first side panel, a second side panel and a steel ring, wherein the first side panel and the second side panel are respectively provided with the first through hole, the first side panel is substantially parallel to the second side panel, and the steel ring is connected between the first side panel and the second side panel.

[0012] According to one aspect of the utility model, the driving wheel further includes a bearing, and the bearing is connected between the housing and the wheel axle.

[0013] According to one aspect of the utility model, a wiring hole is provided in the wheel axle, and the wiring hole is configured to be suitable for arranging power lines and signal lines.

[0014] According to one aspect of the utility model, the other end of the wheel axle is arranged as a flange.

[0015] According to one aspect of the utility model, the driving wheel further comprises a soft outer covering layer, and the soft outer covering layer is arranged on the peripheral side wall of the outer shell.

[0016] According to one aspect of the utility model, the outer layer is a rubber ring, a polyurethane ring or a silicone ring.

[0017] According to one aspect of the utility model, the driving wheel further comprises an end cover, which is arranged at one end of the shaft hole and connected to the housing, and the wheel axle extends into the shaft hole from the other end.

[0018] According to one aspect of the utility model, the driving wheel further includes an encoder, the encoder is connected to the housing and / or the wheel axle, and the encoder is configured to convert the angular displacement of the housing into an electrical signal.

[0019] The utility model also provides a four-way shuttle vehicle, comprising:

[0020] Base plate;

[0021] Lifting mechanism;

[0022] A first frame body connected to the base plate via a lifting mechanism;

[0023] A second frame is fixedly connected to the bottom plate; and

[0024] The driving wheel as described above, wherein a plurality of driving wheels are provided;

[0025] Part of the driving wheels is installed on the first frame and is configured to drive the frame to move along a first direction; another part of the driving wheels is installed on the second frame and is configured to drive the frame to move along a second direction.

[0026] According to one aspect of the utility model, the first frame includes two connecting beams and two first mounting beams, wherein the two first mounting beams are respectively arranged on the front and rear sides of the bottom plate, and the two connecting beams are respectively connected between the two first mounting beams;

[0027] The second frame includes two second mounting beams and two reinforcement beams, wherein the two second mounting beams are respectively fixed on the left and right sides of the base plate, and the two reinforcement beams are respectively fixed on the front and rear sides of the base plate, and the reinforcement beams are provided with avoidance gaps for avoiding the connecting beams.

[0028] According to one aspect of the utility model, the first frame and / or the second frame are respectively connected to a plurality of driven wheels.

[0029] Compared with the prior art, the embodiment of the utility model provides a driving wheel of a four-way shuttle, wherein, through the magnetic field interaction between the permanent magnet and the axial coil winding module, the driving wheel can generate sufficient torque to drive the housing to rotate around the wheel shaft, thereby driving the four-way shuttle to move; the driving wheel has the characteristics of large torque and small volume, can provide a large output torque while occupying a small space, and can provide a stable driving force for the four-way shuttle under load changes or different track conditions. The embodiment of the utility model also provides a four-way shuttle, which is directly driven by the driving wheel, eliminating the complex transmission system and reducer, which not only greatly reduces the vehicle cost and layout difficulty of the four-way shuttle, but also reduces the failure rate of the vehicle and improves the reliability and service life of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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:

[0031] Figure 1 A schematic diagram of a driving wheel of a four-way shuttle according to an embodiment of the utility model is shown;

[0032] Figure 2 A cross-sectional view of a driving wheel of a four-way shuttle according to an embodiment of the utility model is shown;

[0033] Figure 3 A schematic diagram of a four-way shuttle according to an embodiment of the utility model is shown.

[0034] In the figure: 100, driving wheel; 110, housing; 111, mounting cavity; 112, shaft hole; 113, first side plate; 114, second side plate; 115, steel ring; 116, first through hole; 117, reinforcing rib; 118, mounting groove; 120, axle; 121, wiring hole; 122, first shaft section; 123, second shaft section; 124, second through hole; 125, third through hole; 126, groove; 127, flange; 130, axial line Coil winding module; 150, bearing; 160, end cover; 170, encoder; 171, magnetic drum; 172, sensor; 173, processor; 180, soft outer layer; 191, power cord; 192, signal line; 200, four-way shuttle; 210, bottom plate; 220, first frame; 221, connecting beam; 222, first mounting beam; 230, second frame; 231, second mounting beam; 232, reinforcement beam; 240, driven wheel. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] 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.

[0040] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0041] Figure 1 FIG. 1 shows a schematic diagram of a driving wheel 100 of a four-way shuttle according to an embodiment of the present utility model. Figure 2 A cross-sectional view of a driving wheel 100 of a four-way shuttle vehicle according to an embodiment of the present utility model is shown below. Figure 1 and Figure 2 Describe in detail.

[0042] like Figure 1 and Figure 2As shown, the driving wheel 100 includes a housing 110, an axle 120, an axial coil winding module 130 and a permanent magnet, wherein the housing 110 is substantially cylindrical, and the housing 110 has an installation cavity 111 inside, which can be used to accommodate and assemble other accessories of the driving wheel 100 (detailed description below), and an axial hole 112 is provided in the axial direction of the housing 110, and the axial hole 112 is connected to the installation cavity 111. One end of the axle 120 extends into the axial hole 112 and is rotatably connected to the housing 110, and the other end can be used to connect to the frame of the four-way shuttle to establish a connection between the driving wheel 100 and the frame. The axial coil winding module 130 is arranged in the installation cavity 111, which is roughly annular and has a connecting hole formed in the middle. The connecting hole is roughly coaxial with the shaft hole 112. One end of the wheel shaft 120 extending into the shaft hole 112 passes through the connecting hole. The axial coil winding module 130 and the wheel shaft 120 are connected by key connection (flat key, spline, etc.), screw connection, etc. The permanent magnet (not shown in the figure) can be fixedly connected to the inner side of the shell 110. The permanent magnet and the axial coil winding module 130 can generate torque through the interaction of the first magnetic field and the second magnetic field, and drive the shell 110 to rotate around the wheel shaft 120, thereby driving the four-way shuttle 200 to move, wherein the first magnetic field is the magnetic field generated when the axial coil winding module 130 is powered on, and the second magnetic field is the magnetic field generated by the permanent magnet. Among them, since the second magnetic field is generated by a permanent magnet, its strength remains basically stable. Therefore, the strength of the first magnetic field and the torque generated by the interaction of the two magnetic fields can be accurately controlled by accurately controlling the current of the axial coil winding module 130, so as to achieve accurate control of the rotation speed of the housing 110 and provide a stable driving force for the four-way shuttle 200 under load changes or different track conditions. In this embodiment, only one set of permanent magnets and axial coil winding modules 130 is shown. In some application scenarios, if the drive wheel 100 needs to output a larger torque, multiple sets of permanent magnets and axial coil winding modules 130 can be set to achieve parallel connection of the axial coil winding modules 130, which greatly improves the output torque of the drive wheel 100.

[0043] According to one embodiment of the utility model, Figure 1 and Figure 2As shown, the housing 110 may include a first side plate 113, a second side plate 114 and a steel ring 115, wherein the first side plate 113 and the second side plate 114 are circular metal plates, and first through holes 116 are respectively provided at the centers of the first side plate 113 and the second side plate 114, and the two first through holes 116 together constitute the above-mentioned shaft hole 112. The first side plate 113 and the second side plate 114 are arranged in parallel, and the steel ring 115 is fixedly connected (for example, by welding, riveting, screw connection, etc.) between the first side plate 113 and the second side plate 114. Preferably, the steel ring 115 protrudes from the outer edges of the first side plate 113 and the second side plate 114, and when the driving wheel 100 walks on the track, the steel ring 115 directly bears the external load. Preferably, the first side plate 113 and / or the second side plate 114 can be made of magnetic steel, so that the first side plate 113 and / or the second side plate 114 can act as permanent magnets to provide a second magnetic field to reduce the volume of the drive wheel 100 and simplify the structure of the drive wheel 100.

[0044] According to one embodiment of the utility model, Figure 1 As shown, one or more reinforcing ribs 117 can be respectively provided on the outer sides of the first side plate 113 and the second side plate 114. The reinforcing ribs 117 can be provided around the first through hole 116 (axial hole 112). The reinforcing ribs 117 can effectively disperse and transfer the load, reduce the local stress concentration of the first side plate 113 / the second side plate 114 when subjected to force, thereby reducing the risk of deformation or damage of the first side plate 113 / the second side plate 114, so that the walking wheel can adapt to more complex and harsh working environments. In addition, the provision of the reinforcing ribs 117 can also improve the rigidity of the first side plate 113 / the second side plate 114, making it more stable when subjected to impact or vibration, and reducing the problem of inaccurate positioning of the walking wheel caused by the deformation of the first side plate 113 / the second side plate 114.

[0045] According to one embodiment of the utility model, Figure 2 As shown, the driving wheel 100 may further include a bearing 150, and the housing 110 and the axle 120 are connected to each other in a stable and efficient rotation through the bearing 150. Specifically, mounting grooves 118 may be respectively provided on the inner sides of the first side plate 113 and the second side plate 114, and the mounting grooves 118 are coaxially arranged with the corresponding first through holes 116; two bearings 150 may be provided, and the two bearings 150 are respectively embedded in their respective corresponding mounting grooves 118, and each bearing 150 is closely connected with the axle 120, so as to ensure the stability and reliability of the housing 110 during the rotation process. Installed in the corresponding mounting groove 118 and connected to the axle 120.

[0046] According to one embodiment of the utility model, Figure 2As shown, the driving wheel 100 may further include an end cover 160, which may be used to block the shaft hole 112 to reduce the possibility of dust and other impurities entering the installation cavity 111. Specifically, as Figure 2 As shown, the axle 120 is inserted into the shaft hole 112 from the side where the second side plate 114 is located, and the end cover 160 is connected to the outer side of the first side plate 113 and blocks the first through hole 116 (shaft hole 112) on the first side plate 113.

[0047] According to one embodiment of the utility model, Figure 2 As shown, the driving wheel 100 may further include an encoder 170, which is connected to the housing 110 and / or the axle 120, and the encoder 170 is configured to convert the angular displacement of the housing 110 into an electrical signal. Specifically, the encoder 170 may be a magnetic encoder 170, which includes a magnetic drum 171, a sensor 172, and a processor 173, wherein the magnetic drum 171 may be mounted on the inner side of the end cover 160, the sensor 172 (such as a magnetoresistive sensor 172 or a Hall element) and the processor 173 may be mounted on the end of the axle 120, and the processor 173 may calculate the rotation speed of the housing 110 according to the output signal of the sensor 172, and feed it back to the driver for closed-loop control. In some embodiments, the encoder 170 may also be a photoelectric encoder 170, an inductive encoder 170, etc.

[0048] According to one embodiment of the utility model, Figure 1 and Figure 2 As shown, the driving wheel 100 may further include a soft outer layer 180, which may be, for example, a rubber ring, a polyurethane ring or a silicone ring, and is disposed on the peripheral side wall of the housing 110 (i.e., disposed on the outside of the steel ring 115). The soft outer layer 180 may increase the friction between the driving wheel 100 and the track, reduce the running noise of the driving wheel 100, and provide a buffering and protective effect on the housing 110. Preferably, the cross section of the soft outer layer 180 is wedge-shaped, and is used to cooperate with the track for limiting.

[0049] According to one embodiment of the utility model, Figure 2As shown, a wiring hole 121 can be provided in the wheel axle 120, and the wiring hole 121 is suitable for arranging power lines 191 and signal lines 192, etc. The power line 191 can be used to power the axis coil winding module, and the signal line 192 can be used to power the encoder 170 and transmit signals. Specifically, the wheel axle 120 may include a first shaft section 122 and a second shaft section 123, the first shaft section 122 is bolted to the second shaft section 123, a second through hole 124 is provided along the axis of the first shaft section 122, a third through hole 125 is provided along the axis of the second shaft section 123, and a groove 126 is provided on the end surface of the second shaft section 123 close to the first shaft section 122, and the groove 126 is connected to the third through hole 125, wherein the second through hole 124, the third through hole 125 and the groove 126 together constitute the wiring hole 121. Specifically, the wheel axle 120 is designed to be divided into two sections, which can facilitate the arrangement of the signal line 192 , the power line 191 and other lines, and reduce the difficulty of assembling the driving wheel 100 .

[0050] According to one embodiment of the utility model, Figure 1 and Figure 2 As shown, the axle 120 can be a flange 127 axle, that is, one end of the axle 120 located outside the housing 110 is set as a flange 127 to facilitate the connection between the driving wheel 100 and the frame of the four-way shuttle 200.

[0051] Compared with the prior art, an embodiment of the utility model provides a driving wheel 100 of a four-way shuttle 200, wherein, through the magnetic field interaction between the permanent magnet and the axial coil winding module 130, the driving wheel 100 can generate sufficient torque to drive the housing 110 to rotate around the wheel axle 120, thereby driving the four-way shuttle 200 to move; the driving wheel 100 has the characteristics of large torque and small volume, can provide a large output torque while occupying a small space, and can provide a stable driving force for the four-way shuttle 200 under load changes or different track conditions.

[0052] Figure 3 A schematic diagram of a four-way shuttle 200 according to an embodiment of the present utility model is shown below. Figure 3 Describe in detail.

[0053] like Figure 3As shown, the four-way shuttle 200 includes a bottom plate 210, a first frame 220, a second frame 230 and a plurality of driving wheels 100 as described above. The first frame 220 is arranged above the bottom plate 210, and the first frame 220 and the bottom plate 210 can be connected by a lifting mechanism (not shown in the figure, the lifting mechanism can be a cam mechanism, a gear rack mechanism, etc.), and the second frame 230 is arranged between the bottom plate 210 and the first frame 220, and the second frame 230 is fixedly connected to the bottom plate 210. The plurality of driving wheels 100 can be divided into two parts, wherein one part of the driving wheels 100 is mounted on the first frame 220 (i.e., the axle 120 of this part of the driving wheels 100 is fixedly connected to the first frame 220), and this part of the driving wheels 100 can drive the frame to move in the first direction; the other part of the driving wheels 100 is mounted on the second frame 230 (i.e., the axle 120 of this part of the driving wheels 100 is fixedly connected to the second frame 230), and this part of the driving wheels 100 can drive the frame to move in the second direction. Specifically, the height of the bottom plate 210 can be adjusted by the lifting mechanism, thereby adjusting the driving direction of the four-way shuttle 200. For example, when the bottom plate 210 is in a high position, the driving wheels 100 mounted on the second frame 230 are in contact with the track, and the four-way shuttle 200 can travel in the first direction; when the bottom plate 210 is in a low position, the driving wheels 100 mounted on the first frame 220 are in contact with the track, and the four-way shuttle 200 can travel in the second direction.

[0054] According to one embodiment of the utility model, Figure 3 As shown, the first frame 220 may include two connecting beams 221 and two first mounting beams 222, wherein the two first mounting beams 222 are respectively arranged on the front and rear sides of the base plate 210, the two connecting beams 221 are connected between the two first mounting beams 222, and the wheel axle 120 of the aforementioned part of the driving wheel 100 is fixedly connected to the corresponding first mounting beam 222.

[0055] According to one embodiment of the utility model, Figure 3 As shown, the second frame 230 may include two second mounting beams 231 and two reinforcement beams 232, wherein the two second mounting beams 231 are respectively fixed to the left and right sides of the bottom plate 210, and the two reinforcement beams 232 are respectively fixed to the front and rear sides of the bottom plate 210, and an escape notch for escaping the connecting beam 221 is provided on the reinforcement beam 232, and the wheel axle 120 of the aforementioned other part of the driving wheel 100 is fixedly connected to the corresponding second mounting beam 231. The second frame 230 can not only provide a mounting position for the driving wheel 100, but also reinforce the bottom plate 210 to increase the load-bearing capacity of the bottom plate 210.

[0056] According to one embodiment of the utility model, Figure 3As shown, four wheels can be arranged on the first frame 220, and these four wheels can be set as driving wheels 100, or two driving wheels 100 and two driven wheels 240 can be arranged, wherein the two driving wheels 100 can be arranged coaxially or diagonally. Correspondingly, four wheels can also be arranged on the second frame 230, and these four wheels can be set as driving wheels 100, or two driving wheels 100 and two driven wheels 240 can be arranged, wherein the two driving wheels 100 can be arranged coaxially or diagonally.

[0057] Compared with the prior art, the embodiment of the utility model provides a four-way shuttle 200, which is directly driven by the drive wheel 100, eliminating the complex transmission system and the reducer, which not only greatly reduces the vehicle cost and layout difficulty of the four-way shuttle 200, but also can reduce the failure rate of the vehicle and improve the reliability and service life of the vehicle.

[0058] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A driving wheel of a four-way shuttle, characterized in that: include: A housing having a mounting cavity and an axial hole, wherein the axial hole is communicated with the mounting cavity; A wheel axle, one end of which extends into the shaft hole and is rotatably connected to the housing; an axial coil winding module, disposed in the mounting cavity and connected to the wheel axle, the axial coil winding module being configured to generate a first magnetic field when powered on; and a permanent magnet connected to the housing, the permanent magnet being configured to generate a second magnetic field; The permanent magnet and the axial coil winding module can generate torque through the interaction between the first magnetic field and the second magnetic field, and drive the housing to rotate around the wheel axle.

2. The driving wheel according to claim 1, characterized in that: The shell includes a first side plate, a second side plate and a steel ring, wherein the first side plate and the second side plate are respectively provided with a first through hole, the first side plate is substantially parallel to the second side plate, and the steel ring is connected between the first side plate and the second side plate.

3. The driving wheel according to claim 1, characterized in that: The driving wheel further comprises a bearing connected between the housing and the axle.

4. The driving wheel according to claim 1, characterized in that: A wiring hole is provided in the wheel axle, and the wiring hole is configured to be suitable for arranging power lines and signal lines.

5. The driving wheel according to claim 1, characterized in that: The other end of the wheel axle is arranged as a flange.

6. The driving wheel according to claim 1, characterized in that: The driving wheel further comprises a soft outer covering layer, and the soft outer covering layer is arranged on the peripheral side wall of the outer shell.

7. The driving wheel according to claim 6, characterized in that: The outer covering layer is a rubber ring, a polyurethane ring or a silicone ring.

8. The driving wheel according to claim 1, characterized in that: The driving wheel also includes an end cover, which is arranged at one end of the shaft hole and connected to the shell, and the wheel axle extends into the other end of the shaft hole.

9. The driving wheel according to claim 1, characterized in that: The driving wheel further comprises an encoder connected to the housing and / or the wheel axle, wherein the encoder is configured to convert an angular displacement of the housing into an electrical signal.

10. A four-way shuttle vehicle, characterized in that: include: Base plate; Lifting mechanism; A first frame body connected to the base plate via a lifting mechanism; A second frame is fixedly connected to the bottom plate; and The driving wheel according to any one of claims 1 to 9, wherein a plurality of driving wheels are provided; Part of the driving wheels is installed on the first frame and is configured to drive the four-way shuttle to move along the first direction; another part of the driving wheels is installed on the second frame and is configured to drive the four-way shuttle to move along the second direction.

11. The four-way shuttle vehicle according to claim 10, characterized in that: The first frame includes two connecting beams and two first mounting beams, wherein the two first mounting beams are respectively arranged on the front and rear sides of the bottom plate, and the two connecting beams are respectively connected between the two first mounting beams; The second frame includes two second mounting beams and two reinforcement beams, wherein the two second mounting beams are respectively fixed on the left and right sides of the base plate, and the two reinforcement beams are respectively fixed on the front and rear sides of the base plate, and the reinforcement beams are provided with avoidance gaps for avoiding the connecting beams.

12. The four-way shuttle vehicle according to claim 11, characterized in that: The first frame and / or the second frame are respectively connected to a plurality of driven wheels.

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