Four-way shuttle vehicle

Abstract

The utility model belongs to the technical field of storage equipment, and particularly relates to a four-way shuttle vehicle, which adopts a modularized first lifting module to replace an existing lifting mechanism adopting chain transmission to form a lifting structure similar to a jack, and utilizes the translation of a first connecting rod to control the unfolding and folding of a first shear type lifting element, such as the folding and unfolding of a second shear type lifting element. When a first connecting rod translates forwards, a first driving arm and a second driving arm of a first shear type lifting element at the head end and the tail end are driven to swing around a hinge point of the first driving arm and the second driving arm, so that the first shear type lifting element is folded in the horizontal direction and unfolded in the longitudinal direction, and descending of the lower vehicle body relative to the upper vehicle body is achieved; the first scissor type lifting element is unfolded in the horizontal direction and folded in the longitudinal direction, the lower vehicle body ascends relative to the upper vehicle body, reversing is achieved, the lifting speed is higher, stability and bearing capacity are higher, the service life is longer, and the modularized first lifting module is more convenient and faster to mount and dismount.

Description

Technical Field

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

[0002] Modern logistics warehousing systems include multi-layer shelves and shuttles that flexibly shuttle between them. Among them, the four-way shuttle is a handling device that can move freely on a grid-distributed track. It is generally equipped with two sets of wheels, one for traveling in the X direction and the other for traveling in the Y direction. When it reaches an intersection and needs to turn, it automatically turns by switching the wheel sets to change the direction of travel, so as to accurately reach the cargo storage point and perform automatic handling and storage operations. The four-way shuttles currently on the market generally adopt a structural design with upper and lower bodies. In order to achieve steering, it is necessary to add a lifting mechanism between the upper and lower bodies to drive the lower body to rise and fall. The existing lifting mechanism generally uses a chain as the main transmission component. However, due to the heavy load when the four-way shuttle is in operation, long-term operation can easily cause the chain to break, making it unable to work normally. Summary of the Invention

[0003] The purpose of the utility model is to overcome the shortcomings of the existing four-way shuttle vehicle's lifting mechanism that uses chains as transmission components and is prone to breakage, and to provide a four-way shuttle vehicle that uses connecting rods to drive the scissor-type lifting elements to rise and fall, so as to improve the carrying capacity and life of the lifting module.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A four-way shuttle vehicle, comprising:

[0006] An upper vehicle body is provided with a first driving mechanism and first wheel sets located on two opposite sides and driven by the first driving mechanism;

[0007] a lower body, which is escalably disposed on the lower side of the upper body and is equipped with a second driving mechanism and second wheel sets adjacent to the first wheel sets and disposed on opposite sides of the lower body, the second wheel sets being driven by the second driving mechanism;

[0008] The first lifting module includes:

[0009] a first driving device provided on the lower vehicle body;

[0010] a first connecting rod driven to translate by the first driving device;

[0011] Two first scissor-type lifting elements with adjustable angles are respectively hinged at the head end and the end of the first connecting rod. The first scissor-type lifting element is composed of a first driving arm and a second driving arm hinged in the middle. The lower end of the first driving arm is hinged to the first connecting rod, and the upper end is hinged to the upper vehicle body. The lower end of the second driving arm is hinged to the lower vehicle body. The angle between the first driving arm and the second driving arm changes with the translation of the first connecting rod, thereby controlling the lifting and lowering of the lower vehicle body relative to the upper vehicle body.

[0012] Compared with the prior art, the present invention adopts a modular first lifting module to replace the existing lifting mechanism with chain drive, thereby forming a lifting structure similar to a jack, and uses the translation of the first connecting rod to control the expansion and closing of the first scissor-type lifting element. For example, when the first connecting rod translates forward, the first driving arm and the second driving arm of the first scissor-type lifting element at the head and tail ends are driven to swing around their hinge points, so that the first scissor-type lifting element is closed in the horizontal direction and expanded in the longitudinal direction, thereby realizing the lowering of the lower body relative to the upper body. When the first connecting rod translates backward, the first scissor-type lifting element is expanded in the horizontal direction and closed in the longitudinal direction, thereby realizing the raising of the lower body relative to the upper body, thereby realizing reversing. Due to the use of the above-mentioned lifting module, the present invention has a faster lifting speed, better stability, stronger bearing capacity, and longer service life, and the modular first lifting module is also more convenient to install and disassemble.

[0013] Furthermore, the first driving device includes a first nut seat fixed on the lower body, a first screw rod threadedly connected to the first nut seat, a first motor driving the first screw rod to rotate, and a first fixing seat directly or indirectly fixedly connecting the first motor and the first connecting rod.

[0014] Furthermore, two first connecting rods are relatively arranged, the first driving device is arranged between the first connecting rods, two first driving arms are provided, and their lower ends are respectively hinged to the corresponding first connecting rods, and the second driving arm is hinged between the two first driving arms.

[0015] Furthermore, assembly seats are respectively provided on both sides of the bottom of the upper vehicle body, and an assembly space for assembling the lower vehicle body is formed between the two assembly seats. A second lifting module is respectively installed on each assembly seat, and the second lifting module includes:

[0016] Support platform;

[0017] a second driving device disposed on the assembly seat;

[0018] a second connecting rod driven to translate by the second driving device;

[0019] Two second scissor-type lifting elements with adjustable angles are respectively hinged at the head end and the end of the second connecting rod. The second scissor-type lifting element is composed of a third driving arm and a fourth driving arm hinged in the middle. The lower end of the third driving arm is hinged to the second connecting rod, and the upper end is hinged to the support platform. The lower end of the fourth driving arm is hinged to the assembly seat. The angle between the third driving arm and the fourth driving arm changes with the translation of the second connecting rod, thereby controlling the lifting and lowering of the support platform relative to the upper vehicle body.

[0020] Furthermore, the second driving device includes a second nut seat fixed on the assembly seat, a second screw rod threadedly connected to the second nut seat, a second motor that drives the second screw rod to rotate, and a second fixed seat directly or indirectly fixedly connected to the second motor and the second connecting rod.

[0021] Furthermore, two second connecting rods are relatively arranged, the second driving device is arranged between the second connecting rods, two third driving arms are provided, and their lower ends are respectively hinged to the corresponding second connecting rods, and the fourth driving arm is hinged between the two third driving arms.

[0022] Furthermore, two first lifting modules are arranged at intervals, and the first lifting module and the second lifting module are arranged in parallel.

[0023] Furthermore, the second driving mechanism includes a first travel motor provided on the lower vehicle body between the two first lifting modules, a first rotating shaft driven to rotate by the first travel motor and extending to both ends in a direction parallel to the arrangement direction of the first lifting modules, and first transmission elements provided on opposite sides of the lower vehicle body for transmission connection with the first rotating shaft and the second wheel set;

[0024] The first driving mechanism includes a second traveling motor arranged on the upper vehicle body between the two first lifting modules, a second rotating shaft driven to rotate by the second traveling motor and extending to both ends in a direction perpendicular to the arrangement direction of the first lifting modules, and a second transmission element arranged on opposite sides of the upper vehicle body for transmission connection with the second rotating shaft and the first wheel group.

[0025] Furthermore, it also includes a power module, a circuit module and a control module assembled on the upper body between the two first lifting modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional image of the four-way shuttle;

[0027] Figure 2 This is an exploded view of the four-way shuttle;

[0028] Figure 3 It is a schematic diagram of the internal structure of the upper body and the lower body;

[0029] Figure 4 yes Figure 3 Exploded view of

[0030] Figure 5 It is a three-dimensional image of the four-way shuttle from an upward angle;

[0031] Figure 6 yes Figure 5 Exploded view of

[0032] Figure 7 It is a schematic diagram of the structure when the lower car body is raised;

[0033] Figure 8 It is a schematic diagram of the structure when the lower body is lowered;

[0034] Figure 9 and Figure 10 is a perspective view of the first lifting module and the second lifting module;

[0035] Figure 11 yes Figure 1 Cross-sectional view with section aa as the cross section;

[0036] Figure 12 yes Figure 1 Cross-sectional view with section bb as the cross section;

[0037] Figure 13 It is a structural schematic diagram of the first fixing seat and the second fixing seat. DETAILED DESCRIPTION

[0038] The specific implementation of the present utility model is described below with reference to the accompanying drawings.

[0039] See also Figures 1 to 4 This embodiment provides a four-way shuttle vehicle, including an upper body 1, a lower body 2, a first lifting module 3, and a second lifting module 4. The upper body 1 is equipped with a first driving mechanism 11 and first wheel groups 12 located on opposite sides and driven by the first driving mechanism 11. The lower body 2 is liftably arranged on the lower side of the upper body 1 through the first lifting module 3. It is equipped with a second driving mechanism 21 and second wheel groups 22 adjacent to the first wheel groups 12 and arranged on opposite sides of the lower body 2. The second wheel groups 22 are driven by the second driving mechanism 21.

[0040] See also Figure 9 and Figure 12The first lifting module 3 includes a first driving device 31 arranged on the lower body 2, a first connecting rod 32 driven to move in translation by the first driving device 31, and two first scissor-type lifting elements 33 with adjustable angles. The two first scissor-type lifting elements 33 are respectively hinged at the head end and the end end of the first connecting rod 32. The first scissor-type lifting element 33 is composed of a first driving arm 331 and a second driving arm 332 hinged in the middle. The lower end of the first driving arm 331 is hinged to the first connecting rod 32, and the upper end is hinged to the upper body 1. The lower end of the second driving arm 332 is hinged to the lower body 2. The angle between the first driving arm 331 and the second driving arm 332 changes with the translation of the first connecting rod 32, thereby controlling the lifting and lowering of the lower body 2 relative to the upper body 1.

[0041] like Figure 12 As shown, the head end refers to the left position in the figure, and the tail end refers to the right position in the figure. The first scissor-type lifting element 33 located at the head end is arranged as a whole on the outside of the first connecting rod 32, and the upper end of the first driving arm 331 thereof extends obliquely in the direction away from the first connecting rod 32, and the lower end of the second driving arm 332 is hinged to the position of the lower body 2 outside the head end of the first connecting rod 32.

[0042] The first scissor-type lifting element 33 at the end is entirely arranged on the inner side of the first connecting rod 32. The upper end of its first driving arm 331 extends obliquely toward the first scissor-type lifting element 33 at the head end, and the lower end of its second driving arm 332 is hinged to the position of the lower body 2 inside the end of the first connecting rod 32.

[0043] See also Figure 9 and Figure 12 The first driving device 31 includes a first nut seat 311 fixed on the lower body 2, a first screw rod 312 threadedly connected to the first nut seat 311, a first motor 313 that drives the first screw rod 312 to rotate, and a first fixing seat 314 that directly or indirectly fixes the first motor 313 and the first connecting rod 32.

[0044] See also Figure 9 and Figure 10 There are two first connecting rods 32 relatively arranged, the first driving device 31 is arranged between the first connecting rods 32, there are two first driving arms 331, the lower ends of which are hinged to the corresponding first connecting rods 32 respectively, and the second driving arm 332 is hinged between the two first driving arms 331. The above arrangement can improve the strength of the first scissor-type lifting element 33 and improve the carrying capacity.

[0045] See also Figure 1 、 Figure 4 、 Figure 9 、 Figure 10 、 Figure 12 The upper end of the first driving arm 331 is hinged with a first assembly part 333, and the upper end of the first assembly part 333 is configured with a first upper protrusion 334. The upper body 1 is provided with a first upper assembly groove 101 that is engaged with the first upper protrusion 334, and the upper body 1 and the first assembly part 333 are locked by screws; the lower end of the second driving arm 332 is hinged with a second assembly part 335, and the lower end of the second assembly part 335 is configured with a first lower protrusion 336, and the lower body 2 is provided with a first lower assembly groove 201 that is engaged with the first lower protrusion 336, and the lower body 2 and the second assembly part 335 are locked by screws. The connection method between the above-mentioned upper body 1 and the first assembly part 333 is structurally stable, and the cooperation between the first upper protrusion 334 and the first upper assembly groove 101 is conducive to positioning and installation.

[0046] See also Figure 4 、 Figure 9 、 Figure 10 、 Figure 12 The lower end of the first nut seat 311 is constructed with a second lower protrusion 315, and the lower body 2 is provided with a second lower assembly groove 202 that is engaged with the second lower protrusion 315. The lower body 2 and the first nut seat 311 are locked by screws. The above-mentioned setting is stable and conducive to positioning and installation.

[0047] See also Figures 1 to 6 , the bottom sides of the upper body 1 are respectively provided with assembly seats 13, and an assembly space 14 for assembling the lower body 2 is formed between the two assembly seats 13, and each assembly seat 13 is respectively equipped with a second lifting module 4, and the second lifting module 4 includes:

[0048] Support platform 41;

[0049] See also Figure 9 and Figure 11 , a second driving device 42 is arranged on the assembly seat 13, a second connecting rod 43 driven to move in translation by the second driving device 42, and two second scissor-type lifting elements 44 with adjustable angles, the second scissor-type lifting element 44 is composed of a third driving arm 441 and a fourth driving arm 442 hinged in the middle, the lower end of the third driving arm 441 is hinged to the second connecting rod 43, and the upper end is hinged to the support platform 41, the lower end of the fourth driving arm 442 is hinged to the assembly seat 13, the angle between the third driving arm 441 and the fourth driving arm 442 changes with the translation of the second connecting rod 43, thereby controlling the lifting and lowering of the support platform 41 relative to the upper body 1.

[0050] like Figure 11As shown, the head end refers to the left position in the figure, and the tail end refers to the right position in the figure. The second scissor-type lifting element 44 located at the head end is arranged as a whole on the outside of the second connecting rod 43, and the upper end of the third driving arm 441 extends obliquely in the direction away from the second connecting rod 43, and the lower end of the fourth driving arm 442 is hinged to the assembly seat 13 at a position outside the head end of the second connecting rod 43.

[0051] The second scissor-type lifting element 44 at the end is arranged as a whole on the inner side of the second connecting rod 43. The upper end of its third driving arm 441 extends obliquely toward the second scissor-type lifting element 44 at the head end, and the lower end of its fourth driving arm 442 is hinged to the position of the assembly seat 13 inside the end of the second connecting rod 43.

[0052] The assembly space 14 formed by the upper body 1 can be completely accommodated in the upper body 1 when the lower body 2 rises, forming an overall body structure. As for the number of second lifting modules 4, more can be set according to the weight of the lifted goods.

[0053] See also Figure 9 and Figure 11 The second driving device 42 includes a second nut seat 421 fixed on the assembly seat 13, a second screw rod 422 threadedly connected to the second nut seat 421, a second motor 423 that drives the second screw rod 422 to rotate, and a second fixed seat 424 that directly or indirectly fixes the second motor 423 and the second connecting rod 43.

[0054] See also Figure 9 and Figure 10 There are two second connecting rods 43 relatively arranged, the second driving device 42 is arranged between the second connecting rods 43, there are two third driving arms 441, the lower ends of which are hinged to the corresponding second connecting rods 43 respectively, and the fourth driving arm 442 is hinged between the two third driving arms 441. The above arrangement can improve the strength of the second scissor-type lifting element and improve the carrying capacity.

[0055] See also Figure 2 、 Figure 4 、 Figure 9 、 Figure 10 、 Figure 11The upper end of the third driving arm 441 is hingedly connected to a third assembly part 443. The upper end of the third assembly part 443 is configured with a second upper protrusion 444. The support platform 41 is provided with a second upper assembly groove 410 that engages with the second upper protrusion 444. The support platform 41 and the third assembly part 443 are locked by screws. The connection between the support platform 41 and the third assembly part 443 is structurally stable, and the cooperation between the second upper protrusion 444 and the second upper assembly groove 410 facilitates positioning and installation. The support platform 41 of this embodiment includes a base 411 connected to the third assembly part 443, and a support panel 412. The base 411 is provided with the second upper assembly groove 410, and the support panel 412 is connected to the upper end of the base 411.

[0056] The lower end of the fourth driving arm 442 is hinged with a fourth assembly part 445, and the lower end of the fourth assembly part 445 is constructed with a third lower protrusion 446. The assembly seat 13 is provided with a third lower assembly groove 131 that is engaged with the third lower protrusion 446. The assembly seat 13 and the fourth assembly part 445 are locked by screws. The above-mentioned setting is stable and conducive to positioning and installation.

[0057] See also Figure 4 、 Figure 9 、 Figure 10 、 Figure 11 A fourth lower protrusion 425 is formed at the lower end of the second nut seat 421 , and the assembly seat 13 is provided with a fourth lower assembly groove 132 engaged with the fourth lower protrusion 425 . The assembly seat 13 and the second nut seat 421 are locked by screws.

[0058] See also Figure 3 The first lifting modules 3 are arranged with two at intervals, and the first lifting modules 3 and the second lifting modules 4 are arranged in parallel. Of course, in other embodiments, multiple first lifting modules 3 and second lifting modules 4 can be provided.

[0059] See also Figure 3 The second driving mechanism 21 includes a first travel motor 211 provided on the lower body 2 between the two first lifting modules 3, a first rotating shaft 212 driven to rotate by the first travel motor 211 and extending to both ends in a direction parallel to the arrangement direction of the first lifting modules 3, and first transmission elements 213 provided on opposite sides of the lower body 2 for transmission connection with the first rotating shaft 212 and the second wheel set 22;

[0060] The first driving mechanism 11 includes a second traveling motor 111 arranged on the upper body 1 between the two first lifting modules 3, a second rotating shaft 112 driven to rotate by the second traveling motor 111 and extending to both ends along a direction perpendicular to the arrangement direction of the first lifting modules 3, and a second transmission element 113 arranged on opposite sides of the upper body 1 for transmission connection with the second rotating shaft 112 and the first wheel group 12.

[0061] See also Figure 3 , also includes a power module, a circuit module and a control module assembled on the upper body 1 and located between the two first lifting modules 3.

[0062] The first transmission element 213 and the second transmission element 113 are preferably at least one gear pair.

[0063] The first drive mechanism 11, the second drive mechanism 21, the power module, the circuit module and the control module are all installed by utilizing the surplus space between the upper body 1 and the lower body 2, which effectively utilizes the space and makes the four-way shuttle more compact and occupies less space.

[0064] See also Figure 13 The first drive mechanism 11 and the second drive mechanism 21 are respectively configured with an output shaft 001 that is transmission-connected to the first motor 313 and the second motor 423. The first screw rod 312 and the second screw rod 422 are respectively transmission-connected to the corresponding output shaft 001. The first fixing seat 314 and the second fixing seat 424 each include a sleeve portion 002 that is sleeved around the outer periphery of the corresponding output shaft 001. The opposite sides of the sleeve portion 002 are each configured with a connecting portion 004 that is fixedly connected to the corresponding first connecting rod 32 and the second connecting rod 43. The ends of the sleeve portion 002 are fixedly connected to the corresponding first motor 313 and the second motor 423. A bearing 003 is installed between the output shaft 001 and the sleeve portion 002. The upper side wall of the sleeve portion 002 is provided with a hollow area 006. The first connecting rod 32 and the second connecting rod 43 are respectively configured with an assembly groove 005 corresponding to the connecting portion 004. The lower end of the connecting portion 004 is snapped into the assembly groove 005. The structure of the first fixing seat 314 and the second fixing seat 424 can improve the coaxiality between the output shaft and the screw rod, and can improve the smoothness of the screw rod and the output shaft during rotation.

[0065] like Figure 1 As shown, the four-way shuttle runs on the track 5 when working. The track 5 includes a pair of X-direction rails 51 and a pair of Y-direction rails 52. Figure 7 As shown, when the four-way shuttle needs to travel on the X-direction rail 51, the height of the first scissor lift element 33 of the first lifting module 3 is reduced, that is, Figure 12The first connecting rod shown in FIG is translated to the right, thereby driving the lower body 2 to rise, the second wheel group 22 leaves the Y direction rail 52, and the first wheel group 12 of the upper body 1 contacts the X direction rail 51 and moves along the X direction rail 51; Figure 8 As shown, when the four-way shuttle needs to travel on the Y-direction rail 52, the height of the first scissor lift element 33 increases, that is, Figure 12 The first connecting rod 32 shown in the figure moves horizontally to the left, thereby driving the lower body 2 to descend, the second wheel group 22 to descend to the Y-direction rail 52, and lifts the upper body 1, so that the first wheel group 12 leaves the X-direction rail 51, and the second wheel group 22 of the lower body 2 moves along the Y-direction rail to achieve steering.

[0066] Compared with the prior art, the present invention adopts a modular first lifting module 3 to replace the existing lifting mechanism using chain drive, thereby forming a lifting structure similar to a jack, and uses the translation of the first connecting rod 32 to control the expansion and closing of the first scissor-type lifting element 33. For example, when the first connecting rod 32 translates forward, the first driving arm 331 and the second driving arm 332 of the first scissor-type lifting element 33 at the head and end ends are driven to swing around their hinge points, so that the first scissor-type lifting element 33 is closed in the horizontal direction and expanded in the longitudinal direction, thereby realizing the lowering of the lower body 2 relative to the upper body 1. When the first connecting rod 32 translates backward, the first scissor-type lifting element 33 is expanded in the horizontal direction and closed in the longitudinal direction, thereby realizing the raising of the lower body 2 relative to the upper body 1, thereby realizing reversal. Due to the use of the above-mentioned lifting module, the present invention has a faster lifting speed, better stability, stronger bearing capacity, and longer service life, and the modular first lifting module 3 is also more convenient to install and disassemble. Similarly, with respect to the arrangement of the second lifting module 4, the utility model can realize rapid lifting of goods, and has better stability, stronger bearing capacity, longer service life, and the modular second lifting module 4 is also more convenient to install and disassemble.

[0067] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and any modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are for convenience of description only and do not constitute any limitation to the present invention.

Claims

1. Four-way shuttle, characterized by: include: An upper vehicle body (1) is provided with a first driving mechanism (11) and first wheel assemblies (12) located on opposite sides and driven by the first driving mechanism (11); a lower vehicle body (2) which is escalably arranged on the lower side of the upper vehicle body (1), and is provided with a second driving mechanism (21), and second wheel assemblies (22) adjacent to the first wheel assemblies (12) and arranged on opposite sides of the lower vehicle body (2), wherein the second wheel assemblies (22) are driven by the second driving mechanism (21); The first lifting module (3) comprises: A first drive device (31) provided on the lower vehicle body (2); A first connecting rod (32) driven to translate by the first driving device (31); Two first scissor-type lifting elements (33) with adjustable included angles are respectively hinged to the head end and the tail end of the first connecting rod (32). The first scissor-type lifting element (33) is composed of a first driving arm (331) and a second driving arm (332) hinged at the middle. The lower end of the first driving arm (331) is hinged to the first connecting rod (32), and the upper end is hinged to the upper vehicle body (1). The lower end of the second driving arm (332) is hinged to the lower vehicle body (2). The included angle between the first driving arm (331) and the second driving arm (332) changes with the translation of the first connecting rod (32), thereby controlling the lifting of the lower vehicle body (2) relative to the upper vehicle body (1).

2. The four-way shuttle according to claim 1, characterized in that: The first driving device (31) comprises a first nut seat (311) fixed on the lower vehicle body (2), a first screw rod (312) threadedly connected to the first nut seat (311), a first motor (313) driving the first screw rod (312) to rotate, and a first fixing seat (314) directly or indirectly fixedly connected to the first motor (313) and the first connecting rod (32).

3. The four-way shuttle according to claim 2, characterized in that: Two first connecting rods (32) are arranged opposite to each other, the first driving device (31) is arranged between the first connecting rods (32), two first driving arms (331) are provided, the lower ends of which are respectively hinged to the corresponding first connecting rods (32), and the second driving arm (332) is hinged between the two first driving arms (331).

4. The four-way shuttle according to claim 3, characterized in that: The upper end of the first driving arm (331) is hinged with a first assembly part (333), the upper end of the first assembly part (333) is configured with a first upper protrusion (334), the upper vehicle body (1) is provided with a first upper assembly groove (101) engaged with the first upper protrusion (334), and the upper vehicle body (1) and the first assembly part (333) are locked by screws; And / or, the lower end of the second driving arm (332) is hinged with a second assembly part (335), the lower end of the second assembly part (335) is configured with a first lower protrusion (336), the lower body (2) is provided with a first lower assembly groove (201) engaged with the first lower protrusion (336), and the lower body (2) and the second assembly part (335) are locked by screws.

5. The four-way shuttle according to claim 2, characterized in that: A second lower protrusion (315) is formed at the lower end of the first nut seat (311), the lower body (2) is provided with a second lower assembly groove (202) engaged with the second lower protrusion (315), and the lower body (2) and the first nut seat (311) are locked by screws.

6. The four-way shuttle according to claim 1, characterized in that: Assembly seats (13) are respectively arranged on both sides of the bottom of the upper vehicle body (1), and an assembly space (14) for assembling the lower vehicle body (2) is formed between the two assembly seats (13). A second lifting module (4) is respectively assembled on each assembly seat (13), and the second lifting module (4) includes: Support platform (41); A second driving device (42) disposed on the assembly seat (13); A second connecting rod (43) driven to translate by the second driving device (42); Two second scissor-type lifting elements (44) with adjustable included angles are respectively hinged to the head end and the tail end of the second connecting rod (43). The second scissor-type lifting element (44) is composed of a third driving arm (441) and a fourth driving arm (442) hinged at the middle. The lower end of the third driving arm (441) is hinged to the second connecting rod (43), and the upper end is hinged to the support platform (41). The lower end of the fourth driving arm (442) is hinged to the assembly seat (13). The included angle between the third driving arm (441) and the fourth driving arm (442) changes with the translation of the second connecting rod (43), thereby controlling the lifting and lowering of the support platform (41) relative to the upper vehicle body (1).

7. The four-way shuttle according to claim 6, characterized in that: The second driving device (42) includes a second nut seat (421) fixed on the assembly seat (13), a second screw rod (422) threadedly connected to the second nut seat (421), a second motor (423) driving the second screw rod (422) to rotate, and a second fixing seat (424) directly or indirectly fixedly connected to the second motor (423) and the second connecting rod (43).

8. The four-way shuttle according to claim 6, characterized in that: Two second connecting rods (43) are arranged opposite to each other, the second driving device (42) is arranged between the second connecting rods (43), two third driving arms (441) are provided, and the lower ends of the third driving arms (441) are respectively hinged to the corresponding second connecting rods (43), and the fourth driving arm (442) is hinged between the two third driving arms (441).

9. The four-way shuttle according to claim 8, characterized in that: The upper end of the third driving arm (441) is hinged with a third assembly part (443), the upper end of the third assembly part (443) is configured with a second upper protrusion (444), the support platform (41) is provided with a second upper assembly groove (410) engaged with the second upper protrusion (444), and the support platform (41) and the third assembly part (443) are locked by screws; And / or, the lower end of the fourth driving arm (442) is hinged with a fourth assembly part (445), the lower end of the fourth assembly part (445) is constructed with a third lower protrusion (446), the assembly seat (13) is provided with a third lower assembly groove (131) engaged with the third lower protrusion (446), and the assembly seat (13) and the fourth assembly part (445) are locked by screws.

10. The four-way shuttle according to claim 7, characterized in that: The lower end of the second nut seat (421) is configured with a fourth lower protrusion (425), the assembly seat (13) is provided with a fourth lower assembly groove (132) engaged with the fourth lower protrusion (425), and the assembly seat (13) and the second nut seat (421) are locked by screws.

11. The four-way shuttle according to claim 6, characterized in that: Two of the first lifting modules (3) are arranged at intervals, and the first lifting module (3) and the second lifting module (4) are arranged in parallel.

12. The four-way shuttle according to claim 11, characterized in that: The second driving mechanism (21) comprises a first travel motor (211) arranged on the lower vehicle body (2) between the two first lifting modules (3), a first rotating shaft (212) driven to rotate by the first travel motor (211) and extending to both ends in a direction parallel to the arrangement direction of the first lifting modules (3), and a first transmission element (213) arranged on opposite sides of the lower vehicle body (2) for transmission connection with the first rotating shaft (212) and the second wheel assembly (22); The first driving mechanism (11) comprises a second travel motor (111) arranged on the upper vehicle body (1) between the two first lifting modules (3), a second rotating shaft (112) driven to rotate by the second travel motor (111) and extending to both ends in a direction perpendicular to the arrangement direction of the first lifting modules (3), and a second transmission element (113) arranged on opposite sides of the upper vehicle body (1) for transmission connection with the second rotating shaft (112) and the first wheel assembly (12).

13. The four-way shuttle according to claim 11, characterized in that: It also includes a power supply module, a circuit module and a control module which are assembled on the upper vehicle body (1) and located between the two first lifting modules (3).

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