Four-way automated guided vehicle

Abstract

The utility model discloses a four -way automatic pilot carrier for setting on the track of automatic warehousing equipment, automatic movement to fixed point and take goods and store goods. It includes a car body, two X -direction wheel groups, two lifting mechanisms, two Y -direction wheel groups, a wheel group drive arrangement and a lifting mechanism drive arrangement. Two X -direction wheel groups are established at two first sides of the car body, two lifting mechanisms are established at two second sides of the car body, two Y -direction wheel groups are established at the wheel frame of two lifting mechanisms, and wheel group drive arrangement and wheel group drive arrangement are established in the car body, the former is used for synchronous drive two X -direction wheel groups and two Y -direction wheel groups rotation, and the latter is used for driving two lifting mechanisms and two Y -direction wheel groups lifting. The utility model drive arrangement is full gear transmission, can reduce the frequency of adjustment maintenance, and two lifting mechanisms can be used for switching X or Y action direction, and can be used for lifting and lowering goods.

Description

Technical Field

[0001] This utility model relates to the technical field of automated guided vehicles in automated warehousing equipment, and more particularly to a four-way automated guided vehicle that can move fully automatically on the tracks of warehousing and other equipment to pick up and store goods, and can reduce maintenance costs. Background Technology

[0002] In current technology, four-way automated guided vehicles (AGVs) are commonly used in automated warehousing and logistics systems. They are capable of moving along X and Y axes and can automatically pick up and store goods, as shown in patent publication TWM629537U. However, existing AAV designs mostly use sprocket and chain drive mechanisms to drive the wheel assembly. Because chains have elasticity and elongation characteristics, they are prone to slack or displacement errors after prolonged operation. This causes the wheel assembly to fail to rotate synchronously and move to the predetermined position accurately, requiring frequent tension adjustments and maintenance. This not only increases maintenance time and costs but also affects the stability and reliability of the vehicle.

[0003] Furthermore, existing four-way automated guided vehicles (AGVs) require two independent motors in their bodies to drive the X-axis and Y-axis wheel sets respectively in order to achieve movement along the X-axis and Y-axis tracks. This architecture not only increases hardware complexity and cost, but also requires complex software algorithms and sensors to achieve synchronization between the two motors, further affecting the accuracy of the vehicle's movement and cargo handling in the warehouse environment.

[0004] In summary, conventional four-way automated guided vehicles (Shuttle Carts) generally suffer from problems such as loose chain drives, frequent maintenance requirements, and high complexity of dual-motor control. If the sprockets could be replaced with an all-gear transmission mechanism, and a single drive unit could be used to simultaneously control the X and Y wheel sets and the lifting mechanism, the overall stability and control efficiency of the mechanism could be significantly improved, and maintenance requirements could be reduced. This would have significant technical and practical value for the industry. Utility Model Content

[0005] The main objective of this invention is to provide a four-way automated guided vehicle (AGV). Through the design of the vehicle body, X-axis wheel set, lifting mechanism, Y-axis wheel set, wheel set drive device, and lifting mechanism drive device, it adopts all-gear transmission, avoiding the frequent adjustments and maintenance problems caused by chain and sprocket drives. This reduces maintenance frequency and ensures stable operation over a long period. Furthermore, the special lifting mechanism design allows the vehicle to be switched between X-axis and Y-axis movement, and can also be used to lift goods for loading or unloading.

[0006] The secondary objective of this utility model is to provide a four-way automated guided vehicle (AGV). Through the design of various sensing modules and wireless charging modules, it can automatically sense the weight of goods, automatically move to a fixed point for loading or unloading, detect whether the position of goods on the vehicle is correct, avoid collisions with other transport vehicles, sense surrounding objects, and automatically charge.

[0007] To achieve the aforementioned main objectives, this utility model proposes a four-way automated guided vehicle (AGV) for installation on tracks in automated warehousing equipment and other similar locations. It is capable of automatically picking up and storing goods. A preferred technical solution includes a vehicle body, two X-axis wheel sets, two lifting mechanisms, two Y-axis wheel sets, a wheel set drive device, and a lifting mechanism drive device, wherein: The vehicle body is rectangular. The two X-axis wheel sets are rotatably mounted on two opposite first sides of the vehicle body, and each X-axis wheel set has at least two X-axis wheels, enabling the vehicle body to move back and forth in the X direction.

[0008] The two lifting mechanisms are respectively located on two opposite second sides of the vehicle body. Each lifting mechanism includes a wheel frame, two slide rail modules, and at least one crankshaft. Each wheel frame is assembled on the outer side of the second side of the vehicle body through the two slide rail modules, parallel to the second side of the vehicle body, and the wheel frame has at least one opening. The crankshaft is rotatably installed on the second side of the vehicle body. Each crankshaft has a power input shaft and a power output shaft. The power input shaft extends into the vehicle body. The power output shaft protrudes from the second side of the vehicle body and abuts against the opening of the wheel frame. When the power output shaft rotates, it can drive the wheel frame to move up and down.

[0009] The two Y-axis wheel sets are rotatably mounted on the outside of the wheel frame of the two lifting mechanisms. Each Y-axis wheel set has at least two Y-axis wheels. The wheel frame and the Y-axis wheels can descend, so that the Y-axis wheels support the vehicle body and cause the X-axis wheels to derail, so that the vehicle body can move back and forth in the Y direction.

[0010] The wheelset drive system includes a wheelset drive motor, a bidirectional right-angle gearbox, a first gear transmission mechanism, and a second gear transmission mechanism. The wheelset drive motor is fixed in the vehicle body and outputs power to the bidirectional right-angle gearbox. The bidirectional right-angle gearbox has a first power output shaft and a second power output shaft that operate synchronously. The first power output shaft drives the first gear transmission mechanism, and the second power output shaft drives the second gear transmission mechanism. The first gear transmission mechanism synchronously drives the two X-axis wheelsets to rotate, and the second gear transmission mechanism synchronously drives the two Y-axis wheelsets to rotate.

[0011] The lifting mechanism drive device includes a lifting drive motor and two third gear transmission mechanisms. The lifting drive motor is fixed in the vehicle body, and the third gear transmission mechanisms are located inside the two opposite second sides of the vehicle body. They are respectively connected to the power input shaft of each crankshaft of the vehicle body and the power output shaft of the lifting drive motor. The lifting drive motor drives the two third gear transmission mechanisms and each crankshaft to rotate, so that the two lifting mechanisms can move up and down.

[0012] The first gear transmission mechanism has two first gear sets and a first drive shaft; the two first gear sets are respectively disposed inside the two opposite first sides of the vehicle body, and each of the two first gear sets has multiple meshing gears, wherein at least one gear is engaged with the wheel axle of the X-axis wheel; wherein one gear in a selected set of first gear sets is engaged with the first power output shaft of the bidirectional right-angle gearbox; the two ends of the first drive shaft are connected to the two first gear sets, so that the two first gear sets synchronously drive the X-axis wheels on the two first sides of the vehicle body to rotate.

[0013] The second gear transmission mechanism has a second drive shaft, two universal joints, and a second gear set; the second drive shaft is disposed in the vehicle body and its two ends face the two second sides of the vehicle body; the two universal joints are respectively connected to the two ends of the second drive shaft and connected to the wheel axles of the Y-axis wheels on the two second sides; the second gear set connects the second power output shaft of the bidirectional right-angle gearbox to the second drive shaft, so as to drive the Y-axis wheels on the two second sides of the vehicle body to rotate synchronously.

[0014] The two third gear transmission mechanisms of the lifting mechanism drive device each include several meshing gears, wherein at least one gear is connected to the power input shaft of the crankshaft; the lifting mechanism drive device further includes a third transmission shaft and a fourth gear set, the two ends of the third transmission shaft are respectively connected to the gears of the two third gear transmission mechanisms, and the fourth gear set connects the power output shaft of the lifting drive motor to the third transmission shaft.

[0015] The crankshaft has a crank arm, the power input shaft is connected to one side of the crank arm near one end, and the power output shaft is connected to the other side of the crank arm at the other end; wherein the power output shaft is fitted with a bearing, and the bearing abuts against an opening in the wheel carrier.

[0016] The vehicle body includes a rectangular base plate, two corresponding first side plates, two additional corresponding second side plates, and a top cover. The two first side plates and the two second side plates are attached to the four sides of the rectangular base plate, forming an accommodating space on the rectangular base plate. The top cover covers the accommodating space. Two X-axis wheel sets are rotatably mounted on the outer sides of the two first side plates. Two lifting mechanisms are respectively mounted on the outer sides of the two second side plates. The wheel set drive device and the lifting mechanism drive device are respectively mounted in the accommodating space.

[0017] To achieve the aforementioned secondary objectives, the preferred technical solution of this utility model further includes a shelf capable of sensing gravity, a vehicle positioning sensing module capable of locating the transport vehicle, multiple cargo sensing modules capable of sensing the status of the goods being carried, a shelf sensing module capable of sensing whether there are goods on the warehouse shelf, a sensing radar capable of sensing the surrounding environment, as well as a rechargeable battery, a wireless charging module, and a main controller, etc., so that the four-way automated guided vehicle can achieve fully automated operation.

[0018] The four-way automated guided vehicle of this invention can achieve the following effects: (i) The four-way automatic guided transport vehicle of this utility model can be set on the track in places such as automated warehousing equipment. The vehicle can switch the direction of movement through two lifting mechanisms that can be raised and lowered and Y-axis wheel sets, so that the vehicle body can selectively move in the X-axis or Y-axis, achieving the ability to move in four directions.

[0019] (ii) The two lifting mechanisms, Y-axis wheel set and lifting mechanism drive device of this utility model can not only lower the Y-axis wheel set and support the vehicle body to make the X-axis wheel set off the track to achieve the switch to Y-axis movement mode, but also be used to lift the two shelves when rising to load and unload goods.

[0020] (iii) The wheel drive device of this utility model is equipped with a bidirectional right-angle gearbox and a gear transmission group, which can synchronously drive the X-axis wheel group and the Y-axis wheel group, ensuring that the actions of each wheel group are coordinated and consistent during operation, reducing the complexity of the control system and improving the transmission stability.

[0021] (iv) This utility model adopts all gear transmission instead of conventional sprocket and chain transmission, which can reduce the frequency of adjustment and maintenance and is more suitable for long-term unmanned automatic operation.

[0022] (v) This utility model is equipped with a more advanced sensing module, which can be used to sense when the vehicle body moves to a fixed position, sense whether the goods placed on the vehicle body are in the correct position, sense whether there are goods on the shelf, and also move to a pre-selected position for wireless charging, so as to achieve the effect of unmanned and fully automatic operation. Attached Figure Description

[0023] The features and advantages of this utility model are described in detail below with reference to the accompanying drawings: Figure 1 This is a three-dimensional schematic diagram of the four-way automated guided transport vehicle of this utility model; Figure 2 This utility model Figure 1 The first part is a breakdown diagram; Figure 3 This utility model Figure 1 The second part is a breakdown diagram; Figure 4 This utility model Figure 1 A top-down view; Figure 5 This utility model Figure 2 A schematic diagram of the lifting mechanism; Figure 6 This utility model Figure 2 Top view of the vehicle's interior; Figure 7 This is an exploded view of the crankshaft of this utility model; Figure 8 This is a schematic diagram showing the normal position of the lifting mechanism and the Y-axis wheel assembly of this utility model (when the Y-axis wheels are not moving); Figure 9 This is a schematic diagram of the lowering action of the lifting mechanism and the Y-axis wheel assembly of this utility model (when the Y-axis wheel is moving); Figure 10 This is a schematic diagram of the lifting mechanism of this utility model lifting up and jacking up the two shelves.

[0024] Explanation of symbols in the diagram: 10: Vehicle body; 11: Compartment space; 12: Rectangular base plate; 13: First side plate; 14: Second side plate; 15: Top cover; 20: X-axis wheel set; 21: X-axis wheel; 30: Lifting mechanism; 31: Wheel frame; 311: Opening; 32: Slide rail module; 33: Crankshaft; 331: Power input shaft; 332: Power take-off shaft; 333: Crank; 334: Bearing; 40: Y-axis wheel set; 41: Y-axis wheel; 50: Wheel set drive unit; 51: Wheel drive motor; 52: Bidirectional right-angle gearbox; 53: First gear transmission mechanism; 531: First gear set; 532: First drive shaft; 54: Second gear transmission mechanism; 541: Second drive shaft; 542: Universal coupling; 543: Second gear set; 60: Lifting mechanism drive device; 61: Lifting drive motor; 62: Third gear transmission mechanism; 621: Gear; 63: Third transmission shaft; 64: Fourth gear set; 70: Shelf; 71: Optical axis guide rail unit; 72: Unshelf; 73: Digital weight sensing module; 74: Unshelf; 100: Vehicle positioning sensing module; 200: Cargo sensing module; 300: Shelf sensing module; 400: Sensor radar; 500: Rechargeable battery; 600: Wireless charging module; 700: Main controller. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0026] See Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this utility model discloses a four-way automated guided vehicle (AGV), which is used to be installed on tracks in automated warehousing equipment and other places. It can automatically pick up and store goods. Its main embodiment includes a vehicle body 10, two X-axis wheel sets 20, two lifting mechanisms 30, two Y-axis wheel sets 40, a wheel set drive device 50, and a lifting mechanism drive device 60, etc., wherein: like Figure 2 and Figure 3 As shown, the vehicle body 10 is a rectangular body composed of several plates. The vehicle body 10 has an accommodating space 11 for mounting the wheel drive unit 50 and the lifting mechanism drive unit 60, among other equipment. Specifically, the vehicle body 10 includes a rectangular base plate 12, two corresponding first side plates 13, two corresponding second side plates 14, and a top cover 15. The two first side plates 13 and two second side plates 14 are attached to the four sides of the rectangular base plate 12, forming the accommodating space 11 around the rectangular base plate 12. The top cover 15 covers the accommodating space 11.

[0027] like Figure 2 and Figure 4 As shown, the two X-axis wheel sets 20 are rotatably mounted on opposite first sides of the vehicle body 10, for example, the two X-axis wheel sets 20 are rotatably mounted on the outer sides of the two first side plates 13. Each X-axis wheel set 20 has at least two X-axis wheels 21, and preferably four X-axis wheels 21 on one side, as shown in the figure. The power of the wheel set drive device 50 is transmitted to the two X-axis wheel sets 20, so that the vehicle body 10 can move back and forth in the X direction of the track.

[0028] like Figure 5 , Figure 6 and Figure 7As shown, the two lifting mechanisms 30 are respectively disposed on two opposite second sides of the vehicle body 10. Each lifting mechanism 30 includes a wheel frame 31, two slide rail modules 32, and at least one crankshaft 33 (the figure shows one lifting mechanism 30 with two crankshafts 33). The wheel frame 31 is assembled to the outer side of the second side (e.g., the second side plate 14) of the vehicle body 10 via the two slide rail modules 32 and is parallel to the second side (second side plate 14) of the vehicle body 10. The wheel frame 31 is provided with at least one opening 311. The slide rail module 32 can be a general linear slide rail, preferably an encoder slide rail (a known item) with an encoder, used to detect the height position of the two lifting mechanisms 30 to achieve operational balance; and when carrying goods of the same weight, the encoder slide rail can detect whether the height position of each load is the same or unbalanced, so as to determine whether the mechanism operation is abnormal, and immediately recall the handling vehicle for maintenance when abnormal, to avoid the malfunction getting stuck in the storage equipment. The crankshaft 33 is rotatably mounted on the second side of the vehicle body 10, as shown in the figure, and is mounted on the second side plate 14. Each crankshaft 33 has a power input shaft 331 and a power output shaft 332. The power input shaft 331 extends into the accommodating space 11 of the vehicle body 10 and is used to connect to the lifting mechanism drive device 60. The power output shaft 332 protrudes from the second side of the vehicle body 10, as shown in the figure, on the outer side of the second side plate 14, and abuts against the opening 311 of the wheel frame 31. When the crankshaft 33 is driven by the lifting mechanism drive device 60, the rotating power output shaft 332 can drive the wheel frame 31 to move up and down. When descending, it can be used to switch the Y-axis wheel set 40 to contact the track to change to Y-axis operation. When ascending, it can be used to lift the cargo for loading and unloading.

[0029] like Figures 2 to 6 As shown, the two Y-axis wheel sets 40 are rotatably mounted on the outer side of the wheel frame 31 of the two lifting mechanisms 30, and each Y-axis wheel set 40 has at least two Y-axis wheels 41. The wheel frame 31 can descend with the Y-axis wheels 41, so that the Y-axis wheels 41 support the vehicle body 10 on the track and rise, causing the X-axis wheels 21 to rise and derail from the track, thereby switching the vehicle body 10 to a reciprocating movement mode in the Y direction, achieving the function of the vehicle body 10 being able to switch between X-axis and Y-axis movement.

[0030] like Figure 5 and Figure 6As shown, the wheel drive device 50 is a power source device used to drive the vehicle body 10 to move in the X or Y direction. It includes a wheel drive motor 51, a bidirectional right-angle gearbox 52, a first gear transmission mechanism 53, and a second gear transmission mechanism 54. The wheel drive motor 51 is fixed in the accommodating space 11 of the vehicle body 10 and outputs power to the bidirectional right-angle gearbox 52. The bidirectional right-angle gearbox 52 has a first power output shaft and a second power output shaft that rotate synchronously. The first power output shaft drives the first gear transmission mechanism 53, and the second power output shaft drives the second gear transmission mechanism 54. The first gear transmission mechanism 53 is located inside the two first side plates 13 of the vehicle body 10 (in the accommodating space 11) and synchronously drives the two X-direction wheel sets 20 to rotate. The second gear transmission mechanism 54 is located in the accommodating space 11 of the vehicle body 10 and synchronously drives the two Y-direction wheel sets 40 to rotate.

[0031] like Figure 5 and Figure 6 As shown, the lifting mechanism drive device 60 is a power source device for driving the two lifting mechanisms 30 to move up and down. It includes a lifting drive motor 61 and two third gear transmission mechanisms 62. The lifting drive motor 61 is fixed in the accommodating space 11 of the vehicle body 10. The third gear transmission mechanisms 62 are disposed inside the two second side plates 14 on opposite sides of the vehicle body 10 (in the accommodating space 11) and are respectively connected to the power input shaft 331 of each crankshaft 33 and the power output shaft of the lifting drive motor 61. In this way, the lifting drive motor 61 can drive the two third gear transmission mechanisms 62 and each crankshaft 33 to rotate, so that the two lifting mechanisms 30 can move up and down.

[0032] For example Figure 5 and Figure 6 As shown, a preferred embodiment of the first gear transmission mechanism 53 described above includes two first gear sets 531 and a first drive shaft 532. The two first gear sets 531 are respectively disposed on the inner sides of two opposing first side plates 13 within the vehicle body 10. Each of the two first gear sets 531 has multiple meshing gears, with at least one gear engaged with the axle of the X-direction wheel 21. Additionally, one gear from one of the first gear sets 531 is engaged with the first power output shaft of the bidirectional right-angle gearbox 52. The two ends of the first drive shaft 532 are connected to the two first gear sets 531, causing the two first gear sets 531 to synchronously drive the X-direction wheels 21 on both first sides of the vehicle body 10 to rotate, thereby realizing the function of reciprocating movement of the vehicle body 10 in the X direction.

[0033] For example Figure 5 and Figure 6As shown, the aforementioned second gear transmission mechanism 54 preferably includes a second drive shaft 541, two universal joints 542, and a second gear set 543. The second drive shaft 541 is disposed in the accommodating space 11 of the vehicle body 10, with both ends facing the two second sides of the vehicle body 10. The two universal joints 542 are respectively connected to the two ends of the second drive shaft 541 and to the axles of the Y-axis wheels 41 on the two second sides. The second gear set 543 consists of two meshing gears, connecting the second power output shaft of the bidirectional right-angle gearbox 52 to the second drive shaft 541, enabling the wheel set drive motor 51 to drive the Y-axis wheels 41 on the two second sides of the vehicle body 10 to rotate synchronously. With this design, when the two lifting mechanisms 30 drive the two Y-axis wheel sets 40 to descend (e.g....), Figure 9 As shown), the vehicle body 10 and the two X-axis wheel sets 20 are lifted off the track, and the running direction is switched from X-axis to Y-axis, allowing the two Y-axis wheel sets 40 to move in the Y-axis. Conversely, when the two lifting mechanisms 30 drive the two Y-axis wheel sets 40 to rise and fall back to their original positions (as shown), the two lifting mechanisms 30 can lift the vehicle body 10 and the two Y-axis wheel sets 40 back to their original positions (as shown). Figure 8 As shown), this allows the two X-axis wheel sets 20 to descend and contact the track to move in the X direction.

[0034] like Figure 5 and Figure 6 As shown, in a preferred embodiment, the two third gear transmission mechanisms 62 of the lifting mechanism drive device 60 each include several meshing gears 621, with at least one gear 621 connected to the power input shaft of the crankshaft 33. The lifting mechanism drive device 60 further includes a third drive shaft 63 and a fourth gear set 64. The two ends of the third drive shaft 63 are respectively connected to the gears 621 of the two third gear transmission mechanisms 62. The fourth gear set 64 consists of two meshing gears, connecting the power output shaft of the lifting drive motor 61 to the third drive shaft 63. Thus, the lifting drive motor 61 can synchronously drive the third gear transmission mechanisms 62 on both second sides of the vehicle body 10 via the fourth gear set 64 and the third drive shaft 63, enabling the two lifting mechanisms 30 to lift synchronously.

[0035] like Figure 7 As shown, in a preferred embodiment of the crankshaft 33, a crank 333 is provided. The power input shaft 331 is connected to one side of the crank 333 near one end, while the power output shaft 332 is connected to the other side of the crank 333 near the other end. The power output shaft 332 is further fitted with a bearing 334, such that the circumference of the bearing 334 abuts against the opening 311 of the wheel carrier 31 (e.g., ...). Figure 8 (As shown). Therefore, when the crankshaft 33 is driven by the third gear transmission mechanism 62, the bearing 334 can push the opening 311 of the wheel frame 31, causing the two lifting mechanisms 30 and the Y-axis wheel set 40 to rise and fall (as shown). Figures 8 to 9(As shown). This utility model, through the bearing 334 structure of the crankshaft 33 and the power output shaft 332, can smoothly lift and push the wheel frame 31 during operation, preventing the risk of cargo shifting or falling due to vibration.

[0036] See Figure 2 and Figure 3 As shown, a preferred embodiment of the present invention further includes two shelves 70, which are respectively disposed on two corresponding first sides of the vehicle body 10 and parallel to the first sides. A preferred embodiment of the shelf 70 includes two optical axis guide rail units 71, a lower shelf 72, two digital weight sensing modules 73, and an upper shelf 74. The two optical axis guide rail units 71 are fixed to the inner sides of the two first side plates 13 of the vehicle body 10 for guiding the lower shelf 72 to rise and fall. The lower shelf 72 is fixed to the upper ends of the optical axes of the two optical axis guide rail units 71 near both ends. The two digital weight sensing modules 73 are existing sensing modules, respectively fixed to the lower shelf 72 near both ends. The upper shelf 74 is fixed to the two digital weight sensing modules 73 near both ends. Figure 10 As shown, when the wheel frames 31 of the two lifting mechanisms 30 rise, the upper ends of the wheel frames 31 can lift both ends of the two shelves 70. Therefore, when loading or unloading goods, they can move under the pallet, lift the goods and pallet to detach them from the storage shelves, and then lower the two lifting mechanisms 30 to place the goods and pallets on the two shelves 70 on the vehicle body 10 for transport. Conversely, the goods and pallets can be lifted and placed back into the storage shelves, realizing the function of automatic loading and unloading.

[0037] For example Figure 2 and Figure 3As shown, to achieve full automation, a preferred embodiment of this invention further includes a vehicle positioning sensing module 100, at least three cargo sensing modules 200, two shelf sensing modules 300, two radar sensors 400, a rechargeable battery 500, a wireless charging module 600, and a main controller 700. The vehicle positioning sensing module 100 is fixed to the rectangular base plate 12 of the vehicle body 10 and reads a barcode through a through-hole in the rectangular base plate 12 onto the track below the vehicle body 10, thus locating the predetermined stopping position. The cargo sensing modules 200 are fixed in the accommodating space 11 of the vehicle body 10 and pass upwards through the through-holes of the lower shelf 72 and upper shelf 74 to sense whether the goods on the transport vehicle are correctly positioned (whether they are tilted), preventing them from tipping over or colliding with other objects during transport. The two shelf sensing modules 300 can be infrared modules, respectively installed on the outer sides of the two first or two second sides of the vehicle body 10, to sense whether there are already stored goods on the shelves. For example, if there are already goods on the shelves, the vehicle can automatically move to a shelf without goods. The sensing radar 400 is fixed at the two corners of the vehicle body 10 to sense obstacles, fallen objects, or other transport vehicles around the vehicle body 10. If there is an obstacle, the vehicle can automatically stop to avoid collisions. The rechargeable battery 500 is located in the vehicle body 10 and supplies power to the four-way automated guided vehicle. The wireless charging module 600 is located at the bottom of the rectangular base plate 12 of the vehicle body 10 and is used to charge by sensing another wireless charging module on the track below. The main controller 700 is located in the vehicle body 10 and controls the operation of the four-way automated guided vehicle.

[0038] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model, or reasonable combinations of features and solutions from various embodiments, are all within the protection scope of the present utility model.

Claims

1. A four-way automated guided vehicle, comprising a vehicle body, two X-axis wheel sets, two lifting mechanisms, two Y-axis wheel sets, a wheel set drive device, and a lifting mechanism drive device, characterized in that: The vehicle body is rectangular. The two X-axis wheel sets are rotatably mounted on the two opposite first sides of the vehicle body, and each X-axis wheel set has at least two X-axis wheels, enabling the vehicle body to move back and forth in the X direction; The two lifting mechanisms are respectively disposed on two opposite second sides of the vehicle body. Each lifting mechanism includes a wheel frame, two slide rail modules, and at least one crankshaft. Each wheel frame is assembled on the outer side of the second side of the vehicle body through the two slide rail modules, parallel to the second side of the vehicle body, and the wheel frame has at least one opening. The crankshaft is rotatably disposed on the second side of the vehicle body. Each crankshaft has a power input shaft and a power output shaft. The power input shaft extends into the vehicle body. The power output shaft protrudes from the second side of the vehicle body and abuts against the opening of the wheel frame. When the power output shaft rotates, it can drive the wheel frame to move up and down. The two Y-axis wheel sets are rotatably mounted on the outside of the wheel frame of the two lifting mechanisms. Each Y-axis wheel set has at least two Y-axis wheels. The wheel frame and the Y-axis wheels can descend, so that the Y-axis wheels support the vehicle body and cause the X-axis wheels to derail, so that the vehicle body can move back and forth in the Y direction. The wheel drive device includes a wheel drive motor, a bidirectional right-angle gearbox, a first gear transmission mechanism, and a second gear transmission mechanism. The wheel drive motor is fixed in the vehicle body and outputs power to the bidirectional right-angle gearbox. The bidirectional right-angle gearbox has a first power output shaft and a second power output shaft that operate synchronously. The first power output shaft drives the first gear transmission mechanism, and the second power output shaft drives the second gear transmission mechanism. The first gear transmission mechanism synchronously drives the two X-axis wheel sets to rotate, and the second gear transmission mechanism synchronously drives the two Y-axis wheel sets to rotate. The lifting mechanism drive device includes a lifting drive motor and two third gear transmission mechanisms. The lifting drive motor is fixed in the vehicle body, and the third gear transmission mechanisms are located inside the two opposite second sides of the vehicle body. They are respectively connected to the power input shaft of each crankshaft of the vehicle body and the power output shaft of the lifting drive motor. The lifting drive motor drives the two third gear transmission mechanisms and each crankshaft to rotate, so that the two lifting mechanisms can move up and down.

2. The four-way automated guided vehicle as described in claim 1, characterized in that, The first gear transmission mechanism has two first gear sets and a first drive shaft; the two first gear sets are respectively disposed inside the two opposite first sides of the vehicle body, and each of the two first gear sets has multiple meshing gears, wherein at least one gear is engaged with the wheel axle of the X-axis wheel; wherein one gear in a selected set of first gear sets is engaged with the first power output shaft of the bidirectional right-angle gearbox; the two ends of the first drive shaft are connected to the two first gear sets, so that the two first gear sets synchronously drive the X-axis wheels on the two first sides of the vehicle body to rotate.

3. The four-way automated guided vehicle as described in claim 2, characterized in that, The second gear transmission mechanism has a second drive shaft, two universal joints, and a second gear set; the second drive shaft is disposed in the vehicle body and its two ends face the two second sides of the vehicle body; the two universal joints are respectively connected to the two ends of the second drive shaft and connected to the wheel axles of the Y-axis wheels on the two second sides; the second gear set connects the second power output shaft of the bidirectional right-angle gearbox to the second drive shaft, so as to drive the Y-axis wheels on the two second sides of the vehicle body to rotate synchronously.

4. The four-way automated guided vehicle as described in claim 1, characterized in that, The two third gear transmission mechanisms of the lifting mechanism drive device each include several meshing gears, wherein at least one gear is connected to the power input shaft of the crankshaft; the lifting mechanism drive device further includes a third transmission shaft and a fourth gear set, the two ends of the third transmission shaft are respectively connected to the gears of the two third gear transmission mechanisms, and the fourth gear set connects the power output shaft of the lifting drive motor to the third transmission shaft.

5. The four-way automated guided vehicle as described in claim 1 or 4, characterized in that, The crankshaft has a crank arm, the power input shaft is connected to one side of the crank arm near one end, and the power output shaft is connected to the other side of the crank arm at the other end; wherein the power output shaft is fitted with a bearing, and the bearing abuts against an opening in the wheel carrier.

6. The four-way automated guided vehicle as described in claim 1, characterized in that, The vehicle body includes a rectangular base plate, two corresponding first side plates, two other corresponding second side plates, and a top cover. The two first side plates and the two second side plates are attached to the four sides of the rectangular base plate, forming an accommodating space on the rectangular base plate, and the top cover covers the accommodating space. The two X-axis wheel sets are rotatably mounted on the outer surfaces of the two first side plates; the two lifting mechanisms are respectively mounted on the outer surfaces of the two second side plates; the wheel set drive device and the lifting mechanism drive device are respectively mounted in the accommodating space.

7. The four-way automated guided vehicle as described in claim 1 or 6, characterized in that, It further includes two shelves, which are respectively installed on the two first sides of the vehicle body and are parallel to the first sides; and the upper ends of the wheel frames of the two lifting mechanisms can lift the two ends of the two shelves when they rise.

8. The four-way automated guided vehicle as described in claim 7, characterized in that, The shelf includes two optical axis guide rail units, a lower shelf, two digital weight sensing modules, and an upper shelf; the two optical axis guide rail units are fixed inside the two first sides of the vehicle body, the lower shelf is fixed at the upper end of the optical axis of the two optical axis guide rail units, the two digital weight sensing modules are fixed at the near ends of the lower shelf, and the near ends of the lower part of the upper shelf are fixed on the two digital weight sensing modules.

9. The four-way automated guided vehicle as described in claim 1, characterized in that, The system further includes a vehicle positioning sensing module, at least three cargo sensing modules, two shelf sensing modules, and two sensing radars. The vehicle positioning sensing module is fixed in the vehicle body and is used to read barcodes from the track below the vehicle body. Each of the cargo sensing modules is fixed in the vehicle body and is used to sense whether the position of the cargo is correct. The two shelf sensing modules are located on the two first sides or two second sides of the vehicle body and are used to sense whether there is cargo on the shelves. The sensing radars are fixed at the two corners of the vehicle body at opposite corners and are used to sense objects around the vehicle body.

10. The four-way automated guided vehicle as described in claim 1, characterized in that, The vehicle further includes a rechargeable battery and a wireless charging module. The rechargeable battery is located in the vehicle body and supplies power to the four-way automated guided vehicle. The wireless charging module is located at the bottom of the vehicle body and is used to charge the rechargeable battery by inductive connection with another external wireless charging module.

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