Four-way shuttle car

Abstract

A four-way shuttle car, comprising a frame (100), a steering body (200), a cargo support component (300), a first wheel set (400), a second wheel set (500), a traveling driving component (600) and a lifting driving component (700), and further comprising a combined lifting mechanism. The combined lifting mechanism comprises: a steering-body lifting module, which comprises a cam (811) and a follower (812), wherein the cam is rotationally supported on the frame, the cam is driven by the lifting driving component to rotate, the follower is arranged on the steering body, and the cam is in contact with the follower; and a steering-body downward-returning and cargo-support-component lifting module, which comprises a rotating component (821) and a linear moving component, wherein the rotating component is driven by the lifting driving component to rotate, the linear moving component is vertically arranged, the linear moving component moves vertically under the rotational action of the rotating component, the descending of the linear moving component within a first stroke interval can press down the steering body, and the ascending of the linear moving component within a second stroke interval can lift the cargo support component.

Description

Four-way shuttle Technical Field

[0001] This invention relates to the field of intelligent warehousing equipment technology, and in particular to a four-way shuttle vehicle. Background Technology

[0002] A four-way shuttle is an intelligent warehousing device capable of moving freely in the X, Y, and Z directions. It overcomes the limitations of traditional shuttles that can only operate on fixed tracks, offering more flexible operating paths and stronger cargo handling capabilities. Simply put, it acts like a "smart courier" between warehouse shelves, efficiently navigating the three-dimensional warehouse space to accurately deliver goods to designated locations. The four-way shuttle can freely change direction between different levels of the shelves and aisles, achieving all-around cargo transportation; it can easily handle both rapid horizontal movement and precise vertical lifting. This flexible operation allows for more diverse warehouse layouts, enabling free planning and adjustment according to actual needs, greatly improving the utilization rate of warehouse space.

[0003] Four-way shuttles typically have two wheel systems: one for X-axis movement and the other for Y-axis movement. The shuttle runs on the track, and turns are achieved by changing the wheel system; this is accomplished by a reversing body lifting mechanism that raises and lowers the wheel sets on the reversing body. Additionally, the four-way shuttle performs loading and unloading operations by raising and lowering pallets. Specifically, the shuttle travels under the pallet within the sub-channel, and upon reaching the designated position, the pallet rises to retrieve the goods. To ensure stable lifting of the reversing body and pallets, current four-way shuttles generally have two lifting mechanisms: one for independently driving pallet lifting and the other for independently driving reversing body lifting. While this structure allows for the lifting of both pallets and reversing bodies, the use of two independent lifting drive systems leads to a high failure rate and high manufacturing costs. Therefore, reducing the failure rate and manufacturing costs of four-way shuttles is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a four-way shuttle to eliminate or improve one or more defects existing in the prior art.

[0005] One aspect of the present invention provides a four-way shuttle vehicle, the four-way shuttle vehicle including a frame, a reversing body and a cargo support component movable up and down along the frame, a first wheel set disposed on the frame and traveling in a first direction, a second wheel set disposed on the reversing body and traveling in a second direction, a driving drive component and a lifting drive component disposed on the frame, the four-way shuttle vehicle further including a combined lifting mechanism, the combined lifting mechanism including:

[0006] A commutator lifting module includes a cam and a follower. The cam is rotatably supported on the vehicle frame and is driven to rotate by the lifting drive component. The follower is disposed on the commutator, and the cam contacts the follower so that the cam can lift the commutator.

[0007] The reversing body lowering and cargo support component lifting module includes a rotating component and a linear moving component. The rotating component is driven to rotate by the lifting drive component. The linear moving component is vertically arranged and moves up and down under the rotation of the rotating component. The linear moving component can press down on the reversing body to make the reversing body fall back within a first stroke range, and can lift the cargo support component within a second stroke range.

[0008] In some embodiments of the present invention, the cam includes a rising segment and an arc segment, wherein the end point of the rising segment is at the same position as the start point of the arc segment.

[0009] In some embodiments of the present invention, the elevation range between the start and end points of the ascending segment corresponds to the first travel interval; and / or,

[0010] When the linear motion component moves up and down within the second stroke range, the cam operates in the arc segment.

[0011] In some embodiments of the present invention, the four-way shuttle includes a first limiting component and a second limiting component, the first limiting component being disposed at both ends of the reversing body, and the second limiting component being disposed in the middle of the reversing body.

[0012] In some embodiments of the present invention, the first limiting component includes a pulley and a groove, the pulley being disposed on the frame and the groove being vertically disposed on the reversing body.

[0013] In some embodiments of the present invention, the second limiting component includes a rectangular positioning groove and a positioning wheel, the rectangular positioning groove being vertically disposed on the vehicle frame, and the positioning wheel being disposed in the middle of the reversing body.

[0014] In some embodiments of the present invention, the four-way shuttle includes:

[0015] Two drive shafts are arranged parallel and spaced apart on the frame, and the cam, rotating component and drive shafts rotate synchronously.

[0016] A mechanical transmission mechanism is disposed between the transmission shaft and the output end of the lifting drive component.

[0017] In some embodiments of the present invention, the linear motion component is a rack and pinion, the rotating component is a rotary gear, the rotary gear is disposed on the transmission shaft, an intermediate gear is provided between the rotating component and the cam, the cam and the intermediate gear are coaxial, and the intermediate gear meshes with the rotating component for transmission.

[0018] In some embodiments of the present invention, the four-way shuttle further includes:

[0019] The first driving transmission mechanism is located between the output end of the driving component and the first wheel set;

[0020] The second driving transmission mechanism is located between the output end of the driving component and the second wheel set.

[0021] In some embodiments of the present invention, the first driving transmission mechanism includes a bevel gear mechanism and a chain drive mechanism, wherein the driving bevel gear of the bevel gear mechanism is connected to the output end of the driving component, and the driven sprocket of the chain drive mechanism is connected to the axle of the first wheel set;

[0022] The second travel transmission mechanism includes a spur gear mechanism and a universal joint transmission device. The driving gear of the spur gear mechanism is connected to the output end of the travel drive component, the driven gear of the spur gear mechanism is connected to the input end of the universal joint transmission device, and the output end of the universal joint transmission device is connected to the wheel axle of the second wheel set.

[0023] The four-way shuttle disclosed in the above embodiments of the present invention uses a combined lifting mechanism to lift the reversing body and the cargo support component. Specifically, the reversing body lifting module lifts the reversing body, and the reversing body lowering and cargo support component lifting module lowers the reversing body and lifts the cargo support component. This combined lifting mechanism is driven by the same lifting drive component, which not only ensures the lifting stability of the reversing body and the cargo support component, but also further simplifies the lifting mechanism of the four-way shuttle, improves the structural compactness of the four-way shuttle, reduces the failure rate, thereby reducing maintenance costs and the processing cost of the four-way shuttle.

[0024] Additional advantages, objects, and features of the invention will be set forth in part in the description which follows, and will also become apparent in part to those skilled in the art upon studying the description, or may be learned by practice of the invention. The objects and other advantages of the invention can be realized and obtained by means of the structures specifically pointed out in the description and drawings.

[0025] Those skilled in the art will understand that the objectives and advantages achievable with the present invention are not limited to those specifically described above, and that the above and other objectives achievable with the present invention will become clearer from the following detailed description. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, are not intended to limit the scope of the invention. The components in the drawings are not drawn to scale but are merely illustrative of the principles of the invention. For ease of illustration and description of certain parts of the invention, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to the invention. In the drawings:

[0027] Figure 1 is a top view of a four-way shuttle vehicle according to an embodiment of the present invention after a cargo support component has been removed.

[0028] Figure 2 is a top view of a four-way shuttle vehicle according to an embodiment of the present invention after all cargo support components have been removed.

[0029] Figure 3 is a structural schematic diagram of the combined lifting mechanism of a four-way shuttle vehicle according to an embodiment of the present invention.

[0030] Figure 4 is a partial structural schematic diagram of a four-way shuttle vehicle according to an embodiment of the present invention.

[0031] Figure 5 is a partial schematic diagram of the cargo support component of a four-way shuttle vehicle according to an embodiment of the present invention when it is raised.

[0032] Figure 6 is a partial schematic diagram of the cargo support component of a four-way shuttle vehicle according to an embodiment of the present invention when it is lowered.

[0033] Figure 7 is a partial schematic diagram of the reversing body of a four-way shuttle car according to an embodiment of the present invention when it is raised.

[0034] Figure 8 is a partial schematic diagram of the reversing body of a four-way shuttle car according to an embodiment of the present invention when it falls.

[0035] Reference numerals: Frame 100; Reversing body 200; Cargo support component 300; First wheel set 400; Second wheel set 500; Travel drive component 600; Lifting drive component 700; Cam 811; Follower 812; Rotating component 821; Rack 822; Intermediate gear 813; Drive shaft 830; Pulley 841; Slide 842; Rectangular positioning slot 851; Positioning wheel 852. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0037] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0038] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0039] It should also be noted that, unless otherwise specified, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection with an intermediate component. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0040] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0041] Figure 1 is a top view of a four-way shuttle vehicle according to an embodiment of the present invention after removing one cargo support component, and Figure 2 is a top view of a four-way shuttle vehicle according to an embodiment of the present invention after removing all cargo support components. As shown in Figures 1 and 2, the four-way shuttle vehicle includes a frame 100, a reversing body 200 that can move up and down along the frame 100, a cargo support component 300, a first wheel set 400 disposed on the frame 100 and traveling in a first direction, a second wheel set 500 disposed on the reversing body 200 and traveling in a second direction, a driving drive component 600 disposed on the frame 100, and a lifting drive component 700. The frame 100 can be a square frame 100. The reversing body 200 and the cargo support component 300 are mounted on the frame 100. The reversing body 200 moves up and down along the frame 100 to change the travel direction of the four-way shuttle. The cargo support component 300 can lift or lower cargo by moving up and down. The first wheel set 400 is mounted on the first and second sides of the square frame 100, and the second wheel set 500 is mounted on the third and fourth sides of the square frame 100. The first and second sides are opposite to each other, and the third and fourth sides are opposite to each other. The first direction of travel of the first wheel set 400 is perpendicular to the second direction of travel of the second wheel set 500. In this four-way shuttle, the lifting and lowering of the commutator 200 drives the second wheel set 500 to lift and lower, causing the second wheel set 500 to contact or separate from the corresponding travel track. When the commutator 200 descends and the second wheel set 500 contacts the track, the first wheel set 400 separates from the corresponding track, and the four-way shuttle travels in the second direction. Conversely, when the commutator 200 rises and the second wheel set 500 separates from the track, the first wheel set 400 contacts the corresponding track, and the four-way shuttle travels in the first direction. Furthermore, both the travel drive component 600 and the lifting drive component 700 are mounted on the frame 100. The travel drive component 600 drives either the first wheel set 400 or the second wheel set 500, while the lifting drive component 700 drives the commutator 200 and the cargo support component 300 to move in a combined lifting and lowering motion. For example, the cargo support component 300 can specifically be a pallet or tray.

[0042] Specifically, the four-way shuttle also includes a combined lifting mechanism, which includes a reversing body lifting module, a reversing body lowering module, and a cargo support component lifting module. The reversing body lifting module includes a cam 811 and a follower 812. The cam 811 is rotatably supported on the frame 100 and is driven to rotate by the lifting drive component 700. The follower 812 is disposed on the reversing body 200, and the cam 811 contacts the follower 812 so that the cam 811 can lift the reversing body 200. The reversing body lowering and cargo support component lifting module includes a rotating component 821 and a linear moving component. The rotating component 821 is driven to rotate by the lifting drive component 700, and the linear moving component is vertically disposed. The linear moving component moves up and down under the rotation of the rotating component 821. The linear moving component can press down on the reversing body 200 to make the reversing body 200 fall back within a first stroke range, and can lift the cargo support component 300 within a second stroke range.

[0043] In the above embodiment, the reversing body lifting module, based on the rotation of cam 811, can lift the reversing body 200, causing the second wheel set 500 on the reversing body 200 to separate from the corresponding track. The reversing body lowering and cargo support component lifting module, based on the up-and-down movement of the linear moving component, can achieve the lifting of the cargo support component 300 and the lowering of the reversing body 200. Specifically, both cam 811 and rotating component 821 are driven to rotate by lifting drive component 700, meaning cam 811 and rotating component 821 rotate synchronously. Since the linear moving component moves up and down under the rotation of rotating component 821, it can be understood that the linear moving component can move up and down with the rotation of cam 811. In this embodiment, the reversing body 200 and cargo support component 300 are respectively located at the bottom and top of the linear moving component. Therefore, with the up-and-down movement of the linear moving component, the bottom of the linear moving component can abut or separate from the reversing body 200, while the top of the linear moving component can abut or separate from the cargo support component 300. In addition, the first travel interval is specifically the distance that the linear moving component moves downward from its origin, which is also the rising and falling height of the reversing body 200; the second travel interval is specifically the distance that the linear moving component moves upward from its origin, which is also the rising and falling height of the cargo support component 300.

[0044] In the aforementioned four-way shuttle, if it travels along the second direction, both the reversing body 200 and the cargo support component 300 are in a lowered state. If it changes from traveling along the second direction to traveling along the first direction, the lifting drive component 700 drives the cam 811 and the rotating component 821 to rotate synchronously. The cam 811 lifts the follower 812, and at the same time, the rotating component 821 drives the linear motion component to rise synchronously until the reversing body 200 reaches its position. After the reversing body 200 has risen to its position, the cam 811 and the rotating component 821 continue to rotate. As the cam 811 rotates, the reversing body 200 remains in the lifted state. In addition, the linear motion component continues to rise and lifts the cargo support component 300 to a preset height, thereby achieving the joint lifting of the reversing body 200 and the cargo support component 300. Correspondingly, the lifting drive component 700 rotates in the opposite direction. At this time, the cam 811 and the rotating component 821 also rotate in the opposite direction. Within the second stroke range of the linear moving component, the linear moving component descends. At this time, the height of the reversing body 200 remains unchanged. When the descent stroke of the linear moving component is greater than the second stroke range, the bottom end of the linear moving component first contacts the reversing body 200 and gradually presses the reversing body 200 down to contact the track, thereby realizing the reversing of the four-way shuttle. Furthermore, in this embodiment, the reversing body 200 is lowered by pressing down on it by the linear moving component. This is because when the reversing body 200 falls to the point where the second wheel set 500 contacts the track, it bears the weight of the entire vehicle and the weight of the load carried by the four-way shuttle (understandably, when the pallet is not lifting the goods, the reversing body 200 only bears the weight of the entire vehicle). At this point, sufficient power is needed to lower the reversing body further until it supports the first wheel set 400 off the track. If the reversing body falls back solely by its own weight, it will not only affect the stability of the reversing body 200 but also make it difficult to complete the reversing. Therefore, this application ensures the lifting stability of the reversing body 200 through the bottom support of the cam 811 and the cooperation of the linear moving component, thereby reducing the failure rate of the combined lifting mechanism and improving the working stability of the four-way shuttle.

[0045] In some embodiments of the present invention, the cam 811 includes a rising segment and an arc segment, the end point of the rising segment being at the same position as the start point of the arc segment. In this embodiment, the end point of the rising segment of the cam 811 is the start point of the arc segment. If the cam 811 is operating in the rising segment (the follower 812 is in contact with the contour of the rising segment), as the cam 811 rotates, the commutator 200 will be gradually lifted. When the follower 812 on the commutator 200 moves to the end point of the rising segment, as the cam 811 continues to rotate, the commutator 200 will no longer rise, that is, the commutator 200 will remain stable in the lifted state and remain stationary. When the cam 811 rotates in the opposite direction, the follower 812 moves from the end point of the rising segment to the start point of the rising segment. At this time, the commutator 200, under the downward pressure of the linear moving component, descends from the lifted state to contact the track. For example, the linear motion component can be a rack 822, and the rotating component 821 can be a rotating gear. The rotating gear, driven by the lifting drive component 700, can drive the rack 822 to move up and down. It is understood that the rack and pinion mechanism used in this embodiment to drive the cargo support component 300 to rise and the reversing body 200 to fall is only one example. In other embodiments, the linear motion component can be other components besides the rack 822, such as a lead screw. In this case, the cargo support component 300 and the reversing body 200 can be respectively located at the top and bottom of the lead screw, and the rotating component 821 is correspondingly a nut. The lead screw can move up and down under the rotation of the nut.

[0046] Furthermore, the lift between the start and end points of the rising segment of cam 811 corresponds to the first stroke range; and / or, when the linear motion component moves up and down within the second stroke range, cam 811 operates in the arc segment. Figure 3 shows a schematic diagram of the structure of cam 811. The rising section is the main working part of cam 811, which drives follower 812 (actually commutator 200) to rise according to a predetermined motion law. In the arc section, follower 812 will remain stationary. During the process of follower 812 moving from the starting point to the ending point of the rising section of cam 811, rack 822 rises synchronously with commutator 200. That is, rack 822 moves upward from the lowest point to separate from commutator 200, and the rising height of rack 822 in this stage is the same as the rising height of commutator 200. This can also be understood as rack 822 rising for the first stroke. That is, the first stroke range is the height between rack 822 from the lowest point to the separation point when rack separates from commutator 200. This height is the same as the rising height of commutator 200. That is, the lift between the starting point and the ending point of the rising section of cam 811 corresponds to the first stroke range of rack 822.

[0047] When cam 811 operates in the arc segment, the reversing body 200 remains stationary. At this time, as the rotary drive component rotates, rack 822 separates from the reversing body 200 from its separation point and gradually rises until it lifts the cargo support component 300 to the expected height. During this process, cam 811 and rotary component 821 rotate synchronously. However, because cam 811 operates in the arc segment, the driven component 812 on the reversing body 200 remains stationary, while rotary component 821 drives rack 822 to rise. In this embodiment, to ensure that the reversing body 200 remains stationary during the lifting and lowering of the cargo support component 300, cam 811 should operate in the arc segment during lifting and lowering. The stroke of the linear moving component from its separation point from the reversing body 200 to its highest point corresponds to the lifting height of the cargo support component 300. Therefore, the height moved from the separation point of rack 822 from the reversing body 200 to its highest point is the second stroke range. Optionally, when the follower 812 moves from the starting point of the arc segment of the cam 811 to the ending point of the arc segment, the linear motion component can move from the separation point from the reversing body 200 to the highest point, that is, the arc length of the arc segment of the cam 811 is equal to the height of the second stroke interval.

[0048] In addition, as shown in Figure 3, besides the rising section and the arc section, the cam 811 may also include a connecting section for connecting the end point of the arc section and the starting point of the rising section. In the above embodiment, the forward rotation of the cam 811 can move the follower 812 from the starting point of the rising section to the end point of the arc section, while the reverse rotation of the cam 811 can move the follower 812 from the end point of the arc section to the starting point of the rising section. Therefore, the connecting section is a non-working section. Furthermore, the follower 812 provided on the reversing body 200 can specifically be a roller follower. Roller followers have advantages such as low rolling friction, good wear resistance, high transmission efficiency, adaptability to high-speed rotation, and strong load-bearing capacity. It is understood that the use of a roller follower in this embodiment is only an example; in other embodiments, other types of followers besides roller followers can also be used.

[0049] Figure 4 is a partial structural schematic diagram of a four-way shuttle according to an embodiment of the present invention. As shown in Figure 4, the rack 822 can be specifically disposed on the reversing body 200, that is, the rack 822 can move up and down along the reversing body 200. To ensure the stability of the rack 822's movement, a guide component can also be provided between the rack 822 and the reversing body 200. This guide component can be a slide rail structure; for example, the back of the rack 822 is provided with a guide groove that extends through in the height direction, and the corresponding position of the reversing body 200 is provided with a protrusion that cooperates with the guide groove. When the rack 822 moves up and down, the guide groove moves along the protrusion. It is understood that the guide component between the rack 822 and the reversing body 200 listed in this embodiment is only an example. In some other embodiments, other types of guide components can also be used for guidance between the rack 822 and the reversing body 200.

[0050] Figure 5 shows a schematic diagram of the cargo support component 300 when it is raised, Figure 6 shows a schematic diagram of the cargo support component 300 when it is lowered, Figure 7 shows a schematic diagram of the reversing body 200 when it is raised, and Figure 8 shows a schematic diagram of the reversing body 200 when it is lowered. As shown in Figure 5, when the cargo support component 300 is raised, the cam 811 works in the arc segment. After the cargo support component 300 is lowered into place, as shown in Figure 6, the bottom end of the rack 822 abuts against the reversing body 200. At this time, the follower 812 of the cam 811 is located at the connection position between the arc segment and the rising segment. That is, if the cam 811 in Figure 6 continues to rotate clockwise, the rack 822 will press down on the reversing body 200. When the reversing body 200 rises, as shown in Figure 7, the rack 822 and the reversing body 200 rise until the top of the rack 822 abuts against the cargo support component 300. That is, if the gear in Figure 7 continues to rotate counterclockwise, the reversing body 200 remains stationary, and the cargo support component 300 gradually rises. When the reversing body 200 descends, as shown in Figure 8, the bottom end of the rack 822 abuts against the reversing body 200, and the top end of the rack 822 separates from the cargo support component 300. The follower 812 in Figure 8 is located at the starting point of the rising section of the cam 811, at which point the reversing body 200 has descended to its lowest position. In addition, it can be seen from Figures 6 and 7 that the bottom end face of the rack 822 can be set in a stepped shape.

[0051] In some embodiments of the present invention, the four-way shuttle further includes a first limiting component and a second limiting component. The first limiting component is disposed at both ends of the commutator 200, and the second limiting component is disposed at the middle of the commutator 200. In the aforementioned four-way shuttle, it is desirable that the commutator 200 moves only in the vertical direction, and remains stationary in the horizontal and longitudinal directions. Therefore, this embodiment provides a first limiting component at both ends of the commutator 200 and a second limiting component at the middle of the commutator 200. The first limiting components at both ends are used to position the commutator 200 in the longitudinal direction, and the second limiting component at the middle is used to position the commutator 200 in the horizontal direction. The longitudinal direction refers to the direction perpendicular to the plane of the paper in Figure 7.

[0052] Furthermore, the longitudinal positioning of the commutator 200 can be achieved through a pulley and groove mechanism. Specifically, the first limiting component includes a pulley 841 and a groove 842. The pulley 841 is mounted on the frame 100, and the groove 842 is vertically mounted on the commutator 200. As shown in Figures 4 and 7, three pulleys 841 can be respectively mounted at both ends of the commutator 200. All three pulleys 841 on each side are fixed to the frame 100, and all three pulleys 841 on each side are of the same size. All three pulleys 841 are located within the groove 842 at the end of the commutator 200. When the commutator 200 rises or falls relative to the frame 100, the groove 842 moves up and down relative to the pulleys 841. It is understood that the structure of the first limiting component listed in this embodiment is only an example. In other embodiments, the pulley 841 may also be mounted on the commutator 200, and the groove 842 may be correspondingly mounted on the frame 100. In addition to using a pulley and groove structure, the first limiting component can also use other types of limiting components, as long as the reversing body 200 is limited in the longitudinal direction.

[0053] The horizontal positioning of the commutator 200 can also be achieved through guide wheels and guide grooves. For example, the second limiting component includes a rectangular positioning groove 851 and a positioning wheel 852. The rectangular positioning groove 851 is vertically arranged on the frame 100, and the positioning wheel 852 is located in the middle of the commutator 200. As shown in Figure 7, the rectangular positioning groove 851 is fixed to the frame 100 by screws or bolts, and the rectangular positioning groove 851 on the frame 100 is vertically arranged. The number of positioning wheels 852 can be multiple. The positioning wheels 852 are arranged on the commutator 200 and are located in the rectangular positioning groove 851. In this embodiment, since the positioning wheel 852 is always located in the rectangular positioning groove 851, the horizontal positioning of the commutator 200 is ensured while the commutator 200 is raised and lowered. It is understood that the specific structure of the second limiting component listed in this embodiment is only an example. In other embodiments, other types of limiting components can be used to limit the horizontal positioning of the commutator 200. In addition to setting the rectangular positioning groove 851 on the frame 100, the rectangular positioning groove 851 can also be set on the reversing body 200, and the positioning wheel 852 is correspondingly set on the frame 100.

[0054] In some embodiments of the present invention, the four-way shuttle further includes: two drive shafts 830, which are arranged parallel and spaced apart on the frame 100, and the cam 811, the rotating component 821 and the drive shafts 830 rotate synchronously; and a mechanical transmission mechanism, which is arranged between the drive shafts 830 and the output end of the lifting drive component 700. As shown in FIG2, the two drive shafts 830 are arranged laterally and spaced apart, and each drive shaft 830 is rotatably supported on the frame 100. The cam 811 and the rotating component 821 are fixed on the drive shafts 830. The reversing body 200 and the cargo support component 300 on each side are respectively provided with two sets of combined lifting mechanisms, that is, the entire four-way shuttle is provided with four sets of combined lifting mechanisms. At this time, the four sets of combined lifting mechanisms are respectively arranged at both ends of the two drive shafts 830, and the two drive shafts 830 are driven by the same lifting drive component 700, which can be a lifting motor. As shown in Figure 2, the lifting motor is fixed on the frame 100, and the drive shaft 830 is rotatably supported on the frame 100. The mechanical transmission mechanism can be a gear transmission mechanism, that is, the lifting drive component 700 drives the drive shaft 830 to rotate through the mechanical transmission mechanism; while the cam 811 and the rotating component 821 rotate synchronously with the drive shaft 830, thereby realizing the joint lifting of the reversing body 200 and the cargo support component 300.

[0055] Furthermore, the rotating component 821 is a rotating gear, which is mounted on the transmission shaft 830. An intermediate gear 813 is located between the rotating component 821 and the cam 811. The cam 811 and the intermediate gear 813 are coaxial, and the intermediate gear 813 meshes with the rotating component 821 for transmission. As shown in Figures 3 and 4, the rotating component 821 is fixed on the transmission shaft 830, meaning the rotating component 821 rotates synchronously with the transmission shaft 830. The cam 811 is fixed on the support shaft of the intermediate gear 813, meaning the cam 811 and the intermediate gear 813 rotate synchronously. In this embodiment, since the rotating component 821 is mounted on the transmission shaft 830, and the intermediate gear 813 meshes with the rotating component 821 for transmission, the lifting drive component 700 can simultaneously drive the rotating component 821 and the cam 811 to rotate based on the mechanical transmission component and the transmission shaft 830. It is understood that the specific mechanisms listed above are only examples. In other embodiments, in addition to using a rack and pinion mechanism to lift the cargo support component 300 and lower the reversing body 200, other linear movement mechanisms may also be used.

[0056] In some other embodiments, the four-way shuttle further includes: a first travel transmission mechanism located between the output end of the travel drive component 600 and the first wheel set 400; and a second travel transmission mechanism located between the output end of the travel drive component 600 and the second wheel set 500. In this embodiment, the travel drive component 600 may be a travel motor, which is fixed to the frame 100. The power output of the travel motor is transmitted not only to the first wheel set 400 through the first travel transmission mechanism but also to the second wheel set 500 through the second travel transmission mechanism.

[0057] Furthermore, the first driving transmission mechanism includes a bevel gear mechanism and a chain drive mechanism. The driving bevel gear of the bevel gear mechanism is connected to the output end of the driving component 600, and the driven sprocket of the chain drive mechanism is connected to the axle of the first wheel set 400. The second driving transmission mechanism includes a spur gear mechanism and a universal joint drive device. The driving gear of the spur gear mechanism is connected to the output end of the driving component 600, the driven gear of the spur gear mechanism is connected to the input end of the universal joint drive device, and the output end of the universal joint drive device is connected to the axle of the second wheel set 500. It is understood that the first and second driving transmission mechanisms listed in this embodiment are merely examples. In other embodiments, the first and second driving transmission mechanisms may also employ transmission mechanisms other than those described above.

[0058] As can be seen from the above embodiments, in the four-way shuttle of the present invention, the reversing body and the cargo support component are raised and lowered through a combined lifting mechanism. That is, the reversing body lifting module can lift the reversing body, and the reversing body lowering and cargo support component lifting module can lower the reversing body and lift the cargo support component. This combined lifting mechanism is driven by the same lifting drive component, which not only ensures the lifting stability of the reversing body and the cargo support component, but also further simplifies the lifting mechanism of the four-way shuttle, improves the structural compactness of the four-way shuttle, reduces the failure rate, thereby reducing maintenance costs and the processing cost of the four-way shuttle.

[0059] In this invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or in place of features of other embodiments.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations of the embodiments of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A four-way shuttle vehicle, the four-way shuttle vehicle comprising a frame, a reversing body and a cargo support component movable up and down along the frame, a first wheel set mounted on the frame and traveling in a first direction, a second wheel set mounted on the reversing body and traveling in a second direction, a driving drive component and a lifting drive component mounted on the frame, characterized in that, The four-way shuttle also includes a combined lifting mechanism, which includes: A commutator lifting module includes a cam and a follower. The cam is rotatably supported on the vehicle frame and is driven to rotate by the lifting drive component. The follower is disposed on the commutator, and the cam contacts the follower so that the cam can lift the commutator. The reversing body lowering and cargo support component lifting module includes a rotating component and a linear moving component. The rotating component is driven to rotate by the lifting drive component. The linear moving component is vertically arranged and moves up and down under the rotation of the rotating component. The linear moving component can press down on the reversing body to make the reversing body fall back within a first stroke range, and can lift the cargo support component within a second stroke range.

2. The four-way shuttle vehicle according to claim 1, characterized in that, The cam includes a rising section and an arc section, and the end point of the rising section is at the same position as the start point of the arc section.

3. The shuttle of claim 2, wherein, The elevation gain between the start and end points of the ascending segment corresponds to the first travel interval; and / or, When the linear motion component moves up and down within the second stroke range, the cam operates in the arc segment.

4. The shuttle of claim 1, wherein, The four-way shuttle includes a first limiting component and a second limiting component. The first limiting component is disposed at both ends of the reversing body, and the second limiting component is disposed in the middle of the reversing body.

5. The four-way shuttle vehicle according to claim 4, characterized in that, The first limiting component includes a pulley and a slide groove. The pulley is mounted on the frame, and the slide groove is vertically mounted on the reversing body.

6. The four-way shuttle vehicle according to claim 4, characterized in that, The second limiting component includes a rectangular positioning groove and a positioning wheel. The rectangular positioning groove is vertically disposed on the vehicle frame, and the positioning wheel is disposed in the middle of the reversing body.

7. The four-way shuttle vehicle according to claim 1, characterized in that, The four-way shuttle includes: Two drive shafts are arranged parallel and spaced apart on the frame, and the cam, rotating component and drive shafts rotate synchronously. A mechanical transmission mechanism is disposed between the transmission shaft and the output end of the lifting drive component.

8. The four-way shuttle vehicle according to claim 7, characterized in that, The linear motion component is a rack and pinion, the rotating component is a rotary gear, the rotary gear is mounted on the transmission shaft, an intermediate gear is located between the rotating component and the cam, the cam and the intermediate gear are coaxial, and the intermediate gear meshes with the rotating component for transmission.

9. The four-way shuttle vehicle according to claim 1, characterized in that, The four-way shuttle also includes: The first driving transmission mechanism is located between the output end of the driving component and the first wheel set; The second driving transmission mechanism is located between the output end of the driving component and the second wheel set.

10. The four-way shuttle vehicle according to claim 9, characterized in that, The first driving transmission mechanism includes a bevel gear mechanism and a chain drive mechanism. The driving bevel gear of the bevel gear mechanism is connected to the output end of the driving component, and the driven sprocket of the chain drive mechanism is connected to the axle of the first wheel set. The second travel transmission mechanism includes a spur gear mechanism and a universal joint transmission device. The driving gear of the spur gear mechanism is connected to the output end of the travel drive component, the driven gear of the spur gear mechanism is connected to the input end of the universal joint transmission device, and the output end of the universal joint transmission device is connected to the wheel axle of the second wheel set.

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