Four-way shuttle vehicle

Abstract

The utility model belongs to the technical field of logistics storage, and discloses a four-way shuttle vehicle. The four-direction shuttle vehicle comprises an X-direction walking mechanism, a Y-direction walking mechanism, a driving mechanism, a jacking mechanism and a vehicle body, the X-direction walking mechanism comprises an X-direction driving wheel, the X-direction driving wheel is in transmission connection with a first transmission rod, and a first gear is arranged on the first transmission rod; the Y-direction walking mechanism comprises a Y-direction driving wheel, the Y-direction driving wheel is in transmission connection with a second transmission rod, and a second gear is arranged on the second transmission rod; the driving mechanism comprises a first driving part, a first gear set and a second gear set, the first gear set is installed on an output shaft of the first driving part, the first gear set is meshed with the second gear, the second gear set is meshed with the first gear, and the second gear set is meshed with the second gear; the jacking mechanism is used for driving the Y-direction walking mechanism to ascend and descend in the Z-axis direction. The X-direction walking mechanism is connected to the vehicle body, and the Y-axis walking mechanism is movably connected to the vehicle body. Maintenance requirements are reduced, and pollution is avoided.

Description

Technical Field

[0001] This utility model relates to the field of logistics and warehousing technology, and in particular to a four-way shuttle vehicle. Background Technology

[0002] Four-way shuttles are intelligent shuttle handling equipment that integrates four-way travel, on-the-spot track changing, automated material handling, intelligent monitoring, and dynamic traffic management. Four-way shuttles can travel along longitudinal or transverse tracks on intersecting tracks to reach any designated storage location in the warehouse, without site restrictions, adapting to various working environments, and allowing for flexible terminal scheduling to achieve fully automated, unattended operation. With the rapid development of the logistics and warehousing industry and the large-scale use of existing automated storage and retrieval systems, four-way shuttles have experienced rapid development.

[0003] Some existing four-way shuttles use a hydraulic drive mechanism to drive the vehicle body, thereby realizing the movement of the shuttle. The hydraulic drive method is prone to hydraulic oil leakage and pollution, and its transmission part uses chain drive, which is prone to loosening and requires frequent maintenance.

[0004] Therefore, a four-way shuttle is needed to solve the above problems. Utility Model Content

[0005] The purpose of this utility model is to provide a four-way shuttle car. This four-way shuttle car adopts gear transmission, which reduces the maintenance needs caused by chain loosening and avoids the problem of hydraulic oil leakage and pollution. It can drive the synchronous rotation of the X-axis walking mechanism and the Y-axis walking mechanism simultaneously through a first driving component, which reduces energy consumption and makes the structure more compact.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A four-way shuttle vehicle includes:

[0008] An X-axis walking mechanism and a first transmission rod, wherein the X-axis walking mechanism includes an X-axis drive wheel, the X-axis drive wheel is connected to the first transmission rod, and the first transmission rod is provided with a first gear;

[0009] Y-axis traveling mechanism and second transmission rod, the Y-axis traveling mechanism includes a Y-axis driving wheel, the Y-axis driving wheel is connected to the second transmission rod, and the second transmission rod is provided with a second gear;

[0010] A drive mechanism, comprising a first drive member, a first gear set, and a second gear set, wherein the first gear set is mounted on the output shaft of the first drive member, and the first gear set meshes with both the second gear and the second gear set for transmission, and the second gear set meshes with the first gear for transmission.

[0011] A lifting mechanism is used to drive the Y-axis traveling mechanism to move up and down along the Z-axis direction.

[0012] The vehicle body is connected to the X-axis traveling mechanism and is movably connected to the Y-axis traveling mechanism.

[0013] Preferably, the first gear set includes a first tooth and a second tooth set arranged coaxially, and the second gear set includes a third tooth and a fourth tooth set arranged coaxially. The first tooth set meshes with the third tooth set, the second tooth set meshes with the second gear, and the fourth tooth set meshes with the first gear.

[0014] Preferably, there are two Y-axis traveling mechanisms, and each Y-axis traveling mechanism further includes a universal coupling. The Y-axis drive wheels of the two Y-axis traveling mechanisms are connected to both ends of the second transmission rod through the universal coupling.

[0015] Preferably, the drive mechanism further includes:

[0016] A protective cover is provided over the first gear set, the second gear set, the first gear, and the second gear.

[0017] Preferably, the lifting mechanism includes:

[0018] Driver components;

[0019] A plurality of rotating rods are spaced apart along the Y-axis. The driving assembly is used to drive the rotating rods to rotate. Each rotating rod has an eccentric assembly at both ends. The eccentric assembly has a fixed part and a connecting part. The connecting part is eccentrically disposed on the fixed part. The fixed part is connected to the rotating rod. The connecting part is connected to the Y-axis traveling mechanism.

[0020] Preferably, the connecting part is provided with a roller, and the Y-axis traveling mechanism has a groove extending along the Y-axis direction, and the roller is rotatably connected to the groove of the Y-axis traveling mechanism.

[0021] Preferably, the lifting mechanism further includes:

[0022] The guide post extends along the Z-axis and is guided and engaged with the Y-axis traveling mechanism.

[0023] Preferably, the driving component includes:

[0024] The second drive unit and the gearbox are provided, wherein the gearbox is provided with a plurality of meshing third gears, and a plurality of the rotating rods are connected to any one of the third gears, and the second drive unit is connected to the power input end of the gearbox.

[0025] Preferably, the X-axis walking mechanism further includes:

[0026] An X-axis mounting plate and several X-axis driven wheels are provided, with the X-axis driving wheel and several X-axis driven wheels rotatably mounted on the X-axis mounting plate.

[0027] Preferably, the Y-axis walking mechanism further includes:

[0028] A Y-axis mounting plate and several Y-axis driven wheels, wherein the Y-axis driving wheel and several Y-axis driven wheels are rotatably mounted on the Y-axis mounting plate.

[0029] The beneficial effects of this utility model are:

[0030] This four-way shuttle includes an X-axis traveling mechanism, a first transmission rod, a Y-axis traveling mechanism, a second transmission rod, a drive mechanism, a lifting mechanism, and a vehicle body. The X-axis traveling mechanism includes an X-axis drive wheel, which is connected to the first transmission rod, and a first gear is mounted on the first transmission rod. The Y-axis traveling mechanism includes a Y-axis drive wheel, which is connected to the second transmission rod, and a second gear is mounted on the second transmission rod. The drive mechanism includes a first drive member, a first gear set, and a second gear set. The first gear set is mounted on the output shaft of the first drive member, and the first gear set meshes with both the second gear and the second gear set. The second gear set meshes with the first gear. The lifting mechanism is used to drive the Y-axis traveling mechanism to move up and down along the Z-axis direction. The X-axis traveling mechanism is connected to the vehicle body, and the Y-axis traveling mechanism is movably connected to the vehicle body.

[0031] This drive mechanism, through the meshing of the first gear set, the second gear set, and the first and second gears, can synchronously drive the X-axis drive wheel and the Y-axis drive wheel to rotate. The lifting mechanism allows the Y-axis traveling mechanism to rise and fall along the Z-axis. When this four-way shuttle needs to move along the X-axis, the lifting mechanism drives the Y-axis traveling mechanism upwards along the Z-axis, ensuring that only the X-axis traveling mechanism contacts the working plane, thus allowing the four-way shuttle to move along the X-axis. When this four-way shuttle needs to move along the Y-axis, the lifting mechanism drives the Y-axis traveling mechanism downwards along the Z-axis, ensuring that only the Y-axis traveling mechanism contacts the working plane, thus allowing the four-way shuttle to move along the Y-axis.

[0032] Compared to traditional four-way shuttles that use hydraulic drive and chain transmission, this four-way shuttle uses gear transmission, which reduces maintenance needs caused by chain loosening and avoids the problem of hydraulic oil leakage and pollution. It can simultaneously drive the synchronous rotation of the X-axis travel mechanism and the Y-axis travel mechanism through a first drive unit, which reduces energy consumption and makes the structure more compact. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the four-way shuttle provided by this utility model;

[0034] Figure 2 This is a schematic diagram of the four-way shuttle vehicle with the tray removed, provided by this utility model;

[0035] Figure 3 This is a schematic diagram showing the cooperation of the drive mechanism, part of the X-axis walking mechanism and the Y-axis walking mechanism provided by this utility model;

[0036] Figure 4 This is a simplified transmission diagram of the drive mechanism, the first transmission rod, and the second transmission rod provided by this utility model;

[0037] Figure 5 This is a schematic diagram showing the cooperation between the lifting mechanism and the Y-axis traveling mechanism provided by this utility model;

[0038] Figure 6 This is a schematic diagram of the lifting mechanism provided by this utility model.

[0039] In the picture:

[0040] 1. X-axis traveling mechanism; 11. X-axis driving wheel; 12. First transmission rod; 121. First gear; 13. X-axis mounting plate; 14. X-axis driven wheel;

[0041] 2. Y-axis traveling mechanism; 21. Y-axis driving wheel; 22. Second transmission rod; 221. Second gear; 23. Y-axis mounting plate; 24. Y-axis driven wheel; 25. Slide groove; 26. Universal coupling;

[0042] 3. Drive mechanism; 31. First drive component; 32. Reducer; 33. Protective cover; 34. First gear set; 341. First tooth; 342. Second tooth; 35. Second gear set; 351. Third tooth; 352. Fourth tooth;

[0043] 4. Lifting mechanism; 41. Drive assembly; 411. Second drive component; 412. Gearbox; 42. Rotating rod; 43. Eccentric assembly; 431. Fixing part; 432. Connecting part; 433. Roller; 44. Guide column;

[0044] 5. Pallet;

[0045] 6. Battery. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0047] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0050] Some existing four-way shuttles use a hydraulic drive mechanism to drive the vehicle body, thereby realizing the movement of the shuttle. The hydraulic drive method is prone to hydraulic oil leakage and pollution, and its transmission part uses chain drive, which is prone to loosening and requires frequent maintenance.

[0051] To solve the above problems, such as Figures 1-6As shown, this embodiment provides a four-way shuttle, which includes an X-axis traveling mechanism 1, a first transmission rod 12, a Y-axis traveling mechanism 2, a second transmission rod 22, a drive mechanism 3, a lifting mechanism 4, and a vehicle body. The X-axis traveling mechanism 1 includes an X-axis drive wheel 11, which is connected to the first transmission rod 12. A first gear 121 is provided on the first transmission rod 12. The Y-axis traveling mechanism 2 includes a Y-axis drive wheel 21, which is connected to the second transmission rod 22. A second gear 221 is provided on the second transmission rod 22; the drive mechanism 3 includes a first drive member 31, a first gear set 34 and a second gear set 35. The first gear set 34 is installed on the output shaft of the first drive member 31. The first gear set 34 meshes with both the second gear 221 and the second gear set 35. The second gear set 35 meshes with the first gear 121; the lifting mechanism 4 is used to drive the Y-axis traveling mechanism 2 to rise and fall along the Z-axis direction; the X-axis traveling mechanism 1 is connected to the vehicle body, and the Y-axis traveling mechanism 2 is movably connected to the vehicle body.

[0052] This drive mechanism 3, through the meshing of the first gear set 34, the second gear set 35, the first gear 121, and the second gear 221, can synchronously drive the X-axis drive wheel 11 and the Y-axis drive wheel 21 to rotate. The lifting mechanism 4 enables the Y-axis traveling mechanism 2 to move up and down along the Z-axis. When this four-way shuttle needs to move along the X-axis, the lifting mechanism 4 drives the Y-axis traveling mechanism 2 to move upward along the Z-axis, so that only the X-axis traveling mechanism 1 is in contact with the working plane, thereby enabling the four-way shuttle to move along the X-axis. When this four-way shuttle needs to move along the Y-axis, the lifting mechanism 4 drives the Y-axis traveling mechanism 2 to move downward along the Z-axis, so that only the Y-axis traveling mechanism 2 is in contact with the working plane, thereby enabling the four-way shuttle to move along the Y-axis.

[0053] Compared with traditional four-way shuttles that use hydraulic drive and chain drive, this four-way shuttle uses gear drive, which reduces maintenance needs caused by chain loosening and avoids the problem of hydraulic oil leakage and pollution. It can drive the synchronous rotation of X-axis walking mechanism 1 and Y-axis walking mechanism 2 simultaneously through a first driving component 31, which reduces energy consumption and makes the structure more compact.

[0054] Specifically, such as Figure 4 As shown, the first gear set 34 has a first tooth 341 and a second tooth 342 arranged coaxially. The first gear set 34 is mounted on the output shaft of the first drive member 31. The second gear set 35 has a third tooth 351 and a fourth tooth 352 arranged coaxially. The axis of the first gear set 34 and the axis of the second gear set 35 are arranged at an angle. The first tooth 341 meshes with the third tooth 351, the second tooth 342 meshes with the second gear 221, and the fourth tooth meshes with the first gear 121.

[0055] When the first driving member 31 in the drive mechanism 3 is activated, it can simultaneously drive the first tooth 341 and the second tooth 342 to rotate. Since the first tooth 341 meshes with the third tooth 351, the first tooth 341 drives the third tooth 351 to rotate. Since the third tooth 351 and the fourth tooth 352 are coaxially arranged, the fourth tooth 352 also begins to rotate. Since the fourth tooth 352 meshes with the first gear 121, the fourth tooth 352 drives the first gear 121 to rotate. The first gear 121 is located on the first transmission rod 12, so the first transmission rod 12 rotates, thereby driving multiple X-axis drive wheels 11 to rotate synchronously, thus enabling the shuttle to move in the X-axis direction. At the same time, since the second tooth 342 meshes with the second gear 221, the second tooth 342 can drive the second gear 221 to rotate. The second gear 221 is located on the second transmission rod 22, so the second transmission rod 22 rotates, thereby driving multiple Y-axis drive wheels 21 to rotate synchronously.

[0056] In this embodiment, the first tooth 341 and the third tooth 351 are two meshing bevel gears. The meshing of the two bevel gears enables the power of the first drive member 31 to be reversed and transmitted to the X-direction travel mechanism.

[0057] It should be noted that, as Figure 3 As shown, in order to prevent dust contamination that could cause meshing failure between gears, the drive mechanism also includes a protective cover 33, which covers the first gear set 34, the second gear set 35, the first gear 121 and the second gear 221.

[0058] In this embodiment, the first driving component 31 is a motor. It should be noted that other driving structures in the prior art can also be used as the first driving component 31, such as a cylinder, and this embodiment does not limit this to them.

[0059] In this embodiment, as Figure 2 As shown, there are two X-axis traveling mechanisms 1 and two Y-axis traveling mechanisms 2. The two X-axis traveling mechanisms 1 are spaced apart along the Y-axis, and the two Y-axis traveling mechanisms 2 are spaced apart along the X-axis. This allows the four-way shuttle to have a relatively compact structure while meeting the travel requirements, making it easier to shuttle on the track to complete the transportation task.

[0060] In this embodiment, the vehicle body includes a floor plate. Two X-axis traveling mechanisms 1 are connected to the floor plate relative to each other along the Y-axis, and two Y-axis traveling mechanisms 2 are movably connected to the floor plate relative to each other along the X-axis. Specifically, the two X-axis traveling mechanisms 1 are fixedly connected to the floor plate via X-axis mounting plates 13, and the two Y-axis traveling mechanisms 2 are movably connected to the floor plate via Y-axis mounting plates 23. The two Y-axis mounting plates 23 are disposed outside the projection surface of the floor plate, so that at least a portion of the Y-axis mounting plates 23 can move above or below the floor plate, thereby realizing reversal.

[0061] Specifically, such as Figure 2 , Figure 3 As shown, the Y-axis traveling mechanism 2 also includes a universal coupling 26, through which two Y-axis drive wheels 21 are connected to both ends of the second transmission rod 22. By setting the universal coupling 26, the positional changes of the Y-axis drive wheels 21 along the Z-axis direction are accommodated, thereby enhancing the reliability of the transmission.

[0062] It is worth noting that, such as Figure 2 , Figure 3 As shown, in order to achieve smooth power transmission and reduce vibration and noise, this drive mechanism 3 also includes a reducer 32. The first drive member 31 is connected to the bevel gear and the first transmission gear after being reduced by the reducer 32.

[0063] Specifically, such as Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the lifting mechanism 4 includes a drive assembly 41 and a plurality of rotating rods 42 spaced apart along the Y-axis. The drive assembly 41 drives the rotating rods 42 to rotate. Eccentric assemblies 43 are provided at both ends of each rotating rod 42. Each eccentric assembly 43 has a fixed part 431 and a connecting part 432. The connecting part 432 is eccentrically disposed on the fixed part 431. The fixed part 431 is connected to the rotating rod 42, and the connecting part 432 is connected to the Y-axis traveling mechanism 2. The drive assembly 41 is a power source used to drive the rotating rods 42 to rotate. Each rotating rod 42 has an eccentric assembly 43 at both ends. The eccentric assembly 43 consists of an eccentrically disposed fixed part 431 and a connecting part 432. The fixed part 431 is connected to the rotating rod 42, while the connecting part 432 is connected to the Y-axis traveling mechanism 2. When the rotating rod rotates, the fixed part 431 of the eccentric assembly 43 rotates accordingly, and the connecting part 432, due to its eccentric arrangement, will generate displacement along the Z-axis. By setting up several rotating rods 42 distributed along the Y-axis, the stability of the Y-axis traveling mechanism 2 is ensured, and the stable support of the lifting mechanism 4 for the Y-axis traveling mechanism 2 is improved.

[0064] In this embodiment, as Figure 5 As shown, a roller 433 is provided on the connecting part 432, and a groove 25 extending along the Y-axis is provided on the Y-axis traveling mechanism 2. The roller 433 is tactilely connected to the groove 25 of the Y-axis traveling mechanism 2. Since the connecting part 432 will generate displacement along both the Z-axis and the Y-axis, by providing a roller on the connecting part 432 and having the roller 433 tactilely connected to the groove 25, frictional resistance is reduced, making the movement of the Y-axis traveling mechanism 2 smoother and more flexible, and improving the service life of the eccentric component 43 and the Y-axis traveling mechanism 2.

[0065] Specifically, such as Figure 2 As shown, the lifting mechanism 4 also includes a guide post 44, which extends along the Z-axis and engages with the Y-axis traveling mechanism 2. The guide post 44 enables the Y-axis traveling mechanism 2 to move along a predetermined trajectory during its movement along the Z-axis, avoiding motion errors caused by swaying or deviation.

[0066] In this embodiment, as Figure 5 , Figure 6 As shown, the drive assembly 41 includes a second drive member 411 and a gearbox 412. Multiple meshing third gears are arranged inwards, and several rotating rods 42 are connected to any one of the third gears. The second drive member 411 is connected to the power input end of the gearbox 412. Due to the meshing relationship between the multiple third gears, the second drive member 411, when connected to any one of the third gears, can drive the multiple third gears to rotate, thereby causing the several rotating rods 42 to rotate together. It can be understood that the third gear connected to the second drive member 411 at this time is the power input end of the gearbox 412.

[0067] This drive assembly 41, through the transmission of the gearbox 412, enables a number of rotating rods 42 to rotate simultaneously through a second drive member 411, which simplifies the structure of the drive assembly 41, reduces its space occupation, and makes the structure of this four-way shuttle more compact.

[0068] In this embodiment, the second driving component 411 is a motor. It should be noted that other driving structures in the prior art can also be used as the second driving component 411, such as a cylinder, and this embodiment does not limit this to them.

[0069] Specifically, such as Figure 2 As shown, the X-axis traveling mechanism 1 also includes an X-axis mounting plate 13 and several X-axis driven wheels 14. The X-axis driving wheel 11 and several X-axis driven wheels 14 are rotatably mounted on the X-axis mounting plate 13. The X-axis mounting plate 13 provides a stable mounting base for the X-axis driving wheel 11 and X-axis driven wheels 14, ensuring that the X-axis driving wheel 11 and X-axis driven wheels 14 can run stably on the predetermined track. By setting several X-axis driven wheels 14, the load borne by the X-axis traveling mechanism 1 can be more effectively distributed. The X-axis driving wheel 11 is responsible for driving this four-way shuttle forward, while the X-axis driven wheels 14 play a supporting and guiding role, so that this four-way shuttle can move more stably along the X-axis direction and improve the accuracy of the movement.

[0070] Specifically, such as Figure 2As shown, the Y-axis traveling mechanism 2 also includes a Y-axis mounting plate 23 and several Y-axis driven wheels 24. The Y-axis driving wheel 21 and several Y-axis driven wheels 24 are rotatably mounted on the Y-axis mounting plate 23. The Y-axis mounting plate 23 provides a stable mounting base for the Y-axis driving wheel 21 and Y-axis driven wheels 24, ensuring that the Y-axis driving wheel 21 and Y-axis driven wheels 24 can run stably on the predetermined track. By setting several Y-axis driven wheels 24, the load borne by the Y-axis traveling mechanism 2 can be more effectively distributed. The Y-axis driving wheel 21 is responsible for driving this four-way shuttle forward, while the Y-axis driven wheels 24 play a supporting and guiding role, so that this four-way shuttle can move more stably along the Y-axis direction, improving the accuracy of the movement.

[0071] Specifically, such as Figure 1 As shown, the four-way shuttle also includes a pallet 5, which is mounted on multiple Y-axis traveling mechanisms 2 and is used to carry goods.

[0072] Specifically, such as Figure 2 As shown, this four-way shuttle also includes a battery 6, which powers the lifting mechanism 4 and the drive mechanism 3.

[0073] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A four-way shuttle vehicle, characterized in that, The utility model relates to a kind of X-Y-Z three-axis walking mechanism, including: X direction walking mechanism (1) and first transmission rod (12), the X direction walking mechanism (1) includes X direction driving wheel (11), the X direction driving wheel (11) is drivingly connected with the first transmission rod (12), first gear (121) is provided on the first transmission rod (12); Y direction walking mechanism (2) and second transmission rod (22), the Y direction walking mechanism (2) includes Y direction driving wheel (21), the Y direction driving wheel (21) is drivingly connected with the second transmission rod (22), second gear (221) is provided on the second transmission rod (22); Driving mechanism (3), including first driving part (31), first gear set (34) and second gear set (35), the first gear set (34) is installed on the output shaft of the first driving part (31), the first gear set (34) is simultaneously meshed with the second gear (221) and the second gear set (35) driving, the second gear set (35) is meshed with the first gear (121) driving; Jacking mechanism (4) is used to drive the Y direction walking mechanism (2) to lift along Z axis direction; Vehicle body, with the X direction walking mechanism (1) is connected, and with the Y direction walking mechanism (2) is movably connected.

2. The shuttle of claim 1, wherein, The first gear set (34) includes coaxially arranged first tooth part (341) and second tooth part (342), the second gear set (35) includes coaxially arranged third tooth part (351) and fourth tooth part (352), the first tooth part (341) is engaged with the third tooth part (351), the second tooth part (342) is engaged with the second gear (221), and the fourth tooth part (352) is engaged with the first gear (121).

3. The shuttle of claim 1, wherein, The Y direction walking mechanism (2) includes two, and the Y direction walking mechanism (2) further includes universal coupling (26), and the Y direction driving wheel (21) of two Y direction walking mechanisms (2) is connected between the two ends of the second transmission rod (22) through the universal coupling (26).

4. The shuttle of claim 1, wherein, The driving mechanism further includes: Protective cover (33), the protective cover (33) is covered in the first gear set (34), the second gear set (35), the first gear (121) and the second gear (221).

5. The shuttle of claim 1, wherein, The jacking mechanism (4) includes: Driving assembly (41); Several rotating rods (42) are arranged along Y axis direction interval, and the driving assembly (41) is used to drive the rotating rod (42) rotation, and both ends of the rotating rod (42) are provided with eccentric assembly (43), the eccentric assembly (43) has fixed part (431) and connecting part (432), the connecting part (432) is eccentrically arranged on the fixed part (431), the fixed part (431) is connected with the rotating rod (42), and the connecting part (432) is connected with the Y direction walking mechanism (2).

6. The shuttle of claim 5, wherein, The connecting part (432) is provided with a roller, the Y-direction walking mechanism (2) is provided with a chute (25) extending along the Y-axis direction, and the roller is rollingly connected in the chute (25) of the Y-direction walking mechanism (2).

7. The shuttle of claim 5, wherein, The jacking mechanism (4) further comprises: A guide column extending along the Z-axis direction, and the guide column is guidedly matched with the Y-direction walking mechanism (2).

8. The shuttle of claim 5, wherein, The driving assembly (41) comprises: A second driving member (411) and a gear box (412), a plurality of third gears are arranged in the gear box (412) and are meshed with each other, a plurality of the rotating rods (42) are connected with any third gear, and the second driving member (411) is connected with a power input end of the gear box (412).

9. The shuttle of claim 1, wherein, The X-direction walking mechanism (1) further comprises: An X-direction mounting plate (13) and a plurality of X-direction driven wheels (14), and the X-direction driving wheel (11) and the plurality of X-direction driven wheels (14) are both rotatably arranged on the X-direction mounting plate (13).

10. The shuttle of claim 1, wherein, The Y-direction walking mechanism (2) further comprises: A Y-direction mounting plate (23) and a plurality of Y-direction driven wheels (24), and the Y-direction driving wheel (21) and the plurality of Y-direction driven wheels (24) are both rotatably arranged on the Y-direction mounting plate (23).

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