Four-way shuttle vehicle for automatic storage

Abstract

The utility model discloses a four-way shuttle vehicle for automatic storage, and relates to the technical field of automatic storage equipment. Comprising a vehicle body, a lifting reversing assembly and a cam mechanism, the vehicle body comprises a bottom plate, an inner transverse mounting plate, an outer transverse mounting plate and transverse walking wheels, the inner transverse mounting plate, the outer transverse mounting plate and the transverse walking wheels are arranged on the bottom plate, the lifting reversing assembly comprises an inner lifting plate, an outer lifting plate, longitudinal walking wheels and wheel axles, and the inner lifting plate and the outer lifting plate are oppositely arranged. The inner lifting plate is provided with a first roller path, the outer lifting plate is provided with a second roller path, the longitudinal walking wheel is installed between the inner lifting plate and the outer lifting plate through a wheel shaft, the cam mechanism comprises a cam and a swing shaft, and the cam is rotatably installed on the outer transverse installation plate and the inner transverse installation plate; the pendulum shaft sequentially penetrates through the first roller path and the second roller path and is eccentrically installed on the cam. The space for placing the rotating arm in the transverse direction of the four-way shuttle vehicle is omitted, and the space utilization rate and the storage capacity during warehouse storage are increased.

Description

TECHNICAL FIELD

[0001] The utility model relates to warehousing automation equipment technical field, concretely is a kind of four-way shuttle vehicle for automatic warehousing. BACKGROUND

[0002] Cam mechanism is the most commonly used lifting or reversing mechanism in shuttle plate, four-way shuttle vehicle, with simple structure, low cost, high reliability and other advantages.

[0003] At present, the cam in certain cam mechanism for four-way shuttle vehicle is mainly composed of rotating shaft and rotating arm, eccentric hole for installing follower is arranged on rotating arm, the function of rotating arm is to form certain eccentricity between rotating shaft and eccentric hole, thereby driving follower to deflect around rotating shaft, to realize lifting or reversing function of four-way shuttle vehicle, the movement stroke of lifting and reversing assembly of this cam mechanism is large, the overall height size of four-way shuttle vehicle can be made smaller, but space for placing rotating arm needs to be separately left in transverse direction of four-way shuttle vehicle, which accordingly increases the transverse length size of four-way shuttle vehicle, and further reduces space utilization rate when storing in warehouse, reduces storage capacity of warehouse. SUMMARY

[0004] The utility model aims at providing a kind of four-way shuttle vehicle for automatic warehousing to solve the problems raised in the above background.

[0005] To achieve the above object, the utility model provides the following technical scheme: A four -way shuttle vehicle for automatic warehouse, including the car body, the car body includes the bottom plate, the bottom plate has first side, second side, third side and fourth side, first side and second side along second direction alignment and oppositely arranged, third side and fourth side along first direction alignment and opposite setting, first direction and second direction vertical, first side and second side all are provided with a plurality of horizontal walking wheels for driving car body walks along first direction, third side and fourth side all are equipped with along first direction alignment and along second direction extension's outer transverse mounting plate and inner transverse mounting plate, and the installation gap is formed between outer transverse mounting plate and inner transverse mounting plate, and the lifting reversing assembly corresponding with the installation gap, in every set of corresponding lifting reversing assembly and installation gap, the lifting reversing assembly includes inner lifting plate, outer lifting plate, longitudinal walking wheel and wheel shaft, the inner lifting plate and outer lifting plate along first direction alignment, and all along second direction extension, the inner lifting plate and outer lifting plate opposite setting, a plurality of first raceways are seted up on the inner lifting plate, the outer lifting plate is seted up with the second raceway corresponding with the first raceway, the first raceway and the second raceway all are elliptical, and the major axis of ellipse is along the second direction, the longitudinal walking wheel is installed between the inner lifting plate and the outer lifting plate through the wheel shaft, the cam mechanism corresponding with the first raceway, in every set of corresponding first raceway, second raceway and cam mechanism, the cam mechanism includes cam and swing shaft, the cam is discoid, and two are relatively arranged along the first direction, one cam is rotatably installed on the outer transverse mounting plate, another cam is rotatably installed on the inner transverse mounting plate, the swing shaft passes through the first raceway and the second raceway along the first direction, and is eccentrically installed on the end face of the cam, the swing shaft can move along the elliptical raceway surface of the first raceway and / or the second raceway, and push the lifting reversing assembly to move along the third direction, the third direction is perpendicular to the first direction and the second direction, wherein, when the swing shaft is in the first state, the lifting reversing assembly is lifted, and the longitudinal walking wheel is separated from the ground, when the swing shaft is in the second state, the lifting reversing assembly is pressed down, and the longitudinal walking wheel contacts the ground.

[0006] Based on the above technical features, the utility model combines the rotating shaft and the rotating arm in the background art into a disc-shaped cam, and rotatably installs the cam on the outer transverse mounting plate and the inner transverse mounting plate, compared with the separate structure composed of the rotating shaft and the rotating arm in the prior art, the space for placing the rotating arm in the transverse direction of the four-way shuttle vehicle is saved, the space utilization and the storage capacity during warehouse storage are increased, when the cam rotates, the swing shaft rotates eccentrically around the cam, thereby pushing the lifting reversing assembly to move upward and be lifted or move downward and be pressed down.

[0007] Preferably, the cam mechanism further comprises a follower bearing, wherein the follower bearing is sleeved on the swing shaft and located between the first raceway and the journal of the swing shaft and / or mounted between the second raceway and the journal of the swing shaft, and the swing shaft can move along the raceway surface of the first raceway and / or the raceway surface of the second raceway through the follower bearing.

[0008] Based on the above technical features, the follower bearing is arranged between the swing shaft and the raceway and used for the movement of the swing shaft along the raceway surface, effectively solving the problem of stress concentration at the connection between the follower and the cam in the prior art and reducing the carrying capacity, optimizing the distribution of the load on the swing shaft, reducing the stress at the connection between the swing shaft and the cam, and further improving the carrying capacity of the entire cam mechanism.

[0009] Preferably, the first raceway comprises two, the cam mechanism comprises two groups, and the four-way shuttle vehicle further comprises a lifting driving assembly, the lifting driving assembly comprises a lifting motor, a speed reducer, a transmission shaft and a cam transmission mechanism, the lifting motor is in transmission connection with the speed reducer, the lifting motor and the speed reducer are both mounted on the bottom plate of the vehicle body, the speed reducer is in transmission connection with the transmission shaft, the transmission shaft is in transmission connection with the cam in a certain group of cam mechanisms, and the transmission shaft further transmits power to the other group of cam mechanisms through the cam transmission mechanism.

[0010] Based on the above technical features, the cam in the utility model can be driven by the lifting driving assembly to deflect the swing shaft around the axis of the cam, so as to drive the follower bearing to move relative to the raceway and push the lifting reversing assembly upward to lift the goods, thereby playing the function of lifting, or push the lifting reversing assembly downward to make the longitudinal walking wheels contact the ground and the transverse walking wheels separate from the ground, thereby completing the conversion of the walking direction.

[0011] Preferably, a rectangular spline hole is formed at the center position of the end face of the cam, and the cam is connected with the transmission shaft or the spline shaft in the cam transmission mechanism through the rectangular spline hole.

[0012] Based on the above technical features, the unique design of the rectangular spline realizes the connection between the cam and the transmission shaft or the spline shaft in the cam transmission mechanism, effectively transmits the torque and movement, the design of the rectangular spline also concentrates the stress in a smaller area, reduces the damage caused by stress concentration, ensures the stability during torque and movement transmission, and makes the cam have strong carrying capacity.

[0013] Preferably, the outer transverse mounting plate and the inner transverse mounting plate are formed with cam mounting holes, the cam mechanism further comprises a cam bearing and a cam bearing end cover, wherein the circumferential side of the cam is formed with a shaft shoulder for limiting the cam bearing, the cam is rotatably mounted on the outer transverse mounting plate and the inner transverse mounting plate through the cam bearing, the cam bearing is located between the circumferential side of the cam and the hole wall of the cam mounting hole, and the cam bearing end cover is located at both ends of the cam and is mounted on the inner transverse mounting plate and the outer transverse mounting plate to limit the axial movement of the cam bearing in the first direction.

[0014] Based on the above technical features, the cam bearing is arranged between the cam and the transverse mounting plate, which is not only beneficial to the rotation of the cam under high load and improves the durability of the entire cam mechanism, but also beneficial to reducing the wear of the cam, prolonging the maintenance period and reducing the maintenance cost.

[0015] Preferably, in the first direction, the cross-sectional thickness of the cam is the same as the thickness of the inner transverse mounting plate and the outer transverse mounting plate.

[0016] Based on the above technical features, the cam can be effectively "hidden" in the cam mounting hole of the transverse mounting plate, reducing the space in the transverse direction of the four-way shuttle vehicle.

[0017] Preferably, the vehicle body further comprises a longitudinal mounting plate, the longitudinal mounting plate is mounted on the first side and the second side, and the transverse walking wheels are mounted on the longitudinal mounting plate.

[0018] Preferably, the lifting and reversing assembly further comprises a connecting plate, the connecting plate is arranged between the inner lifting plate and the outer lifting plate and connects and fixes the inner lifting plate and the outer lifting plate through screws. More preferably, the connecting plate comprises two plates, the two plates are arranged on both sides of the inner lifting plate and the outer lifting plate respectively, and the four-way shuttle vehicle further comprises a guide mechanism, the guide mechanism comprises a transverse limiting mechanism and a longitudinal limiting mechanism, wherein the transverse limiting mechanism and the longitudinal limiting mechanism are located between the longitudinal mounting plate and the connecting plate, and are used to jointly guide the movement of the lifting and reversing assembly in the third direction.

[0019] Based on the above technical features, the transverse limiting mechanism is arranged to limit the transverse movement degree of freedom and the rotation degree of freedom in the vertical direction of the lifting and reversing assembly, and the longitudinal limiting mechanism is arranged to limit the longitudinal movement degree of freedom and the rotation degree of freedom in the transverse direction of the lifting and reversing assembly, thereby jointly guiding the lifting and reversing assembly to move vertically in the vertical direction.

[0020] Preferably, the follow-up bearing is a needle bearing. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a top view of the four-way shuttle vehicle in the embodiment of the present application;

[0022] Figure 2 is a structural schematic view of the vehicle body in the embodiment of the present application;

[0023] Figure 3 is a structural schematic view of the cam mechanism, lifting driving assembly and vehicle body in the embodiment of the present application (and the mounting plate and the cam position are cut);

[0024] Figure 4 is a structural schematic view of the cam in the embodiment of the present application;

[0025] Figure 5 is a structural schematic view of the four-way shuttle vehicle in the embodiment of the present application (and the mounting plate, cam mechanism and lifting reversing assembly position are cut);

[0026] Figure 6 is a structural schematic view of the lifting reversing assembly in the embodiment of the present application (and the wheel and wheel shaft position are cut).

[0027] In the figure: 1, longitudinal mounting plate; 2, inner transverse mounting plate; 3, outer transverse mounting plate; 4, transverse walking wheel; 5, inner lifting plate; 6, outer lifting plate; 7, connecting plate; 8, track assembly; 9, wheel shaft; 10, longitudinal walking wheel; 11, wheel transmission mechanism; 12, cam; 13, follow-up bearing; 14, cam bearing end cover; 15, swing shaft; 16, cam bearing; 17, lifting motor; 18, speed reducer; 19, transmission shaft; 20, cam transmission mechanism; 21, longitudinal limiting mechanism; 22, transverse limiting mechanism; I, second track; II, first track. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] It should be noted that, in the description of the present application, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0030] In addition, it should be understood that, for the convenience of description, the sizes of various components shown in the drawings are not drawn in accordance with the actual proportional relationship.

[0031] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined or described in one drawing, it will not need to be further specifically discussed and described in the description of subsequent drawings.

[0032] Before understanding the present application, it should be clear that the cam mechanism for the four-way shuttle vehicle mainly includes two kinds: one cam mechanism in which the cam is mainly composed of a rotating shaft and a rotating arm. The lifting reversing assembly of such a cam mechanism has a large movement stroke, and the overall height size of the four-way shuttle vehicle can be made smaller. However, such a cam mechanism has a reduced load capacity due to stress concentration at the connection between the follower and the cam, and a space for placing the rotating arm is separately required due to the separated cam structure of the rotating shaft and the rotating arm. Another cam mechanism directly pushes the lifting reversing assembly up and down through the shape of the cam itself or the guide groove thereon. Although such a cam mechanism has a large load capacity, the movement stroke is small. In order to achieve the effect of the same movement stroke of the lifting reversing assembly, the size of the cam needs to be larger, which is not conducive to reducing the overall height size of the shuttle vehicle.

[0033] As shown in Figures 1 to 6 The present application provides a technical solution: a four-way shuttle vehicle for automated warehousing, which simultaneously solves the problem of non-uniformity of large load and small size in the prior art. The four-way shuttle vehicle comprises a vehicle body, a lifting reversing assembly, a cam mechanism, a lifting driving assembly and a guide mechanism.

[0034] As shown in Figure 2 The vehicle body comprises a bottom plate, a longitudinal mounting plate 1, an inner transverse mounting plate 2, an outer transverse mounting plate 3 and a transverse walking wheel 4. The bottom plate has a first side, a second side, a third side and a fourth side. The first side and the second side are arranged and oppositely arranged along the second direction (i.e. the direction indicated by arrow A in Figure 1 The third side and the fourth side are arranged along the first direction (i.e. the direction indicated by arrow B in Figure 1The longitudinal installation plates 1, the inner transverse installation plates 2, the outer transverse installation plates 3 and the transverse traveling wheels 4 are arranged on the bottom plate.

[0035] Specifically, the bottom plate is rectangular, the longitudinal installation plates 1, the inner transverse installation plates 2 and the outer transverse installation plates 3 each include two plates, the two longitudinal installation plates 1 are respectively installed on the first side edge and the second side edge of the bottom plate, the two longitudinal installation plates 1 are each provided with a plurality of transverse traveling wheels 4 for driving the vehicle body to travel in the first direction, the two outer transverse installation plates 3 are respectively installed on the third side edge and the fourth side edge of the bottom plate, the two inner transverse installation plates 2 are installed on the bottom plate and arranged between the two outer transverse installation plates 3, the two outer transverse installation plates 3 and the two inner transverse installation plates 2 after installation are arranged in the first direction and extend in the second direction, and the installation gap is formed between the outer transverse installation plates 3 and the inner transverse installation plates 2. Further, the inner transverse installation plates 2 are clamped between the two longitudinal installation plates 1 and limited by the bosses and fastened by screws, and the longitudinal installation plates 1 are clamped between the two outer transverse installation plates 3 and also limited by the bosses and fastened by screws.

[0036] As shown in Figure 1 , Figure 5 and Figure 6 , the lifting reversing assembly includes two groups arranged in the installation gap formed by the outer transverse installation plates 3 and the inner transverse installation plates 2, and the lifting reversing assembly includes an inner lifting plate 5, an outer lifting plate 6, a connecting plate 7, a roller way assembly 8, a wheel shaft 9, a longitudinal traveling wheel 10 and a wheel transmission mechanism 11. The inner lifting plate 5 and the outer lifting plate 6 are arranged in the first direction and extend in the second direction, and the inner lifting plate 5 and the outer lifting plate 6 are arranged oppositely. The connecting plate 7 is arranged between the inner lifting plate 5 and the outer lifting plate 6 and connects and fixes the inner lifting plate 5 and the outer lifting plate 6 by screws to form a frame of the lifting reversing assembly. Four wheel shaft mounting holes for mounting the wheel shaft 9 are formed in the inner lifting plate 5 and the outer lifting plate 6. The longitudinal traveling wheel 10 is mounted between the inner lifting plate 5 and the outer lifting plate 6 through the wheel shaft 9. The longitudinal traveling wheel 10 is drivingly connected through the wheel transmission mechanism 11. The inner lifting plate 5 is provided with two symmetrically arranged roller way assemblies 8. The first roller way II is formed in the roller way assembly 8. The second roller way I corresponding to the first roller way II is formed in the outer lifting plate 6. The first roller way II and the second roller way I are both elliptical, and the long axis of the ellipse is along the second direction. Preferably, in the utility model, the connecting plate 7 includes two plates, and the two connecting plates 7 are respectively fixed on the two sides of the inner lifting plate 5 and the outer lifting plate 6 by screws.

[0037] As shown in Figure 1 , Figures 3 to 5As shown, the cam mechanism corresponds to the first raceway II one by one, the first raceway II includes two, the cam mechanism is provided with two groups, the cam mechanism includes a cam 12, a follow-up bearing 13, a cam bearing end cover 14, a swing shaft 15 and a cam bearing 16.

[0038] The cam 12 is disc-shaped, and two cams 12 are oppositely arranged along the first direction, one of the two cams 12 is rotatably mounted on the outer transverse mounting plate 3, and the other cam 12 is rotatably mounted on the inner transverse mounting plate 2. Compared with the split structure composed of a rotating shaft and a rotating arm in the prior art, the space for placing the rotating arm in the transverse direction of the four-way shuttle vehicle is saved, the space utilization and storage capacity during warehouse storage are increased, when the cam 12 rotates, the swing shaft 15 rotates eccentrically around the cam 12, thereby pushing the lifting and reversing assembly to move upward to be lifted or downward to be pressed.

[0039] The swing shaft 15 passes through the first raceway II and the second raceway I along the first direction and is eccentrically mounted on the end face of the cam 12, the swing shaft 15 can move along the elliptical raceway surface of the first raceway II and the second raceway I and push the lifting and reversing assembly to move along the third direction, the third direction is perpendicular to the first direction and the second direction.

[0040] The follow-up bearing 13 includes two and is sleeved on the swing shaft 15, the two follow-up bearings 13 are respectively located between the first raceway II and the shaft neck of the swing shaft 15 and between the second raceway I and the shaft neck of the swing shaft 15, the swing shaft 15 can move along the raceway surface of the first raceway II and the raceway surface of the second raceway II through the follow-up bearing 13. When the swing shaft 15 is in the first state, the lifting and reversing assembly moves upward to lift the goods, and the longitudinal walking wheel 10 is separated from the ground, when the swing shaft 15 is in the second state, the lifting and reversing assembly is pushed to move downward to make the longitudinal walking wheel 10 contact the ground, and the transverse walking wheel 4 is separated from the ground, and the walking direction conversion is completed. By arranging the follow-up bearing 13 between the swing shaft 15 and the first raceway II and the second raceway I and for the movement of the swing shaft 15 along the raceway surface, the problem of stress concentration at the connection between the follow-up bearing (in the prior art, for realizing the lifting or reversing function of the lifting and reversing assembly) and the cam and the reduction of the carrying capacity are effectively solved, the distribution of the load on the swing shaft 15 is optimized, the stress at the connection between the swing shaft 15 and the cam 12 is reduced, and the carrying capacity of the whole cam mechanism is improved. Preferably, in the utility model, the follow-up bearing 13 selects a needle bearing which can bear high load and move stably.

[0041] Further, the outer transverse mounting plate 3 and the inner transverse mounting plate 2 are both formed with cam mounting holes, the circumferential side of the cam 12 is formed with shaft shoulders for limiting the cam bearing 16, the cam 12 is mounted on the outer transverse mounting plate 3 and the inner transverse mounting plate 2 through the cam bearing 16, and the cam bearing 16 is between the circumferential side of the cam 12 and the hole wall of the cam mounting hole, and the cam bearing end cover 14 is located at both ends of the cam 12 and is mounted on the inner transverse mounting plate 2 and the outer transverse mounting plate 3, for limiting the axial movement of the cam bearing 16 in the first direction.

[0042] Further, as shown in Figure 4 , the cam 12 is in the shape of a flat disc, and the cross-sectional thickness of the cam 12 in the first direction is the same as the thickness of the inner transverse mounting plate 2 and the outer transverse mounting plate 3, effectively making the cam 12 "hidden" in the cam mounting hole of the transverse mounting plate, reducing the space in the transverse direction of the four-way shuttle vehicle; and a rectangular spline hole is formed at the center of the end face of the cam 12, and an eccentric hole for mounting the swing shaft 15 is formed at the eccentric position of the end face, and the eccentricity of the eccentric hole is determined according to the required movement stroke during lifting and reversing. The unique design of the rectangular spline not only realizes the matching connection of the cam 12 with the spline shaft in the transmission shaft 19 or the cam transmission mechanism 20, effectively transmits torque and movement, but also concentrates stress in a smaller area, reduces damage caused by stress concentration, ensures the stability of torque and movement transmission, and makes the cam 12 have stronger carrying capacity.

[0043] As shown in Figure 1 and Figure 5 , the lifting drive assembly includes a lifting motor 17, a speed reducer 18, a transmission shaft 19 and a cam transmission mechanism 20, wherein the lifting motor 17 is drivingly connected to the speed reducer 18, and the lifting motor 17 and the speed reducer 18 are both mounted on the bottom plate of the vehicle body, the speed reducer 18 is drivingly connected to the transmission shaft 19, the transmission shaft 19 is drivingly connected to the cam 12 in a certain group of cam mechanisms, and the transmission shaft 19 also transmits power to another group of cam mechanisms through the cam transmission mechanism 20. Preferably, in the utility model, the spline shaft in the transmission shaft 19 or the cam transmission mechanism 20 is matched and connected in the rectangular spline hole of the cam 12.

[0044] As shown in Figure 1 and Figure 5 , the guide mechanism includes a transverse limiting mechanism 22 and a longitudinal limiting mechanism 21, wherein the transverse limiting mechanism 22 and the longitudinal limiting mechanism 21 are both located between the longitudinal mounting plate 1 and the connecting plate 7, and are used to jointly guide the movement stroke of the lifting reversing assembly in the third direction.

[0045] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-way shuttle vehicle for automated warehousing, characterized in that, The four-way shuttle vehicle comprises: A vehicle body comprising a bottom plate having a first side, a second side, a third side and a fourth side, the first side and the second side being arranged in a second direction and arranged oppositely, the third side and the fourth side being arranged in a first direction and arranged oppositely, the first direction being perpendicular to the second direction; a plurality of lateral traveling wheels (4) arranged on the first side and the second side for driving the vehicle body to travel in the first direction; the third side and the fourth side are respectively provided with an outer transverse mounting plate (3) and an inner transverse mounting plate (2) arranged in the first direction and extending in the second direction, and a mounting gap is formed between the outer transverse mounting plate (3) and the inner transverse mounting plate (2); A lifting and reversing assembly corresponding to the mounting gap, in each set of corresponding lifting and reversing assemblies and mounting gaps, the lifting and reversing assembly comprises an inner lifting plate (5), an outer lifting plate (6), a longitudinal traveling wheel (10) and a wheel shaft (9), the inner lifting plate (5) and the outer lifting plate (6) are arranged in the first direction and extend in the second direction, the inner lifting plate (5) and the outer lifting plate (6) are arranged oppositely, a plurality of first rolling tracks (II) are formed on the inner lifting plate (5), a plurality of second rolling tracks (I) corresponding to the first rolling tracks (II) are formed on the outer lifting plate (6), the first rolling tracks (II) and the second rolling tracks (I) are both elliptical and the major axis of the ellipse is along the second direction, and the longitudinal traveling wheel (10) is installed between the inner lifting plate (5) and the outer lifting plate (6) through the wheel shaft (9); A cam mechanism corresponding to the first rolling track (II), in each set of corresponding first rolling track (II), second rolling track (I) and cam mechanism, the cam mechanism comprises a cam (12) and a swing shaft (15), the cam (12) is disc-shaped and oppositely arranged in the first direction, one of the cams (12) is rotatably installed on the outer transverse mounting plate (3), the other cam (12) is rotatably installed on the inner transverse mounting plate (2), the swing shaft (15) passes through the first rolling track (II) and the second rolling track (I) in the first direction and is eccentrically installed on the end face of the cam (12), the swing shaft (15) can move along the elliptical rolling track surface of the first rolling track (II) and / or the second rolling track (I) and push the lifting and reversing assembly to move in a third direction, the third direction being perpendicular to the first direction and the second direction, wherein when the swing shaft (15) is in a first state, the lifting and reversing assembly is lifted and the longitudinal traveling wheel (10) is separated from the ground, and when the swing shaft (15) is in a second state, the lifting and reversing assembly is pressed down and the longitudinal traveling wheel (10) contacts the ground.

2. The four-way shuttle vehicle for automated warehousing according to claim 1, characterized in that, The cam mechanism further comprises a follow-up bearing (13), wherein The follow-up bearing (13) is sleeved on the swing shaft (15) and is located between the first raceway (II) and the journal of the swing shaft (15) and / or is installed between the second raceway (I) and the journal of the swing shaft (15), and the swing shaft (15) can move along the raceway surface of the first raceway (II) and / or the raceway surface of the second raceway (I) through the follow-up bearing (13).

3. The four-way shuttle vehicle for automated warehousing according to claim 2, characterized in that, The first raceway (II) comprises two, the cam mechanism is provided with two groups, and the four-way shuttle vehicle further comprises a lifting driving assembly, the lifting driving assembly comprises a lifting motor (17), a speed reducer (18), a transmission shaft (19) and a cam transmission mechanism (20), wherein, The lifting motor (17) is in transmission connection with the speed reducer (18), and the lifting motor (17) and the speed reducer (18) are both installed on the bottom plate of the vehicle body, the speed reducer (18) is in transmission connection with the transmission shaft (19), the transmission shaft (19) is in transmission connection with the cam (12) in a certain group of cam mechanisms, and the transmission shaft (19) further transmits power to another group of cam mechanisms through the cam transmission mechanism (20).

4. The four-way shuttle vehicle for automated warehousing according to claim 3, characterized in that, A rectangular spline hole is formed at the center position of the end surface of the cam (12), and the cam (12) is in matched connection with the spline shaft in the transmission shaft (19) or the cam transmission mechanism (20) through the rectangular spline hole.

5. The four-way shuttle vehicle for automated warehousing as claimed in claim 3, wherein, Cam mounting holes are formed on the outer transverse mounting plate (3) and the inner transverse mounting plate (2), and the cam mechanism further comprises a cam bearing (16) and a cam bearing end cover (14), wherein, A shaft shoulder for limiting the cam bearing (16) is formed on the circumferential side surface of the cam (12), the cam (12) is rotatably installed on the outer transverse mounting plate (3) and the inner transverse mounting plate (2) through the cam bearing (16), the cam bearing (16) is located between the circumferential side surface of the cam (12) and the hole wall of the cam mounting hole, and the cam bearing end cover (14) is located at both ends of the cam (12) and is installed on the inner transverse mounting plate (2) and the outer transverse mounting plate (3) to limit the axial movement of the cam bearing (16) in the first direction.

6. The four-way shuttle vehicle for automated warehousing according to claim 5, characterized in that, In the first direction, the cross-sectional thickness of the cam (12) is the same as the plate thickness of the inner transverse mounting plate (2) and the outer transverse mounting plate (3).

7. The four-way shuttle vehicle for automated warehousing as claimed in claim 1, wherein, The vehicle body further comprises a longitudinal mounting plate (1), the longitudinal mounting plate (1) is installed on the first side edge and the second side edge, and the transverse walking wheels (4) are installed on the longitudinal mounting plate (1).

8. The four-way shuttle vehicle for automated warehousing of claim 7, wherein, The lifting reversing assembly further comprises a connecting plate (7), the connecting plate (7) is arranged between the inner lifting plate (5) and the outer lifting plate (6) and connects and fixes the inner lifting plate (5) and the outer lifting plate (6) through screws.

9. The four-way shuttle vehicle for automated warehousing of claim 8, wherein, The connecting plate (7) comprises two, the two connecting plates (7) are arranged on the two sides of the inner lifting plate (5) and the outer lifting plate (6) respectively, and the four-way shuttle vehicle further comprises a guide mechanism, the guide mechanism comprises a transverse limiting mechanism (22) and a longitudinal limiting mechanism (21), wherein, The transverse limiting mechanism (22) and the longitudinal limiting mechanism (21) are both located between the longitudinal mounting plate (1) and the connecting plate (7), and are used for jointly guiding the movement stroke of the lifting reversing assembly in the third direction.

10. The four-way shuttle vehicle for automated warehousing as claimed in claim 2, wherein, The follow-up bearing (13) is a needle bearing.

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