A four-way rail-guided transport vehicle

Abstract

The utility model discloses a four -way rail guidance transport vehicle relates to material distribution technical field, and this transport vehicle is small, and equipment integration is convenient, and the layout is simple, can realize the logistics transfer scheme of full area coverage of low -cost, satisfy special industry use demand, adopt the light communication interaction, can global coverage, does not occupy the road surface after equipment deployment, will not influence the escape passage of production workshop, and the structure and control are simple, and the equipment stability is high, and the maintenance is convenient, can increase the stop point on the line, changes the later logistics point, has certain flexibility.

Description

Technical Field

[0001] This utility model relates to the field of material distribution technology, and in particular to a four-way rail-guided transport vehicle that can cover a flat area for transportation and has a small footprint for turning RGV tracks. Background Technology

[0002] The hazardous materials and explosives industry has high requirements for reliability, safety, and real-time on-site control in material distribution. Currently, the mainstream logistics methods used in the industry include: explosion-proof conveyor lines, explosion-proof automated guided vehicles (AGVs), and explosion-proof rail-guided vehicles (RGVs) for straight lines or turns. The following is a comparison of the advantages and disadvantages of each method:

[0003] Advantages of explosion-proof conveyor lines: high safety, simple maintenance, and simple control.

[0004] Disadvantages of explosion-proof conveyor lines: high cost for long-distance conveying, low reliability due to numerous power and detection points, and occupation of ground space and escape routes.

[0005] Advantages of explosion-proof AGVs: high flexibility and no need to occupy ground space.

[0006] Disadvantages of explosion-proof AGVs: The power components and sensors are numerous and have relatively low reliability; the control logic is complex; they may deviate from their designated path, resulting in relatively low safety; maintenance is difficult; and real-time remote control cannot be achieved through multi-point infrared optical communication.

[0007] Advantages of explosion-proof straight or turning RGVs: high safety, no ground space required, simple control, convenient maintenance and replacement, and real-time communication capability.

[0008] Disadvantages of explosion-proof straight-line or turning RGVs: fixed wiring, low flexibility, and turning RGVs require more space.

[0009] Therefore, how to overcome the shortcomings of straight RGVs in not being able to cover the horizontal transportation area and the large footprint of curved RGV tracks is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0010] In view of the above problems, the present invention provides a four-way rail-guided transport vehicle for overcoming or at least partially solving the above problems.

[0011] This utility model provides the following solution:

[0012] A four-way rail-guided transport vehicle, comprising:

[0013] The main frame, with an upper structure provided on its upper part;

[0014] Two sets of first translation wheel sets and a translation drive assembly are provided. The two sets of first translation wheel sets are connected to the main frame and are used to drive the main frame to move along a first direction. The translation drive assembly includes a translation motor, and the output shaft of the translation motor is connected to the two sets of first translation wheel sets and the two sets of second translation wheel sets through a first translation transmission assembly and a second translation transmission assembly, respectively.

[0015] Two sets of second translational wheel sets are connected to the main frame via a lifting drive assembly. These two sets of second translational wheel sets drive the main frame to move along a second direction; the first direction is different from the second direction. Each second translational wheel set includes a wheel mounting frame, which is connected to a slide rail longitudinally mounted on the main frame via a slider. The lifting drive assembly is connected to the wheel mounting frame.

[0016] The lifting drive assembly is used to drive the two sets of the second translation wheel sets to switch positions between high and low positions at the reversing node.

[0017] When the two sets of second translation wheel sets are in a high position, the lowest wheel surface height of each translation wheel in the two sets of second translation wheel sets is higher than the wheel surface height of each translation wheel in the two sets of first translation wheel sets, so that each translation wheel in the two sets of first translation wheel sets contacts the first track laid along the first direction;

[0018] When the two sets of second translation wheel groups are in the low position, the lowest wheel surface height of each translation wheel in the two sets of second translation wheel groups is lower than the wheel surface height of each translation wheel in the two sets of first translation wheel groups, so that each translation wheel in the two sets of second translation wheel groups contacts the second track laid along the second direction.

[0019] Preferably, a plurality of lifting compression springs are provided between the wheel assembly mounting frame and the main frame.

[0020] Preferably, the lifting drive assembly includes at least two sets of longitudinal racks, at least two lifting power reversing gears, a synchronous rack, and a lifting motor; each set of longitudinal racks includes two longitudinal racks fixedly connected to the main frame, and the tooth surfaces of the two longitudinal racks in each of the at least two sets of longitudinal racks are arranged opposite to each other and are meshed with at least two lifting power reversing gears in a one-to-one correspondence; the synchronous racks are all meshed with at least two lifting power reversing gears; at least two lifting power reversing gears are hinged to the wheel assembly mounting frame via a rotating shaft;

[0021] The lifting motor is used to drive one of the at least two lifting power reversing gears to rotate, thereby causing the synchronous rack to slide and drive the other lifting power reversing gear to rotate, so that the at least two lifting power reversing gears move up and down along the longitudinal rack set connected to them respectively.

[0022] Preferably, the output shaft of the lifting motor is connected to the lifting power reversing gear located on the same side of each of the two sets of the second translation wheel sets via a lifting synchronous transmission shaft.

[0023] Preferably, the first translational transmission assembly includes a first translational transmission shaft and two drive shafts; both ends of the first translational transmission shaft are hinged to the main frame, and the two drive shafts are fixedly connected to one of the translation wheels in each of the two sets of the first translational wheel sets; the first translational transmission shaft is connected to the output shaft of the translational motor through a first synchronous belt assembly, and the two drive shafts are respectively connected to the first translational transmission shaft through a set of second synchronous belt assemblies; the translation wheel connected to the drive shaft is connected to the adjacent translation wheel through an odd number of gears.

[0024] Preferably, the second translational transmission assembly includes a power reversing assembly and two second translational transmission shafts; the power reversing assembly is connected to the output shaft of the translational motor, and one end of each of the two second translational transmission shafts is connected to the power reversing assembly;

[0025] In each group of the second translation wheel set, two adjacent translation wheels are connected by an odd number of gears; the end of the second translation drive shaft away from the power reversing assembly is connected to one of the gears by a cross-type universal coupling.

[0026] Preferably, the inner side of the main frame is provided with an explosion-proof control box, an explosion-proof battery pack, and a QR code positioning module.

[0027] Preferably, the main frame is externally equipped with an optical communication module, obstacle avoidance radar, buffer, and explosion-proof touch screen.

[0028] Preferably, the superstructure includes any one of a roller conveyor, a lifting structure, and telescopic forks.

[0029] According to the specific embodiments provided by this utility model, the following technical effects are disclosed:

[0030] This application provides a four-way rail-guided transport vehicle, which is small in size, easy to integrate, and has a simple layout; it can achieve a low-cost logistics transfer solution covering the entire area; it meets the needs of special industries, adopts optical communication interaction, and can cover the entire area; after the equipment is deployed, it does not occupy the road surface and will not affect the escape route of the production workshop; it has a simple structure and control, high equipment stability, and convenient maintenance; it can add stopping points on the line to change the subsequent logistics points, and has a certain degree of flexibility.

[0031] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a four-way rail-guided transport vehicle provided in an embodiment of this utility model;

[0034] Figure 2 This is a schematic diagram of the structure of a four-way rail-guided transport vehicle after separation from its superstructure, as provided in this embodiment of the utility model.

[0035] Figure 3 This is a top view of a four-way rail-guided transport vehicle after it has been separated from its superstructure, according to an embodiment of this utility model.

[0036] Figure 4 This is a side view of a four-way rail-guided transport vehicle after it has been separated from its superstructure, according to an embodiment of this utility model.

[0037] In the diagram: Main frame 1, slide rail 101, first translation wheel set 2, second translation wheel set 3, wheel set mounting bracket 301, slider 302, lifting drive assembly 4, lifting compression spring 401, longitudinal rack assembly 402, lifting power reversing gear 403, synchronous rack 404, lifting motor 405, lifting synchronous transmission shaft 406, translation drive assembly 5, translation motor 501, first translation transmission shaft 502, drive shaft 503, first synchronous belt assembly 504, second synchronous belt assembly 505, power reversing assembly 506, second translation transmission shaft 507, cross shaft universal coupling 508, explosion-proof control box 6, explosion-proof battery pack 7, QR code positioning module 8, optical communication module 9, obstacle avoidance radar 10, buffer 11, explosion-proof touch screen 12, upper structure 13. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0039] See Figure 1 , Figure 2 , Figure 3 , Figure 4 This invention provides a four-way rail-guided transport vehicle, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the transport vehicle may include:

[0040] The main frame 1 has an upper structure 13 on its upper part; in specific implementation, the upper structure 13 may include any one of a roller conveyor, a lifting structure, or a telescopic fork.

[0041] Two sets of first translation wheel sets 2 are connected to the main frame 1, and the two sets of first translation wheel sets 2 are used to drive the main frame 1 to run in a first direction;

[0042] Two sets of second translation wheel groups 3 are connected to the main frame 1 via a lifting drive assembly 4. The two sets of second translation wheel groups 3 are used to drive the main frame 1 to run along a second direction; the first direction is different from the second direction.

[0043] The lifting drive component 4 is used to drive the two sets of the second translation wheel group 3 to switch positions between high and low at the reversing node.

[0044] When the two sets of second translation wheel groups 3 are in a high position, the lowest wheel surface height of each translation wheel of the two sets of second translation wheel groups 3 is higher than the wheel surface height of each translation wheel of the two sets of first translation wheel groups 2, so that each translation wheel of the two sets of first translation wheel groups 2 contacts the first track laid along the first direction.

[0045] When the two sets of second translation wheel groups 3 are in the low position, the lowest wheel surface height of each translation wheel of the two sets of second translation wheel groups 3 is lower than the wheel surface height of each translation wheel of the two sets of first translation wheel groups 2, so that each translation wheel of the two sets of second translation wheel groups 3 contacts the second track laid along the second direction.

[0046] The four-way rail-guided transport vehicle provided in this application embodiment has two sets of first translation wheel sets 2 and two types of second translation components that can drive the device and its load to run along the tracks laid in the first and second directions. When it runs to the reversing position, the two sets of second translation wheel sets 3 can be driven to rise and fall by the lifting drive component, thereby realizing the switching of the translation wheel sets in contact with the track.

[0047] In order to achieve the lifting drive of the second translation wheel set 3 with a smaller volume, the embodiments of this application can provide that the second translation wheel set 3 includes a wheel set mounting frame 301, the wheel set mounting frame 301 is connected to the slide rail 101 arranged longitudinally on the main frame 1 through a slider 302; the lifting drive assembly 4 is connected to the wheel set mounting frame 301.

[0048] Furthermore, a plurality of lifting compression springs 401 are provided between the wheel assembly mounting bracket 301 and the main frame 1. These compression springs can provide a good cushioning effect.

[0049] Furthermore, the lifting drive assembly 4 includes at least two sets of longitudinal rack groups 402, at least two lifting power reversing gears 403, a synchronous rack 404, and a lifting motor 405; each set of longitudinal rack groups 402 includes two longitudinal racks fixedly connected to the main frame 1, and the tooth surfaces of the two longitudinal racks in each of the at least two sets of longitudinal rack groups 402 are arranged opposite to each other and are meshed with at least two of the lifting power reversing gears 403; the synchronous racks 404 are all meshed with at least two of the lifting power reversing gears 403; at least two of the lifting power reversing gears 403 are hinged to the wheel assembly mounting frame 301 through a rotating shaft;

[0050] The lifting motor 405 is used to drive one of the at least two lifting power reversing gears 403 to rotate, thereby driving the synchronous rack 404 to slide and drive the other lifting power reversing gear 403 to rotate, so that the at least two lifting power reversing gears 403 move up and down along the longitudinal rack set 402 connected to them respectively.

[0051] By adopting a gear and rack power transmission method, it is possible to ensure fast lifting and adjustment speed, while also effectively reducing the size of the lifting drive component.

[0052] In practical applications, the lifting drives of the two sets of second translation wheel sets 3 can be arranged independently, that is, each set of second translation wheel sets 3 uses an independent lifting drive for lifting. Although this method can achieve the purpose of lifting, the excessive number of drives increases the overall size of the device and also places higher demands on synchronous control. To reduce the size of the device and reduce the control difficulty, this embodiment of the application can provide that the output shaft of the lifting motor 405 is connected to the lifting power reversing gear 403 located on the same side of each of the two sets of second translation wheel sets 3 through a lifting synchronous transmission shaft 406. The lifting synchronous transmission shaft 406 can simultaneously distribute the power of the same lifting motor to the lifting power reversing gear 403 located on the same side of each of the two sets of second translation wheel sets 3. The power transmission of each component during the lifting process will be described in detail later.

[0053] To further reduce the problems of large device size and cumbersome control and wiring caused by complex power mechanisms, this application embodiment can provide a translation drive assembly 5. The translation drive assembly 5 includes a translation motor 501. The output shaft of the translation motor 501 is connected to two sets of first translation wheel sets 2 and two sets of second translation wheel sets 3 via a first translation transmission assembly and a second translation transmission assembly, respectively. By using a single translation motor 501 in conjunction with the first and second translation transmission assemblies, it is possible to drive two sets of first translation wheel sets 2 and two sets of second translation wheel sets 3 using the same translation motor 501. Using a single explosion-proof servo translation motor 501 can drive the device to move in two directions.

[0054] Furthermore, embodiments of this application may provide that the first translational transmission assembly includes a first translational transmission shaft 502 and two drive shafts 503; the two ends of the first translational transmission shaft 502 are hinged to the main frame 1, and the two drive shafts 503 are fixedly connected to one of the translation wheels in each of the two sets of the first translational wheel sets 2; the first translational transmission shaft 502 is connected to the output shaft of the translational motor 501 through a first synchronous belt assembly 504, and the two drive shafts 503 are respectively connected to the first translational transmission shaft 502 through a set of second synchronous belt assemblies 505; the translation wheel connected to the drive shaft 503 is connected to the adjacent translation wheel through an odd number of gears.

[0055] The second translational transmission assembly includes a power reversing assembly 506 and two second translational transmission shafts 507; the power reversing assembly 506 is connected to the output shaft of the translational motor 501, and one end of each of the two second translational transmission shafts 507 is connected to the power reversing assembly 506.

[0056] In each group of the second translation wheel group 3, two adjacent translation wheels are connected by an odd number of gears; the end of the second translation drive shaft 507 away from the power reversing assembly 506 is connected to one of the gears through a cross-shaft universal coupling 508.

[0057] Furthermore, in this embodiment, an explosion-proof control box 6, an explosion-proof battery pack 7, and a QR code positioning module 8 are provided on the inner side of the main frame 1. An optical communication module 9, an obstacle avoidance radar 10, a buffer 11, and an explosion-proof touchscreen 12 are provided on the outer side of the main frame 1. During the operation of the device platform, the device uses two diagonally arranged obstacle avoidance radars 10 to detect obstacles and avoid collisions. Simultaneously, real-time information transmission is performed via long-distance optical communication, feeding back the vehicle status to the external control system in real time. A set of optical communication modules 9 is provided in each of the X and Y directions.

[0058] It is understood that the four-way rail-guided transport vehicle provided in this application, as a mobile platform, can be equipped with different superstructures 13 to meet different transfer needs. The forms of superstructures 13 include, but are not limited to, roller conveyors, lifting structures, telescopic forks, etc.

[0059] The following is a detailed description of the usage method of the four-way rail-guided transport vehicle provided in the embodiments of this application.

[0060] In practical use, the corresponding superstructure 13 can be installed on the four-way rail-guided transport vehicle according to site requirements. After the superstructure 13 is installed, when a transport task needs to be performed, the path of the four-way rail-guided transport vehicle is determined. For example, an X-direction (first direction) track and an intersecting Y-direction (second direction) track are laid on the road surface. The determined path can be to first run along the Y-direction (second direction) and then along the X-direction (first direction), with the X-direction perpendicular to the Y-direction.

[0061] At this time, the lifting drive assembly 4 drives the second translation wheel group 3 to a low position, ensuring that each translation wheel of the second translation wheel group 3 is in contact with the track in the X direction (first direction), while ensuring that each translation wheel of the first translation wheel group 2 is separated from the track in the Y direction (first direction).

[0062] During operation, the control translation motor 501 starts, and the output shaft of the translation motor 501 rotates, transmitting power to the power reversing assembly 506. This power reversing assembly 506 can use three bevel gears to change the direction of power on the main shaft. The reversed power is then transmitted to two second translation drive shafts 507. The two second translation drive shafts 507 rotate and, through a cross-shaft universal coupling 508, transmit the rotational power to the corresponding gear. This gear is any one of the odd-numbered gears between two adjacent translation wheels. Using an odd-numbered number of gears ensures that the two adjacent translation wheels rotate in the same direction; in practical use, five gears can be used. During gear rotation, the two adjacent translation wheels can be driven to rotate in the same direction, providing forward power for the device. Simultaneously, the two powered translation wheels on the same side act as drive wheels, ensuring that the device can traverse large gaps.

[0063] When the platform reaches the track-changing node (the platform position is determined by secondary positioning and detection via QR code), the second translation wheel group 3 is raised by the lifting drive component 4, so that the wheel surface of each translation wheel of the second translation wheel group 3 is lower than the wheel surface of each translation wheel of the first translation wheel group 2. At this time, the first translation wheel group 2 drive device runs straight along the Y direction.

[0064] During the lifting adjustment, the output shaft of the lifting motor 405 rotates, transmitting rotational power to the lifting power reversing gears 403 connected to both ends via the lifting synchronous transmission shaft 406. These reversing gears act as the driving component. The rotation of the lifting power reversing gears 403, under the action of the longitudinal rack assembly 402 and the slide rail 101 slider 302, causes the wheel assembly mounting frame 301 and the second translational wheel assembly 3 to rise. Simultaneously, the rotation of the reversing gears transmits power to another reversing gear on the same side via the synchronous rack 404. This other reversing gear also moves upward along the longitudinal rack assembly 402 connected to it, thus achieving the synchronous lifting and lowering of both ends of the wheel assembly mounting frame 301. The lifting drive assembly 4 has a small overall size, and the use of a gear and rack transmission method allows for a better transmission ratio, ensuring rapid lifting and lowering adjustment.

[0065] During operation, the translation motor 501 is started, and the output shaft of the translation motor 501 rotates, driving the first translation transmission shaft 502 to rotate via the first synchronous belt assembly 504. During the rotation of the first translation transmission shaft 502, the drive shaft 503 is driven to rotate via the second synchronous belt assembly 505. The rotation of the drive shaft 503 drives the translation wheel connected to it to rotate, and the drive device runs along the track in the X direction (first direction). At the same time, since the translation wheel connected to the drive shaft 503 is connected to the adjacent translation wheel through an odd number (can be 5) of gears, the adjacent translation wheel can obtain power and be used as the drive wheel, ensuring that each group of first translation wheel sets 2 includes two drive wheels. This method ensures that the device can cross large span gaps.

[0066] It is understood that a corresponding clutch component can also be provided between the power reversing assembly 506 and the output shaft of the translation motor 501 provided in this application embodiment. The clutch component allows for selective distribution of the required power. Alternatively, a direct connection can be used, ensuring that the first translation wheel set 2 and the second translation wheel set 3 are always rotating after the translation motor 501 is started. The advantage of this is that after the second translation wheel set 3 separates from the track, each translation wheel of the first translation wheel set 2 instantly gains power upon contact with the track, thereby improving work efficiency.

[0067] In summary, the four-way rail-guided transport vehicle provided in this application is small in size, easy to integrate, and has a simple layout; it can achieve a logistics transfer solution covering the entire area at low cost; it meets the needs of special industries, adopts optical communication interaction, and can cover the entire area; after the equipment is deployed, it does not occupy the road surface and will not affect the escape route of the production workshop; it has a simple structure and control, high equipment stability, and convenient maintenance; it can add stopping points on the line to change the subsequent logistics points, and has a certain degree of flexibility.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0070] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0071] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A four-way rail guided vehicle, characterized in that, include: The main frame, with an upper structure provided on its upper part; Two sets of first translation wheel sets and a translation drive assembly are provided. The two sets of first translation wheel sets are connected to the main frame and are used to drive the main frame to move along a first direction. The translation drive assembly includes a translation motor, and the output shaft of the translation motor is connected to the two sets of first translation wheel sets and the two sets of second translation wheel sets through a first translation transmission assembly and a second translation transmission assembly, respectively. Two sets of second translational wheel sets are connected to the main frame via a lifting drive assembly. These two sets of second translational wheel sets drive the main frame to move along a second direction; the first direction is different from the second direction. Each second translational wheel set includes a wheel mounting frame, which is connected to a slide rail longitudinally mounted on the main frame via a slider. The lifting drive assembly is connected to the wheel mounting frame. The lifting drive assembly is used to drive the two sets of the second translation wheel sets to switch positions between a high position and a low position at the reversing node; When the two sets of second translation wheel sets are in a high position, the lowest wheel surface height of each translation wheel in the two sets of second translation wheel sets is higher than the wheel surface height of each translation wheel in the two sets of first translation wheel sets, so that each translation wheel in the two sets of first translation wheel sets contacts the first track laid along the first direction; When the two sets of second translation wheel groups are in the low position, the lowest wheel surface height of each translation wheel in the two sets of second translation wheel groups is lower than the wheel surface height of each translation wheel in the two sets of first translation wheel groups, so that each translation wheel in the two sets of second translation wheel groups contacts the second track laid along the second direction.

2. The four-way rail guided vehicle of claim 1, wherein, Several lifting compression springs are provided between the wheel assembly mounting frame and the main frame.

3. The four-way rail guided vehicle of claim 1, wherein, The lifting drive assembly includes at least two sets of longitudinal racks, at least two lifting power reversing gears, a synchronous rack, and a lifting motor. Each set of longitudinal racks includes two longitudinal racks fixedly connected to the main frame. The tooth surfaces of the two longitudinal racks in each of the at least two sets of longitudinal racks are arranged opposite to each other and are meshed with at least two lifting power reversing gears in a one-to-one correspondence. The synchronous racks are all meshed with at least two lifting power reversing gears. At least two lifting power reversing gears are hinged to the wheel assembly mounting frame via a rotating shaft. The lifting motor is used to drive one of the at least two lifting power reversing gears to rotate, thereby causing the synchronous rack to slide and drive the other lifting power reversing gear to rotate, so that the at least two lifting power reversing gears move up and down along the longitudinal rack set connected to them respectively.

4. The four-way rail guided vehicle of claim 3, wherein, The output shaft of the lifting motor is connected to the lifting power reversing gear located on the same side of each of the two sets of the second translation wheel sets via a lifting synchronous transmission shaft.

5. The four-way rail guided vehicle of claim 4, wherein, The first translational transmission assembly includes a first translational transmission shaft and two drive shafts; the two ends of the first translational transmission shaft are hinged to the main frame, and the two drive shafts are fixedly connected to one of the translation wheels in each of the two sets of the first translational wheel sets; the first translational transmission shaft is connected to the output shaft of the translational motor through a first synchronous belt assembly, and the two drive shafts are respectively connected to the first translational transmission shaft through a set of second synchronous belt assemblies; the translation wheel connected to the drive shaft is connected to the adjacent translation wheel through an odd number of gears.

6. The four-way rail guided vehicle of claim 4, wherein, The second translational transmission assembly includes a power reversing assembly and two second translational transmission shafts; the power reversing assembly is connected to the output shaft of the translational motor, and one end of each of the two second translational transmission shafts is connected to the power reversing assembly; In each group of the second translation wheel set, two adjacent translation wheels are connected by an odd number of gears; the end of the second translation drive shaft away from the power reversing assembly is connected to one of the gears by a cross-type universal coupling.

7. The four-way rail guided vehicle of claim 1, wherein, The inner side of the main frame is equipped with an explosion-proof control box, an explosion-proof battery pack, and a QR code positioning module.

8. The four-way rail guided vehicle of claim 1, wherein, The main frame is externally equipped with an optical communication module, obstacle avoidance radar, buffer, and explosion-proof touch screen.

9. The four-way rail guided vehicle of claim 1, wherein, The superstructure includes any one of a roller conveyor, a lifting structure, or a telescopic fork.

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