4-way automatic guide transport cart

Abstract

We provide a four-way automatic guide transport cart that is used to move, pick up, and place items on the rail path of an automated warehouse facility. The vehicle includes a car body (10), two X-direction wheel sets (20), two lifting mechanisms (30), two Y-direction wheel sets (40), a wheel set drive unit (50), and a lifting mechanism drive unit (60). The X-direction wheel sets (20) are provided on both first sides (13) of the car body (10), the lifting mechanisms (30) are provided on both second sides (14) of the car body (10), the Y-direction wheel sets (40) are provided on both lifting mechanisms (30), and the wheel set drive unit (50) and the lifting mechanism drive unit (60) are provided inside the car body (10). The former is used to synchronously drive the X-direction wheel sets (20) and the Y-direction wheel sets (40) to rotate, and the latter is used to drive the lifting mechanisms (30) and the Y-direction wheel sets (40) to raise and lower, and is capable of lifting cargo. The drive device of the present invention is a fully geared transmission, which reduces the frequency of adjustment, calibration, and maintenance, and both lifting mechanisms 30 can be used to switch the direction of movement and also to lift up and down luggage.

Description

[Technical Field]

[0001] The present invention relates to the technical field of automated guided transport carts in automated warehouse facilities, and more particularly to a four-way automated guided transport cart that can move, pick up and place items completely automatically on the rail path of a warehouse facility. [Background technology]

[0002] Currently, four-way automatic guided transport carts (Shuttle Carts) are commonly used in automated warehouses, logistics systems, etc., and are capable of moving along rail paths in the X and Y directions and can automatically pick up and place goods. For example, one such cart is disclosed in Patent Document 1 (Taiwan Utility Model No. M629537). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Taiwan Utility Model No. M629537 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional four-way automatic guided transport cart designs often use a sprocket chain transmission mechanism to drive the wheel set. Because the chain itself has elasticity and elongation characteristics, it is easy for slack or displacement errors to occur after long-term operation, making it impossible for the wheel set to rotate precisely synchronously or to travel to the specified position. Frequent tension adjustment and maintenance are required, which increases the time and cost of repair work. [Means for solving the problem]

[0005] In addition, conventional four-way automated guided transport carts require two sets of independent motors to drive the X-direction wheel set and the Y-direction wheel set, respectively, within the car body to control movement along the rail paths in the X and Y directions. This configuration not only increases hardware complexity and cost, but also requires complex software algorithms and sensors to synchronize the coordinated control between the two sets of motors, which further affects the accuracy of the transport cart's movement and retrieval / placement of goods in a warehouse environment.

[0006] To sum up, conventional four-way automatic guided transport carts commonly suffer from problems such as loose chain transmission, frequent maintenance, and complex dual-motor control. If a full gear transmission mechanism is used instead of sprockets, and a single drive unit is employed to simultaneously control the X and Y direction wheel sets and the lifting mechanism, the stability and control efficiency of the entire mechanism can be greatly improved, and maintenance requirements can be reduced. This is of outstanding technical and practical value to the industry.

[0007] The main purpose of this invention is to provide a four-way automatic guided transport cart that uses a fully geared drive design, avoiding the problems of chain and sprocket drive systems that require frequent adjustment, calibration, and maintenance, reducing the frequency of maintenance and ensuring stable operation over long periods of time. Furthermore, a special lifting mechanism is designed so that the transport cart can be switched between X- and Y-direction movement, and the lifting mechanism can also be used to lift cargo for loading or unloading.

[0008] A secondary objective of this invention is to provide a four-way automatic guided transport cart that, through the design of various sensing modules and wireless charging modules, can automatically sense the weight of luggage, automatically move to a fixed point for loading or unloading, detect whether the luggage is correctly positioned on the vehicle, avoid collisions with other transport carts, sense surrounding objects, and automatically charge.

[0009] To achieve the above-mentioned main objective, the present invention proposes a four-way automatic guided transport cart that can be installed on a rail route in an automated warehouse facility or other location, and can automatically load and unload goods. The preferred technical solution for this cart includes a car body, two X-direction wheel sets, two lifting mechanisms, two Y-direction wheel sets, a wheel set drive device, and a lifting mechanism drive device.

[0010] The vehicle body is a rectangular vehicle body, and the two X-direction wheel sets are rotatably installed on opposite first sides of the vehicle body, and each X-direction wheel set has at least two X-direction wheels, allowing the vehicle body to move back and forth in the X direction.

[0011] The two lifting mechanisms are respectively installed on opposite second sides of the car body, and each lifting mechanism includes a wheel base, two slide rail modules, and at least one crankshaft. Each wheel base is assembled to the outer surface of the second side of the car body via the two slide rail modules, and is parallel to the second side of the car body. At least one opening is provided in the wheel base, and the crankshaft is rotatably installed on the second side of the car body. Each crankshaft has a power input shaft and a power output shaft, the power input shaft extends into the car body, and the power output shaft protrudes from the second side of the car body and abuts against the opening in the wheel base, and the power output shaft is interlocked with the wheel base to move up and down when rotated.

[0012] The two Y-direction wheel sets are respectively rotatably installed on the outside of the wheel mounts of the two lifting mechanisms, and each Y-direction wheel set has at least two Y-direction wheels, and the wheel mounts and the Y-direction wheels are capable of descending, so that the Y-direction wheels lift the car body so that the X-direction wheels can be released from the rail path, thereby allowing the car body to move back and forth in the Y direction.

[0013] The wheel set drive device includes a wheel set drive motor, a bidirectional right-angle transmission box, a first gear transmission mechanism, and a second gear transmission mechanism. The wheel set drive motor is fixed within the vehicle body and is used to output power to the bidirectional right-angle transmission box. The bidirectional right-angle transmission box has a first power output shaft and a second power output shaft that operate synchronously. The first power output shaft is interlocked with the first gear transmission mechanism, and the second power output shaft is interlocked with the second gear transmission mechanism. The first gear transmission mechanism is synchronously interlocked to rotate both X-direction wheel sets, and the second gear transmission mechanism is synchronously interlocked to rotate both Y-direction wheel sets.

[0014] The lifting mechanism drive device includes a lifting drive motor and two third gear transmission mechanisms, the lifting drive motor is fixed inside the vehicle body, the third gear transmission mechanisms are installed inside two opposing second sides of the vehicle body, and 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, and the lifting drive motor is linked to rotate both third gear transmission mechanisms and each crankshaft, thereby enabling both lifting mechanisms to move up and down.

[0015] In order to achieve the above secondary objectives, the preferred technical solution of the present invention further includes a loading platform capable of sensing gravity, a vehicle body positioning sensing module capable of locating the transport cart, a number of cargo sensing modules capable of sensing the loading status of cargo, a loading platform sensing module capable of sensing the presence or absence of cargo on the loading platform in the warehouse, a sensing radar capable of sensing the surrounding environment, a rechargeable battery, a wireless charging module, a main controller, etc., so that the four-way automatic guided transport cart can realize fully automatic operation. [Effects of the Invention]

[0016] This invention has the following five advantages: (1) This device can be installed on a rail route in an automated warehouse facility or other location. By switching the direction of movement using both lifting mechanisms, the car body can be selectively moved in the X or Y direction, achieving four-way movement capability.

[0017] (2) The two lifting mechanisms, Y-direction wheel set, and lifting mechanism drive device of this invention can lower the Y-direction wheel set to switch to Y-direction movement mode, and can also be used to push up both loading platforms when raised, allowing loading and unloading of cargo.

[0018] (3) The wheel set drive device of this invention is equipped with a bidirectional right-angle speed change box and a gear transmission set, which can drive the X-direction wheel set and the Y-direction wheel set synchronously, ensuring the coordination and consistency of the movements of each wheel set during operation.

[0019] (4) This invention adopts a full gear transmission, eliminating the need for conventional sprocket and chain transmission, reducing the frequency of adjustment, calibration, and maintenance, and making it suitable for unmanned, automatic operation over long periods of time.

[0020] (5) This invention is equipped with a more advanced sensing module, which can be used to detect whether the vehicle has reached a fixed position, whether the luggage placed on the vehicle is in the correct position, whether there is luggage already placed on the loading platform, and whether the vehicle can proceed to a pre-selected position for wireless charging, achieving the effects of unmanned and fully automatic operation. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a perspective view of a four-way automatic guide transport cart according to the present invention; [Figure 2] FIG. 2 is an exploded view of the first part of FIG. 1 of the present invention. [Figure 3] FIG. 2 is an exploded view of the second part of FIG. 1 according to the present invention; [Figure 4] FIG. 2 is a schematic plan view of FIG. 1 of the present invention. [Figure 5] FIG. 3 is an exploded view of the lifting mechanism of FIG. 2 according to the present invention; [Figure 6] FIG. 3 is a schematic plan view of the interior of the vehicle body of FIG. 2 according to the present invention. [Figure 7] FIG. 2 is an exploded schematic view of the crankshaft of the present invention. [Figure 8] 1 is a schematic diagram of the normal position of the lifting mechanism and the Y-direction wheel set of the present invention (Y-direction wheels not running). [Figure 9] 1 is a schematic diagram of the lifting mechanism and the Y-direction wheel set descending operation (when the Y-direction wheels are running) of the present invention. [Figure 10] 4 is a schematic diagram showing the operation of the lifting mechanism of the present invention, in which both loading platforms are pushed up and raised. DETAILED DESCRIPTION OF THE INVENTION

[0022] As shown in Figures 1, 2, 3 and 4, the four-way automatic guide transport cart of the present invention is used to install on a rail route in an automated warehouse facility or the like, and can automatically pick up and place goods. In a primary embodiment, the four-way automatic guide transport cart includes a vehicle body 10, two X-direction wheel sets 20, two lifting mechanisms 30, two Y-direction wheel sets 40, a wheel set drive unit 50, and a lifting mechanism drive unit 60.

[0023] 2 and 3, the car body 10 is a rectangular car body assembled from a number of plate pieces, and has an accommodation space 11 inside the car body 10, which is used to mount equipment such as the wheel set drive unit 50 and the lifting mechanism drive unit 60. Specifically, the car body 10 includes a rectangular bottom plate 12, two corresponding first side plates 13, two corresponding second side plates 14, and a top cover 15. The first side plates 13 and the second side plates 14 are connected to the four sides of the rectangular bottom plate 12, so that the accommodation space 11 is continuously formed on the rectangular bottom plate 12, and the top cover 15 covers the accommodation space 11.

[0024] 2 and 4, the two X-direction wheel sets 20 are rotatably installed on the opposing first sides of the car body 10, for example, the two X-direction wheel sets 20 are rotatably installed on the outer surfaces of the two first side plates 13, respectively. Each X-direction wheel set 20 has at least two X-direction wheels 21, and as shown in the figures, it is preferable to have four X-direction wheels 21 on one side. It is sufficient that the car body 10 can move back and forth in the X direction of the rail path by transmitting the power of the wheel set drive device 50 to the two X-direction wheel sets 20.

[0025] 5, 6 and 7, the two lifting mechanisms 30 are respectively installed on opposite second sides of the car body 10, and each lifting mechanism 30 includes a wheel base 31, two slide rail modules 32, and at least one crankshaft 33 (one lifting mechanism 30 is shown having both crankshafts 33). The wheel base 31 is assembled to the outer surface of the second side (e.g., second side plate 14) of the car body 10 via the two slide rail modules 32, and is parallel to the second side (second side plate 14) of the car body 10, and at least one opening 311 is provided in the wheel base 31. The slide rail module 32 may be a general linear slide rail, or preferably an encoder-equipped slide rail (a well-known item) equipped with an encoder, which is used to detect the height position of both lifting mechanisms 30 and balance the operation. When loading cargo of the same weight, the encoder-equipped slide rail can be used to detect whether the height position of the load is the same each time or whether there is an imbalance. It is also used to determine whether the operation of the mechanism is abnormal. In the event of an abnormality, the transport cart can be immediately returned for repair and maintenance, preventing it from being stuck in the warehouse facility due to a malfunction. The crankshaft 33 is rotatably installed on the second side of the car body 10 and, as shown in the figure, installed on the second side plate 14. The crankshaft 33 has a power input shaft 331 and a power output shaft 332. The power input shaft 331 extends into the accommodation space 11 of the car body 10 and is used for connection to the lifting mechanism drive device 60. The power output shaft 332 protrudes from the second side of the car body 10 and, as shown in the figure, protrudes from the outer surface of the second side plate 14 and abuts against the opening 311 of the wheel base 31. When the crankshaft 33 is connected to the lifting mechanism drive device 60, the rotating power output shaft 332 can be connected to move the wheel base 31 up and down. When descending, the Y-direction wheel set 40 can be switched to contact the rail path and converted into movement in the Y direction. When ascending, it can be used to lift and unload cargo.

[0026] 2 to 6, the two Y-direction wheel sets 40 are rotatably installed on the outside of the wheel mounts 31 of the two lifting mechanisms 30, respectively, and each Y-direction wheel set 40 has at least two Y-direction wheels 41. The wheel mounts 31 and the Y-direction wheels 41 are capable of descending, and the Y-direction wheels 41 lift the car body 10 above the rail path so that the X-direction wheels 21 can be raised and removed from the rail path, thereby achieving the function of switching the car body 10 to a mode for reciprocating movement in the Y direction, and the car body 10 to a mode for moving in the X or Y direction.

[0027] 5 and 6, the wheel set drive device 50 is used to drive a power source device that moves the vehicle body 10 in the X direction or Y direction, and includes a wheel set drive motor 51, a bidirectional right-angle transmission box 52, a first gear transmission mechanism 53, and a second gear transmission mechanism 54. The wheel set drive motor 51 is fixed in the accommodation space 11 of the vehicle body 10 and is used to output power to the bidirectional right-angle transmission box 52. The bidirectional right-angle transmission box 52 has a first power output shaft and a second power output shaft that rotate synchronously, the first power output shaft interlocking with the first gear transmission mechanism 53, and the second power output shaft interlocking with the second gear transmission mechanism 54. The first gear transmission mechanism 53 is installed inside both first side plates 13 of the vehicle body 10 (in the accommodation space 11) and is synchronously interlocked to rotate both X-direction wheel sets 20. The second gear transmission mechanism 54 is installed in the vehicle body 10 (inside the accommodation space 11) and is synchronously linked to rotate both Y direction wheel sets 40.

[0028] 5 and 6, the lifting mechanism drive device 60 is used to drive a power source device that lifts and lowers both lifting mechanisms 30, and includes a lifting drive motor 61 and two third gear transmission mechanisms 62. The lifting drive motor 61 is fixed within the accommodation space 11 of the vehicle body 10. The third gear transmission mechanisms 62 are installed inside (in the accommodation space 11 of) both second side plates 14 on both opposing second sides of the vehicle body 10, and are respectively connected to the power input shaft 331 of each crankshaft 33 and the power output shaft 332 of the lifting drive motor 61. As a result, the lifting drive motor 61 can link both third gear transmission mechanisms 62 and each crankshaft 33 so that they rotate, thereby enabling both lifting mechanisms 30 to move up and down.

[0029] 5 and 6, a preferred embodiment of the first gear transmission mechanism 53 includes two first gear sets 531 and a first transmission shaft 532. The two first gear sets 531 are respectively installed inside two opposing first side plates 13 of the vehicle body 10. Each first gear set 531 has a number of gears that mesh with each other, at least one of which is connected to the axle of the X-direction wheels 21. In addition, one gear is selected from one of the first gear sets 531 and connected to the first power output shaft of the bidirectional right-angle transmission box 52. Both ends of the first transmission shaft 532 are connected to the two first gear sets 531, so that the two first gear sets 531 are synchronously linked to rotate the X-direction wheels 21 on both first sides of the vehicle body 10, thereby realizing the function of the vehicle body 10 moving back and forth in the X direction.

[0030] 5 and 6, the second gear transmission mechanism 54 preferably includes a second transmission shaft 541, two universal joints 542, and a second gear set 543. The second transmission shaft 541 is installed in the accommodation space 11 of the vehicle body 10, and both ends face the second sides of the vehicle body 10. The two universal joints 542 are respectively connected to both ends of the second transmission shaft 541 and to the axles of the Y-direction wheels 41 on the second sides. The second gear set 543 is made up of two gears that mesh with each other, and is connected to the second power output shaft of the bidirectional right-angle transmission box 52 and the second transmission shaft 541, thereby enabling the wheel set drive motor 51 to be linked so that the Y-direction wheels 41 on the second sides of the vehicle body 10 rotate synchronously. With this design, when the two lifting mechanisms 30 are linked to lower both Y-direction wheel sets 40 (see FIG. 9) and lift the car body 10 and both X-direction wheel sets 20 to remove from the rail path, it is possible to move in the Y direction using both Y-direction wheel sets 40 when switching the running direction from the X direction to the Y direction. Conversely, when the two lifting mechanisms 30 are linked to lift both Y-direction wheel sets 40 again to return them to their original positions (see FIG. 8), it is possible to lower both X-direction wheel sets 20 so that they come into contact with the rail path in order to move in the X direction.

[0031] 5 and 6, in a preferred embodiment, each of the third gear transmission mechanisms 62 of the lifting mechanism drive device 60 includes a number of gears 621 that mesh with each other, and at least one of the gears 621 is connected to the power input shaft 331 of the crankshaft 33. The lifting mechanism drive device 60 further includes a third transmission shaft 63 and a fourth gear set 64. Both ends of the third transmission shaft 63 are connected to the gears 621 of each of the third gear transmission mechanisms 62, and the fourth gear set 64 includes two gears that mesh with each other and is connected to the power output shaft 332 of the lifting drive motor 61 and the third transmission shaft 63. As a result, the lifting drive motor 61 synchronously links the third gear transmission mechanisms 62 on both second sides of the vehicle body 10 via the fourth gear set 64 and the third transmission shaft 63, thereby causing the lifting mechanisms 30 to lift synchronously.

[0032] As shown in Fig. 7, a preferred embodiment of the crankshaft 33 has a crank 333, and the power input shaft 331 is connected to one surface of the crank 333 near one end, and the power output shaft 332 is connected to the other surface of the crank 333 near the other end. A bearing 334 is further fitted onto the power output shaft 332, so that the circumference of the bearing 334 abuts against the opening 311 of the wheel base 31 (see Fig. 8). Therefore, when the crankshaft 33 is coupled by the third gear transmission mechanism 62, the bearing 334 is pressed against the opening 311 of the wheel base 31, thereby lifting and lowering both the lifting mechanisms 30 and the Y-direction wheel set 40 (see Figs. 8 and 9). In this invention, the structure of the crankshaft 33 and the bearing 334 of the power output shaft 332 allows the wheel base 31 to be smoothly supported and pushed during operation, preventing the risk of cargo shifting or falling due to vibration.

[0033] As shown in FIGS. 2 and 3 , a preferred embodiment of the present invention further includes two loading platforms 70, which are respectively installed on the first sides of the car body 10 and parallel to the first sides. The preferred embodiment of the loading platform 70 includes two optical axis guide rail units 71, a lower platform 72, two digital weight sensing modules 73, and an upper platform 74. The optical axis guide rail units 71 are fixed to the inside of the first side panels 13 of the car body 10 and are used to guide the lower platform 72 when it is raised or lowered. The lower surfaces of the adjacent ends of the lower platform 72 are fixed to the upper ends of the optical axes of the optical axis guide rail units 71. The digital weight sensing modules 73 are existing sensing modules, respectively fixed to the adjacent ends of the lower platform 72. The lower surfaces of the adjacent ends of the upper platform 74 are fixed to the digital weight sensing modules 73. 10, when the wheel bases 31 of the two lifting mechanisms 30 are raised, the upper ends of the wheel bases 31 can lift up both ends of the two loading and unloading platforms 70. Therefore, when used for loading or unloading cargo, the wheel bases 31 can be moved below the cargo pallet, and the cargo and pallet are lifted up to remove them from the loading and unloading platform, and then the two lifting mechanisms 30 are lowered, leaving the cargo and pallet on the loading and unloading platforms 70 on the vehicle body 10 for transport. Conversely, the cargo and pallet can be lifted up and then placed on the loading and unloading platform, realizing the function of automatic loading and unloading.

[0034] 2 and 3, in order to fully automate the present invention, a preferred embodiment further includes a vehicle body positioning and sensing module 100, at least three cargo sensing modules 200, two loading platform sensing modules 300, two-receptive radar 400, a rechargeable battery 500, a wireless charging module 600, and a main controller 700. The vehicle body positioning and sensing module 100 is fixed on the rectangular bottom plate 12 of the vehicle body 10 and is used to read barcodes according to the rail path below the vehicle body 10 through holes in the rectangular bottom plate 12, thereby finding the predetermined position where the vehicle is to stop. The multiple cargo sensing modules 200 are fixed in the receiving space 11 of the vehicle body 10 and pass upward through holes in the lower platform 72 and the upper platform 74, The radars 400 are fixed to opposite corners of the vehicle body 10 and are used to detect obstacles, fallen objects, or other transport carts around the vehicle body 10. For example, if an obstacle is present, the vehicle can automatically park and avoid collisions. The rechargeable battery 500 is installed within the vehicle body 10 and supplies power to the four-way automatic guided transport cart. The wireless charging module 600 is installed at the bottom of the rectangular bottom plate 12 of the vehicle body 10 and is used to communicate with other wireless charging modules on the rail path below for charging. In addition, the main controller 700 is installed in the vehicle body 10 and performs integrated control of the operation of the four-way automatic guided transport cart. [Explanation of symbols]

[0035] 10: Body 11: Containment space 12: Rectangular bottom plate 13: 1st side plate 14:Second side plate 15:Top lid 20:X direction wheel set 21:X direction wheel 30: Lifting mechanism 31: Wheel stand 311: Open hole 32: Slide rail module 33: Crankshaft 331: Power input shaft 332: Power output shaft 333: Crank 334: Bearing 40: Y direction wheel set 41:Y direction wheel 50: Wheel set drive unit 51: Wheel set drive motor 52: Bidirectional right-angle variable speed box 53: First gear transmission mechanism 531: First gear set 532: First transmission shaft 54: Second gear transmission mechanism 541: Second transmission shaft 542: Universal joint 543: 2nd gear set 60: Lifting mechanism drive device 61: Lift drive motor 62: Third gear transmission mechanism 621: Gears 63: Third transmission shaft 64: 4th gear set 70: Loading platform 71: Optical axis guide rail unit 72: Lower mount 73: Digital weight sensing module 74: Upper stand 100: Vehicle positioning sensing module 200: Cargo sensing module 300: Loading platform detection module 400: Sensitive Radar 500: Rechargeable battery 600: Wireless charging module 700: Main controller

Claims

1. A four-way automatic guide transport cart comprising: a rectangular car body; two X-direction wheel sets rotatably installed on opposite first sides of the car body; two lifting mechanisms installed on opposite second sides of the car body; two Y-direction wheel sets rotatably installed on the outer sides of the wheel mounts of the lifting mechanisms; a wheel set drive device; and a lifting mechanism drive device, Each of the X-direction wheel sets has at least two X-direction wheels, allowing the vehicle body to move back and forth in the X direction; Each of the lifting mechanisms includes the wheel base, both slide rail modules, and at least one crankshaft, each of the wheel bases is assembled to an outer surface of the second side of the car body via the both slide rail modules, is parallel to the second side of the car body, and has at least one opening, the crankshaft is rotatably installed on the second side of the car body, and each of the crankshafts has a power input shaft that extends into the car body, and a power output shaft that protrudes from the second side of the car body and abuts against the opening of the wheel base, and the power output shaft is interlocked with the wheel base so as to move up and down when rotated, Each of the Y-direction wheel sets has at least two Y-direction wheels, and the wheel base and the Y-direction wheels are capable of descending, so that the Y-direction wheels lift the car body so that the X-direction wheels can be released from the rail path, thereby allowing the car body to move back and forth in the Y direction; the wheel set drive device includes a wheel set drive motor, a bidirectional right-angle transmission box, a first gear transmission mechanism, and a second gear transmission mechanism, the wheel set drive motor is fixed within the vehicle body and is used to output power to the bidirectional right-angle transmission box, the bidirectional right-angle transmission box has a first power output shaft and a second power output shaft that operate synchronously, the first power output shaft is interlocked with the first gear transmission mechanism, the second power output shaft is interlocked with the second gear transmission mechanism, the first gear transmission mechanism is interlocked synchronously so that both X-direction wheel sets rotate, and the second gear transmission mechanism is interlocked synchronously so that both Y-direction wheel sets rotate; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism; a fourth gear transmission mechanism for transmitting the driving force to the third gear transmission mechanism;

2. 2. The four-way automatic guide transport cart according to claim 1, wherein the first gear transmission mechanism includes two first gear sets installed inside two opposing first sides of the vehicle body, and a first transmission shaft, the two first gear sets each having a plurality of gears meshing with each other, at least one of which is connected to the axle of the X-direction wheels, one gear from one of the first gear sets is selected and connected to the first power output shaft of the bidirectional right-angle transmission box, and both ends of the first transmission shaft are connected to the two first gear sets, thereby synchronously interlocking the two first gear sets so that the X-direction wheels on both first sides of the vehicle body rotate.

3. 3. The four-way automatic guide transport cart according to claim 2, wherein the second gear transmission mechanism comprises: a second transmission shaft installed in the car body and having both ends facing the two second sides of the car body; two universal joints connected to both ends of the second transmission shaft and to the wheel shafts of the Y-direction wheels on the two second sides, respectively; and a second gear set connected to the second power output shaft of the two-way right-angle transmission box and the second transmission shaft, and used to link the Y-direction wheels on the two second sides of the car body so that they rotate synchronously.

4. 2. The four-way automatic guide transport cart of claim 1, wherein the two third gear transmission mechanisms of the lifting mechanism drive device each include a number of gears that mesh with each other, at least one of which is coupled to the power input shaft of the crankshaft; the lifting mechanism drive device further includes a third transmission shaft and a fourth gear set, both ends of the third transmission shaft are respectively coupled to the gears of the two third gear transmission mechanisms; and the fourth gear set is connected to the power output shaft of the lifting drive motor and the third transmission shaft.

5. The four-way automatic guide transport cart according to claim 1 or 4, characterized in that the crankshaft has a crank, the power input shaft is connected to one surface near one end of the crank, the power output shaft is connected to the other surface at the other end of the crank, and a bearing that abuts against the opening of the wheel base is fitted onto the power output shaft.

6. 2. The four-way automatic guide transport cart according to claim 1, wherein the body includes a rectangular bottom plate, two corresponding first side plates, two corresponding second side plates, and a top cover, the two first side plates and the two second side plates being joined to four sides of the rectangular bottom plate to form a storage space surrounding the rectangular bottom plate, the top cover covering the storage space, the two X-direction wheel sets being rotatably installed on outer surfaces of the two first side plates, the two lifting mechanisms being installed on outer surfaces of the two second side plates, and the wheel set drive device and the lifting mechanism drive device being installed in the storage space.

7. The four-way automatic guide transport cart according to claim 1 or claim 6, further comprising two loading platforms respectively installed on the car body on two corresponding first sides of the car body and parallel to the first sides, so that both ends of the loading platforms can be supported when the upper ends of the wheel platforms of the two lifting mechanisms are raised.

8. 8. The four-way automatic guide transport cart according to claim 7, wherein the loading platform includes two optical axis guide rail units fixed inside both first sides of the vehicle body, a lower platform fixed to upper ends of the optical axes of the two optical axis guide rail units, two digital weight sensing modules fixed to adjacent ends on the lower platform, and an upper platform, and adjacent ends on the underside of the upper platform are fixed on the two digital weight sensing modules.

9. 2. The four-way automatic guided transport cart according to claim 1, further comprising: a body positioning sensing module fixed inside the car body, used to read barcodes according to the rail path below the car body; at least three cargo sensing modules fixed inside the car body, used to sense upward whether the position of the cargo is accurate; two loading platform sensing modules installed on both first and second sides of the car body, used to sense whether there is cargo on the loading platform; and two sensing radars fixed on both diagonal corners of the car body, used to sense objects around the car body.

10. The four-way automatic guide transport cart of claim 1 further comprises a rechargeable battery installed inside the vehicle body to supply power to the four-way automatic guide transport cart, and a wireless charging module installed at the bottom of the vehicle body, wherein the wireless charging module is used to charge the rechargeable battery in response to other external wireless charging modules.

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