CN111703463B

CN111703463B - Reversing walking device of four-direction vehicle and four-direction vehicle

Info

Publication number: CN111703463B
Application number: CN202010488360.6A
Authority: CN
Inventors: 李赞澄; 胡祥涛; 程五四; 时宇航; 张祥祥; 陈帝江
Original assignee: CETC 38 Research Institute
Current assignee: CETC 38 Research Institute
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2023-01-06
Anticipated expiration: 2040-06-01
Also published as: CN111703463A

Abstract

The invention discloses a reversing traveling device of a four-way vehicle and the four-way vehicle, comprising a reversing mechanism and a traveling mechanism; the reversing mechanism comprises a first reversing part, a second reversing part and a reversing braking part, and the first reversing part or the second reversing part is in transmission connection with the reversing braking part; the first reversing part comprises a cam short shaft fixedly provided with a short shaft cam, the second reversing part comprises a cam long shaft fixedly provided with a long shaft cam, and the cam short shaft is in transmission connection with the cam long shaft; the traveling mechanism comprises a first traveling part and a second traveling part, the first reversing part is in contact connection with the first traveling part through a short-shaft cam, and the second reversing part is in contact connection with the second traveling part through a long-shaft cam; the first reversing part and the second reversing part are also provided with elastic parts; the reversing walking device of the invention realizes the unmanned and automatic reversing walking of the four-way vehicle in the whole process, and improves the reversing walking performance and efficiency of the four-way vehicle.

Description

Reversing walking device of four-direction vehicle and four-direction vehicle

Technical Field

The invention relates to the technical field of storage logistics equipment, in particular to a reversing walking device of a four-way vehicle and the four-way vehicle.

Background

The four-way vehicle is an intelligent robot, can realize the operations of picking, transporting, placing and the like on a three-dimensional warehouse through programming, can communicate with an upper computer or a WMS system, and realizes the automatic identification and storage functions of goods. Because the access of goods in the automatic three-dimensional storehouse is all accomplished by intelligent quadriversal car, compare traditional fork truck loading and unloading goods mode, greatly reduced the human cost, improve warehouse space utilization, possess simultaneously that the structure is pleasing to the eye, advantage such as running noise is low.

Most of the prior art are jacking type four-way vehicles, the tracks need to be arranged at different heights, and the reversing mechanism is complex to control and high in cost.

In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.

Disclosure of Invention

In order to solve the technical defects, the invention adopts the technical scheme that the reversing traveling device of the four-direction vehicle comprises a reversing mechanism and a traveling mechanism; the reversing mechanism comprises a first reversing part, a second reversing part and a reversing braking part, and the first reversing part or the second reversing part is in transmission connection with the reversing braking part; the first reversing part comprises a cam short shaft fixedly provided with a short shaft cam, the second reversing part comprises a cam long shaft fixedly provided with a long shaft cam, and the cam short shaft is in transmission connection with the cam long shaft;

the traveling mechanism comprises a first traveling part and a second traveling part, the first reversing part is in contact connection with the first traveling part through the short-axis cam, and the second reversing part is in contact connection with the second traveling part through the long-axis cam; the first reversing part and the second reversing part are further provided with elastic parts, two ends of each elastic part are connected with the first reversing part and the first walking part respectively and provide elastic tension, and two ends of each elastic part are connected with the second reversing part and the second walking part respectively and provide elastic tension on the second reversing part.

Preferably, the reversing braking portion comprises a reversing braking member, the reversing braking member is fixedly arranged through a motor base, a reversing driving gear is fixedly arranged on an output shaft of the reversing braking member, a reversing driven gear is fixedly arranged on a short shaft of the cam, and the reversing driving gear and the reversing driven gear are in transmission through a chain.

Preferably, the first reversing parts and the second reversing parts are symmetrically arranged in pairs, short-axis bevel gears are arranged at two ends of the short axes of the cams in the two first reversing parts, long-axis bevel gears are arranged at two ends of the long axes of the cams in the two second reversing parts, and the short-axis bevel gears and the long-axis bevel gears are in one-to-one corresponding meshing transmission, so that closed-loop transmission of reversing mechanisms in four directions is formed.

Preferably, the cam short shaft is further provided with a reversing sensor detection block, and the reversing sensor detection block detects the rotation angle of the cam short shaft through a signal of a photoelectric switch so as to monitor the rotation angle of the cam short shaft in real time.

Preferably, the first walking part and the second walking part respectively comprise a walking wheel shaft, a cam roller, a walking wheel bearing seat, a walking wheel and a sliding assembly; the walking wheel shaft is fixedly arranged on the sliding assembly through the walking wheel bearing seat, the walking wheel shaft can move linearly through the sliding assembly, the walking brake part is connected with the walking wheel shaft so as to enable the walking wheel shaft to rotate, the walking wheels are arranged at two ends of the walking wheel shaft, and the cam roller is arranged on the sliding assembly and is in contact with the short shaft cam or the long shaft cam.

Preferably, the walking brake member is connected with the walking wheel shaft through a driven synchronous pulley and a driving synchronous pulley, the driving synchronous pulley is arranged on an output shaft of the walking brake member, the driven synchronous pulley is fixedly arranged on the walking wheel shaft, and the driven synchronous pulley and the driving synchronous pulley are connected through a synchronous belt.

Preferably, the sliding assembly comprises a linear slide rail base and a linear slide rail, the linear slide rail base is connected with the linear slide rail in a sliding manner, the linear slide rail is fixedly arranged, and the walking braking part and the walking wheel bearing seat are fixedly arranged on the linear slide rail base.

Preferably, one end of the elastic part is connected to a cam bearing seat for fixing the short axis or the long axis of the cam, and the other end of the elastic part is connected to the bearing seat of the traveling wheel and provides elastic tension.

Preferably, the reversing traveling device of the four-way vehicle further comprises a processing unit and an output unit, the processing unit is used for processing the working states of the reversing mechanism and the traveling mechanism, and the output unit is used for receiving the rotation angle information of the short-axis cam and the working state signal of the reversing mechanism output by the processing unit; the processing unit is connected with the reversing mechanism and the travelling mechanism through the output unit.

Preferably, the four-way vehicle comprises the reversing walking device and a vehicle body of the four-way vehicle, wherein the vehicle body comprises corner blocks, two short side plates and two long side plates which are symmetrically arranged respectively, the short side plates and the long side plates are assembled in an alternate square shape, and joints are fixed by the corner blocks; the two cam short shafts are respectively and fixedly arranged on the two short side plates through the short shaft bearing seats, the two cam long shafts are respectively and fixedly arranged on the two long side plates through the long shaft bearing seats, and the short shaft bevel gears and the long shaft bevel gears are correspondingly meshed at the joints of the vehicle body.

Compared with the prior art, the invention has the beneficial effects that: the reversing walking device is used for reversing walking of a four-way vehicle on the top of a goods shelf so as to move to a designated goods space to store and take a box body, the reversing walking device moves along a customized rail, when reversing walking is needed, a reversing motor is started to drive a cam on a shaft to press a walking mechanism to descend onto the rail, and after the reversing mechanism confirms that the walking mechanism is finished, the motor of the walking mechanism is started to drive a walking wheel of the four-way vehicle to rotate and walk, so that the unmanned and automatic whole process of the reversing walking of the four-way vehicle is realized, and the reversing walking performance and efficiency of the four-way vehicle are improved.

Drawings

FIG. 1 is a structural view of the four-way vehicle;

FIG. 2 is a structural view of the vehicle body;

FIG. 3 is a structural connection view of the reversing mechanism;

FIG. 4 is a structural view of the reversing mechanism;

FIG. 5 is a structural connection view of the traveling mechanism;

FIG. 6 is a structural view of the traveling mechanism;

FIG. 7 is a connection view of the spring;

FIG. 8 is a structural view of the long axis linear slide rail;

FIG. 9 is a structural view of the winding elevator;

FIG. 10 is a structural arrangement diagram of the wire wheel assembly;

fig. 11 is a structural view of the first tension detecting mechanism;

fig. 12 is a structural view of the second tension detecting mechanism;

FIG. 13 is a structural view of the reclaimer assembly;

FIG. 14 is a structural view of the top frame;

FIG. 15 is a structural view of the driveshaft assembly;

FIG. 16 is a structural view of the quick hitch assembly;

FIG. 17 is an open configuration view of the quick hitch assembly in a hooked position;

FIG. 18 is an open configuration view of the quick hitch assembly in a non-hooking condition;

FIG. 19 is a structural view of the drive gear set;

FIG. 20 is a structural view of the lift sensor;

fig. 21 is a structural view of the hook sensor.

The figures in the drawings represent:

1-a vehicle body; 2-reversing the running gear; 3-winding a lifting device; 4-a material taking device; 101-short side plate; 102-long side plate; 103-corner block; 21-a reversing mechanism; 22-a running gear; 201-reversing driving gear; 202-cam stub shaft; 203-a commutation sensor detection block; 204-a reversing driven gear; 205-short axis cam; 206-a spring; 207-short axis bevel gear; 208-cam major axis; 209-long axis bearing seat; 210-long axis bevel gear; 211-long axis cam; 212-a motor mount; 213-short shaft bearing seat; 221-short axis of road wheel; 222-short shaft driven synchronous pulley; 223-short shaft drive synchronous pulley; 224-short axis cam roller; 225-a road wheel short shaft bearing seat; 226-short axis road wheels; 227-long axis of the road wheel; 228-long shaft driven synchronous pulley; 229-long axis road wheels; 230-road wheel long shaft bearing seat; 231-major axis linear slide base; 232-long axis linear slide rail; 233-long axis cam roller; 234-long shaft drive synchronous pulley; 235-guide rollers; 301-a winding mechanism; 302-a first spiral wire; 303-support; 304-a second spiral wire; 305-a third spiral wire; 306-a first tension detection mechanism; 307-a first wire guide wheel support; 308-a first wire-guiding wheel stand bracket; 309-a fourth spiral wire; 310-a second wire wheel mount; 311-a second wire winding stand bracket; 312-a fixing plate; 313-a transverse plate; 314-a second tension detection mechanism; 315-pulley support; 316-long support; 317-a charging device; 318-wire wheel set; 30601 — first base plate 30601;30602 — first bearing wheel; 30603-first cover plate; 30604-first slider; 30605-first microswitch; 30606-first bolt; 31401-a second backplane; 31402-a second slider; 31403-a second microswitch; 31404-a second bearing; 31405-a second bolt; 31406-a second cover plate; 31801 — a first wire guide wheel; 31802-a second wire guide wheel; 31803-a third wire guide wheel; 31804-a fourth wire guide wheel; 31805-a fifth wire guide wheel; 31806-a sixth wire guide wheel; 31807-a seventh wire guide wheel; 31808-an eighth wire guide wheel; 31809-a ninth wire guide wheel; 31810-a tenth wire guide wheel; 31811-an eleventh wire guide wheel; 31812-a twelfth wire guide wheel; 31813-a thirteenth wire guide wheel; 31814-a fourteenth wire guide wheel; 31815-a fifteenth wire guide wheel; 31816-a sixteenth wire guide wheel; 401-a top frame; 402-a driveshaft assembly; 403-quick hook assembly; 404-a drive gear set; 405-a mechanical stop tab; 406-a vehicle body sensor; 407-a lift sensor; 408-a hook sensor; 40101-a backplane; 40102-long beam; 40103-short beam; 40201-a drive shaft; 40202-a bearing seat; 40203-a first transmission gear; 40301-anterior skeletal plate; 40302-Hooking; 40303-rear skeleton plate; 40304-eccentric wheel; 40305-connecting rod; 40306-straight bolt; 40307-spring plate; 40401-driving gear; 40402-bearing seat; 40403-minor axis; 40404-second drive gear; 40701-detecting block; 40702-a lifting photoelectric switch; 40801-hook photoelectric switch; 40802-test disc.

Detailed Description

The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.

Example one

As shown in fig. 1, fig. 1 is a structural view of the four-way vehicle; the four-way vehicle for storing and picking the intensive boxes comprises a vehicle body 1, a reversing traveling device 2, a winding lifting device 3 and a material taking device 4, wherein the reversing traveling device 2 and the winding lifting device 3 are arranged on the vehicle body 1, the material taking device 4 is arranged in the vehicle body 1, the winding lifting device 3 and the material taking device 4 are connected, so that the height of the material taking device 4 can be adjusted, and the reversing traveling device 2 realizes reversing movement of the vehicle body 1.

As shown in fig. 2, fig. 2 is a structural view of the vehicle body; the vehicle body 1 comprises a corner block 103, two short side plates 101 and two long side plates 102 which are symmetrically arranged respectively, the short side plates 101 and the long side plates 102 are assembled in an alternate square shape, and the corner block 103 is used for fixing the joint.

The four-way vehicle facing the intensive box storage and picking further comprises a processing unit and an output unit, the processing unit is used for processing the working states of the reversing traveling device 2, the winding lifting device 3 and the material taking device 4, and the output unit is used for receiving working state signals of the reversing traveling device 2, the winding lifting device 3 and the material taking device 4. The processing unit and the output unit are connected with the reversing traveling device 2, the winding lifting device 3 and the material taking device 4.

Example two

As shown in fig. 3 to 8, fig. 3 is a structural connection view of the reversing mechanism; FIG. 4 is a structural view of the reversing mechanism; FIG. 5 is a structural connection view of the traveling mechanism; FIG. 6 is a structural view of the traveling mechanism; FIG. 7 is a connection view of the spring; fig. 8 is a structural view of the long-axis linear slide rail.

The reversing traveling device 2 comprises a reversing mechanism 21 and a traveling mechanism 22. The reversing mechanism 21 comprises a first reversing part, a second reversing part and a reversing braking part, the first reversing part and the second reversing part are in meshing transmission connection through a short-shaft bevel gear 207 and a long-shaft bevel gear 210, and the reversing braking part is in transmission connection with the first reversing part.

The first reversing part comprises a cam short shaft 202, a short shaft cam 205 and a short shaft bearing seat 213, the cam short shaft 202 is fixedly arranged on the vehicle body 1 through the short shaft bearing seat 213, the short shaft cam 205 is fixedly arranged on the cam short shaft 202, and the short shaft cam 205 rotates correspondingly with the rotation of the cam short shaft 202; the stub cam 205 is in contact connection with the running gear 22.

The second reversing part comprises a cam long shaft 208, a long shaft bearing seat 209 and a long shaft cam 211, the cam long shaft 208 is fixedly arranged on the vehicle body 1 through the long shaft bearing seat 209, the long shaft cam 211 is fixedly arranged on the cam long shaft 208, and the long shaft cam 211 correspondingly rotates along with the rotation of the cam long shaft 208; the long shaft cam 211 is in contact connection with the traveling mechanism 22.

The straight-line distance between the outer edge of the short-axis cam 205 and the axis of the cam short-axis 202 is a short-axis adjustment distance, the straight-line distance between the outer edge of the long-axis cam 211 and the axis of the cam long-axis 208 is a long-axis adjustment distance, and under the condition that the outer edges of the short-axis cam 205 and the long-axis cam 211 are irregularly arranged, the short-axis adjustment distance and the long-axis adjustment distance change along with the rotation of the cam short-axis 202 and the cam long-axis 208, and meanwhile, as the cam short-axis 202 and the cam long-axis 208 are linked, generally, after the cam short-axis 202 is braked, the long-axis adjustment distance gradually decreases as the short-axis adjustment distance gradually increases, so that the reversing mechanism 21 can reverse the traveling mechanism 22.

The reversing braking portion comprises a reversing braking member, the reversing braking member is fixedly arranged on the vehicle body 1 through a motor base 212, a reversing driving gear 201 is fixedly arranged on an output shaft of the reversing braking member, a reversing driven gear 204 is fixedly arranged on the cam short shaft 202, and the reversing driving gear 201 and the reversing driven gear 204 are driven through a chain, so that the rotation of the short shaft cam 205 can be realized under the driving of the reversing braking member.

Preferably, the first reversing parts and the second reversing parts are symmetrically arranged in pairs, specifically, the short-axis bevel gears 207 are disposed at two ends of the short cam shaft 202 in the two first reversing parts, and similarly, the long cam shaft 208 in the two second reversing parts are disposed at two ends of the long cam shaft 210, and the short-axis bevel gears 207 and the long-axis bevel gears 210 are engaged for transmission in a one-to-one correspondence manner, so as to form closed-loop transmission of the reversing mechanisms in four directions.

In this embodiment, the two cam short shafts 202 are respectively and fixedly disposed on the two short side plates 101 through the short shaft bearing seats 213, the two cam long shafts 208 are respectively and fixedly disposed on the two long side plates 102 through the long shaft bearing seats 209, and the short shaft bevel gears 207 and the long shaft bevel gears 210 are correspondingly engaged at the joint of the vehicle body 1.

Preferably, the cam stub 202 is further provided with a commutation sensor detection block 203, and the commutation sensor detection block 203 detects the rotation angle of the cam stub 202 through a signal of a photoelectric switch, so as to realize real-time monitoring of the rotation angle of the stub cam 205.

The traveling mechanism comprises a first traveling part and a second traveling part, the first reversing part is in contact connection with the first traveling part through the short-axis cam 205, and the second reversing part is in contact connection with the second traveling part through the long-axis cam 211.

The first reversing part and the second reversing part are further provided with a spring 206, two ends of the spring 206 are respectively connected with the first reversing part and the first walking part and provide certain elastic tension on the first reversing part, and two ends of the spring 206 are respectively connected with the second reversing part and the second walking part and provide certain elastic tension on the second reversing part.

The first walking part comprises a walking wheel short shaft 221, a short shaft driven synchronous pulley 222, a short shaft driving synchronous pulley 223, a short shaft cam roller 224, a walking wheel short shaft bearing seat 225, a short shaft walking wheel 226, a short shaft linear sliding rail base and a short shaft linear sliding rail.

The walking wheel short shaft 221 is fixedly arranged on the short shaft linear sliding rail base through the walking wheel short shaft bearing seat 225, the short shaft walking braking part is fixedly arranged on the short shaft linear sliding rail base, the short shaft driven synchronous pulley 222 is fixedly arranged on an output shaft of the short shaft walking braking part, the short shaft driven synchronous pulley 222 is fixedly arranged on the walking wheel short shaft 221, the short shaft driven synchronous pulley 222 and the short shaft driving synchronous pulley 223 are in transmission connection through a synchronous belt, the walking wheel short shaft 221 can be driven to rotate through braking of the short shaft walking braking part, and the short shaft walking wheels 226 are arranged at two ends of the walking wheel short shaft 221 so as to be in contact with a track to realize directional walking.

The short-axis linear slide rail base is connected with the short-axis linear slide rail in a sliding manner, and the short-axis linear slide rail is fixedly arranged on the vehicle body 1; the short-axis cam roller 224 is arranged on the short-axis linear slide rail base and is in contact with the short-axis cam 205, and through the rotation adjustment of the short-axis cam 205, the relative rotation of the short-axis cam roller 224 can be realized and the short-axis cam roller 224 is pushed to enable the short-axis linear slide rail base to be adjusted in a sliding mode on the short-axis linear slide rail.

The second walking part comprises a walking wheel long shaft 227, a long shaft driven synchronous pulley 228, a long shaft walking wheel 229, a walking wheel long shaft bearing seat 230, a long shaft linear slide rail base 231, a long shaft linear slide rail 232, a long shaft cam roller 233 and a long shaft driving synchronous pulley 234.

The walking wheel long shaft 227 is fixedly arranged on the long shaft linear slide rail base 231 through the walking wheel long shaft bearing seat 230, the long shaft walking braking part is fixedly arranged on the long shaft linear slide rail base 231, the long shaft driven synchronous pulley 228 is fixedly arranged on an output shaft of the long shaft walking braking part, the long shaft driven synchronous pulley 228 is fixedly arranged on the walking wheel long shaft 227, the long shaft driven synchronous pulley 228 and the long shaft driving synchronous pulley 234 are connected through synchronous belt transmission, the walking wheel long shaft 227 can be driven to rotate through braking of the long shaft walking braking part, and the long shaft walking wheels 229 are arranged at two ends of the walking wheel long shaft 227 to be in contact with a rail to realize directional walking.

The long-axis linear slide rail base 231 is slidably connected with the long-axis linear slide rail 232, and the long-axis linear slide rail 232 is fixedly arranged on the vehicle body 1; the long axis cam roller 233 is disposed on the long axis linear slide base 231 and is disposed in contact with the long axis cam 211, and through the rotational adjustment of the long axis cam 211, the relative rotation of the long axis cam roller 233 can be realized and the long axis cam roller 233 is pushed to enable the long axis linear slide base 231 to be adjusted in a sliding manner on the long axis linear slide 232.

Preferably, the traveling mechanism is further provided with a guide roller 235, the guide roller 235 is fixedly arranged on the vehicle body 1 and is correspondingly arranged at a seam of the vehicle body 1, and when the traveling direction of the first traveling part and the traveling direction of the second traveling part are changed, the guide roller 235 performs a guiding operation corresponding to the traveling rail.

The working principle is as follows: when reversing, the reversing brake member is started, the reversing driving gear drives the reversing driven gear to rotate, and then the reversing driven gear and the long-axis bevel gear rotate together to press the short-axis cam and the long-axis cam roller to bear force downwards, so that the travelling mechanism moves downwards along the linear sliding rail until the reversing sensor detection block reaches a specified position, the short-axis cam rotates to a specified angle, the travelling mechanism in the direction contacts the rail, and the travelling mechanism in the adjacent direction leaves the rail; during the operation of the reversing mechanism, the spring is always in a stretching stress state.

When the four-direction vehicle runs, the running mechanism contacts the track, after the reversing mechanism confirms that the running mechanism is finished, the running mechanism motor is started, the short shaft drives the synchronous belt pulley to drive the short shaft driven synchronous belt pulley to rotate, and then the short shaft running wheels are driven to rotate, and the four-direction vehicle is driven to run along the reverse direction.

In conclusion, the reversing traveling device is used for reversing traveling of a four-direction vehicle on the top of a goods shelf so as to move to a designated goods space to store and take goods, the reversing traveling device moves along a customized rail, when reversing traveling is needed, a reversing motor is started to drive a cam on a shaft to press a traveling mechanism to descend to the rail, and after the reversing mechanism confirms that the traveling mechanism is finished, the motor of the traveling mechanism is started to drive traveling wheels of the four-direction vehicle to rotate and travel, so that unmanned and automatic traveling of the whole reversing traveling process of the four-direction vehicle is realized, and the performance and efficiency of reversing traveling of the four-direction vehicle are improved.

EXAMPLE III

As shown in fig. 9 to 12, fig. 9 is a structural view of the winding and lifting device; FIG. 10 is a structural arrangement diagram of the wire wheel assembly; fig. 11 is a structural view of the first tension detecting mechanism; fig. 12 is a structural view of the second tension detecting mechanism.

The winding lifting device 3 comprises a winding mechanism 301, a first spiral steel wire 302, a second spiral steel wire 304, a third spiral steel wire 305, a fourth spiral steel wire 309 and a wire wheel set 318, wherein the first spiral steel wire 302, the second spiral steel wire 304, the third spiral steel wire 305 and one end of the fourth spiral steel wire 309 are fixedly arranged on the winding mechanism 301, the other end of the winding mechanism is arranged on the wire wheel set 318 in a winding mode and connected with the material taking device 4, the winding mechanism 301 is controlled through braking control, so that the height position of the material taking device 4 is controlled, and the wire wheel set 318 and the winding mechanism 301 are all fixedly arranged on the vehicle body 1.

Through the arrangement of four spiral steel wires, namely the first spiral steel wire 302, the second spiral steel wire 304, the third spiral steel wire 305 and the fourth spiral steel wire 309, four corners of the material taking device 4 are drawn, so that stable adjustment of the material taking device 4 can be realized.

The winding lifting device 3 further comprises a first tension detection mechanism 306 and a second tension detection mechanism 314, the first tension detection mechanism 306 and the second tension detection mechanism 314 are fixedly arranged on the vehicle body 1 and symmetrically arranged, the first tension detection mechanism 306 and the second tension detection mechanism 314 are both provided with two tension detection mechanisms, the first spiral steel wire 302 and the third spiral steel wire 305 are respectively and correspondingly provided with one tension detection mechanism 314, and the second spiral steel wire 304 and the fourth spiral steel wire 309 are respectively and correspondingly provided with one tension detection mechanism 306.

Specifically, the wire guiding wheel group 318 includes a first wire guiding wheel 31801, a second wire guiding wheel 31802, a third wire guiding wheel 31803, a fourth wire guiding wheel 31804, a fifth wire guiding wheel 31805, a sixth wire guiding wheel 31806, a seventh wire guiding wheel 31807, an eighth wire guiding wheel 31808, a ninth wire guiding wheel 31809, a tenth wire guiding wheel 31810, an eleventh wire guiding wheel 31811, a twelfth wire guiding wheel 31812, a thirteenth wire guiding wheel 31813, a fourteenth wire guiding wheel 31814, a fifteenth wire guiding wheel 31815 and a sixteenth wire guiding wheel 31816.

The first wire guide wheel 31801, the second wire guide wheel 31802, the third wire guide wheel 31803, the fourth wire guide wheel 31804, the fifth wire guide wheel 31805, the seventh wire guide wheel 31807, the eighth wire guide wheel 31808, the eleventh wire guide wheel 31811, the thirteenth wire guide wheel 31813, the fourteenth wire guide wheel 31814, the fifteenth wire guide wheel 31815 and the sixteenth wire guide wheel 31816 are arranged so that their rotation surfaces are vertical; the rotation surfaces of the sixth wire wheel 31806, the ninth wire wheel 31809, the tenth wire wheel 31810 and the twelfth wire wheel 31812 are horizontally arranged; thereby performing a direction change operation of the first spiral wire 302, the second spiral wire 304, the third spiral wire 305, and the fourth spiral wire 309.

The winding lifting device 3 further comprises a setting frame, the setting frame is fixedly arranged at the center of the upper end face of the vehicle body 1, the setting frame comprises a fixing plate 312, a transverse plate 313 and a long support 316, the long support 316 is arranged in parallel and fixedly arranged on two support plates of the upper end face of the vehicle body 1, two ends of the fixing plate 312 and two ends of the transverse plate 313 are fixedly arranged on the two support plates, a first tension detection mechanism 306 and a second tension detection mechanism 314 are symmetrically arranged on the fixing plate 312 respectively, and a ninth wire guide wheel 31809 and a tenth wire guide wheel 31810 are symmetrically arranged on the transverse plate 313.

The seventh wire guide wheel 31807 and the fourteenth wire guide wheel 31814 are symmetrically arranged on a straight edge of one side of the upper end surface of the vehicle body 1 close to the winding mechanism 301, the eighth wire guide wheel 31808 and the eleventh wire guide wheel 31811 are symmetrically arranged on a straight edge of one side of the upper end surface of the vehicle body 1 far from the winding mechanism 301, the seventh wire guide wheel 31807 and the eighth wire guide wheel 31808 are symmetrically arranged, the fourteenth wire guide wheel 31814 and the eleventh wire guide wheel 31811 are symmetrically arranged, and the seventh wire guide wheel 31807, the eighth wire guide wheel 31808, the eleventh wire guide wheel 31811 and the fourteenth wire guide wheel 31814 are all arranged on the inner side of the vehicle body 1 through a pulley support 315.

The winding and lifting device 3 further includes a first wire wheel support 307, a first wire wheel standing support 308, a second wire wheel support 310, and a second wire wheel standing support 311, wherein the first wire wheel support 307, the first wire wheel standing support 308, the second wire wheel support 310, and the second wire wheel standing support 311 are all disposed on a straight edge of the upper end surface of the vehicle body 1 near one side of the winding mechanism 301, the first wire wheel support 307 and the second wire wheel support 310 are symmetrically disposed, and the first wire wheel standing support 308 and the second wire wheel standing support 311 are symmetrically disposed.

The sixth wire guide wheel 31806 is disposed on the first wire guide wheel support 307, the twelfth wire guide wheel 31812 is disposed on the second wire guide wheel support 310, the fifth wire guide wheel 31805 and the sixteenth wire guide wheel 31816 are symmetrically disposed on two sides of the second wire guide wheel standing bracket 311, the thirteenth wire guide wheel 31813 and the fifteenth wire guide wheel 31815 are symmetrically disposed on two sides of the first wire guide wheel standing bracket 308, and a first tension detection mechanism 306 and a second tension detection mechanism 314 are respectively symmetrically disposed on a straight edge of the upper end surface of the vehicle body 1 on a side close to the winding mechanism 301.

The winding lifting device 3 further comprises a support 303, the first wire guide wheel 31801, the second wire guide wheel 31802, the third wire guide wheel 31803 and the fourth wire guide wheel 31804 are all fixedly arranged on the support 303, and the support 303 is fixedly arranged below the winding mechanism 301 and used for changing the row line direction of the first spiral steel wire 302 and the second spiral steel wire 304 and avoiding the interference between the first spiral steel wire 302 and the second spiral steel wire 304 and the winding mechanism 301.

The first spiral wire 302 is connected to the material taking device 4 through the first wire guiding wheel 31801, the second wire guiding wheel 31802, the twelfth wire guiding wheel 31812, the thirteenth wire guiding wheel 31813, the fourteenth wire guiding wheel 31814 and the second tension detecting mechanism 314. Specifically, the first spiral steel wire 302 is led out from the winding mechanism 301, turned around the winding mechanism 301 to the thirteenth wire guide wheel 31813 through the first wire guide wheel 31801 and the second wire guide wheel 31802, guided to the fourteenth wire guide wheel 31814 through the twelfth wire guide wheel 31812, turned back through the fourteenth wire guide wheel 31814, and led down to be connected with the material taking device 4. In this embodiment, the second tension detecting mechanism 314 is disposed between the twelfth wire wheel 31812 and the fourteenth wire wheel 31814. The first wire guide wheel 31801, the second wire guide wheel 31802, the twelfth wire guide wheel 31812, the thirteenth wire guide wheel 31813 and the fourteenth wire guide wheel 31814 are all disposed correspondingly.

Similarly, as in the winding arrangement of the first spiral wire 302, the second spiral wire 304 is connected to the material taking device 4 through the third wire guide wheel 31803, the fourth wire guide wheel 31804, the fifth wire guide wheel 31805, the sixth wire guide wheel 31806, the seventh wire guide wheel 31807 and the first tension detection mechanism 306.

The third spiral wire 305 is connected to the material taking device 4 through the eighth wire guide wheel 31808, the ninth wire guide wheel 31809, the sixteenth wire guide wheel 31816 and the second tension detecting mechanism 314. Specifically, the third spiral wire 305 is led out from the winding mechanism 301, guided to the ninth wire guiding wheel 31809 through the sixteenth wire guiding wheel 31816, guided to the eighth wire guiding wheel 31808 through the ninth wire guiding wheel 31809, and led backwards and downwards through the eighth wire guiding wheel 31808 to be connected with the material taking device 4. In this embodiment, the second tension detecting mechanism 314 is disposed between the ninth wire wheel 31809 and the sixteenth wire wheel 31816. The eighth wire guiding wheel 31808, the ninth wire guiding wheel 31809 and the sixteenth wire guiding wheel 31816 are all correspondingly arranged.

Similarly, as the winding of the third spiral wire 305 is arranged, the fourth spiral wire 309 is connected to the material taking device 4 through the tenth wire guide wheel 31810, the eleventh wire guide wheel 31811, the fifteenth wire guide wheel 31815 and the first tension detecting mechanism 306.

The first tension detection mechanism 306 includes a first base plate 30601, a first bearing wheel 30602, a first cover plate 30603, a first slider 30604, a first micro switch 30605 and a first bolt 30606, the first bearing wheel 30602, the first cover plate 30603, the first micro switch 30605 and the first bolt 30606 are all disposed on a disposed end face of the first base plate 30601, a first adjustment groove is disposed on the disposed end face of the first base plate 30601, the slider 30604 is disposed in the first adjustment groove and can freely slide, and the first cover plate 30603 is fixed at a notch position of the first adjustment groove, so that movement of the first slider 30604 is limited. The first micro switch 30605 is disposed on the first base plate 30601, and the first slider 30604 is provided with a sensing block, which is disposed corresponding to the driving rod of the first micro switch 30605.

Two first bolts 30606 and two first bearing wheels 30602 are provided, the first bolts 30606 and the first bearing wheels 30602 are provided in a one-to-one correspondence manner, one first bearing wheel 30602 is provided on the first sliding block 30604, the other first bearing wheel 30602 is provided on the first base plate 30601, and the second spiral wire 304 or the fourth spiral wire 309 is provided in contact with the two first bearing wheels 30602 at the same time, i.e. the second spiral wire 304 or the fourth spiral wire 309 is wound around the two first bearing wheels 30602 in an S shape, and contact points of the second spiral wire 304 or the fourth spiral wire 309 and the two first bearing wheels 30602 are respectively provided on two sides of a connecting line of the axes of the two first bearing wheels 30602, so that the first bearing wheels 30602 can drive the first sliding blocks 30604 to slide in the first adjusting grooves 30602 under the force of the first bearing wheels 30602 according to different tensioning conditions of the second spiral wire 304 or the fourth spiral wire 309.

The second helical wire 304 or the fourth helical wire 309 is arranged between the first bolt 30606 and the corresponding first bearing wheel 30602, the first bolt 30606 ensuring that the second helical wire 304 or the fourth helical wire 309 and the first bearing wheel 30602 are snug against the wire slipping out.

By sliding the first slider 30604 in the first adjustment groove, the signal state of the first micro switch 30605 can be controlled, and the tension of the second and fourth

spiral wires

304, 309 can be controlled.

Similarly, the second tension detection mechanism 314 and the first tension detection mechanism 306 are symmetrically arranged, and the second tension detection mechanism 314 includes a second bottom plate 31401, a second slider 31402, a second microswitch 31403, a second bearing 31404, a second bolt 31405, and a second cover plate 31406. The second slider 31402 and the second bottom plate 31401 can slide, and control the signal state of the second microswitch 31403, so as to control the tension of the first spiral steel wire 302 and the third spiral steel wire 305.

Preferably, the setting frame is further provided with a charging device 317, and the charging device 317 is arranged corresponding to the material taking device 4 and is used for charging the power consumption elements on the material taking device 4.

When the containers are stored, scanning information of the containers by adopting a scanning gun, feeding the information back to the processing unit, and placing the containers at a storage opening; the storage system transmits information that the goods space on the goods shelf is empty to the processing unit, and the processing unit collects coordinate information of the empty goods space and transmits the coordinate information to the output unit; the four-way vehicle reversing traveling device works and moves to a storage entrance; the winding lifting device drives the material taking device to descend to the warehouse inlet for loading the container; after the container is loaded, the four-way vehicle reversing traveling device works and moves to a cargo space; the winding lifting device drives the material taking device to descend to the goods position, and storage work of the container is completed.

When the container is taken out, the information of the material taking list is input into a processing unit, the processing unit processes the input information and transmits a processing result to an output unit according to a set rule, the output unit outputs the position information of the container to be taken, the container to be taken is searched according to the position information output by the output unit, the four-way vehicle reversing traveling device moves according to the coordinate information output by the output unit to search the goods position where the container is located, the information of the goods position of the container to be taken is transmitted to the processing unit, and the processing unit transmits the information of the goods position to the output unit according to the coordinate information of the goods position; the four-way vehicle moves to the position of the goods position, and the four-way vehicle reversing traveling device works and moves to the position of the goods position; the winding lifting device drives the material taking device to descend to a cargo space for loading a cargo box; after the container is loaded, the container is reversed to the vehicle to move to the delivery port; the winding lifting device drives the material taking device to descend to the position of the delivery port, and the goods box is taken out.

In conclusion, the four-way vehicle is used for storing the dense box stacks, is installed at the top of the goods shelf and moves on the top of the goods shelf, the reversing traveling device moves in four directions as required, the winding lifting device drives the material taking device to descend to the specified height of the goods shelf, and the boxes are arranged in the inner cavity space of the four-way vehicle, so that the unmanned and automatic storage process of the box stacks is realized, and the storage capacity and the space utilization rate of the boxes are improved; carry out information binding to goods position and box, realized the accurate storage of box, improved access efficiency greatly, reduced the human input, effectively reduced under the artifical storage mode wrong material, the risk of staying the material.

Example four

As shown in fig. 13-21, fig. 13 is a structural view of the reclaimer assembly; FIG. 14 is a structural view of the top frame; FIG. 15 is a structural view of the driveshaft assembly; FIG. 16 is a structural view of the quick hitch assembly; FIG. 17 is an open configuration view of the quick hitch assembly in a hooked position; FIG. 18 is an open configuration view of the quick hitch assembly in a non-hooking condition; FIG. 19 is a structural view of the drive gear set; FIG. 20 is a structural view of the lift sensor; fig. 21 is a structural view of the hook sensor.

The material taking device 4 of the four-direction vehicle comprises a top frame 401, a transmission shaft assembly 402, a quick hook assembly 403, a driving gear set 404, a hook sensor 408, a material taking braking part and a processing unit; the processing unit is connected with the material taking braking member, the transmission shaft assembly 402, the quick hook assemblies 403 and the driving gear sets 404 are arranged on the top frame 401, the quick hook assemblies 403 are arranged at the bottom of the side edge of the top frame, the number of the quick hook assemblies 403 is 4, the quick hook assemblies 403 are symmetrically arranged, accordingly, the container can be hooked, the material taking braking member is in transmission connection with the transmission shaft assembly 402 through the driving gear sets 404, and the transmission shaft assembly 402 is connected with the quick hook assemblies 403, so that the quick hook assemblies 403 can be hooked to brake.

The top frame 401 comprises a bottom plate 40101, a pair of long beams 40102 arranged in parallel and a pair of short beams 40103 arranged in parallel, wherein the long beams 40102 and the short beams 40103 are both fixedly arranged on the bottom plate 40101, and two ends of the short beams 40103 are respectively and vertically arranged on the two long beams 40102.

Preferably, tip on the long roof beam 40102 is provided with mechanical spacing piece 405, mechanical spacing piece 405 sets up in pairs, just mechanical spacing piece 405 sets up perpendicularly two right angle edges on the long roof beam 40102, mechanical spacing piece 405 with the automobile body inner wall contact setting of quadriversal car, thereby guarantee the steady movement or the placing of top frame 401 in the automobile body.

The long beam 40102 is further provided with a vehicle body sensor 406, the vehicle body sensor 406 can monitor the position relation between the top frame 401 and the containers to be clamped, and the vehicle body sensor 406 is connected with the processing unit.

The transmission shaft assembly 402 comprises a transmission shaft 40201, a bearing seat 40202 and a first transmission gear 40203, the transmission shaft 40201 is arranged on the top frame 401 through the bearing seat 40202, and the first transmission gear 40203 is arranged on the transmission shaft 40201. The transmission shaft 40201 is in transmission connection with the quick hook assembly 403. Generally, the transmission shafts 40201 are arranged in parallel, and two ends of each transmission shaft 40201 are in transmission connection with one quick hook assembly 403, so that four positions of hooking actions can be conveniently formed on a container.

The quick hook assembly 403 comprises a front framework plate 40301, a crank 40302, a rear framework plate 40303, an eccentric wheel 40304, a connecting rod 40305 and a straight insert pin 40306. The front frame plate 40301 is fixedly connected with the rear frame plate 40303, a guide groove and an adjusting groove are formed between the front frame plate 40301 and the rear frame plate 40303, the guide groove is communicated with the adjusting groove, the guide groove is a linear groove, the corner hook 40302 and the straight pin 40306 are arranged between the front frame plate 40301 and the rear frame plate 40303, the straight pin 40306 is arranged in the guide groove, the corner hook 40302 is fixedly arranged in the adjusting groove through a rotating shaft, the corner hook 40302 can rotate around the rotating shaft, the corner hook 40302 is provided with a short side and a long side which have a certain included angle, the lower end of the straight pin 40306 and the short side of the corner hook 40302 are arranged in a contact manner, so that the corner hook 40302 can be pushed by the straight pin 40306 to realize the rotation of the corner hook 40302 around the rotating shaft, and the long side of the corner hook 40302 can extend out of the adjusting groove.

The eccentric wheel 40304 is fixedly arranged on the transmission shaft 40201, the eccentric wheel 40304 is connected with the straight inserted pin 40306 through the connecting rod 40305, and two ends of the connecting rod 40305 are connected in a rotating mode, so that the straight inserted pin 40306 can move in the guide groove in a straight line mode under the rotation of the eccentric wheel 40304, the crank hook 40302 can rotate around the rotating shaft, and the position state of the long edge of the crank hook 40302 can be adjusted.

Preferably, the adjusting groove comprises an avoiding part, a spring plate 40307 is further arranged in the avoiding part, and the avoiding part is arranged on one side of the turning hook 40302 close to the eccentric wheel 40304; through the arrangement of the elastic sheet 40307, the situation that the elbow hook 40302 extending from the adjusting groove collides with other objects and the like in the downward moving process of the quick hook assembly 403 is avoided, when the elbow hook 40302 moves downwards to abut against the objects, the elbow hook 40302 can move to the avoidance part around the rotating shaft, so that the elbow hook 403receives force in the downward moving process and avoids, and meanwhile, under the elastic action of the elastic sheet 40307, the elbow hook 40302 pops out of the avoidance part in the avoidance process so as to restore the normal state.

The driving gear set 404 comprises a driving gear 40401, a bearing seat 40402, a short shaft 40403 and a second transmission gear 40404; the number of the driving gears 40401 and the number of the second transmission gears 40404 are two, the driving gear 40401 and the second transmission gear 40404 are on one short shaft 40403, the short shaft 40403 is arranged on the long beam 40102 through the bearing block 40402, and the material taking braking member is fixedly connected with the short shaft 40403.

The two driving gears 40401 are meshed with each other, and the two second transmission gears 40404 are driven to synchronously rotate in opposite directions through the short shaft 40403. The two second transmission gears 40404 are respectively in link transmission with the first transmission gears 40203 on the two transmission shafts 40201 through two chains, so that the straight inserted pin 40306 in the quick hook assembly 403 can move up and down.

In order to hook a container between the quick hook assemblies 403, the turning hooks 40302 of the two quick hook assemblies 403 on the same long beam 40102 are symmetrically arranged, so that the rotation directions are opposite, and the two transmission shafts 40201 reversely rotate by arranging the two driving gears 40401 which are meshed with each other.

Lift sensor 407 is including detecting piece 40701 and lift photoelectric switch 40702, detect piece 40701 with lift photoelectric switch 40702 corresponds the setting, and all sets up on the long roof beam 40102, it passes through to detect piece 40701 lift photoelectric switch 40702 with processing unit connects, thereby but real time monitoring top frame 401 is in the internal high position of quadriversal car.

Couple sensor 408 includes couple photoelectric switch 40801 and detection disc 40802, couple photoelectric switch 40801 with detection disc 40802 corresponds the setting, just it sets up to detect disc 40802 on the transmission shaft 40201, couple photoelectric switch 40801 sets up on the long beam 40102, it passes through to detect disc 40802 couple photoelectric switch 40801 with get the material stopper intercommunication, it detects to detect disc 40802 the turned angle of transmission shaft 40201, thereby detect the turned state of turning hook 40302 controls the state of unblanking of quick couple assembly 403.

The working principle is as follows: when the containers are stored, the information that the goods positions on the goods shelves are empty is transmitted to the processing unit, the processing unit collects the coordinate information of the empty goods positions and transmits the coordinate information to the output unit, the four-way vehicle (vehicle carrying body) moves to the goods positions, and the material taking device descends to the designated height according to the coordinate information output by the output unit; according to a descending height completion instruction output by an output unit, the hook sensor 408 rotates the transmission shaft assembly 402 to drive the straight insert pin 40306 in the quick hook assembly 403 to lift, and the turning hook 40302 is restored to a non-working state position, so that the turning hook 40302 is pulled out from a groove of a container, and the storage work of the container is completed;

when the container is taken out, the information of the goods position of the container to be taken is transmitted to the processing unit, the processing unit transmits the information to the output unit according to the coordinate information of the goods position, the four-way vehicle (vehicle carrying body) moves to the goods position, and the material taking device descends to the designated height according to the coordinate information output by the output unit; according to a descending height finishing instruction output by an output unit, the hook sensor 408 rotates the transmission shaft assembly 402 to drive the straight bolt 40306 in the quick hook assembly 403 to descend, and the turning hook 40302 is restored to a working state position, so that the turning hook 40302 is inserted into a groove of a container and drives the container to be lifted, and the container is taken out.

In conclusion, the material taking device is used for taking and placing the goods boxes of the four-direction vehicle at the top of the goods shelf, the material taking device is lowered to the specified height of the goods shelf, the quick hooks are inserted into the grooves in the goods shelf, the goods boxes are lifted to the inside of the four-direction vehicle together, and the four-direction vehicle travels at the top of the goods shelf, so that the unmanned and automatic whole process of stacking and storing the goods boxes is realized, and the storage capacity and the space utilization rate of the goods boxes are improved; carry out information binding to goods position and packing box, realized the accurate storage of packing box, improved access efficiency greatly, reduced the human input, effectively reduced under the artifical storage mode wrong material, the risk of staying idle material.

The foregoing is illustrative of the preferred embodiments of the present invention, which is set forth only, and not to be taken as limiting the invention. It will be appreciated by those skilled in the art that many variations, modifications, and equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the claims.

Claims

1. The reversing traveling device of the four-way vehicle is characterized by comprising a reversing mechanism and a traveling mechanism; the reversing mechanism comprises a first reversing part, a second reversing part and a reversing braking part, and the first reversing part or the second reversing part is in transmission connection with the reversing braking part; the first reversing part comprises a cam short shaft fixedly provided with a short shaft cam, the second reversing part comprises a cam long shaft fixedly provided with a long shaft cam, and the cam short shaft is in transmission connection with the cam long shaft;

the travelling mechanism comprises a first travelling part and a second travelling part, the first reversing part is in contact connection with the first travelling part through the short-axis cam, and the second reversing part is in contact connection with the second travelling part through the long-axis cam; the first reversing part and the second reversing part are further provided with elastic parts, two ends of each elastic part are respectively connected with the first reversing part and the first walking part and provide elastic tension, and two ends of each elastic part are respectively connected with the second reversing part and the second walking part and provide elastic tension.

2. The reversing traveling device of the four-way vehicle according to claim 1, wherein the reversing brake part comprises a reversing brake member, the reversing brake member is fixedly arranged through a motor base, a reversing driving gear is fixedly arranged on an output shaft of the reversing brake member, a reversing driven gear is fixedly arranged on a short shaft of the cam, and the reversing driving gear and the reversing driven gear are driven by a chain.

3. The reversing traveling device for the four-way vehicle according to claim 1, wherein the first reversing parts and the second reversing parts are symmetrically arranged in a pair, short-axis bevel gears are arranged at two ends of the short axes of the cams in the first reversing parts, long-axis bevel gears are arranged at two ends of the long axes of the cams in the second reversing parts, and the short-axis bevel gears and the long-axis bevel gears are in one-to-one meshing transmission, so that reversing mechanism closed-loop transmission in four directions is formed.

4. The reversing walking device of the four-way vehicle according to claim 1, wherein a reversing sensor detection block is further arranged on the cam short shaft, and the reversing sensor detection block detects the rotation angle of the cam short shaft through the signal of the photoelectric switch so as to monitor the rotation angle of the short shaft cam in real time.

5. The reversing running gear of the four-way vehicle according to claim 1, wherein the first running part and the second running part each comprise a running wheel shaft, a cam roller, a running wheel bearing seat, a running wheel, and a sliding assembly; the walking wheel shaft is fixedly arranged on the sliding assembly through the walking wheel bearing seat, the walking wheel shaft can move linearly through the sliding assembly, the walking brake part is connected with the walking wheel shaft to enable the walking wheel shaft to rotate, the walking wheels are arranged at two ends of the walking wheel shaft, and the cam roller is arranged on the sliding assembly and is in contact with the short shaft cam or the long shaft cam.

6. The reversing traveling device for a four-way vehicle according to claim 5, wherein the traveling braking member is connected to the traveling axle via a driven synchronous pulley and a driving synchronous pulley, the driving synchronous pulley is provided on an output shaft of the traveling braking member, the driven synchronous pulley is fixedly provided on the traveling axle, and the driven synchronous pulley and the driving synchronous pulley are connected by a synchronous belt drive.

7. The reversing traveling device for the four-way vehicle according to claim 5, wherein the sliding assembly comprises a linear slide rail base and a linear slide rail, the linear slide rail base is slidably connected with the linear slide rail, the linear slide rail is fixedly arranged, and the traveling braking member and the traveling wheel bearing seat are fixedly arranged on the linear slide rail base.

8. The reversing traveling device for a four-way vehicle according to claim 5, wherein one end of the elastic part is connected to a cam bearing seat for fixing the short axis of the cam or the long axis of the cam, and the other end of the elastic part is connected to the traveling wheel bearing seat and provides elastic tension.

9. The reversing traveling device of the four-way vehicle according to claim 1, further comprising a processing unit and an output unit, wherein the processing unit is used for processing the working states of the reversing mechanism and the traveling mechanism, and the output unit is used for receiving the rotation angle information of the short-shaft cam and the working state signal of the reversing mechanism output by the processing unit; the processing unit is connected with the reversing mechanism and the travelling mechanism through the output unit.

10. A four-way vehicle, which is characterized by comprising the reversing walking device of the four-way vehicle and a vehicle body, wherein the vehicle body comprises corner blocks, two short side plates and two long side plates, the two short side plates and the two long side plates are symmetrically arranged respectively, the short side plates and the long side plates are assembled in an alternating square shape, and joints are fixed by the corner blocks; the two cam short shafts are respectively and fixedly arranged on the two short side plates through short shaft bearing seats, the two cam long shafts are respectively and fixedly arranged on the two long side plates through long shaft bearing seats, and the short shaft bevel gears and the long shaft bevel gears are correspondingly meshed at the joints of the vehicle body.