CN220466468U

CN220466468U - Jacking reversing linkage mechanism and four-way shuttle vehicle using same

Info

Publication number: CN220466468U
Application number: CN202322131784.9U
Authority: CN
Inventors: 李想; 杨哲; 周泽丽; 武名虎; 田阔
Original assignee: Beizisuo Beijing Technology Development Co ltd
Current assignee: Beizisuo Beijing Technology Development Co ltd
Priority date: 2023-08-09
Filing date: 2023-08-09
Publication date: 2024-02-09
Anticipated expiration: 2033-08-09

Abstract

The utility model provides a jacking reversing linkage mechanism and a four-way shuttle car applying the same, relates to the technical field of shuttle cars, and mainly aims to provide the jacking reversing linkage mechanism so as to reduce the overall height of the four-way shuttle car and improve the space utilization rate of a goods shelf. The jacking reversing linkage mechanism comprises a jacking assembly, a reversing assembly and a driving assembly, wherein the jacking assembly comprises a jacking rocker arm, and the jacking rocker arm swings to enable the jacking assembly to be switched between a jacking state and a non-jacking state; the reversing assembly comprises a reversing rocker arm which swings to enable the reversing assembly to be switched between a reversing state and a non-reversing state; the driving assembly comprises a transmission shaft, the jacking rocker arm and the reversing rocker arm are connected with the transmission shaft, and an included angle is formed between the jacking rocker arm and the reversing rocker arm on the projection area of the transmission shaft in the axial direction; the rotation of the transmission shaft can drive the jacking rocker arm and the reversing rocker arm to swing, and when the jacking rocker arm jacks up relative to the transmission shaft to enable the jacking assembly to be in a jacking state, the reversing assembly is in a non-reversing state.

Description

Jacking reversing linkage mechanism and four-way shuttle vehicle using same

Technical Field

The utility model relates to the technical field of shuttling vehicles, in particular to a jacking reversing linkage mechanism and a four-way shuttling vehicle using the same.

Background

Intelligent manufacturing technology has driven rapid development and innovation of automated stereoscopic warehouse, and particularly dense storage technology has been increasingly used in recent years. Compared with a common stereoscopic warehouse, the four-way shuttle vehicle dense storage can improve the land utilization rate and the space utilization rate, reduce the operation energy consumption and save the investment cost, thereby being widely applied to the industries of food, electronics and the like. The four-way shuttle vehicle integrates functions of four-way driving, in-situ rail replacement, automatic goods storage and the like, and is a core product of the intelligent dense storage system. Generally, the main actions of the four-way shuttle device comprise X/Y direction walking, jacking and reversing, wherein the core mechanical structure is a jacking reversing device, the jacking refers to jacking and descending of carriers such as a tray and the like, and the reversing refers to in-situ rail changing and shuttle side walking direction changing so as to finish the operations of crossing a roadway or entering and exiting a warehouse.

At present, a jacking reversing structure in a four-way shuttle on the market is mainly of split design and is respectively driven and controlled, wherein the reversing structure is mainly of a cam structure or a hydraulic structure: the cam structure is easy to wear under the condition of large load of the shuttle, so that the precision of a cam profile curve is affected, and the cam is difficult to manufacture and has high processing cost; the hydraulic structure can have the problem of hydraulic oil leakage after being used for a certain time, so that the operation environment is polluted. Most importantly, the two structures are relatively large in size, so that the cruising and other functions of the shuttle are not affected, the vehicle body needs to be subjected to heightening treatment, and finally the overall height of the vehicle body of the four-way shuttle is high, so that the space utilization rate of a goods shelf is affected.

In order to solve the problems, the four-way shuttle structure is further optimized, the body size is reduced on the premise of realizing simple control of the jacking reversing structure, and a novel jacking reversing linkage mechanism and the four-way shuttle with the same are required to be developed.

Disclosure of Invention

The utility model aims to provide a jacking reversing linkage mechanism and a four-way shuttle car applying the same, so as to solve the technical problem that a jacking structure in the prior art is inconvenient to use. The preferred technical solutions of the technical solutions provided by the present utility model can produce a plurality of technical effects described below.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the jacking reversing linkage mechanism provided by the utility model comprises the following components:

the jacking assembly comprises a jacking rocker arm, and the jacking rocker arm swings to enable the jacking assembly to be switched between a jacking state and a non-jacking state;

the reversing assembly comprises a reversing rocker arm, and the reversing rocker arm swings to enable the reversing assembly to be switched between a reversing state and a non-reversing state;

the driving assembly comprises a transmission shaft, the jacking rocker arm and the reversing rocker arm are connected with the transmission shaft, and an included angle is formed between the jacking rocker arm and the reversing rocker arm on the projection area of the transmission shaft in the axial direction;

the transmission shaft rotates to drive the jacking rocker arm and the reversing rocker arm to swing, and when the jacking rocker arm jacks up relative to the transmission shaft to enable the jacking assembly to be in a jacking state, the reversing assembly is in a non-reversing state.

The jacking component and the reversing component are connected with the transmission shaft, so that the linkage control of the jacking component and the reversing component can be conveniently realized; in addition, the state switching of the reversing assembly can be realized through the swinging mode of the reversing rocker arm, compared with a traditional structure, the reversing rocker arm is simpler in structure and lower in processing cost, can help to save the internal space of a vehicle body, and is beneficial to carrying out light and thin improvement on the vehicle body of the shuttle.

On the basis of the technical scheme, the utility model can be improved as follows.

As a further improvement of the utility model, the jacking assembly further comprises a jacking cover plate positioned above the jacking rocker arm, and when the transmission shaft rotates, the jacking rocker arm swings along with the transmission shaft and jacks the jacking cover plate to move up and down.

As a further improvement of the utility model, the reversing assembly also comprises a reversing slide block capable of driving the Y-direction travelling mechanism to move, a strip-shaped slotted hole is formed on the reversing slide block, and the free end of the reversing rocker arm is connected with the reversing slide block through the strip-shaped slotted hole;

when the reversing rocker arm rotates under the drive of the transmission shaft, the reversing slide block can move up and down along with the reversing rocker arm.

As a further improvement of the utility model, the reversing assembly further comprises a reversing guide seat which is in matched connection with the reversing slide block;

the middle part of the reversing guide seat is provided with a guide hole, the reversing slide block is provided with a reversing guide column which can be inserted into the guide hole, and when the reversing slide block moves up and down, the reversing guide column moves up and down relative to the reversing guide seat.

As a further improvement of the utility model, the included angle formed by the jacking rocker arm and the reversing rocker arm on the projection area of the axial direction of the transmission shaft is 60-120 degrees.

As a further development of the utility model, the angle is 90 °.

As a further improvement of the present utility model, the swing range of the jacking rocker arm and the swing range of the reversing rocker arm are only partially overlapped, and when the jacking rocker arm swings up and down relative to the transmission shaft, the reversing rocker arm swings back and forth relative to the transmission shaft through the lower part of the transmission shaft.

The reversing rocker arm can only swing back and forth under the transmission shaft, and the possibility that the reversing slide block slides upwards relative to the transmission shaft can be avoided under the premise that the reversing function can be normally realized by the structural design, so that the height of a vehicle body is reduced, and the light and thin design of the vehicle body is realized.

The utility model also provides a four-way shuttle which comprises the jacking reversing linkage mechanism, a vehicle body, an X-direction travelling mechanism and a Y-direction travelling mechanism; the Y-direction travelling mechanism can move up and down relative to the car body under the drive of the reversing assembly.

Compared with the prior art, the technical scheme provided by the preferred embodiment of the utility model has the following beneficial effects:

compared with the traditional four-way shuttle, the lifting reversing linkage mechanism provided by the embodiment effectively reduces the number of required related structures in a way of linking the lifting mechanism and the reversing structure, reduces the occupation of the space in the vehicle body on the premise of reducing the processing cost of the vehicle body, and realizes the light-weight design of the vehicle body in a way of saving the space in the vehicle; meanwhile, the requirements on the thickness of the vehicle body are effectively reduced through the structure, the height of the vehicle body can be further reduced, and the space utilization rate of a goods shelf or a goods warehouse is further improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the jacking reversing linkage of the present utility model;

FIG. 2 is a schematic view of a portion of the structure of the lift-up reversing linkage of the present utility model;

FIG. 3 is a schematic diagram of the structure of the reversing slide block in the jacking reversing linkage mechanism of the utility model;

FIG. 4 is a schematic diagram of the cooperation of the jacking assembly, reversing assembly and drive assembly in the jacking reversing linkage of the present utility model;

FIG. 5 is a schematic view of the structure of FIG. 4 at another angle;

FIG. 6 is a schematic view of the overall structure of the four-way shuttle of the present utility model;

FIG. 7 is a schematic view of the internal structure of the four-way shuttle of the present utility model;

FIG. 8 is a schematic diagram of a state switch of the four-way shuttle of the present utility model;

FIG. 9 is a schematic diagram of the relative positions of a lifting rocker arm and a reversing rocker arm of the lifting reversing linkage mechanism in the full-load state on an X track;

FIG. 10 is a schematic diagram of the relative positions of a lifting rocker arm and a reversing rocker arm of the lifting reversing linkage mechanism in an unloaded state on an X track;

FIG. 11 is a schematic diagram of the relative positions of the lift rocker arm and the reversing rocker arm of the lift reversing linkage of the present utility model when on the Y-track.

In the figure: 1. a jacking assembly; 11. lifting the rocker arm; 111. jacking the bearing; 12. lifting the cover plate; 2. a reversing assembly; 21. a reversing rocker arm; 211. a reversing bearing; 22. a reversing slide block; 221. a bar-shaped slot; 222. a reversing guide post; 23. a reversing guide seat; 231. a guide hole; 3. a drive assembly; 31. a transmission shaft; 32. a driving motor; 4. a vehicle body; 5. an X-direction travelling mechanism; 6. and a Y-direction travelling mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, based on the examples herein, which are within the scope of the utility model as defined by the claims, will be within the scope of the utility model as defined by the claims.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood as appropriate by those of ordinary skill in the art.

The technical scheme of the utility model is specifically described below with reference to the accompanying drawings.

The utility model provides a jacking reversing linkage mechanism, which comprises a jacking component 1, a reversing component 2 and a driving component 3, wherein the jacking component 1 comprises a jacking rocker arm 11, and the jacking rocker arm 11 swings to enable the jacking component 1 to be switched between a jacking state and a non-jacking state; the reversing assembly 2 comprises a reversing rocker arm 21, and the reversing rocker arm 21 swings to enable the reversing assembly 2 to be switched between a reversing state and a non-reversing state; the driving assembly 3 comprises a transmission shaft 31, the jacking rocker arm 11 and the reversing rocker arm 21 are connected with the transmission shaft 31, and an included angle is formed between the jacking rocker arm 11 and the reversing rocker arm 21 on the projection area of the transmission shaft 31 in the axial direction; the rotation of the transmission shaft 31 can drive the lifting rocker arm 11 and the reversing rocker arm 21 to swing, and when the lifting rocker arm 11 is lifted upwards relative to the transmission shaft 31 to enable the lifting assembly 1 to be in a lifting state, the reversing assembly 2 is in a non-reversing state.

Because the jacking component 1 and the reversing component 2 are connected with the transmission shaft 31, the linkage control of the jacking component 1 and the reversing component 2 can be conveniently realized; in addition, the reversing rocker arm 21 can switch the state of the reversing assembly 2 in a swinging manner, compared with a traditional structure, the reversing rocker arm is simpler in structure and lower in processing cost, can help to save the internal space of the vehicle body 4, and is beneficial to improving the thinning of the vehicle body 4 of the shuttle.

It should be noted that, since the jacking and reversing linkage is applied to the vehicle body 4, the number and arrangement positions of the jacking rocker arms 11 and the reversing rocker arms 21 described above need to be adaptively adjusted according to actual needs. In this embodiment, the number of the transmission shafts 31 is two, the two transmission shafts 31 are symmetrically arranged at two sides of the vehicle body 4, and the two transmission shafts 31 can synchronously rotate under the drive of the corresponding driving motors 32; the number of the jacking rocker arms 11 and the reversing rocker arms 21 is four, the jacking rocker arms 11 and the reversing rocker arms 21 are respectively distributed at corresponding positions on four corners of the vehicle body 4, two jacking rocker arms 11 and two reversing rocker arms 21 are symmetrically arranged on any one transmission shaft 31, and the structure and the distribution positions are shown in fig. 1 and 2.

In the present embodiment, the above-described driving motor 32 is disposed between two transmission shafts 31 and is connected to the transmission shafts 31 through a transmission chain (not shown). Of course, the drive of the drive shaft 31 may be realized by belt transmission, gear transmission, or the like.

The following describes the structure of the jacking assembly 1 in detail:

the jacking assembly 1 is used for lifting goods. To achieve this effect, as an alternative embodiment, the jacking assembly 1 further comprises a jacking cover 12, the jacking cover 12 being located above the jacking rocker arm 11. When the transmission shaft 31 rotates, the lifting rocker arm 11 swings with the transmission shaft, and when the upper end of the transmission shaft contacts with the lifting cover plate 12, the lifting cover plate 12 can move with the transmission shaft under the pushing of the lifting rocker arm 11 until the lifting rocker arm 11 and the lifting cover plate are separated. In this process, the lift cover 12 can be lifted and lowered by pushing the lift rocker 11.

The structure of the lifting rocker arm 11 is a driven rocker arm structure, one end of which is fixedly connected with the transmission shaft 31, and the other end of which is formed with a lifting shaft along the thickness direction thereof, and a lifting bearing 111 is sleeved on the part of the lifting shaft located outside the rocker arm. When the lift arm 11 swings, the lift arm 11 can be connected to the lift cover 12 via the lift bearing 111. The lifting bearing 111 can enable lifting movement of the lifting cover plate 12 to be stable, and meanwhile, friction force between the lifting rocker arm 11 and the lifting cover plate 12 can be reduced, and serious abrasion of the lifting cover plate 12 and the lifting rocker arm 11 after multiple uses is avoided.

In order to ensure that the lifting cover 12 can only be moved up and down relative to the lifting rocker 11, the part of the lifting cover 12 that is in contact with the vehicle body 4 is provided with a guide structure, and the lifting cover 12 can limit its movement path and movement direction by means of a suitable guide structure.

It will be appreciated that the jacking function of the mechanism may be achieved by the above arrangement.

The structure of the reversing assembly 2 is described below:

the reversing assembly 2 is used to switch the traveling direction and the traveling path of the vehicle body 4, and in the present embodiment, the reversing assembly 2 is used to control the vehicle body 4 to switch between the X-axis traveling direction and the Y-axis traveling direction. To achieve this effect, as an alternative embodiment, the reversing assembly 2 further includes a reversing slide 22 capable of driving the Y-direction travelling mechanism 6 to move, a bar-shaped slot 221 is formed on the reversing slide 22, and the free end of the reversing rocker 21 is connected to the reversing slide 22 through the bar-shaped slot 221; when the reversing rocker arm 21 rotates under the drive of the transmission shaft 31, the reversing slide block 22 can move up and down.

When the reversing slide block 22 moves up and down, the Y-direction travelling mechanism 6 connected with the reversing slide block can also synchronously move up and down, and in the process, when the Y-direction travelling mechanism 6 moves up until the lower edge of the Y-direction travelling mechanism 6 is higher than the X-direction travelling mechanism 5 (when the Y-direction travelling mechanism 6 is in a suspended state), the shuttle can only move in the X direction; conversely, when the Y-direction traveling mechanism 6 moves upward until the lower edge of the Y-direction traveling mechanism 6 is lower than the X-direction traveling mechanism 5 (when the X-direction traveling mechanism 5 is in a suspended state), the shuttle can move only in the Y-direction.

Generally, the above-mentioned X direction and Y direction are respectively provided with a corresponding track structure, and the above-mentioned track structures are distributed on a plane and are mutually perpendicular.

The reversing assembly 2 can realize the reversing operation of the corresponding shuttle by changing the height of the Y-direction travelling mechanism 6.

In general, in order to ensure that the Y-direction traveling mechanism 6 can stably perform lifting and reversing, reversing assemblies 2 are disposed at both ends of the Y-direction traveling mechanism 6 in the longitudinal direction.

In order to make the reversing process smoother and realize the limit of the reversing assembly 2 at the same time, as an alternative embodiment, the reversing assembly 2 further comprises a reversing guide seat 23 which is in matched connection with the reversing slide block 22; a guide hole is formed in the middle of the reversing guide seat 23, a reversing guide column 222 capable of being inserted into the guide hole is formed on the reversing slide block 22, and when the reversing slide block 22 moves up and down, the reversing guide column 222 moves up and down relative to the reversing guide seat 23.

In this embodiment, two reversing guide posts 222 are formed on any one of the reversing slide blocks 22, as shown in fig. 3.

The reversing rocker arm 21 is basically identical to the lifting rocker arm 11 in structure, and is inserted into the bar-shaped slot 221 of the reversing slider 22 through the reversing bearing 211 and slidably connected to the reversing slider 22.

Under the limiting action of the guide structure, the reversing slide block 22 can only lift and move under the drive of the reversing rocker arm 21.

In this embodiment, as shown in fig. 4 and 5, the matching structures of the jacking component 1, the reversing component 2 and the driving component 3 can be clearly seen from the drawings, the jacking rocker 11 and the reversing rocker 21 form an included angle on the projection area of the transmission shaft 31 in the axial direction, and the included angle is greater than 0 degree and less than 180 degrees.

In this embodiment, the included angle is in the range of 60 ° -120 °.

In order to achieve the best jacking reversing linkage effect, in the embodiment, the included angle is set to be 90 degrees, and the jacking rocker arm 11 and the reversing rocker arm 21 are perpendicular to each other.

When the jacking reversing linkage mechanism works, the transmission shaft 31 can be driven to rotate within a certain range. Since an angle exists between the lift rocker arm 11 and the reversing rocker arm 21, the swing range of the lift rocker arm 11 and the swing range of the reversing rocker arm 21 only partially overlap.

In order to prevent the swing arm from interfering with the vehicle body 4 when rotating and to ensure that the vehicle body 4 is light and thin, it is necessary to ensure that the reversing swing arm 21 does not swing upward of the transmission shaft 31.

Specifically, the lifting rocker arm 11 can swing up to down relative to the transmission shaft 31 (note that the maximum amplitude of the swing is 180 degrees), and the reversing rocker arm 21 swings back and forth relative to the transmission shaft 31 via the lower portion of the transmission shaft 31.

The structural design that the reversing rocker arm 21 can only swing back and forth under the driving shaft 31 can avoid the possibility that the reversing slide block 22 slides upwards relative to the driving shaft 31 on the premise of ensuring that the reversing function can be normally realized, so as to help reduce the height of the vehicle body and realize the light and thin design of the vehicle body.

The following describes the relative positions of the lift rocker arm 11 and the reversing rocker arm 21, taking an example in which the included angle is 90 degrees:

when the jacking rocker arm 11 swings to the highest position, the reversing rocker arm 21 points in the horizontal direction at this time; when the jacking rocker arm 11 swings to point to the horizontal direction, the reversing rocker arm 21 swings to the lowest position, and the Y-direction travelling mechanism 6 descends under the driving of the reversing assembly 2; when the lifting rocker 11 swings to the lowest, the reversing rocker 21 is now directed again in the horizontal direction.

The included angle is 90 degrees, is convenient to install and debug, and can be set to other angles according to the needs in actual production.

The utility model also provides a four-way shuttle, as shown in fig. 6, comprising the jacking reversing linkage mechanism of any one of the above, and further comprising a vehicle body 4, an X-direction travelling mechanism 5 and a Y-direction travelling mechanism 6; the Y-direction travelling mechanism 6 can move up and down relative to the vehicle body 4 under the drive of the reversing assembly 2; at least part of the lifting cover 12 is located above the vehicle body 4, and the lifting cover 12 can be driven by the lifting assembly 1 to move up and down relative to the vehicle body 4.

The internal structure of the four-way shuttle is shown in fig. 7, wherein the specific structures of the X-direction traveling mechanism 5 and the Y-direction traveling mechanism 6 are disclosed in the prior art, and are not repeated.

When the four-way shuttle is required to be controlled to carry out cargo transportation or to move on different rails, the jacking component 1 and the reversing component 2 are required to be adjusted according to actual conditions so as to realize state switching of the shuttle, and a specific switching mode is shown in fig. 8.

When the shuttle vehicle runs on the X track and is in a full load state, the relative positions of the lifting rocker 11 and the reversing rocker 21 are shown in fig. 9, the dashed line in fig. 9 represents the lifting rocker 11, and the solid line represents the reversing rocker 21; when the shuttle vehicle walks on the X track and is in an empty state, the relative positions of the jacking rocker arm 11 and the reversing rocker arm 21 are shown in fig. 10; when the shuttle is traveling on the Y track, the relative positions of the lifting rocker 11 and the reversing rocker 21 are as shown in fig. 11.

The above-mentioned switching manner can be controlled by means of corresponding control means. The shuttle may be controlled by a related program stored and run in the control means.

It should be noted that each of the above states is realized in a state in which the X rail is set for cargo handling and transportation and the Y rail is used only for cargo transportation (i.e., the X rail stores cargo and the Y rail does not store cargo). When the storage or transportation requirements of the goods corresponding to the warehouse change, the state corresponding to the X axis or the Y axis can be adaptively adjusted.

It can be appreciated that compared with the traditional shuttle, the four-way shuttle provided by the embodiment has the advantages that the internal space of the vehicle body 4 is effectively saved by carrying out linkage design on the jacking component 1 and the reversing component 2 in the four-way shuttle, meanwhile, the height of the vehicle body 4 is reduced, and the light and thin design of the vehicle body 4 is realized.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A jacking reversing linkage, comprising:

2. The lift-reversing linkage of claim 1, wherein the lift-up assembly further comprises a lift-up cover plate positioned above the lift-up rocker arm, the lift-up rocker arm swinging with and lifting the lift-up cover plate when the drive shaft rotates.

3. The jacking reversing linkage mechanism according to claim 1, wherein the reversing assembly further comprises a reversing slide block capable of driving the Y-direction travelling mechanism to move, a strip-shaped slot hole is formed in the reversing slide block, and the free end of the reversing rocker arm is connected with the reversing slide block through the strip-shaped slot hole;

4. The jacking reversing linkage of claim 3, wherein the reversing assembly further comprises a reversing guide seat cooperatively coupled with the reversing slide;

5. The jacking reverse link as claimed in claim 1, wherein said included angle formed by said jacking rocker arm and said reversing rocker arm on the projected area of said drive shaft in the axial direction is between 60 ° and 120 °.

6. The lift-off reversing linkage of claim 5, wherein the included angle is 90 °.

7. The lift and reversing linkage of any of claims 1 to 6, wherein a range of oscillation of the lift rocker arm and a range of oscillation of the reversing rocker arm only partially overlap, the reversing rocker arm oscillating back and forth relative to the drive shaft via below the drive shaft as the lift rocker arm oscillates up and down relative to the drive shaft.

8. A four-way shuttle vehicle, which is characterized by comprising the jacking reversing linkage mechanism of any one of claims 1-7, a vehicle body, an X-direction travelling mechanism and a Y-direction travelling mechanism; the Y-direction travelling mechanism can move up and down relative to the car body under the drive of the reversing assembly.