Walking transmission device of four-way shuttle vehicle

Abstract

The utility model provides a walking transmission device of a four-way shuttle vehicle, the four-way shuttle vehicle is provided with two groups of primary roadway wheels respectively positioned on the left side and the right side of a vehicle body and two groups of secondary roadway wheels respectively positioned on the front side and the rear side of the vehicle body, and the two groups of primary roadway wheels receive power transmitted by a walking driving device, so that the four-way shuttle vehicle runs on a primary track; and the two groups of sub-roadway wheels receive power transmitted by the walking driving device, so that the four-way shuttle vehicle runs on the sub-tracks. According to the walking driving device, the gearbox is adopted for transmitting power, the problems of part replacement, lubricating grease filling and the like are solved within the general life cycle after the gearbox is basically assembled, the gearbox can be directly connected through bolts, installation is convenient and simple, and installation can be completed by general installation workers; and the gear box adopts gear meshing, so that the operation precision can be effectively ensured, and the operation precision and the stop precision can be effectively improved after the device is applied to the four-way shuttle vehicle.

Description

Technical Field

[0001] This utility model belongs to the field of four-way shuttle vehicles, and specifically relates to a walking transmission device for a four-way shuttle vehicle. Background Technology

[0002] To improve warehouse space utilization and achieve high-density storage, shuttle racking systems, with four-way shuttles as the main equipment, have emerged. These systems utilize high-precision guide rails added to traditional racking, allowing the four-way shuttles to move freely within the racking system. Each four-way shuttle consists of two sets of wheels traveling in different directions: a mother aisle wheel and a daughter aisle wheel. Travel in different directions is achieved by switching between the different wheels in contact with the ground.

[0003] CN202410064756.6 discloses a four-way shuttle vehicle that uses a wheel train structure to assist in its movement in four directions. The wheel train structure includes a driving assembly, a main tunnel transmission assembly, a sub-tunnel transmission assembly, two sets of main tunnel wheels, and two sets of sub-tunnel wheels. The driving assembly includes a dual-shaft drive component, comprising a first drive shaft and a second drive shaft capable of outputting rotational motion. The first drive shaft is simultaneously connected to both sets of main tunnel wheels via the main tunnel transmission assembly, and the second drive shaft is simultaneously connected to both sets of sub-tunnel wheels via the sub-tunnel transmission assembly. The main tunnel transmission assembly includes a first drive shaft, a first sprocket mechanism, and two second sprocket mechanisms; that is, the first drive shaft is connected to both sets of main tunnel wheels via the chain-driven main tunnel transmission assembly. The sub-tunnel transmission assembly includes a second drive shaft, a third sprocket mechanism, and two fourth sprocket mechanisms; that is, the second drive shaft is also connected to both sets of sub-tunnel wheels via the chain-driven sub-tunnel transmission assembly.

[0004] However, although chain drives can withstand large torques, the tightness of the chain itself requires chain tensioning and support guide mechanisms during installation. Maintenance is inconvenient during long-term operation, requiring frequent lubrication, frequent replacement of chain links, and the installation of protective measures to prevent foreign objects from getting caught. Over time, grease dripping can also affect environmental hygiene. Utility Model Content

[0005] The present invention aims to solve the technical problems existing in the prior art. The purpose of the present invention is to provide a walking transmission device for a four-way shuttle.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a traveling transmission device for a four-way shuttle, wherein the four-way shuttle has two sets of mother lane wheels located on the left and right sides of the vehicle body, and two sets of daughter lane wheels located on the front and rear sides of the vehicle body, respectively. The traveling transmission device includes a power motor and a gearbox whose input shaft is connected to the output shaft of the power motor. The gearbox has a left output shaft extending to the left, a right output shaft extending to the right, a front output shaft extending forward, and a rear output shaft extending backward. The left and right output shafts are directly or through transmission components connected to the input shafts of the two sets of mother lane wheels, respectively. The front and rear output shafts are directly or through transmission components connected to the input shafts of the two sets of daughter lane wheels, respectively.

[0007] In the above technical solution, two sets of mother lane wheels receive power from the travel drive device, enabling the four-way shuttle to travel on the main track, and two sets of daughter lane wheels receive power from the travel drive device, enabling the four-way shuttle to travel on the daughter tracks. Compared with the existing technology that uses chain drive to transmit power, the travel drive device of this utility model uses a gearbox to transmit power. Once the gearbox is assembled, there are generally no issues such as replacing parts or adding grease during its lifespan. It can be directly connected by bolts, making installation convenient and simple, and can be completed by ordinary installation workers. Moreover, the gearbox uses gear meshing, which effectively ensures running accuracy. When applied to a four-way shuttle, it can effectively improve running accuracy and stopping accuracy.

[0008] In a preferred embodiment of this utility model, both the left and right output shafts are connected to the input shafts of two sets of mother lane wheels on the left and right sides of the vehicle body via transmission couplings; the front output shaft is directly connected to the input shaft of a set of daughter lane wheels on the front side of the vehicle body, and the rear output shaft is connected to the input shaft of a set of daughter lane wheels on the rear side of the vehicle body via a coaxially fixed daughter lane drive shaft.

[0009] In the above technical solution, the transmission coupling extends the length of the left and right output shafts and transmits the input power to the mother tunnel wheel, while the sub-tunnel transmission shaft extends the length of the rear output shaft and transmits the input power to a set of rear sub-tunnel wheels, making the structural layout more reasonable.

[0010] In a preferred embodiment of this utility model, the gearbox includes a housing, in which are installed an input bevel gear coaxially fixed to the gearbox input shaft, a left output bevel gear coaxially fixed to the left output shaft, a right output bevel gear coaxially fixed to the right output shaft, a front output bevel gear coaxially fixed to the front output shaft, and a rear output bevel gear coaxially fixed to the rear output shaft; the gearbox input shaft and the rear output shaft are located on the same side of the housing and are arranged parallel to each other; the input bevel gear meshes with one of the left and right output bevel gears; the left and right output bevel gears are coaxially arranged; the front output bevel gear meshes with one of the left and right output bevel gears; and the rear output bevel gear meshes with the other of the left and right output bevel gears; the two sets of mother roadway wheel input shafts rotate in the same direction, and the two sets of daughter roadway wheel input shafts rotate in opposite directions.

[0011] The above technical solution allows two meshing bevel gears to convert power into the vertical direction, thereby achieving power output in four directions: front, back, left, and right, and the structure is compact.

[0012] In a preferred embodiment of this utility model, the left output bevel gear and the right output bevel gear are coaxially spaced on the main shaft, and the left output shaft and the right output shaft are coaxially fixed to both ends of the main shaft, respectively.

[0013] In the above technical solution, the left output bevel gear and the right output bevel gear are coaxially mounted on a main shaft. Compared with setting them on two separate shafts, this reduces the number of transmission gears and makes the structure more compact.

[0014] In a preferred embodiment of the present invention, the housing is further provided with an input bearing that supports the gearbox input shaft, a left output bearing that supports the left output shaft, a right output bearing that supports the right output shaft, a front output bearing that supports the front output shaft, and a rear output bearing that supports the rear output shaft.

[0015] The above technical solution uses bearings to support the input shaft and each output shaft of the gearbox, making the rotation of each shaft smoother.

[0016] In another preferred embodiment of this utility model, each set of mother roadway wheels includes two mother roadway wheels spaced apart. One of the two mother roadway wheels is a mother roadway drive wheel and the other is a mother roadway driven wheel. The left output shaft and the right output shaft are connected to the input shaft of the corresponding mother roadway drive wheel.

[0017] In another preferred embodiment of this utility model, each group of sub-lane wheels includes four sub-lane wheels spaced apart. The four sub-lane wheels are paired up, with one being a sub-lane drive wheel and the other being a sub-lane driven wheel. The two sub-lane drive wheels on the same side are connected by a sub-lane transmission mechanism. The front output shaft is connected to the input shaft of the sub-lane transmission mechanism on the front side of the vehicle body, and the rear output shaft is connected to the input shaft of the sub-lane transmission mechanism on the rear side of the vehicle body. The sub-lane transmission mechanism is a gear transmission mechanism, and the rear sub-lane transmission mechanism has one less transmission gear than the front sub-lane transmission mechanism.

[0018] In the above technical solution, since the front output bevel gear and the rear output bevel gear are located on the front and rear sides respectively, the rotation directions of the front output bevel gear and the rear output bevel gear are opposite. The sub-channel transmission mechanism is a gear transmission mechanism, so that the rear sub-channel transmission mechanism has an odd number of fewer or more transmission gears than the front sub-channel transmission mechanism, so that the rotation directions of the two sets of sub-channel wheels are the same.

[0019] In another preferred embodiment of this utility model, the sub-channel transmission mechanism on the front side of the vehicle body includes an input gear coaxially fixed to the front output shaft, a first output gear and a second output gear coaxially fixed to the two sub-channel drive wheels respectively, and a plurality of transmission gears. An odd number of transmission gears meshing with each other are arranged side by side between the input gear and the first output gear, and an odd number of transmission gears meshing with each other are also arranged side by side between the first output gear and the second output gear. The sub-channel transmission mechanism on the rear side of the vehicle body includes an input gear coaxially fixed to the rear output shaft, a first output gear and a second output gear coaxially fixed to the two sub-channel drive wheels respectively, and a plurality of transmission gears. An even number of transmission gears meshing with each other are arranged side by side between the input gear and the first output gear, and an odd number of transmission gears meshing with each other are arranged side by side between the first output gear and the second output gear.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a schematic diagram of the structure of the four-way shuttle vehicle in the embodiment.

[0023] Figure 2 This is a schematic diagram of the walking transmission device in an embodiment.

[0024] The reference numerals in the accompanying drawings include: vehicle body 10, mother lane wheel 20, mother lane drive wheel 21, mother lane driven wheel 22, daughter lane wheel 30, daughter lane drive wheel 31, daughter lane driven wheel 32, daughter lane transmission mechanism 33, input gear 331, first output gear 332, second output gear 333, transmission gear 334, walking transmission device 40, power motor 41, gearbox 42, gearbox input shaft 43, left output shaft 44, right output shaft 45, front output shaft 46, rear output shaft 47, housing 48, input bevel gear 49, left output bevel gear 410, right output bevel gear 411, front output bevel gear 412, rear output bevel gear 413, main shaft 414, input bearing 415, left output bearing 416, right output bearing 417, front output bearing 418, rear output bearing 419, reducer 420, transmission coupling 50, and daughter lane transmission shaft 60. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0026] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "vertical", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In the description of this utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0028] This utility model provides a walking transmission device for a four-way shuttle, such as... Figure 1 and Figure 2As shown, the four-way shuttle has two sets of mother lane wheels 20 located on the left and right sides of the vehicle body 10, and two sets of daughter lane wheels 30 located on the front and rear sides of the vehicle body 10. The travel transmission device 40 includes a power motor 41 and a gearbox 42 whose input shaft is connected to the output shaft of the power motor 41. Preferably, an external reducer 420 is also provided between the power motor 41 and the gearbox 42 to adjust the speed.

[0029] The gearbox 42 has a left output shaft 44 extending to the left, a right output shaft 45 extending to the right, a front output shaft 46 extending forward, and a rear output shaft 47 extending backward, meaning the gearbox 42 is a one-in-four-out transmission mechanism. The left output shaft 44 and the right output shaft 45 are directly or through transmission components connected to the input shafts of the two sets of mother lane wheels 20, respectively. The two sets of mother lane wheels 20 receive power from the travel drive device, enabling the four-way shuttle to travel on the main track. The front output shaft 46 and the rear output shaft 47 are directly or through transmission components connected to the input shafts of the two sets of daughter lane wheels 30, respectively. The two sets of daughter lane wheels 30 receive power from the travel drive device, enabling the four-way shuttle to travel on the daughter track.

[0030] like Figure 1 and Figure 2 As shown, in this embodiment, the left output shaft 44 and the right output shaft 45 are both connected to the input shafts of the two sets of mother lane wheels 20 on the left and right sides of the vehicle body 10 via a transmission coupling 50. The transmission coupling 50 extends the length of the left output shaft 44 and the right output shaft 45 and transmits the input power to the mother lane wheels 20. The front output shaft 46 is directly connected to the input shaft of a set of sub-lane wheels 30 on the front side of the vehicle body 10, and the front output shaft 46 directly transmits the input power to the set of sub-lane wheels 30 on the front side. The rear output shaft 47 is connected to the input shaft of a set of sub-lane wheels 30 on the rear side of the vehicle body 10 via a sub-lane drive shaft 60 fixedly connected to it on the same axis. The sub-lane drive shaft 60 extends the length of the rear output shaft 47 and transmits the input power to the set of sub-lane wheels 30 on the rear side.

[0031] like Figure 1 As shown, in this utility model, each set of mother lane wheels 20 includes two mother lane wheels 20 spaced apart. One of the two mother lane wheels 20 is a mother lane drive wheel 21 and the other is a mother lane driven wheel 22. The left output shaft 44 and the right output shaft 45 are connected to the input shaft of the corresponding mother lane drive wheel 21. The walking transmission device 40 transmits the input power to the mother lane drive wheel 21, so that the four-way shuttle can run on the mother track.

[0032] like Figure 1As shown, in this utility model, each group of sub-track wheels 30 includes four sub-track wheels 30 spaced apart. The four sub-track wheels 30 are paired up, with one of them being a sub-track drive wheel 31 and the other being a sub-track driven wheel 32. The two sub-track drive wheels 31 on the same side are connected by a sub-track transmission mechanism 33. The front output shaft 46 is connected to the input shaft of the sub-track transmission mechanism 33 on the front side of the vehicle body 10. The sub-track transmission shaft 60, which is coaxially fixed to the rear output shaft 47, is connected to the input shaft of the sub-track transmission mechanism 33 on the rear side of the vehicle body 10. The sub-track transmission mechanism 33 is a gear transmission mechanism. The input power of the travel transmission device 40 is transmitted to the sub-track drive wheel 31 through the sub-track transmission mechanism 33, so that the four-way shuttle can run on the sub-track.

[0033] like Figure 2 As shown, in this utility model, the gearbox 42 includes a housing 48. The gearbox input shaft 43, left output shaft 44, right output shaft 45, front output shaft 46, and rear output shaft 47 are all supported by the housing 48 and rotatably connected to the housing 48. The housing 48 houses an input bevel gear 49 coaxially fixed to the gearbox input shaft 43, a left output bevel gear 410 coaxially fixed to the left output shaft 44, a right output bevel gear 411 coaxially fixed to the right output shaft 45, a front output bevel gear 412 coaxially fixed to the front output shaft 46, and a rear output bevel gear 413 coaxially fixed to the rear output shaft 47. Preferably, the four bevel gears—left output bevel gear 410, right output bevel gear 411, front output bevel gear 412, and rear output bevel gear 413—have the same structural dimensions.

[0034] In this configuration, the gearbox input shaft 43 and the rear output shaft 47 are located on the same side of the housing 48 and are arranged parallel to each other. The input bevel gear 49 meshes with one of the left output bevel gear 410 or the right output bevel gear 411. For example, if the gearbox input shaft 43 is located to the right of the rear output shaft 47, then the input bevel gear 49 meshes with the right output bevel gear 411. The left output bevel gear 410 and the right output bevel gear 411 are coaxially arranged. For example, the left output bevel gear 410 and the right output bevel gear 411 are coaxially spaced on the main shaft 414. The left output shaft 44 and the right output shaft 45 are coaxially fixed to both ends of the main shaft 414, respectively. The meshing of the input bevel gear 49 with the left output bevel gear 410 realizes the conversion of power in the vertical direction. Since the left output bevel gear 410 and the right output bevel gear 411 are coaxially arranged, the rotation directions of the left output shaft 44 and the right output shaft 45 are the same, and the rotation directions of the corresponding two sets of mother roadway wheel 20 input shafts are also the same.

[0035] The front output bevel gear 412 meshes with the right output bevel gear 411 located behind it, and the rear output bevel gear 413 meshes with the left output bevel gear 410 located in front of it. Although the left output bevel gear 410 and the right output bevel gear 411 rotate in the same direction, the front output bevel gear 412 and the rear output bevel gear 413 are located on the front and rear sides respectively. Therefore, the rotation directions of the front output bevel gear 412 and the rear output bevel gear 413 are opposite. Consequently, the rotation directions of the front output shaft 46 and the rear output shaft 47 are opposite, and the rotation directions of the corresponding two sets of sub-lane wheel 30 input shafts are also opposite. That is, the rotation directions of the input shafts of the sub-lane transmission mechanisms 33 on the front and rear sides are also opposite. However, in order for the four-way shuttle to run on the sub-track, the rotation directions of the two sets of sub-lane wheel 30 on the front and rear sides of the car body 10 must be the same. At this time, the rear sub-lane transmission mechanism 33 can be made to have one less transmission gear 334 than the front sub-lane transmission mechanism 33, so that the rotation directions of the two sets of sub-lane wheel 30 are the same.

[0036] Specifically, the sub-drive mechanism 33 on the front side of the vehicle body 10 includes an input gear 331 coaxially fixed to the front output shaft 46, a first output gear 332 and a second output gear 333 coaxially fixed to the two sub-drive wheels 31 respectively, and a plurality of transmission gears 334. An odd number (e.g., three) of transmission gears 334 meshing with each other are arranged side by side between the input gear 331 and the first output gear 332. The input gear 331 transmits power to the first output gear 332 through the three transmission gears 334. An odd number (e.g., three) of transmission gears 334 meshing with each other are also arranged side by side between the first output gear 332 and the second output gear 333. The first output gear 332 transmits power to the second output gear 333 through the three transmission gears 334, so that the two sub-drive wheels 31 on the front side of the vehicle body 10 rotate in the same direction and in the same direction as the front output shaft 46.

[0037] The sub-channel transmission mechanism 33 at the rear of the vehicle body 10 includes an input gear 331 coaxially fixed to the sub-channel transmission shaft 60, a first output gear 332 and a second output gear 333 coaxially fixed to the two sub-channel drive wheels 31 respectively, and a plurality of transmission gears 334. An even number (e.g., two) of transmission gears 334 meshing with each other are arranged side by side between the input gear 331 and the first output gear 332, and an odd number (e.g., three) of transmission gears 334 meshing with each other are arranged side by side between the first output gear 332 and the second output gear 333, so that the two sub-channel drive wheels 31 at the rear of the vehicle body 10 rotate in the same direction and opposite to the sub-channel transmission shaft 60 and the same direction of rotation as the front output shaft 46, so that the four sub-channel drive wheels 31 rotate in the same direction, thereby making the two sets of sub-channel wheels 30 rotate in the same direction.

[0038] It should be noted that in order to keep the sub-lane wheels 30 on the front and rear sides of the vehicle body 10 rotating at the same speed, the transmission ratio of the sub-lane transmission mechanism 33 on the front and rear sides of the vehicle body 10 is 1. This can be achieved by setting an input gear 331, a first output gear 332, a second output gear 333 of appropriate size, and a transmission gear 334 of appropriate size and number. This is existing technology and will not be described in detail here.

[0039] like Figure 2 As shown, in another preferred embodiment, the housing 48 is further equipped with an input bearing 415 that supports the gearbox input shaft 43, a left output bearing 416 that supports the left output shaft 44, a right output bearing 417 that supports the right output shaft 45, a front output bearing 418 that supports the front output shaft 46, and a rear output bearing 419 that supports the rear output shaft 47.

[0040] In the description of this specification, the references to terms such as "preferred embodiment," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A walking drive of a four-way shuttle vehicle, the four-way shuttle vehicle having two groups of mother aisle wheels respectively located on the left and right sides of a vehicle body, and two groups of daughter aisle wheels respectively located on the front and rear sides of the vehicle body, characterized in that; The walking transmission device comprises a power motor, a gear box with an input shaft and an output shaft of the power motor in transmission connection, a left output shaft extending to the left, a right output shaft extending to the right, a front output shaft extending to the front and a rear output shaft extending to the rear; The left output shaft and the right output shaft are in transmission connection with the input shafts of the two groups of mother roadway wheels directly or through transmission members, and the front output shaft and the rear output shaft are in transmission connection with the input shafts of the two groups of son roadway wheels directly or through transmission members.

2. The walking drive of a four-way shuttle vehicle according to claim 1, characterized in that The left output shaft and the right output shaft are in transmission connection with the input shafts of the two groups of mother roadway wheels on the left and right sides of the vehicle body through transmission couplings respectively. The front output shaft is in transmission connection with the input shaft of a group of son roadway wheels on the front side of the vehicle body directly, and the rear output shaft is in transmission connection with the input shaft of a group of son roadway wheels on the rear side of the vehicle body through a son roadway transmission shaft coaxially fixed therewith.

3. The walking drive of a four-way shuttle vehicle according to claim 1, characterized in that, The gear box comprises a shell, the shell is provided with an input bevel gear coaxially fixed with the input shaft of the gear box, a left output bevel gear coaxially fixed with the left output shaft, a right output bevel gear coaxially fixed with the right output shaft, a front output bevel gear coaxially fixed with the front output shaft and a rear output bevel gear coaxially fixed with the rear output shaft. The input shaft of the gear box and the rear output shaft are located on the same side of the shell and are arranged in parallel, the input bevel gear is in meshing connection with one of the left output bevel gear and the right output bevel gear, the left output bevel gear and the right output bevel gear are coaxially arranged, the front output bevel gear is in meshing connection with one of the left output bevel gear and the right output bevel gear, and the rear output bevel gear is in meshing connection with the other one of the left output bevel gear and the right output bevel gear. The rotation directions of the input shafts of the two groups of mother roadway wheels are the same, and the rotation directions of the input shafts of the two groups of son roadway wheels are opposite.

4. The walking drive of a four-way shuttle vehicle according to claim 3, characterized in that The left output bevel gear and the right output bevel gear are coaxially and spacedly arranged on a main shaft, and the left output shaft and the right output shaft are coaxially fixed with two ends of the main shaft respectively.

5. The walking drive of a four-way shuttle vehicle according to claim 3, wherein The shell is further provided with an input bearing for supporting the input shaft of the gear box, a left output bearing for supporting the left output shaft, a right output bearing for supporting the right output shaft, a front output bearing for supporting the front output shaft and a rear output bearing for supporting the rear output shaft.

6. The walking drive of a four-way shuttle vehicle according to any one of claims 1-5, characterized in that, Each group of mother roadway wheels comprises two mother roadway wheels arranged in a spaced manner, one of the two mother roadway wheels is a mother roadway driving wheel and the other is a mother roadway driven wheel, and the left output shaft and the right output shaft are in transmission connection with the input shafts of the corresponding mother roadway driving wheels.

7. The walking drive of a four-way shuttle vehicle according to claim 3, wherein Each group of son roadway wheels comprises four son roadway wheels arranged in a spaced manner, the four son roadway wheels are arranged in two groups, one of which is a son roadway driving wheel and the other is a son roadway driven wheel, two son roadway driving wheels on the same side are in transmission connection through a son roadway transmission mechanism, the front output shaft is in transmission connection with the input shaft of the son roadway transmission mechanism on the front side of the vehicle body, the rear output shaft is in transmission connection with the input shaft of the son roadway transmission mechanism on the rear side of the vehicle body, and the son roadway transmission mechanism is a gear transmission mechanism, and the son roadway transmission mechanism on the rear side is one transmission gear less than the son roadway transmission mechanism on the front side.

8. The walking drive of a four-way shuttle vehicle according to claim 7, characterized in that The sub-path transmission mechanism on the front side of the vehicle body comprises an input gear coaxially fixed with the front output shaft, a first output gear and a second output gear coaxially fixed with the two sub-path driving wheels respectively, and a plurality of transmission gears, an odd number of transmission gears are arranged side by side and meshed with each other between the input gear and the first output gear, and an odd number of transmission gears are arranged side by side and meshed with each other between the first output gear and the second output gear; The sub-path transmission mechanism on the rear side of the vehicle body comprises an input gear coaxially fixed with the rear output shaft, a first output gear and a second output gear coaxially fixed with the two sub-path driving wheels respectively, and a plurality of transmission gears, an even number of transmission gears are arranged side by side and meshed with each other between the input gear and the first output gear, and an odd number of transmission gears are arranged side by side and meshed with each other between the first output gear and the second output gear.

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