A four-way shuttle vehicle

Abstract

The utility model discloses a four -way shuttle vehicle relates to four -way shuttle vehicle field, wherein four -way shuttle vehicle is equipped with mutually inlayed female wheel frame and sub wheel frame with car body, is equipped with horizontal and straight drive mechanism respectively, still has jacking frame and jacking mechanism, and the jacking frame and female wheel frame are realized through the lifting of sliding part and driving piece, to complete the jacking of goods, place and four -way driving, still include the use method of four -way shuttle vehicle, according to different driving and goods state control sliding part position. The present application reaches the technical effect that makes four -way shuttle vehicle change driving direction flexibly in logistics transportation, and accurately and efficiently completes goods taking and placing operation.

Description

Technical Field

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

[0002] In the logistics and warehousing sector, with the booming development of e-commerce, manufacturing, and other industries, the scale of warehousing and logistics is expanding daily, and its complexity is constantly increasing. With continuous technological advancements, four-way shuttle vehicles have emerged as a highly efficient automated material handling device.

[0003] Existing four-way shuttle vehicles have certain functional limitations in the coordinated design of their wheel switching and lifting actions. Specifically, most designs only focus on direction switching when carrying cargo, that is, after lifting the cargo, the shuttle vehicle moves longitudinally or laterally according to the path plan. However, they do not adequately consider direction switching when unloaded, especially the condition of lateral movement when unloaded.

[0004] This results in a functional deficiency: when the shuttle needs to move laterally without cargo (e.g., leaving empty after unloading, or heading to a new pickup location), it cannot maintain the "lifting frame in a low position" (i.e., empty state) while simultaneously "carrying the mother wheel" (i.e., lateral movement). Consequently, many existing shuttles can only move longitudinally when empty. If lateral movement is required, the lifting frame must first be raised (simulating a loaded state) before the mother wheel is lowered. This not only increases unnecessary energy consumption and mechanical wear but also prolongs the empty shuttle cycle time, reducing overall system efficiency.

[0005] In summary, how to provide a shuttle that can achieve four complete working states, including "unloaded lateral travel", in order to optimize the operation process and improve the overall efficiency of the equipment is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a four-way shuttle car, which aims to solve the problems of single operating mode and low efficiency of existing four-way shuttle cars when running unloaded. By optimizing the coordinated design of the lifting and reversing mechanisms, four complete working states can be achieved, thereby effectively improving the overall operating efficiency and energy efficiency of the shuttle car.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A four-way shuttle vehicle includes: The vehicle body is provided with a mother wheel frame and a child wheel frame that are interlocked with each other. The child wheel frame is provided with a child wheel drive mechanism for driving the vehicle body to travel in a straight line, and the mother wheel frame is provided with a mother wheel drive mechanism for driving the vehicle body to travel in a lateral line. A lifting frame is fitted onto the mother wheel frame. A transverse guide rail is provided on the child wheel frame, a Z-shaped guide rail is provided on the mother wheel frame, and a U-shaped guide rail is provided on the lifting frame. The lifting mechanism includes a slider slidably disposed within the transverse guide rail, the Z-shaped guide rail, and the U-shaped guide rail, and a driving member for driving the slider to slide. The drive unit drives the lifting frame to move up and down relative to the mother wheel frame via the sliding member; the lifting frame is raised to lift the cargo of the four-way shuttle, and the lifting frame is lowered to place the cargo of the four-way shuttle. The drive unit drives the mother wheel frame to move up and down relative to the child wheel frame via the sliding member; the mother wheel frame descends to achieve the lateral form of the four-way shuttle, and the mother wheel frame rises to achieve the straight-line movement of the four-way shuttle.

[0008] Preferably, the driving component includes: A threaded screw is rotatably mounted in the transverse direction of the vehicle body, and a wheel nut is slidably mounted on the threaded screw. The sliding element is fixed on both sides of the wheel nut. A first drive motor is fixedly mounted inside the vehicle body. The first drive motor is used to drive the threaded screw to rotate so that the wheel nut slides along the threaded screw.

[0009] Preferably, two threaded screws with opposite directions of rotation are respectively provided on both sides of the vehicle body in the lateral direction. The two threaded screws provided on the same side of the vehicle body in the lateral direction are used to drive the wheel nuts on them to move towards each other or away from each other.

[0010] Preferably, a transmission component is provided between the drive motor and the lead screw; The transmission component includes a first transmission wheel fixedly mounted on the threaded screw, a second transmission wheel fixedly mounted on the output shaft of the first drive motor, and a synchronous belt connecting the first transmission wheel and the second transmission wheel.

[0011] Preferably, the lifting mechanism further includes a support structure for supporting the wheel nut.

[0012] Preferably, the support structure includes: A support rail is provided on the child wheel frame and located below the transverse guide rail; The support wheel assembly is fixedly mounted on both sides of the wheel nut and slidably mounted within the support guide rail.

[0013] Preferably, a rectangular notch is reserved at the contact point between the mother wheel frame and the daughter wheel frame to allow the mother wheel frame to be raised and lowered, and an annular notch is reserved on the side of the lifting frame to allow the daughter wheel drive mechanism and the mother wheel drive structure to pass through.

[0014] Preferably, the sub-wheel drive mechanism includes a driving sub-wheel and a driven sub-wheel arranged sequentially along the straight direction of the vehicle body, and a second drive motor for driving the driving sub-wheel to rotate is provided in the vehicle body.

[0015] Preferably, the drive mechanism includes a driving wheel and a driven wheel arranged sequentially along the transverse direction of the vehicle body. A third drive motor for driving the driving wheel to rotate is provided inside the vehicle body, and a transmission chain is connected between the driving wheel and the driven wheel.

[0016] A method for using a four-way shuttle, applied to the aforementioned four-way shuttle, the method comprising: When the four-way shuttle is traveling in a straight line and loading cargo, the sliding member is controlled to be in its initial position within the transverse guide rail, the Z-shaped guide rail, and the U-shaped guide rail. The mother wheel frame is in a raised position relative to the child wheel frame so that the child wheel drive mechanism drives the four-way shuttle to travel in a straight line. The lifting frame is in a lowered position relative to the mother wheel frame to load cargo. When the four-way shuttle is traveling in a straight line and lifting cargo, the sliding member is controlled at the sliding end of the Z-shaped guide rail located on the bottom surface and at the sliding beginning of the U-shaped guide rail located on the bottom surface. The mother wheel frame is in a raised position relative to the child wheel frame so that the child wheel drive mechanism drives the four-way shuttle to travel in a straight line. The lifting frame is in a raised position relative to the mother wheel frame to lift cargo. When the four-way shuttle is traveling laterally and lifting cargo, the sliding member is controlled at the sliding end of the Z-shaped guide rail on the inclined surface and at the sliding end of the U-shaped guide rail on the bottom surface. The mother wheel frame is in a lowered position relative to the child wheel frame so that the mother wheel drive mechanism drives the four-way shuttle to travel laterally. The lifting frame is in an upward position relative to the mother wheel frame to lift cargo. When the four-way shuttle is traveling laterally and lifting cargo, the sliding member is controlled to be at the end of its overall stroke within the transverse guide rail, the Z-shaped guide rail, and the U-shaped guide rail. The mother wheel frame is in a lowered position relative to the child wheel frame, so that the mother wheel drive mechanism drives the four-way shuttle to travel laterally. The lifting frame is in a lowered position relative to the mother wheel frame to place cargo.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: In the above technical solution, the lifting frame and the mother wheel frame are raised and lowered by the lifting mechanism, which has four postures and can flexibly cope with the picking, placing and transporting of goods at different heights and positions, thus improving the flexibility of cargo handling.

[0018] In the above technical solution, by setting up mutually cooperating transverse guide rails, Z-shaped guide rails and U-shaped guide rails, and using a single driving component to drive the sliding component to slide within them, the lifting and lowering of the jacking frame and the lifting and lowering of the mother wheel frame can be controlled synchronously or stepwise, which simplifies the transmission chain and improves the reliability and control accuracy of the mechanism. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the four-way shuttle in this embodiment.

[0021] Figure 2 This is a side view of the four-way shuttle in this embodiment.

[0022] Figure 3 This is a schematic diagram of the interior of the four-way shuttle in this embodiment.

[0023] Figure 4 This is a schematic diagram of the installation of the lifting frame in this embodiment.

[0024] Figure 5 This is a schematic diagram of the lifting frame in this embodiment.

[0025] Figure 6 This is a schematic diagram of the structure of the mother wheel frame in this embodiment.

[0026] Figure 7 This is a schematic diagram of the sub-wheel frame in this embodiment.

[0027] Figure 8 This is a schematic diagram of the attitude of the lower position of the sub-rail in this embodiment.

[0028] Figure 9 This is a schematic diagram of the attitude of the sub-orbit at its highest position in this embodiment.

[0029] Figure 10 This is a schematic diagram of the mother wheel's high position in this embodiment.

[0030] Figure 11 This is a schematic diagram of the mother wheel's low-position posture in this embodiment.

[0031] Explanation of reference numerals in the attached figures: 1. Car body; 2. Main wheel frame; 3. Sub-wheel frame; 4. Lifting frame; 5. Sliding parts; 10. Top plate; 21. Z-shaped guide rail; 31. Horizontal guide rail; 41. U-shaped guide rail; 61. Lead screw; 62. Wheel nut; 63. First drive motor; 64. Synchronous belt; 65. Support rail; 66. Support wheel assembly; 67. First drive wheel; 68. Second drive wheel; 69. Third drive wheel; 71. Driving gear; 72. Driven gear; 81. Driving female wheel; 82. Driven female wheel; 83. Transmission chain; 91. Mother-daughter wheel drive motor; 92. Synchronous structure; 93. Commutator; 94. Universal coupling. Detailed Implementation

[0032] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of 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.

[0035] The core of this utility model is to provide a four-way shuttle vehicle.

[0036] Another core aspect of this utility model is to provide a method for using a four-way shuttle, which is applied to the aforementioned four-way shuttle.

[0037] like Figures 1 to 7 A specific embodiment of the four-way shuttle shown includes a vehicle body 1, a lifting frame 4, a lifting mechanism, a main wheel frame 2, and a secondary wheel frame 3. The vehicle body 1 has a main wheel frame 2 and a secondary wheel frame 3 that are interlocked. The secondary wheel frame 3 has a secondary wheel drive mechanism for driving the vehicle body 1 in a straight direction, and the main wheel frame 2 has a main wheel drive mechanism for driving the vehicle body 1 in a lateral direction. The lifting frame 4 is embedded in the main wheel frame 2. A transverse guide rail 31 is provided on the secondary wheel frame 3, a Z-shaped guide rail 21 is provided on the main wheel frame 2, and a U-shaped guide rail 41 is provided on the lifting frame 4. The lifting mechanism includes components slidably mounted on the transverse guide rail 31, the Z-shaped guide rail 21, and the U-shaped guide rail. The sliding member 5 within 41 and the driving member for driving the sliding member 5 to slide, the driving member drives the lifting frame 4 to move up and down relative to the mother wheel frame 2 through the sliding member 5; the lifting frame 4 is raised to realize the lifting of goods of the four-way shuttle, and the lifting frame 4 is lowered to realize the placement of goods of the four-way shuttle; the driving member drives the mother wheel frame 2 to move up and down relative to the daughter wheel frame 3 through the sliding member 5; the mother wheel frame 2 is lowered to realize the lateral form of the four-way shuttle, and the mother wheel frame 2 is raised to realize the straight-line movement of the four-way shuttle.

[0038] Specifically, the mother wheel frame 2 and the child wheel frame 3 are interlocked. The child wheel frame 3 has a base plate for housing the control structure inside the four-way shuttle. The base plate is integrally formed with the child wheel frame 3. The mother wheel frame 2 is nested outside the child wheel frame 3. On both sides of the child wheel frame 3 in the straight-line direction of travel, there are mounting grooves with bottoms. In the straight-line direction of travel of the vehicle body 1, Z-shaped guide rails 21 and transverse guide rails 31 are provided through the child wheel frame 3 and the mother wheel frame 2. Two sets of guide rails are provided on the same side. Each Z-shaped guide rail 21 and the transverse guide rail 31 are located on both sides of the mounting groove. A lifting frame 4 is fitted on the mother wheel frame 2. A U-shaped guide rail 41 is provided through the Z-shaped guide rail 21 and the transverse guide rail 31 on the lifting frame 4. The U-shaped guide rail 41 is also located on both sides of the mounting groove. The driving component passes through the Z-shaped guide rail 21, the transverse guide rail 31 and the U-shaped guide rail 41 in sequence, and slides from one end of the Z-shaped guide rail 21, the transverse guide rail 31 and the U-shaped guide rail 41 to the other end.

[0039] A driving component is provided on the base plate of the sub-wheel frame 3 to drive the sliding member 5 to slide within multiple guide rails. By controlling the sliding member 5 to slide within the multiple guide rails, four postures can be achieved: "main rail low position," "main rail high position," "sub-rail low position," and "sub-rail high position." The "main rail low position" and "main rail high position" are used for lifting and placing goods during the transport of the main wheel, while the "sub-rail low position" and "sub-rail high position" are used for lifting and placing goods during the transport of the sub-wheel. The specific switching method is explained in detail in the usage method below. The switching of the above four postures benefits from the cooperation of the sliding track structure between the transverse guide rail 31, the Z-shaped guide rail 21, and the U-shaped guide rail 41.

[0040] A top plate 10 is provided on the vehicle body 1 and located on the lifting frame 4. The lifting frame 4 moves the top plate 10 up and down, thereby lifting and placing the goods.

[0041] The aforementioned four-way shuttle achieves four operating states through the coordinated operation of the vehicle body 1, the lifting frame 4, and the lifting mechanism. Utilizing the cooperation of guide rails and sliding parts on different frames, as well as the drive mechanism, the relative positions of each frame can be flexibly adjusted. During straight-line travel, the secondary wheel drive mechanism is activated; during lateral travel, the primary wheel drive mechanism is activated. The lifting and lowering of the lifting frame enables the lifting and placement of goods.

[0042] One specific implementation of the above-mentioned driving component is described in reference to... Figure 3 The driving component includes a threaded screw 61 and a first drive motor 63. The threaded screw 61 is rotatably arranged in the transverse direction of the vehicle body 1. A wheel nut 62 is slidably arranged on the threaded screw 61. Sliding parts 5 are fixedly arranged on both sides of the wheel nut 62. The first drive motor 63 is fixedly arranged inside the vehicle body 1. The first drive motor 63 is used to drive the threaded screw 61 to rotate so that the wheel nut 62 slides along the threaded screw 61.

[0043] Specifically, a threaded screw 61 is rotatably mounted within the mounting groove. Both ends of the threaded screw 61 are limited within the mounting groove by limiting blocks. A wheel nut 62 is threadedly connected to the threaded surface of the threaded screw 61. Sliding members 5 are provided on both sides of the wheel nut 62, and these sliding members 5 are slidably mounted within the transverse guide rail 31, the Z-shaped guide rail 21, and the U-shaped guide rail 41. A first drive motor 63 for driving the threaded screw 61 to rotate is located on the base plate of the sub-wheel frame 3. The first drive motor 63 can directly drive the threaded screw 61 to rotate, or it can drive the threaded screw 61 to rotate through a transmission component.

[0044] It should be noted that two threaded screws 61 with opposite directions of rotation are provided on both sides of the vehicle body 1 in the lateral direction. The two threaded screws 61 on the same side of the vehicle body 1 in the lateral direction are used to drive the wheel nuts 62 on them to move towards each other or away from each other.

[0045] Specifically, two threaded screws 61 with opposite surface thread directions are provided on the same side of the vehicle body 1 in the lateral direction, and both threaded screws 61 are driven by the same first drive motor 61. Correspondingly, two guide rails are also arranged opposite each other on the same side, thereby improving the switching stability during the switching process when the sliding member 5 moves along the multiple guide rails and drives the multiple frames to form relative motion.

[0046] Please refer to Figure 2 This is a specific embodiment of the threaded screw 61 and the first drive motor 63, wherein a transmission component is provided between the first drive motor 63 and the threaded screw 61; the transmission component includes a first transmission wheel fixedly mounted on the threaded screw 61, a second transmission wheel fixedly mounted on the output shaft of the first drive motor 63, and a synchronous belt 64 connecting the first transmission wheel and the second transmission wheel.

[0047] Specifically, a first drive motor 63 is installed on the base plate of the sub-wheel frame 3. In order to facilitate the simultaneous driving of two sets of threaded screws 61 on both sides of the vehicle body 1 by one first drive motor 63, a first drive wheel 67 and a second drive wheel 68 are sequentially installed at the end of the output shaft of the first drive motor 63. A third drive wheel 69 is provided at the connection of the two threaded screws 61 on the same side. The third drive wheel 69 is fixedly connected between the two threaded screws 61. The rotation of the third drive wheel 69 can synchronously drive the two threaded screws 61 connected to it to rotate. The first drive wheel 67 is connected to the third drive wheel 69 on one side through a synchronous belt 64, and the second drive wheel 68 is connected to the third drive wheel 69 on the other side through a synchronous belt 64.

[0048] It should be noted that, since the two sets of threaded screws 61 located on both sides are synchronously configured, the two third drive wheels 69 are installed on the same plane. However, there is an installation misalignment between the first drive wheel 67 and the second drive wheel 68. Therefore, a position adjustment assembly is provided between the second drive wheel 68 and the third drive wheel 69 on the other side. This position adjustment assembly includes two transmission wheels corresponding to the second drive wheel 68 and the third drive wheel 69 respectively. Both transmission wheels are connected to the corresponding second drive wheel 68 and third drive wheel 69 via synchronous belt drive (the specific structure is as follows). Figure 3 (As shown).

[0049] For further details, please refer to... Figure 7 The lifting mechanism also includes a support structure for supporting the wheel nut 62. Figure 1 The diagram shows a specific embodiment of the support structure, which includes a support guide rail 65 and a support wheel assembly 66. The support guide rail 65 is located on the sub-wheel frame 3 and below the transverse guide rail 31. The support wheel assembly 66 is fixed on both sides of the wheel nut 62 and slidably disposed within the support guide rail 65.

[0050] Specifically, in order to effectively support the wheel nut 62 during its movement, a support wheel assembly 66 is provided in the mounting groove of the aforementioned sub-wheel frame 3. The support wheel assembly 66 is fixedly installed at the bottom of the wheel nut 62, and a support guide rail 65 is correspondingly provided below the transverse guide rail 31 of the sub-wheel frame 3. The support guide rail 65 has the same transverse travel as the transverse guide rail 31, the Z-shaped guide rail 21, and the U-shaped guide rail 41. The support wheel assembly 66 is slidably installed in the support guide rail 65 to support the wheel nut 62 and provide auxiliary guidance.

[0051] Please refer to Figure 3 and Figure 7 One specific embodiment of the seed wheel drive mechanism includes a driving seed wheel 71 and a driven seed wheel 72 arranged sequentially along the straight direction of the vehicle body 1. A second drive motor for driving the driving seed wheel 71 to rotate is provided inside the vehicle body 1.

[0052] Specifically, the second drive motor is fixedly installed in the base plate of the wheel frame 3. There are two sets of driving wheels 71 and driven wheels 72, which are located on both sides of the vehicle body 1 in the straight driving direction. There are two driving wheels 71 and two driven wheels 72 on the same side, and the two wheels are synchronously connected by a synchronous chain. The second drive motor is used to drive the driving wheel 72 to rotate. The transmission connection can also be achieved by using a synchronous chain and a transmission wheel.

[0053] The transmission connection structure may specifically include a transmission shaft that is connected to the second drive motor. Both ends of the transmission shaft are provided with transmission wheels and synchronous chains that cooperate with the transmission wheels. The other end of the synchronous chain is connected to the shaft of the two drive wheels 71 respectively, thereby realizing the synchronous driving of the two sets of drive wheels 71. In order to prevent the synchronous chain from becoming loose and dragging on the ground during the relative lifting and lowering movement of the wheel frame 3 and the mother wheel frame 2, an arc-shaped support block is provided below the synchronous chain. At the same time, an arc-shaped support block is provided below any synchronous chain with positional change in this application.

[0054] Please refer to Figure 3 and Figure 6 One specific embodiment of the mother wheel drive mechanism includes a driving mother wheel 81 and a driven mother wheel 82 arranged sequentially along the transverse direction of the vehicle body 1. A third drive motor for driving the driving mother wheel 81 to rotate is provided inside the vehicle body 1. A transmission chain 83 is connected between the driving mother wheel 81 and the driven mother wheel 82.

[0055] Specifically, the driving mother wheel 81 and the driven mother wheel 82 located on the same side are synchronously connected by a transmission chain 83. An arc-shaped support block is also provided at the bottom of the transmission chain 83. The drive part of the third drive motor is connected by a universal coupling 94, thereby ensuring the normal operation of the structure when the daughter wheel frame 3 and the mother wheel frame 2 move relative to each other.

[0056] Figure 3 The diagram shows an improved embodiment of the child wheel drive mechanism and the mother wheel drive mechanism. In this four-way shuttle, the second drive motor and the third drive motor adopt the same child wheel drive motor 91, thereby effectively simplifying the structure inside the vehicle body.

[0057] Specifically, the master-slave drive motor 91 is fixedly mounted on the base plate within the slave wheel frame 3. A synchronization structure 92 and a commutator 93 are sequentially arranged at the drive end of the master-slave drive motor 91. The synchronization structure 92 includes a housing and a synchronization shaft housed within the housing. The synchronization shaft is connected to the drive shaft via a chain drive, thereby driving the slave wheel. The two output ends of the commutator 93 are respectively connected to the two driving slave wheels 81 on either side via universal couplings 94, thereby driving the slave wheels.

[0058] The implementation principle of this embodiment is as follows: This four-way shuttle achieves four working states through the coordinated operation of the vehicle body 1, the lifting frame 4, and the lifting mechanism. Utilizing the cooperation of guide rails and sliding parts on different frames, as well as the drive mechanism, the relative positions of each frame can be flexibly adjusted. During straight-line travel, the lower wheel drive mechanism functions; during lateral travel, the upper wheel drive mechanism functions. The lifting and lowering of the lifting frame 4 enables the lifting and placement of goods. This avoids unnecessary energy consumption and mechanical wear in existing technologies, shortens the cycle time of empty vehicle operation, improves the overall system efficiency, and effectively improves and enhances existing four-way shuttle technology.

[0059] This application further discloses a method for using a four-way shuttle, applied to the aforementioned four-way shuttle, wherein the method specifically includes the following steps: like Figure 8 As shown, when the four-way shuttle is traveling in a straight line and placing goods, the control slider 5 is in the initial position within the transverse guide rail 31, the Z-shaped guide rail 21 and the U-shaped guide rail 41. The mother wheel frame 2 is in a raised position relative to the child wheel frame 3 so that the child wheel drive mechanism drives the four-way shuttle to travel in a straight line. The lifting frame 4 is in a lowered position relative to the mother wheel frame 2 so that goods can be placed. like Figure 9As shown, in the state of the four-way shuttle traveling in a straight line and lifting the cargo, the control slider 5 is at the sliding end of the Z-shaped guide rail 21 located on the bottom surface and at the sliding beginning of the U-shaped guide rail 41 located on the bottom surface. The mother wheel frame 2 is in a raised position relative to the child wheel frame 3 so that the child wheel drive mechanism drives the four-way shuttle to travel in a straight line. The lifting frame 4 is in a raised position relative to the mother wheel frame 2 to lift the cargo. like Figure 10 As shown, in the state of the four-way shuttle traveling laterally and lifting cargo, the control slider 5 is at the sliding end of the Z-shaped guide rail 21 located on the inclined surface and at the sliding end of the U-shaped guide rail 41 located on the bottom surface. The mother wheel frame 2 is in a lowered position relative to the daughter wheel frame 3 so that the mother wheel drive mechanism drives the four-way shuttle to travel laterally, and the lifting frame 4 is in an upward position relative to the mother wheel frame 2 to lift cargo. like Figure 11 As shown, when the four-way shuttle is traveling laterally and lifting cargo, the control sliding member 5 is at the end of its overall stroke within the transverse guide rail 31, Z-shaped guide rail 21, and U-shaped guide rail 41. The mother wheel frame 2 is in a lowered position relative to the child wheel frame 3, so that the mother wheel drive mechanism drives the four-way shuttle to travel laterally. The lifting frame 4 is in a lowered position relative to the mother wheel frame 2 to place cargo.

[0060] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A four-way shuttle vehicle, characterized in that, include: The vehicle body (1) is provided with a mother wheel frame (2) and a child wheel frame (3) that are fitted together. The child wheel frame (3) is provided with a child wheel drive mechanism for driving the vehicle body (1) to travel in a straight line. The mother wheel frame (2) is provided with a mother wheel drive mechanism for driving the vehicle body (1) to travel in a lateral direction. The lifting frame (4) is mounted on the mother wheel frame (2). The daughter wheel frame (3) is provided with a transverse guide rail (31), the mother wheel frame (2) is provided with a Z-shaped guide rail (21), and the lifting frame (4) is provided with a U-shaped guide rail (41). The lifting mechanism includes a sliding member (5) slidably disposed within the transverse guide rail (31), the Z-shaped guide rail (21) and the U-shaped guide rail (41), and a driving member for driving the sliding member (5) to slide. The drive unit drives the lifting frame (4) to move up and down relative to the mother wheel frame (2) through the sliding member (5); the lifting frame (4) is raised to lift the goods of the four-way shuttle, and the lifting frame (4) is lowered to place the goods of the four-way shuttle. The drive unit drives the mother wheel frame (2) to move up and down relative to the daughter wheel frame (3) through the sliding member (5); the mother wheel frame (2) descends to realize the lateral form of the four-way shuttle, and the mother wheel frame (2) rises to realize the straight-line movement of the four-way shuttle.

2. The four-way shuttle vehicle according to claim 1, characterized in that, The driving component includes: A threaded screw (61) is rotatably mounted along the transverse direction of the vehicle body (1). A wheel nut (62) is slidably mounted on the threaded screw (61). The sliding member (5) is fixedly mounted on both sides of the wheel nut (62). The first drive motor (63) is fixedly installed inside the vehicle body (1). The first drive motor (63) is used to drive the threaded screw (61) to rotate so that the wheel nut (62) slides along the threaded screw (61).

3. The four-way shuttle vehicle according to claim 2, characterized in that, Two threaded screws (61) with opposite directions of rotation are provided on both sides of the vehicle body (1) in the lateral direction. The two threaded screws (61) on the same side of the vehicle body (1) in the lateral direction are used to drive the wheel nut (62) on them to move towards each other or away from each other.

4. The four-way shuttle vehicle according to claim 2, characterized in that, A transmission component is provided between the first drive motor (63) and the threaded screw (61); The transmission component includes a first transmission wheel fixedly mounted on the threaded screw (61), a second transmission wheel fixedly mounted on the output shaft of the first drive motor (63), and a synchronous belt (64) connecting the first transmission wheel and the second transmission wheel.

5. The four-way shuttle vehicle according to any one of claims 2-4, characterized in that, The lifting mechanism also includes a support structure for supporting the wheel nut (62).

6. The four-way shuttle vehicle according to claim 5, characterized in that, The supporting structure includes: A support rail (65) is provided on the sub-wheel frame (3) and located below the transverse rail (31); The support wheel assembly (66) is fixed on both sides of the wheel nut (62) and slidably disposed within the support guide rail (65).

7. The four-way shuttle vehicle according to claim 1, characterized in that, The contact point between the mother wheel frame (2) and the daughter wheel frame (3) is reserved with a rectangular notch for the mother wheel frame (2) to be raised and lowered, and the side of the lifting frame (4) is reserved with an annular notch for the daughter wheel drive mechanism and the mother wheel drive structure to pass through.

8. The four-way shuttle vehicle according to claim 1, characterized in that, The drive mechanism includes a drive wheel (71) and a driven wheel (72) arranged sequentially along the straight direction of the vehicle body (1). The vehicle body (1) is provided with a second drive motor for driving the drive wheel (71) to rotate.

9. The four-way shuttle vehicle according to claim 1, characterized in that, The drive mechanism includes a driving wheel (81) and a driven wheel (82) arranged sequentially along the transverse direction of the vehicle body (1). The vehicle body (1) is provided with a third drive motor for driving the driving wheel (81) to rotate. A transmission chain (83) is connected between the driving wheel (81) and the driven wheel (82).

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