A pallet positioning system, shuttle, and four-way vehicle

Abstract

This utility model belongs to the field of warehousing equipment technology, and discloses a pallet positioning system, a shuttle, and a four-way vehicle. The pallet positioning system includes rack rails, pallets, detection components, and a control module. The pallet is configured to carry goods and is mounted on the rack rails. The detection component includes at least two mounting brackets and at least two detection elements. The two mounting brackets are configured to be installed on the first and second sides of the cargo handling vehicle, respectively. The two detection elements are respectively mounted on the two mounting brackets and tilted upwards at a preset angle. The angle of the detection elements is adjustable around the horizontal direction, and they are used to detect the pallet. The control module is communicatively connected to the detection elements and the cargo handling vehicle. By setting this positioning system on a shuttle or four-way vehicle and using it to position the pallet, the positioning accuracy of the pallet can be improved, ensuring that the pallet is aligned with the cargo handling vehicle and reducing the risk of goods falling.

Description

Technical Field

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

[0002] In logistics warehousing, goods are typically placed on pallets. When goods are moved into the warehouse, a freight forwarding vehicle moves under the pallet, directly opposite it. It then lifts the pallet and moves it to the target storage location. The vehicle then enters the tracks and travels to the center of the storage location. Afterward, the vehicle descends vertically, placing the pallet onto the tracks (the bottom of the pallet contacts the tracks, which support it). Finally, the vehicle exits from the tracks under the pallet, completing the inbound storage process. When goods need to be moved out of the warehouse, the freight forwarding vehicle moves from one end of the racking track into the racking track, moving under the pallet and directly opposite it. The vehicle then vertically lifts the pallet, disengaging it from the tracks and placing it on the vehicle. This allows the vehicle to move the pallet away from the racking track, enabling the goods to be moved out of the warehouse. Therefore, when handling goods in or out of the warehouse, the freight forwarding vehicle must be moved to a position directly opposite the pallet.

[0003] In existing technologies, pallet positioning photoelectric sensors are often installed on freight carts. These sensors emit detection signals vertically upwards, allowing them to detect the presence of a pallet above the freight cart and ensure alignment between the cart and the pallet. However, to reduce pallet weight, most pallets have grid-like through-holes at the top and bottom. When using the aforementioned positioning method for these pallets, the detection signal can easily pass through these through-holes, preventing the positioning sensor from accurately detecting the pallet. This results in positioning errors, causing the pallet to misalign with the freight cart and increasing the risk of goods falling. Utility Model Content

[0004] The purpose of this invention is to provide a pallet positioning system, a shuttle, and a four-way vehicle, which can improve the positioning accuracy of pallets, ensure that the pallets are aligned with the cargo handling vehicle, and reduce the risk of goods falling.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] Firstly, a pallet positioning system is provided, comprising:

[0007] Shelf rails;

[0008] A pallet, configured to carry goods, is mounted on the rack rails;

[0009] The detection assembly includes at least two mounting brackets and at least two detection elements. The two mounting brackets are configured to be installed on a first side and a second side of a cargo handling vehicle, respectively. The two detection elements are respectively installed on the two mounting brackets and tilted upward at a preset angle. The angle of the detection elements around the horizontal direction is adjustable for detecting the pallet.

[0010] The control module is communicatively connected to both the detection component and the cargo handling vehicle.

[0011] Optionally, the mounting bracket includes a first plate, a second plate, and a third plate that are bent and connected in sequence. The first plate and the third plate both extend vertically, and the third plate extends along a side away from the first plate. The second plate extends horizontally, and the third plate is detachably connected to the cargo handling vehicle. The detection element is disposed on the first plate.

[0012] Optionally, the pallet positioning system further includes two adjustment components, each corresponding to one of the two detection elements. Each adjustment component includes two adjustment plugs and two first fasteners. The first plate has an arc-shaped through hole. The two adjustment plugs pass through both ends of the detection element and the arc-shaped through hole, and are threadedly connected to the two fasteners respectively. The adjustment plugs can slide along the arc-shaped through hole.

[0013] Optionally, the pallet positioning system further includes two connecting components, each corresponding to one of the two mounting brackets. Each connecting component includes a connector and a second fastener. The third plate has a connecting hole, the connector passes through the connecting hole and the cargo handling vehicle, and is threadedly connected to the second fastener.

[0014] Optionally, the connecting assembly further includes a washer, which is sleeved on the plug and sandwiched between the plug and the third plate.

[0015] Optionally, the adjusting plug includes an adjusting bolt, the connector includes a plug bolt, and both the first fastener and the second fastener include a fastening nut.

[0016] Optionally, the two mounting brackets are arranged diagonally or facing each other.

[0017] Optionally, the detection assembly includes multiple mounting brackets and multiple detection elements. The multiple mounting brackets are respectively disposed on a first side and a second side of the cargo handling vehicle. The mounting brackets on the first side and the mounting brackets on the second side are directly opposite each other and are spaced apart along the width direction of the cargo handling vehicle. Each mounting bracket is provided with at least one detection element.

[0018] Secondly, a shuttle vehicle is provided, including a vehicle body, a plurality of wheels, and a pallet positioning system as described above. The plurality of wheels are disposed on both sides of the vehicle body, and the mounting bracket of the pallet positioning system is mounted on the vehicle body.

[0019] Thirdly, a four-way vehicle is provided, including a vehicle body two, multiple wheels two and a pallet positioning system as described above, wherein the multiple wheels two are respectively disposed on both sides of the vehicle body two, and the mounting bracket of the pallet positioning system is mounted on the vehicle body two.

[0020] The beneficial effects of this utility model are:

[0021] This utility model provides a pallet positioning system, a shuttle, and a four-way vehicle. The pallet positioning system can be installed on the shuttle or the four-way vehicle, and can accurately position pallets. The pallet positioning system includes a rack track, a pallet, a detection component, and a control module. When goods need to be moved into the warehouse or goods placed on the rack track need to be moved out of the warehouse, the control module controls the goods handling vehicle to enter the rack track from either side opening in a direction from the first side to the second side. At this time, the second side of the goods handling vehicle is the front end of the goods handling vehicle. When the second side of the goods handling vehicle enters the rack track, and the detection component on the mounting bracket on the second side detects the pallet, a signal is sent to the control module, and the control module controls the goods handling vehicle to decelerate. When the first side of the goods handling vehicle enters the rack track, and the detection component on the mounting bracket on the first side detects the pallet, a signal is sent to the control module, and the control module controls the goods handling vehicle to stop. At this time, the pallet and the goods handling vehicle are facing each other. Similarly, if the control module controls the goods handling vehicle to enter the rack track from the second side to the first side, the above is reversed. By installing detection devices on both the first and second sides of the cargo handling vehicle, the front and rear sides of the pallet can be detected, thereby ensuring that the cargo handling vehicle and the pallet are centered and aligned, improving the positioning accuracy of the pallet.

[0022] Furthermore, when the pallet-carrying trolley moves, if the pallet shifts from the first side of the trolley along the direction from the second side to the first side, the detector on the second side will not detect the pallet and will immediately send a signal to the control module, which will then stop the trolley. Similarly, if the pallet shifts from the second side of the trolley along the direction from the first side to the second side, the detector on the first side will not detect the pallet and will also send a signal to the control module, causing the control module to stop the trolley. If the pallet rotates, neither the detector on the first side nor the detector on the second side will detect the pallet. In this case, both detectors will simultaneously send signals to the control module, causing the control module to stop the trolley. This reduces the risk of goods falling and prevents damage to the goods due to falling. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the cargo handling vehicle provided in this embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the pallet positioning system provided in an embodiment of the present invention;

[0025] Figure 3 This is a first view of the detection component provided in this embodiment of the utility model;

[0026] Figure 4 This is a second view of the detection component provided in this embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the tray provided in this embodiment when one end of the tray located on the first side is displaced along the direction from the second side to the first side;

[0028] Figure 6 This is a schematic diagram of the structure when one end of the tray located on the second side of the present utility model is displaced along the direction from the first side to the second side;

[0029] Figure 7 This is a schematic diagram of the structure provided in this embodiment of the present invention, showing two mounting brackets arranged in a first diagonal configuration;

[0030] Figure 8 This is a schematic diagram of the structure provided in this embodiment of the utility model, showing the two mounting brackets arranged in a second diagonal manner;

[0031] Figure 9 This is a schematic diagram of the structure of two mounting brackets arranged facing each other according to an embodiment of the present utility model;

[0032] Figure 10 This is a structural diagram of a cargo handling vehicle provided in an embodiment of the present invention when it is equipped with multiple mounting brackets.

[0033] In the picture:

[0034] 100. Cargo handling vehicle;

[0035] 1. Shelf rails;

[0036] 2. Pallet;

[0037] 3. Detection components; 31. Mounting bracket; 311. First plate; 3111. Arc-shaped through hole; 312. Second plate; 313. Third plate; 3131. Connecting hole; 32. Detection piece;

[0038] 4. Adjust the plugin. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] In the description of this embodiment, the terms "upper," "lower," "left," and "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.

[0043] Example 1

[0044] This embodiment provides a pallet positioning system, such as Figures 1 to 4 As shown, the positioning system is installed on the cargo handling vehicle 100 (shuttle or four-way vehicle). When the cargo handling vehicle 100 is needed to move goods into or out of the warehouse, it is necessary to move the cargo handling vehicle 100 under the pallet 2. At this time, the positioning system is used to position the pallet 2, which can improve the positioning accuracy of the pallet 2, ensure that the pallet 2 is aligned with the cargo handling vehicle 100, and reduce the risk of goods falling.

[0045] like Figures 2 to 4 As shown, the pallet positioning system includes a rack track 1, a pallet 2, a detection component 3, and a control module. The cargo handling vehicle 100 can enter the rack track 1 through an opening on either side. The pallet 2 is configured to carry goods and is mounted on the rack track 1. The detection component 3 includes two mounting brackets 31 and two detection elements 32. The two mounting brackets 31 are configured to be mounted on a first side and a second side of the cargo handling vehicle 100, respectively. The two detection elements 32 are mounted on the two mounting brackets 31 and are tilted upwards at a preset angle. Therefore, the detection elements 32 emit tilted upward detection signals, thus preventing the detection signals from passing through the mesh openings of the pallet 2. The angle of the detection elements 32 is adjustable in the horizontal direction for detecting the pallet 2. The control module is communicatively connected to both the detection elements 32 and the cargo handling vehicle 100.

[0046] When goods need to be moved into the warehouse or moved out of the warehouse from the shelf track 1, the control module controls the goods handling vehicle 100 to enter the shelf track 1 from either side opening along the direction from the first side to the second side. At this time, the second side of the goods handling vehicle 100 is the front end of the goods handling vehicle 100. When the second side of the goods handling vehicle 100 enters the shelf track 1, and the detection element 32 on the mounting bracket 31 on the second side detects the pallet 2, a signal is sent to the control module, and the control module will control the goods handling vehicle 100 to decelerate. When the first side of the goods handling vehicle 100 enters the shelf track 1, and the detection element 32 on the mounting bracket 31 on the first side detects the pallet 2, a signal is sent to the control module, and the control module will control the goods handling vehicle 100 to stop. At this time, the pallet 2 is facing the goods handling vehicle 100. Similarly, if the control module controls the goods handling vehicle 100 to enter the shelf track 1 along the direction from the second side to the first side, the above is reversed. By setting detection elements 32 on both the first and second sides of the cargo handling vehicle 100, the front and rear sides of the pallet 2 can be detected, thereby ensuring that the cargo handling vehicle 100 and the pallet 2 are centered and directly opposite each other, thus improving the positioning accuracy of the pallet 2.

[0047] Furthermore, when the pallet 2 carried by the cargo handling vehicle 100 moves, if the end of the pallet 2 located on the first side of the cargo handling vehicle 100 shifts in the direction from the second side to the first side (e.g.) Figure 5 As shown), at this time, the detection element 32 on the second side will not be able to detect the pallet 2, and it will immediately send a signal to the control module, which will control the cargo handling vehicle 100 to stop; if the pallet 2 is located at one end of the second side of the cargo handling vehicle 100 and shifts along the direction from the first side to the second side (e.g. Figure 6 As shown, the detection element 32 located on the first side will not be able to detect the pallet 2, and will also send a signal to the control module, causing the control module to control the cargo handling vehicle 100 to stop; if the pallet 2 rotates, neither the detection element 32 located on the first side nor the detection element 32 located on the second side will be able to detect the pallet 2. At this time, the detection elements 32 on both sides will simultaneously send a signal to the control module, causing the control module to control the cargo handling vehicle 100 to stop, thereby reducing the risk of goods falling and avoiding damage to the goods due to falling.

[0048] For example, the detection element 32 includes a photoelectric sensor.

[0049] It should be noted that in this embodiment, two mounting brackets 31 are provided, and each mounting bracket 31 is provided with a detection element 32. The two mounting brackets 31 are arranged diagonally (e.g., Figure 7 and Figure 8 As shown in the figure, both detection elements 32 are tilted upwards towards the side closest to each other, thereby ensuring the detection accuracy and positioning accuracy of the detection elements 32 on the tray 2.

[0050] In other embodiments, two mounting brackets 31 may be provided as needed, and multiple detection elements 32 may be provided on each mounting bracket 31. In this case, the two mounting brackets 31 may be arranged diagonally (e.g., Figure 7 and Figure 8 As shown), it can also be set directly opposite (as shown). Figure 9 (As shown). If arranged diagonally, multiple detection elements 32 on the mounting bracket 31 on the first side can be simultaneously tilted upwards towards the side closer to the detection element 32 on the second side, or a portion of the multiple detection elements 32 on the mounting bracket 31 on the first side can be tilted upwards towards the side closer to the detection element 32 on the second side, while another portion can be tilted upwards away from the detection element 32 on the second side (e.g.). Figure 3 As shown), similarly, the mounting bracket 31 on the second side is also set in the opposite manner.

[0051] In some embodiments, such as Figure 10 As shown, the detection component 3 includes multiple mounting brackets 31 and multiple detection elements 32. The mounting brackets 31 are respectively located on the first and second sides of the cargo handling vehicle 100, with the mounting brackets 31 on the first and second sides facing each other and spaced apart along the width direction of the cargo handling vehicle 100. Each mounting bracket 31 has at least one detection element 32. Therefore, with multiple mounting brackets 31 on both the first and second sides, the detection elements 32 on the mounting brackets 31 on the first side can all be inclined upwards towards the other side, or some of the detection elements 32 on the mounting brackets 31 can be inclined upwards towards the detection element 32 on the second side, while others can be inclined upwards away from the detection element 32 on the second side. The detection elements 32 on the mounting brackets 31 on the second side can be similarly arranged, ensuring that the detection elements 32 on the first and second sides of the cargo handling vehicle 100 can perform a comprehensive scan of the pallet 2, further improving the detection and positioning accuracy of the pallet 2.

[0052] In this embodiment, as Figure 3 and Figure 4 As shown, the mounting bracket 31 includes a first plate 311, a second plate 312, and a third plate 313 connected in sequence by bending. The first plate 311 and the third plate 313 both extend vertically, with the third plate 313 extending along the side opposite to the first plate 311. The second plate 312 extends horizontally. The third plate 313 is detachably connected to the cargo handling vehicle 100, and the detection element 32 is mounted on the first plate 311. By providing the mounting bracket 31, a mounting base can be provided for the detection element 32, allowing it to be mounted on the cargo handling vehicle 100 for positioning detection of the pallet 2.

[0053] Optionally, the pallet positioning system also includes two adjustment components. Each adjustment component corresponds one-to-one with one of the two detection elements 32. Each adjustment component includes two adjustment inserts 4 and two first fasteners. The first plate 311 has an arc-shaped through hole 3111. The two adjustment inserts 4 pass through both ends of the detection element 32 and the arc-shaped through hole 3111, respectively, and are threadedly connected to the two fasteners. The adjustment inserts 4 can slide along the arc-shaped through hole 3111. When installing the detection element 32, firstly, the preset angle of the detection element 32 is set according to the grid distribution of the tray 2. Then, the angles of the two detection elements 32 are adjusted so that both detection elements 32 are tilted upwards along the side closest to each other. For the detection elements 32 on both sides, the first fastener on the inner side of the detection element 32 is screwed to release the adjustment plug 4 corresponding to the first fastener. Then, the adjustment plug 4 is slid along the arc through hole 3111. The adjustment plug 4 will drive the detection element 32 to rotate around the horizontal direction until the detection element 32 is tilted at the preset angle. Finally, the first fastener on the inner side of the detection element 32 is screwed again to fix the detection element 32. In this way, the angle of the detection element 32 can be adjusted. The structure is simple and the operation is convenient.

[0054] It should be noted that, for cases where multiple detection elements 32 are provided on each mounting bracket 31, the tilt direction and preset angle of each detection element 32 are first determined according to actual needs, and the first fastener that needs to be tightened when adjusting the angle of each detection element 32 is determined accordingly, and then each detection element 32 is adjusted in sequence.

[0055] In this embodiment, the central angle of the arc-shaped through hole 3111 is 170°, that is, the preset angle range of the detection element 32 is 5° to 175°.

[0056] Optionally, the pallet positioning system also includes two connecting components. Each connecting component corresponds to one of the two mounting brackets 31, and each component includes a connector and a second fastener. The third plate 313 has a connecting hole 3131, through which the connector passes and the cargo handling vehicle 100, and is threadedly connected to the second fastener. When the mounting bracket 31 is placed on the cargo handling vehicle 100, the connector passes through the connecting hole 3131 of the third plate 313 and the cargo handling vehicle 100, and is then threadedly connected to the second fastener. This design is simple and easy to operate.

[0057] Optionally, the connecting assembly also includes a washer, which is fitted onto the connector and sandwiched between the connector and the third plate 313. By providing the washer, the contact area between the connector and the third plate 313 can be increased, thereby reducing the pressure of the connector on the third plate 313 and evenly distributing the pressure, improving stress distribution, and enhancing connection reliability. Furthermore, it protects the third plate 313 from scratches and wear caused by the connector.

[0058] For example, the adjusting plug 4 includes an adjusting bolt, the plug-in includes a plug bolt, and both the first fastener and the second fastener include a fastening nut.

[0059] Example 2

[0060] This embodiment provides a shuttle vehicle, including a vehicle body, multiple wheels, and the pallet positioning system described in Embodiment 1. The wheels are located on both sides of the vehicle body, and the mounting bracket 31 of the pallet positioning system is mounted on the vehicle body. By mounting the pallet positioning system on the vehicle body, when goods are being moved into or out of the warehouse, the wheels roll, causing the vehicle body to move until the pallet positioning system detects that the vehicle body and pallet 2 are aligned. Then, the vehicle body carries the pallet 2 and moves it, improving the positioning accuracy of the pallet 2, ensuring that the pallet 2 is aligned with the vehicle body, and reducing the risk of goods falling.

[0061] Example 3

[0062] This embodiment provides a four-way vehicle, including a vehicle body 2, multiple wheels 2, and the pallet positioning system described in Embodiment 1. The multiple wheels 2 are located on both sides of the vehicle body 2, and the mounting bracket 31 of the pallet positioning system is mounted on the vehicle body 2. By installing the pallet positioning system on the vehicle body 2, when goods are being transported into or out of the warehouse, the wheels 2 roll, causing the vehicle body 2 to move until the pallet positioning system detects that the vehicle body 2 and pallet 2 are aligned. Then, the vehicle body 2 carries the pallet 2 and moves it, improving the positioning accuracy of the pallet 2, ensuring that the pallet 2 and vehicle body 2 are aligned, and reducing the risk of goods falling.

[0063] 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 pallet positioning system, characterized in that, include: Shelf rails (1); A pallet (2) is configured to carry goods and is mounted on the shelf rails (1); The detection component (3) includes at least two mounting brackets (31) and at least two detection elements (32). The two mounting brackets (31) are configured to be installed on the first side and the second side of the cargo handling vehicle (100), respectively. The two detection elements (32) are installed on the two mounting brackets (31) and tilted upward at a preset angle. The angle of the detection elements (32) around the horizontal direction is adjustable for detecting the pallet (2). The control module is communicatively connected to both the detection component (32) and the cargo handling vehicle (100).

2. The pallet positioning system according to claim 1, characterized in that, The mounting bracket (31) includes a first plate (311), a second plate (312), and a third plate (313) that are bent and connected in sequence. The first plate (311) and the third plate (313) both extend vertically, and the third plate (313) extends along the side away from the first plate (311). The second plate (312) extends horizontally. The third plate (313) is detachably connected to the cargo handling vehicle (100). The detection element (32) is disposed on the first plate (311).

3. The pallet positioning system according to claim 2, characterized in that, The pallet (2) positioning system also includes two adjustment components, which correspond one-to-one with the two detection elements (32). Each adjustment component includes two adjustment plugs (4) and two first fasteners. The first plate (311) has an arc-shaped through hole (3111). The two adjustment plugs (4) pass through both ends of the detection element (32) and the arc-shaped through hole (3111) respectively, and are threadedly connected to the two fasteners respectively. The adjustment plugs (4) can slide along the arc-shaped through hole (3111).

4. The pallet positioning system according to claim 3, characterized in that, The pallet (2) positioning system also includes two connecting components, which correspond one-to-one with the two mounting brackets (31). Each connecting component includes a plug and a second fastener. The third plate (313) has a connecting hole (3131). The plug passes through the connecting hole (3131) and the cargo handling vehicle (100) and is threadedly connected to the second fastener.

5. The pallet positioning system according to claim 4, characterized in that, The connecting assembly further includes a washer, which is sleeved on the plug and sandwiched between the plug and the third plate (313).

6. The pallet positioning system according to claim 4, characterized in that, The adjusting plug (4) includes an adjusting bolt, the plug-in includes a plug bolt, and both the first fastener and the second fastener include a fastening nut.

7. The pallet positioning system according to any one of claims 1-6, characterized in that, The two mounting brackets (31) are arranged diagonally or facing each other.

8. The pallet positioning system according to any one of claims 1-6, characterized in that, The detection component (3) includes a plurality of mounting brackets (31) and a plurality of detection elements (32). The plurality of mounting brackets (31) are respectively disposed on the first side and the second side of the cargo handling vehicle (100). The mounting brackets (31) on the first side and the mounting brackets (31) on the second side are directly opposite each other and are spaced apart along the width direction of the cargo handling vehicle (100). Each mounting bracket (31) is provided with at least one detection element (32).

9. A shuttle vehicle, characterized in that, It includes a vehicle body, multiple wheels, and a pallet positioning system as described in any one of claims 1-8, wherein the multiple wheels are disposed on both sides of the vehicle body, and the mounting bracket (31) of the pallet (2) positioning system is mounted on the vehicle body.

10. A four-way vehicle, characterized in that, It includes a vehicle body, multiple wheels, and a pallet positioning system as described in any one of claims 1-8. The multiple wheels are located on both sides of the vehicle body, and the mounting bracket (31) of the pallet (2) positioning system is mounted on the vehicle body.

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