CN217837024U - Four-way shuttle plate walking system - Google Patents

Abstract

The utility model discloses a four-way shuttle plate walking system, which comprises a vehicle body, a walking driving system arranged on the vehicle body, a son-direction walking system and a mother-direction walking system which are driven by the walking driving system to walk, wherein the mother-direction walking system comprises two mother-direction driving walking wheel boxes and two mother-direction driven walking wheel boxes, and a first wheel box installation component is connected between the two mother-direction driven walking wheel boxes; the first wheel box mounting assembly comprises a first mounting plate, a mounting shaft which penetrates through the first mounting plate and is arranged horizontally, and a floating frame which is mounted with the first mounting plate through the mounting shaft, wherein two ends of the floating frame can swing up and down around the mounting shaft, and two driven wheel boxes in the mother direction are respectively mounted at two ends of the floating frame; the utility model discloses a quadriversal shuttle traveling system solves prior art, and quadriversal shuttle is when female to the walking on the track, can not guarantee that four female closely laminate constantly to the walking wheel on female to the walking track and the problem of derailing easily appears.

Description

Four-way shuttle plate walking system

Technical Field

The utility model belongs to three-dimensional storage shuttle field for the transportation, more specifically the utility model relates to a quadriversal shuttle traveling system that says so.

Background

The shuttle plate is tray carrying equipment applied to the intensive storage stereoscopic warehouse, and due to the fact that the through type goods shelf is adopted to eliminate a working roadway, the utilization rate of a storage space can be improved to be more than 80% to the maximum extent, and the operation requirements of first-in first-out and first-in last-out can be met. The four-way shuttle plate has two-dimensional motion directions which are vertical to each other when working, and is generally called as a mother-direction walking direction and a son-direction walking direction in the industry. Generally, when the shuttle plate is located at the lowest position, the parent direction walking is performed, and when the shuttle plate is located at the middle position or the high position, the child direction walking is performed. In the prior art, when the shuttle plate walks in the primary direction, the walking speed is high, and the four primary-direction walking wheels which walk in the primary direction cannot be completely attached to the track simultaneously due to machining errors, working deformation and the like of the shuttle plate and the track. At present, the four female traveling wheels cannot be guaranteed to be always attached to the female traveling track only by guiding and limiting the limiting wheel edges of the female traveling wheels, a certain female traveling wheel is prone to tilting, the limiting wheel edges on the female traveling wheels can cross the female traveling track, automatic recovery cannot be achieved, and derailment risks occur.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a quadriversal shuttle traveling system solves prior art, and quadriversal shuttle is when female walking on to the track, can not guarantee that four female closely laminating constantly to the walking wheel is female to the problem that the derailment easily appears on the track of walking.

The technical scheme of the utility model is that a four-way shuttle plate walking system comprises a vehicle body, a walking driving system arranged on the vehicle body, a son-direction walking system and a mother-direction walking system which are driven by the walking driving system to walk, wherein the mother-direction walking system comprises two mother-direction driving walking wheel boxes and two mother-direction driven walking wheel boxes, and a first wheel box mounting component is connected between the two mother-direction driven walking wheel boxes; first wheel case installation component includes first mounting panel, passes first mounting panel just is the installation axle that the level form set up and passes through the installation axle with the floating frame of first mounting panel installation, the both ends of floating frame can wind installation axle luffing motion, and two mother install respectively to driven walking wheel case the both ends of floating frame.

Preferably, the first mounting plate is arranged horizontally and connected with the vehicle body; the floating frame comprises two connecting side plates which are opposite and are vertically arranged on two sides of the first mounting plate respectively, two connecting end plates are fixedly connected to two ends of the two connecting side plates respectively, the two connecting side plates and the two connecting end plates form the floating frame in a rectangular frame shape, two ends of the mounting shaft penetrate through the two connecting side plates respectively, and two female driven walking wheel boxes are mounted with the two connecting end plates respectively.

Preferably, the female driven travelling wheel box comprises a female driven travelling wheel and a driven wheel shaft for mounting the female driven travelling wheel, and the driven wheel shaft is mounted with the connecting end plate through a bearing.

Preferably, the axes of the two driven wheel shafts are overlapped and are both horizontally arranged and vertical to the mounting shaft.

Preferably, two mothers are connected with second wheel case installation component to between the initiative walking wheel case, second wheel case installation component including be the level form set up the second mounting panel and with the mount of second mounting panel rigid coupling, two mothers are installed respectively to initiative walking wheel case the both ends of mount.

Preferably, the primary driving walking wheel box comprises a primary driving walking wheel, a driving wheel shaft for mounting the primary driving walking wheel and a transmission box for connecting the driving wheel shaft with the walking drive system; the driving wheel shaft and the transmission case are fixedly mounted with the fixing frame.

Preferably, the transmission case comprises a transmission case body fixedly connected with the end part of the fixing frame, an input shaft extending out of the transmission case body and connected with the walking drive system, and a transmission assembly for realizing transmission of the input shaft and the driving wheel shaft; one end of the driving wheel shaft extends into the transmission box body and is connected with the transmission assembly, and the other end of the driving wheel shaft is fixedly connected with the primary driving travelling wheel.

Preferably, the primary driving walking wheel and the primary driven walking wheel both comprise primary walking wheel bodies and limiting wheel edges fixedly connected to inner end faces of the primary walking wheel bodies.

Preferably, the sub-directional traveling system comprises a plurality of sub-directional driving traveling wheels, a plurality of sub-directional driven traveling wheels and a plurality of limiting guide wheels which are respectively arranged on two sides of the vehicle body; a sub-directional travelling shaft driven by a travelling driving system is connected between a pair of sub-directional driving travelling wheels positioned at two sides of the vehicle body, and the sub-directional driving travelling wheels connected with the sub-directional travelling shaft drive the remaining sub-directional driving travelling wheels at the same side; the axis of the limiting guide wheel is vertical.

Preferably, the walking driving system comprises a walking motor and a speed reducer which is connected with the walking motor and is provided with double output shafts, the outer ends of the two output shafts of the speed reducer are respectively connected with a universal coupling, and the two universal couplings are respectively connected with the input shafts of the two transmission boxes;

an input shaft of the speed reducer is connected with an output shaft of the walking motor through a coupling, and a sub-directional driving wheel is sleeved on the input shaft of the speed reducer and drives the sub-directional driving wheel to rotate towards the walking shaft.

The utility model discloses technical scheme's a quadriversal shuttle board traveling system's beneficial effect is: through the setting of floating frame, will two mothers originally change into two mothers to the three point structures of initiative walking wheel and two mothers to driven walking wheel to the four point structures of initiative walking wheel and floating frame, three point structure forms stable face, thereby guarantee that two mothers laminate mother to the walking track in real time to initiative walking wheel and two mothers to driven walking wheel, just so avoided two mothers to the problem that mother to the walking track is striden to certain walking wheel in initiative walking wheel and two mothers to driven walking wheel, avoid appearing the derailing problem.

Drawings

Fig. 1 is a schematic diagram of a structure of a four-way shuttle plate walking system according to the technical scheme of the present invention.

Fig. 2 is a schematic structural view of a four-way shuttle board walking system according to the technical scheme of the present invention.

Fig. 3 is an axonometric view of a four-way shuttle plate traveling system according to the technical solution of the present invention.

Fig. 4 is a bottom view of the female walking system of the four-way shuttle walking system according to the technical solution of the present invention.

Fig. 5 is a top view of a four-way shuttle board traveling system according to the technical solution of the present invention.

Fig. 6 is a schematic view of the sub-direction traveling state of the four-direction shuttle traveling system according to the technical solution of the present invention.

Fig. 7 is a schematic view of the contact between the four-way shuttle board walking system and the female walking track in the female walking process according to the technical scheme of the present invention.

Fig. 8 is a schematic view of the contact between the four-way shuttle board walking system and the sub-direction walking track in the sub-direction walking process according to the technical scheme of the present invention.

Detailed Description

In order to facilitate the understanding of the technical solutions of the present invention by those skilled in the art, the technical solutions of the present invention will now be further described with reference to the drawings attached to the specification.

In order to facilitate understanding of the structures of the four-way shuttle plate and the four-way shuttle plate traveling system and the positions of components in the four-way shuttle plate traveling system, the schematic structural diagram of the four-way shuttle plate traveling system is simplified, and the schematic structural diagram of the four-way shuttle plate traveling system shown in fig. 1 is obtained. In fig. 1 there are: the device comprises a vehicle body 100, a primary walking system 20, two primary driving walking wheel boxes 21, two primary driven walking wheel boxes 22, a first wheel box installation component 23 for connecting and installing the two primary driven walking wheel boxes 22, a second wheel box installation component 24 for connecting and installing the two primary driving walking wheel boxes 21, a secondary walking system 30, a secondary driving walking wheel 31, a secondary driven walking wheel 32 and a limiting guide wheel 33.

As shown in fig. 1, the two primary driving traveling wheel boxes 21 are respectively provided with a primary driving traveling wheel 211, and the two primary driven traveling wheel boxes 22 are respectively provided with a primary driven traveling wheel 221. When the shuttle plate works and carries out the primary walking, the four primary walking wheels (two primary driving walking wheels 211 and two primary driven walking wheels 221) are in contact with the primary walking track 200 to realize the walking. However, in practice, some errors can occur in the machining and installation of the shuttle plate, the shuttle plate vehicle body is stressed and deformed after long-term working, the machining and installation of the walking track of the shuttle plate vehicle body can also have errors, the track is uneven, the track deforms after long-term use, foreign matters and other problems can be caused on the track, and the four primary walking wheels (two primary driving walking wheels 211 and two primary driven walking wheels 221) on the shuttle plate can not be in contact with the primary walking track 200 at the same time, so that the shuttle plate vehicle body can not be completely attached. When the four primary traveling wheels (the two primary driving traveling wheels 211 and the two primary driven traveling wheels 221) and the primary traveling track cannot be contacted and attached at the same time, a certain primary traveling wheel tilting occurs, the wheel edge of the tilted primary traveling wheel spans the primary traveling track along with the continuous traveling, the automatic recovery is difficult, the continuous traveling of the shuttle plate is influenced, and even the derailment risk can occur. In order to solve the problem, the utility model discloses technical scheme's four-way shuttle traveling system is proposed. The four-way shuttle walking system is described in detail below.

As shown in fig. 1 and fig. 2, the technical solution of the present invention is a four-way shuttle board walking system, which comprises a vehicle body 100, a walking driving system 50 installed on the vehicle body 100, and a child-direction walking system 30 and a parent-direction walking system 20 driven by the walking driving system 50 to walk.

The primary traveling system 20 includes two primary driving traveling wheel boxes 21 and two primary driven traveling wheel boxes 22. A first wheel box mounting assembly 23 is connected between the two female driven traveling wheel boxes 22. First wheel box installation component 23 includes first mounting panel 231, passes first mounting panel 231 and is the installation axle 232 of level form setting and through the floating frame 233 of installation axle 232 with first mounting panel installation 231, and the both ends of floating frame 233 can be around installation axle 232 luffing motion. The two driven traveling gear boxes 22 are respectively installed at both ends of the floating frame 233, and the two driven traveling gear boxes 22 can swing up and down along with the installation shaft 232.

Based on above-mentioned technical scheme, through the setting of floating frame 233 and installation axle 232, change two mothers originally to the four point structures of initiative walking wheel and two mothers to driven walking wheels in the mother to traveling system into two mothers to initiative walking wheel and floating frame and two mothers to holistic three point structures of driven walking wheel. The three-point structure forms a stable surface, thereby ensuring that the two primary driving traveling wheels 211 and the two primary driven traveling wheels 221 are attached to the primary traveling rail 200 in real time. Therefore, the problem that one traveling wheel of the two master-drive traveling wheels 211 and the two master-driven traveling wheels 221 spans the master-drive traveling track 200 is avoided, and the derailment problem is avoided.

Based on the technical scheme, when the shuttle plate walks along the primary direction, if the track is uneven or the four primary direction walking wheels (the two primary direction driving walking wheels 211 and the two primary direction driven walking wheels 221) are not completely in a plane, the two primary direction driving walking wheels 211 can be always attached to the primary direction walking track, and the two primary direction driven walking wheels 221 swing along with the floating frame 233. The floating frame 233 swings to drive the two driven parent-directional traveling wheels 221 to fluctuate along the track or move up and down along the shuttle plate vehicle body, so that the two driven parent-directional traveling wheels 221 are ensured to be completely attached to the parent-directional traveling track, and the problem that a certain parent-directional traveling wheel tilts or spans the parent-directional traveling track is solved.

As shown in fig. 1, 3, and 4, in the present embodiment, the first mounting plate 231 is horizontally disposed and connected to the vehicle body 100. The floating frame 233 includes two opposite upright side plates 2331 respectively disposed on two sides of the first mounting plate 231, and a connecting end plate 2332 is fixedly connected to each of two ends of the two side plates 2331. The two connecting side plates 2331 and the two connecting end plates 2332 form a floating frame 23 in a rectangular frame shape. The two ends of the mounting shaft 232 pass through the two connecting side plates 2331, and the two driven traveling wheel boxes 22 are mounted to the two connecting end plates 2332.

Based on the above technical scheme, the first mounting plate 231 realizes the mounting of the floating frame 233, the floating frame 233 realizes the mounting of the two driven traveling wheel boxes 22 in the generatrix direction, and the two driven traveling wheel boxes 22 in the generatrix direction swing along with the floating frame 233. The floating frame comprises a structure of two connecting side plates 2331 and two connecting end plates 2332, so that the stability of the floating frame 233 is ensured, the reliability of the installation of the floating frame 233 on the two bus-direction driven traveling wheel boxes 22 is ensured, the supporting capacity and the stability of the two bus-direction driven traveling wheel boxes 22 during traveling on a bus-direction traveling track are ensured, and the traveling stability of the shuttle plate is ensured.

As shown in fig. 4, the box 22 includes a box-driven road wheel 221 and a trailing axle 222 for mounting the box-driven road wheel 221, and the trailing axle 222 is mounted to the connecting end plate 2332 by a bearing. The primary driven traveling wheel box 22 has a simple structure and is convenient to install.

As shown in fig. 4, the axes of the two driven axles 222 are coincident and both disposed horizontally and perpendicular to the mounting shaft 232. According to the technical scheme, the axes of the two driven wheel shafts 222 are overlapped, the two driven traveling wheels 221 are oppositely arranged, the driven traveling wheels 221 are respectively located on two opposite driven traveling rails, the two driven traveling wheels 211 in the same mode are respectively located on the two opposite driven traveling rails, when the driven traveling wheels travel in the driven direction, the two driven traveling wheels 211 and the two driven traveling wheels 221 are arranged in the front-back position, the two driven traveling wheels 211 are always attached to the driven traveling rails, the two driven traveling wheels 221 fluctuate along with the driven traveling rails or fluctuate along with the driven traveling rails along with the shuttle plates, and therefore the two driven traveling wheels 211 and the two driven traveling wheels 221 are ensured to be attached to the driven traveling rails all the time.

In the present solution, as shown in fig. 1 and fig. 2, a second wheel box installation component 24 is connected between the two primary driving traveling wheel boxes 21. The second wheel box mounting assembly 24 includes a second mounting plate 241 horizontally disposed and a fixing frame 242 fixedly connected to the second mounting plate 241. Two main-direction active traveling wheel boxes 21 are respectively installed at both ends of the fixing frame 242. The second mounting plate 241 realizes the mounting of the fixing frame 242, and the fixing frame 242 realizes the mounting of the two main wheels to the active traveling wheel box 21.

In the present technical solution, as shown in fig. 1 and fig. 2, the primary driving traveling wheel box 21 includes a primary driving traveling wheel 211, a driving wheel shaft 212 for mounting the primary driving traveling wheel 211, and a transmission box 213 for connecting the driving wheel shaft 212 and the traveling drive system 50. The driving wheel shaft 212 and the transmission case 213 are both fixedly mounted to the fixing frame 242.

As shown in fig. 5, the transmission box 213 includes a transmission box body 2131 fixed to an end of the fixing frame 24, an input shaft 2132 extending out of the transmission box body 2131 and connected to the walking drive system 50, and a transmission assembly 2133 for transmitting the input shaft 2132 to the driving wheel shaft 212. One end of the driving wheel shaft 212 extends into the transmission case body 2131 and is connected with the transmission assembly 2133, and the other end is fixedly connected with the primary driving travelling wheel 211. The transmission case 213 realizes the connection and power transmission between the walking drive system 50 and the primary driving traveling wheel 211, drives the primary driving traveling wheel 211 to rotate, and realizes the primary traveling.

The drive assembly 2133 is of conventional construction in the art, such as a drive sprocket mounted on the drive axle 212 and the input shaft 2132, respectively, and a drive chain that passes around both drive sprockets. The walking driving system 50 works to drive the input shaft 2132 to rotate, the input shaft 2132 drives the transmission chain wheel on the input shaft to rotate, the transmission chain wheel drives the transmission chain wheel on the driving wheel shaft 212 to rotate through the transmission chain, so that the driving wheel shaft 212 rotates, and the driving wheel shaft 212 drives the primary driving walking wheel 211 to rotate, and walking is achieved.

In this technical scheme, the primary driving traveling wheel 211 and the primary driven traveling wheel 221 both include a primary traveling wheel body and a limiting wheel rim 220 fixedly connected to the inner end face of the primary traveling wheel body. The setting of spacing wheel limit 220 realizes protection and protection to the female inner end face of walking wheel body on the one hand, avoids automobile body and female to taking place the friction between the walking track and damages the problem, and another realizes carrying on spacingly to the walking wheel body as the face, avoids when female to walking, and the shuttle plate appears along female to walking wheel body axis direction removal problem.

In the present embodiment, as shown in fig. 5, the sub-directional traveling system 30 includes a plurality of sub-directional driving traveling wheels 31, a plurality of sub-directional driven traveling wheels 32, and a plurality of limit guide wheels 33 respectively disposed at two sides of the vehicle body 100. A sub-directional traveling shaft 34 driven by a traveling driving system 50 is connected between a pair of sub-directional active traveling wheels 31 positioned at two sides of the vehicle body, and the sub-directional active traveling wheels connected with the sub-directional traveling shaft 34 drive the remaining sub-directional active traveling wheels at the same side; the axis of the limit guide wheel 33 is vertical.

In the technology, the subsidiary traveling shaft 34 drives the remaining subsidiary traveling wheels on the same side of the subsidiary traveling wheels 31 through the chain and sprocket transmission assembly 35. This technical scheme's setting increases son to 31 quantity of initiative walking wheel on the one hand, improves the shuttle and carries bearing capacity, and on the other hand can ensure holistic son to traveling system 30 compact structure, overall arrangement simple to operate, and the shuttle is small.

Based on the technical scheme, when the lifting plate 101 of the shuttle plate is in the middle position or the high position according to the working state of the shuttle plate in the secondary-direction walking direction, the secondary-direction walking is carried out, and when the secondary-direction walking is carried out, the four primary-direction walking wheels (the two primary-direction driving walking wheels 211 and the two primary-direction driven walking wheels 221) are all lifted up, so that the height of the original primary-direction walking track is separated, and the reversing from the primary-direction walking to the secondary-direction walking is realized. As shown in fig. 8, the shuttle plate travels along the secondary traveling rail 300, a shelf supporting rail 400 is further integrally installed above the secondary traveling rail 300, the top surface of the shelf supporting rail 400 is higher than the middle position of the lifting plate 101 of the shuttle plate, and when the lifting plate 101 of the shuttle plate is in the middle position, the shuttle plate can pass through the bottom of the shelf or the goods. When the shuttle plate walks towards the walking track 300, the limiting guide wheel 33 can be abutted against the inner side surface of the goods shelf supporting track 400, so that the shuttle plate is positioned, the shuttle plate is prevented from moving towards the axis direction of the driving walking wheel 31 along the shuttle plate, namely the limiting guide wheel 33 is arranged, the shuttle plate is positioned towards the walking, and the shuttle plate is prevented from deviating towards the walking.

In the present embodiment, as shown in fig. 2 and 5, the travel driving system 50 includes a travel motor 51 and a speed reducer 52 connected to the travel motor 51 and having two output shafts. The outer ends of the two output shafts of the speed reducer are respectively connected with a universal coupling 53, and the two universal couplings 53 are respectively connected with the input shafts 2132 of the two transmission boxes 213 to drive the two primary driving travelling wheels 211 to rotate. An input shaft of the speed reducer 52 is connected to an output shaft of the traveling motor 51 through a coupling, and a sub-directional transmission wheel is sleeved on the input shaft of the speed reducer 52 and drives the sub-directional transmission wheel to rotate toward the traveling shaft. The sub-directional transmission wheel is a chain wheel, and the sub-directional transmission wheel is driven by a chain 54 to rotate towards the chain wheel on the traveling shaft 34. The belt mover rotates toward the traveling shaft 34, and the driving mover rotates toward the driving traveling wheel 31.

As shown in fig. 7, for the utility model discloses technical scheme's a quadriversal shuttle traveling system female when to the walking with female to the track contact schematic diagram that walks, as shown in fig. 8, do the utility model discloses technical scheme's a quadriversal shuttle traveling system when son to the walking with son to the track contact schematic diagram that walks. The lifting plate of the shuttle plate is positioned at the lowest position to carry out the female walking, and at the moment, the shuttle plate generally carries out automatic circulation turnover outside the goods shelf or carries out the transfer and the transfer of goods among the goods shelves outside. When the jacking plate of the shuttle plate is positioned at the middle position or the high position, the shuttle plate walks in the goods shelf, and when the jacking plate is positioned at the high position, the jacking plate jacks up goods in the goods shelf, so that the goods are transferred inside the goods shelf. When the jacking plate is located in the middle position, no goods are arranged on the jacking plate, sub-walking is still carried out at the moment, the shuttle plate walks on the sub-track at the bottom of the goods in the goods shelf at the moment, the bottom of the goods on the goods shelf passes through the shuttle plate, and the first-in first-out or first-in last-out operation control of the shuttle plate is realized.

To facilitate a further understanding of the child-to-mother travel and the child-to-mother travel of the shuttle plate, a description is given below of the child-to-mother travel conversion of the shuttle plate.

As shown in fig. 4, the shuttle plate has two first lifting plates 101 and two second lifting plates 102, and the first lifting plates 101 and the second lifting plates 102 are lifted synchronously to lift and lower the goods. The bottom of the second mounting plate 241 and the bottom of the first mounting plate 231 are respectively connected with a jacking driving assembly. The second mounting plate 241 and the first mounting plate 231 are mounted to the vehicle body 100 through the jacking driving assembly, respectively. The jacking driving assembly at the bottom of the first mounting plate 231 has a first cylinder 1021 and two scissors lifting assemblies 1022 driven by the first cylinder 1021, and the two scissors lifting assemblies 1022 are respectively mounted at the bottom of the first mounting plate 231 near two ends. The jacking driving component at the bottom of the second mounting plate 241 is provided with a second oil cylinder 1011 and two scissor lifting components 1012 driven by the second oil cylinder 1011, and the two scissor lifting components 1012 are respectively mounted at the bottom of the second mounting plate 241 near to the two ends.

The second oil cylinder 1011 and the first oil cylinder 1021 work to drive the second mounting plate 241 and the first mounting plate 231 to rise, the two primary driving walking wheel boxes 21 and the two primary driven walking wheel boxes 22 mounted on the second mounting plate 241 and the first mounting plate 231 are jacked up, and at the moment, the positions of the four primary walking wheels (the two primary driving walking wheels 211 and the two primary driven walking wheels 221) are higher than the positions of the secondary walking wheels (the plurality of secondary driving walking wheels 31 and the plurality of secondary driven walking wheels 32) in the secondary walking system 30, so that secondary walking is carried out. After the second oil cylinder 1011 and the first oil cylinder 1021 are completely decompressed, the second oil cylinder 1011 and the first oil cylinder 1021 finish stopping work, the second mounting plate 241 and the first mounting plate 231 are located at the most ground position, and the positions of the four primary traveling wheels are lower than those of the secondary traveling wheels, so that primary traveling is realized.

Certainly, the mother-to-walking track and the son-to-walking track can be reasonably designed, so that when the son walks, the mother-to-walking system does not need to be jacked, and the son-to-walking and the mother-to-walking switching can be realized only through the switching and the positioning of the tracks.

The technical solution of the present invention is to provide an improved method for manufacturing a semiconductor device, which is characterized in that the method is not limited by the above-mentioned method, and the method is not substantially improved by the method and the device, or the method and the device are directly applied to other occasions without improvement, all within the protection scope of the present invention.

Claims (10)

1. The utility model provides a quadriversal shuttle board traveling system, includes the automobile body, install in traveling drive system on the automobile body and by the son of traveling drive system drive walking is to traveling system and mother to traveling system, mother includes two mothers to initiative walking wheel case and two mothers to driven walking wheel case, its characterized in that: a first wheel box installation component is connected between the two driven traveling wheel boxes in the female direction; first wheel case installation component includes first mounting panel, passes first mounting panel just is the installation axle that the level form set up and passes through the installation axle with the floating frame of first mounting panel installation, the both ends of floating frame can wind installation axle luffing motion, and two mother install respectively to driven walking wheel case the both ends of floating frame.

2. A four-way shuttle walking system according to claim 1, wherein: the first mounting plate is horizontally arranged and connected with the vehicle body; the floating frame comprises two connecting side plates which are opposite and are vertically arranged on two sides of the first mounting plate respectively, two connecting end plates are fixedly connected to two ends of the two connecting side plates respectively, the two connecting side plates and the two connecting end plates form the floating frame in a rectangular frame shape, two ends of the mounting shaft penetrate through the two connecting side plates respectively, and two female driven walking wheel boxes are mounted with the two connecting end plates respectively.

3. The four-way shuttle plate walking system according to claim 2, wherein: the female driven walking wheel box comprises a female driven walking wheel and a driven wheel shaft used for installing the female driven walking wheel, and the driven wheel shaft is installed with a connecting end plate through a bearing.

4. A four-way shuttle walking system according to claim 3, wherein: the axes of the two driven wheel shafts are overlapped and are both horizontally arranged and vertical to the mounting shaft.

5. A four-way shuttle walking system according to claim 1, wherein: the two nuts are connected with a second wheel box mounting assembly between the active walking wheel boxes, the second wheel box mounting assembly comprises a second mounting plate which is horizontally arranged and a fixing frame fixedly connected with the second mounting plate, and the two nuts are respectively mounted at two ends of the fixing frame to the active walking wheel boxes.

6. The four-way shuttle plate walking system according to claim 5, wherein: the female-direction driving walking wheel box comprises a female-direction driving walking wheel, a driving wheel shaft for mounting the female-direction driving walking wheel and a transmission box for connecting the driving wheel shaft with the walking driving system; the driving wheel shaft and the transmission case are fixedly mounted with the fixing frame.

7. The four-way shuttle board walking system of claim 6, wherein: the transmission case comprises a transmission case body fixedly connected with the end part of the fixing frame, an input shaft extending out of the transmission case body and connected with the walking drive system, and a transmission assembly for realizing transmission of the input shaft and the driving wheel shaft; one end of the driving wheel shaft extends into the transmission box body and is connected with the transmission assembly, and the other end of the driving wheel shaft is fixedly connected with the primary driving travelling wheel.

8. A four-way shuttle board walking system according to claim 7, wherein: the main driven walking wheels and the main driving walking wheels respectively comprise main walking wheel bodies and limiting wheel edges fixedly connected to the inner end faces of the main walking wheel bodies.

9. The four-way shuttle plate walking system according to claim 1, wherein: the sub-directional traveling system comprises a plurality of sub-directional driving traveling wheels, a plurality of sub-directional driven traveling wheels and a plurality of limiting guide wheels which are respectively arranged on two sides of the vehicle body; a sub-directional traveling shaft driven by a traveling driving system is connected between a pair of sub-directional driving traveling wheels positioned at two sides of the vehicle body, and the sub-directional driving traveling wheels connected with the sub-directional traveling shaft drive the remaining sub-directional driving traveling wheels at the same side; the axis of the limiting guide wheel is vertical.

10. The four-way shuttle plate walking system according to claim 1, wherein: the walking driving system comprises a walking motor and a speed reducer which is connected with the walking motor and is provided with two output shafts, the outer ends of the two output shafts of the speed reducer are respectively connected with a universal coupling, and the two universal couplings are respectively connected with the input shafts of the two transmission boxes;

an input shaft of the speed reducer is connected with an output shaft of the walking motor through a coupling, and a sub-directional driving wheel is sleeved on the input shaft of the speed reducer and drives the sub-directional driving wheel to rotate towards the walking shaft.

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