CN220484453U - Four-way shuttle and transportation system - Google Patents

Abstract

The utility model provides a four-way shuttle and a transportation system. The four-way shuttle includes: a bottom plate; the first travelling wheels are respectively rotatably arranged on two opposite sides of the bottom plate and are configured to bear the bottom plate to move along a first direction; at least two first driving motors, each of which directly drives one of the first traveling wheels; the second travelling wheels are respectively arranged on the other opposite sides of the bottom plate in a lifting manner and are configured to bear the bottom plate to move along a second direction; and at least two second driving motors, each of which directly drives one of the second travelling wheels. The first driving motor is used for directly driving the corresponding first travelling wheels, the second driving motor is used for directly driving the corresponding second travelling wheels, a complex transmission mechanism is omitted, the arrangement difficulty and the assembly difficulty of the whole vehicle can be reduced, and the reliability and the transmission efficiency are improved.

Description

Four-way shuttle and transportation system

Technical Field

The utility model relates to the technical field of transportation equipment, in particular to a four-way shuttle and a transportation system.

Background

The four-way shuttle is intelligent shuttle carrying equipment integrating functions of four-way running, in-situ rail changing, automatic carrying and the like, and can run along a longitudinal rail or a transverse rail on a crossed rail.

Currently, a four-way shuttle generally adopts a scheme that each working unit is driven by a motor, for example, the transverse traveling unit and the longitudinal traveling unit are respectively driven by a motor, and power output by the motors is transmitted to driving wheels in corresponding directions through transmission shafts, gear boxes/chains and the like; the jacking unit is also driven by a motor, and power output by the motor is transmitted to a plurality of executing elements (such as swing arms and gears) through a transmission shaft, a gear box/chain and the like, so that jacking is realized. According to the scheme that each working unit is driven by one motor, a plurality of transmission parts are required to be arranged in a crossing mode, so that the whole vehicle is high in height, and the defects of low reliability, low transmission efficiency, high assembly difficulty and the like are caused by a plurality of complex transmission systems.

The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field.

Disclosure of Invention

In view of one or more of the drawbacks of the prior art, the present utility model provides a four-way shuttle vehicle comprising:

a bottom plate;

the first travelling wheels are respectively rotatably arranged on two opposite sides of the bottom plate and are configured to bear the bottom plate to move along a first direction;

at least two first driving motors, each of which directly drives one of the first traveling wheels;

the second travelling wheels are respectively arranged on the other opposite sides of the bottom plate in a lifting manner and are configured to bear the bottom plate to move along a second direction; and

and at least two second driving motors, wherein each second driving motor directly drives one of the second travelling wheels.

According to one aspect of the utility model, a plurality of notches are arranged around the bottom plate;

the first driving motor is at least partially positioned in the corresponding notch and is fixedly connected with the bottom plate; and/or the second drive motor is aligned with the corresponding notch and the second drive motor may at least partially pass through the notch.

According to one aspect of the utility model, the first travelling wheels are provided with four, the first driving motor is provided with two or four, and the output shaft of the first driving motor is fixedly connected with one of the first travelling wheels respectively.

According to one aspect of the utility model, the other opposite sides of the base plate are respectively provided with lifting devices, the lifting devices comprising:

the beam is arranged above the bottom plate, and the second travelling wheel is arranged on the beam;

the linear guide module is connected between the cross beam and the bottom plate;

the lifting motor is arranged on the bottom plate; and

the transmission module is connected between the output end of the lifting motor and the cross beam, and is configured to convert the rotation motion output by the lifting motor into lifting motion of the cross beam along the linear guide module.

According to one aspect of the utility model, the transmission module comprises a gear and a rack which are meshed with each other, wherein the rack is arranged on the cross beam, and the gear is connected with the output end of the lifting motor.

According to one aspect of the utility model, a chute is arranged on the cross beam along a first direction; the transmission module comprises a roller and a connecting arm, wherein the roller is positioned in the chute and is configured to move along the chute, the roller is rotatably connected with one end of the connecting arm, and the other end of the connecting arm is connected with the output end of the lifting motor.

According to one aspect of the utility model, a double parallelogram mechanism or a scissor mechanism is connected between the cross beam and the bottom plate.

According to one aspect of the utility model, four second travelling wheels are arranged, wherein two second travelling wheels are connected to the beam of one lifting device, and the other two second travelling wheels are connected to the beam of the other lifting device;

the second driving motor is provided with two or four, and the output shaft of the second driving motor is fixedly connected with one of the second travelling wheels respectively.

According to one aspect of the utility model, the second driving motor is mounted on the inner side of the cross beam, the second travelling wheel is arranged on the outer side of the cross beam, and the second travelling wheel is rotatably connected with the cross beam or fixedly connected with an output shaft of the second driving motor.

According to one aspect of the utility model, the four-way shuttle further comprises a carrier plate connected between the cross beams of the two lifting devices.

According to one aspect of the utility model, the upper side of the base plate is provided with a reinforcing rib, and the upper side of the base plate is provided with a battery.

According to one aspect of the utility model, the first and second road wheels have smooth outer edges.

The utility model also provides a transport system comprising:

a track; and

a four-way shuttle as described above configured to travel on the track.

According to one aspect of the utility model, the rail has a flange thereon.

Compared with the prior art, the embodiment of the utility model provides the four-way shuttle, the corresponding first travelling wheels are directly driven by the first driving motor, the corresponding second travelling wheels are directly driven by the second driving motor, a complex transmission mechanism is omitted, the arrangement difficulty and the assembly difficulty of the whole vehicle can be reduced, and the reliability and the transmission efficiency are improved. By arranging the notch around the bottom plate, arranging the first driving motor in the notch, and/or aligning the second driving motor with the notch, the height of the whole vehicle can be effectively reduced. The embodiment of the utility model also provides a conveying system for conveying goods through the four-way shuttle, and the conveying system is high in efficiency and reliability.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 shows a schematic diagram of a four-way shuttle vehicle according to one embodiment of the utility model;

FIG. 2 illustrates a bottom view of a four-way shuttle according to one embodiment of the present utility model;

FIG. 3 shows a partial schematic view of a lifting device according to one embodiment of the utility model;

FIG. 4a shows a schematic view of a linear guide module according to another embodiment of the utility model;

FIG. 4b shows a top view of the linear guide module of FIG. 4 a;

FIG. 4c shows a schematic view of a portion of the linear guide module of FIG. 4 a;

fig. 5 shows a schematic diagram of a four-way shuttle according to other embodiments of the present utility model;

fig. 6 shows a schematic view of a transport system according to an embodiment of the utility model.

In the figure: 100. a four-way shuttle; 110. a bottom plate; 111. a notch; 120. a first traveling wheel; 130. a first driving motor; 140. a second travelling wheel; 150. a second driving motor; 160. a lifting device; 161. a cross beam; 1611. a chute; 162. a linear guide module; 1621. a linear bearing; 1622. a guide rod; 1623. a first guide wheel; 1624. a guide rail; 1625. a second guide wheel; 1626. a mounting base; 163. a lifting motor; 164. a transmission module; 1641. a roller; 1642. a connecting arm; 165. a double parallelogram mechanism; 170. reinforcing ribs; 180. a battery; 200. a transport system; 210. a track; 212. and (5) a flange.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

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 device or element 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," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless specifically defined otherwise.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, and may be mechanically connected, electrically connected, or may communicate with each other, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different features of the utility model. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the utility model. Furthermore, the present utility model may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present utility model provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.

Fig. 1 shows a schematic diagram of a four-way shuttle 100 according to one embodiment of the present utility model, described in detail below in conjunction with the figures.

As shown in fig. 1, the four-way shuttle 100 includes a base plate 110, a first traveling wheel 120, a first driving motor 130, a second traveling wheel 140, and a second driving motor 150. The base plate 110 is horizontally disposed to provide support and installation space for other components, and in the embodiment shown in fig. 1, the base plate 110 is a metal plate having a substantially rectangular shape, and in other embodiments, the base plate 110 may be a metal plate or a nonmetal plate having a circular, pentagonal or hexagonal shape. The first traveling wheels 120 and the second traveling wheels 140 are respectively provided with a plurality of first traveling wheels 120 respectively rotatably disposed at opposite sides (left and right sides in fig. 1) of the base plate 110, the plurality of first traveling wheels 120 are configured to be capable of carrying the base plate 110 in a first direction, the plurality of second traveling wheels 140 are respectively disposed at opposite sides (e.g., front and rear sides in fig. 1) of the base plate 110 in a liftable manner, and the plurality of second traveling wheels 140 are configured to be capable of carrying the base plate 110 in a second direction, wherein the first direction and the second direction are mutually perpendicular. The first driving motor 130 and the second driving motor 150 are respectively provided with at least two, each first driving motor 130 directly drives one of the first travelling wheels 120, each second driving motor 150 directly drives one of the second travelling wheels 140, wherein, the direct connection of the driving motor and the travelling wheels (the direct connection of the first driving motor 130 and the first travelling wheel 120, the direct connection of the second driving motor 150 and the second travelling wheel 140) can also be understood as the direct connection of the output shaft of the driving motor and the travelling wheels by adopting connecting members such as a connecting key, an expanding sleeve, a coupling, a flange, a bolt and the like, and transmission by adopting transmission mechanisms such as gear transmission, chain transmission, belt transmission and the like. The travelling wheel is directly driven by the driving motor, so that a complex transmission mechanism can be omitted, the arrangement difficulty and the assembly difficulty of the whole vehicle are reduced, and the reliability and the transmission efficiency are improved.

As shown in fig. 1, when the four-way shuttle 100 needs to move along the first direction, the first traveling wheel 120 is grounded, the second traveling wheel 140 is higher than the first traveling wheel 120, and the corresponding first traveling wheel 120 is directly driven to rotate by the first driving motor 130, so that the four-way shuttle 100 can move along the first direction; when the four-way shuttle 100 needs to move along the second direction, the second travelling wheel 140 is controlled to drop, so that the second travelling wheel 140 lands on the ground and the first travelling wheel 120 and the bottom plate 110 are lifted, and the corresponding second travelling wheel 140 is directly driven to rotate by the second driving motor 150, so that the four-way shuttle 100 can move along the second direction.

Fig. 2 illustrates a bottom view of the four-way shuttle 100 according to one embodiment of the present utility model, as shown in fig. 1 and 2, a plurality of notches 111 may be provided around the bottom plate 110, the notches 111 being used to accommodate the first driving motor 130 or to avoid the second driving motor 150. Specifically, the first drive motor 130 is at least partially disposed in the corresponding notch 111, and the first drive motor 130 is fixedly connected (e.g., bolted) to the base plate 110; the second drive motor 150 is aligned with the corresponding notch 111, and the second drive motor 150 may at least partially pass through the corresponding notch 111 as the second drive motor 150 moves up and down with the second road wheel 140. By disposing the first drive motor 130 in the notch 111 and aligning the second drive motor 150 with the notch 111, the height of the entire vehicle can be effectively reduced.

According to an embodiment of the present utility model, as shown in fig. 1, the four-way shuttle 100 may further include two lifting devices 160, the two lifting devices 160 being respectively disposed at both sides (front and rear sides in fig. 1) of the base plate 110, and the lifting devices 160 being used to drive the corresponding second traveling wheels 140 to ascend or descend. Fig. 3 illustrates a partial schematic view of a lifting device 160 according to an embodiment of the present utility model, and as shown in fig. 1 and 3, the lifting device 160 may include a beam 161, a linear guide module 162, a lifting motor 163, and a driving module 164, wherein the beam 161 is disposed in a second direction and above the base plate 110, and the beam 161 on the same side of the base plate 110 is interconnected with the second traveling wheel 140. The linear guide module 162 is connected between the beam 161 and the base plate 110, and is used for providing guidance for the movement of the beam 161, so as to make the movement of the beam 161 more stable, and a plurality of (e.g., two) linear guide modules 162 may be disposed in the lifting device 160. The elevating motor 163 is installed at the upper side of the base plate 110, the elevating motor 163 may have a speed reducer, the transmission module 164 is connected between the output end of the elevating motor 163 and the beam 161, and the transmission module 164 is configured to convert the rotational motion outputted from the elevating motor 163 into the elevating motion of the beam 161 along the linear guide module 162. The second traveling wheels 140 located at both sides (front and rear sides in fig. 1) of the bottom plate 110 may be synchronously driven to ascend or descend by the two elevating devices 160 so that the four-way shuttle 100 may be switched between traveling in the first direction and traveling in the second direction. The beams 161 of the two lifting devices 160 may also be used to carry cargo, and the beams 161 may be driven to raise or lower the cargo by driving the beams 161 up or down, and in some embodiments, a carrier plate may be connected between the beams 161 of the two lifting devices 160, and the cargo may be carried by the carrier plate.

According to one embodiment of the present utility model, as shown in fig. 1 and 3, the transmission module 164 may include a roller 1641 and a connection arm 1642, wherein the roller 1641 is rotatably connected to one end (upper end in fig. 3) of the connection arm 1642, and the other end (lower end in fig. 3) of the connection arm 1642 is fixedly connected to the output shaft of the lifting motor 163, and the connection arm 1642 is substantially perpendicular to the output shaft of the lifting motor 163. A slide slot 1611 is provided on the cross beam 161 in a first direction, and a roller 1641 is positioned in the slide slot 1611 and is configured to be movable along the slide slot 1611. When the beam 161 and the second travelling wheel 140 need to be driven to rise or fall, the lifting motor 163 can be controlled to drive the connecting arm 1642 to rotate, so that the roller 1641 moves along the chute 1611 and pushes the beam 161 to rise or fall along the linear guide module 162, and correspondingly, the second travelling wheel 140 also rises or falls along with the beam 161. In other embodiments, the transmission module 164 may also include a gear and a rack, wherein the gear is mounted on the output end of the lift motor 163, and the rack is vertically disposed on the beam 161, and the gear and the rack are engaged with each other.

According to one embodiment of the present utility model, as shown in fig. 1, the linear guide module 162 may include a linear bearing 1621 and a guide rod 1622, wherein the guide rod 1622 is vertically fixed to the upper side of the base plate 110, and the linear bearing 1621 is slidably installed on the guide rod 1622 and fixedly coupled with the cross beam 161. In some embodiments, the linear bearing 1621 of the linear guide module 162 may be replaced with an oil-free bushing or the like that is slidably disposed on the guide rod 1622. In another embodiment, the linear guide module 162 as shown in fig. 4a and 4c may also include a first guide wheel 1623, a guide rail 1624, and a plurality of second guide wheels 1625, wherein the plurality of second guide wheels 1625 are divided into two groups, the two groups of second guide wheels 1625 are disposed on two sides of the beam 161 and mounted on a base plate by corresponding mounting seats 1626 (each group is, for example, three second guide wheels, and the three second guide wheels 1625 are vertically spaced apart), and the beam 161 is disposed between the two groups of second guide wheels 1625. The guide rail 1624 is mounted on the base plate, a guide groove is provided at a side of the guide rail 1624 facing the cross beam 161, and the first guide wheels 1623 are provided in the guide groove and rotatably connected to the cross beam 161, preferably, the first guide wheels 1623 are provided in two. The beam 161 can move up and down only in the vertical direction by the first guide wheel 1623, the guide rail 1624, and the plurality of second guide wheels 1625. In other embodiments, the linear guide module may also be a linear guide slider, a roller type linear guide, a guide rail, or a guide mechanism that can implement a linear guide function.

In the linear guide module 162, there is typically a small gap between the movable member (e.g., linear bearing 1621, oilless bushing, etc.) and the guide member (e.g., guide rod 1622, guide rail, etc.) to ensure smooth movement of the movable member along the guide member. However, when the beam 161 is biased, the beam 161 rotates around the jacking supporting point (the roller 1641) (the beam 161 is tilted), so that the linear guide module 162 is subjected to a large bending moment, the service life of the linear guide module 162 is affected, and the goods are easy to fall from the tilted beam 161.

According to one embodiment of the present utility model, as shown in FIG. 1, a double parallelogram mechanism 165 is connected between the beam 161 and the base plate 110. The double parallelogram mechanism 165 can enable the cross beam 161 to be kept horizontal when being subjected to unbalanced load, and can greatly reduce the bending moment born by the linear guide module 162. In other embodiments, a scissor mechanism may also be provided between the beam 161 and the base plate 110 to prevent the beam 161 from tipping.

According to one embodiment of the present utility model, as shown in fig. 1, the first traveling wheels 120 are provided in four, wherein two first traveling wheels 120 are provided at the left side of the base plate 110 and the other two first traveling wheels 120 are provided at the right side of the base plate 110. The number of the first driving motors 130 may be four, and an output shaft of each of the first driving motors 130 is fixedly connected with one of the first traveling wheels 120, respectively. In some embodiments, the first traveling wheels 120 may be provided in other numbers (e.g., six, eight, ten, etc.), as long as the first traveling wheels 120 are capable of stably supporting the base plate 110 to travel. In other embodiments, as shown in fig. 5, two first driving motors 130 may be provided, and preferably, one of the first driving motors 130 is directly connected to the first traveling wheel 120 located at the left side of the base plate 110, and the other first driving motor 130 is directly connected to the first traveling wheel 120 located at the right side of the base plate 110.

According to one embodiment of the present utility model, as shown in fig. 1, the second traveling wheels 140 are provided in four, wherein two second traveling wheels 140 are provided on the beam 161 of the elevating device 160 located at the front side of the base plate 110, and the other two second traveling wheels 140 are provided on the beam 161 of the elevating device 160 located at the rear side of the base plate 110. The number of the second driving motors 150 may be four, and an output shaft of each second driving motor 150 is fixedly connected with one of the second travelling wheels 140. In some embodiments, the second traveling wheels 140 may be provided in other numbers as long as the second traveling wheels 140 can stably support the base plate 110 for traveling. In other embodiments, as shown in fig. 5, two second driving motors 150 may be provided, and preferably, one of the second driving motors 150 is directly connected to the second traveling wheel 140 located at the front side of the base plate 110, and the other second driving motor 150 is directly connected to the second traveling wheel 140 located at the rear side of the base plate 110. The second driving motor 150 is mounted on the inner side of the beam 161, the second travelling wheel 140 is arranged on the outer side of the beam 161, and the second travelling wheel 140 is rotationally connected with the beam 161 or fixedly connected with an output shaft of the second driving motor 150.

According to an embodiment of the present utility model, as shown in fig. 1, a reinforcing rib 170 and/or a battery 180 may be provided on the upper side of the base plate 110, wherein the reinforcing rib 170 is used to improve the structural strength of the base plate 110, and the reinforcing rib 170 may be integrally formed with the base plate 110 or may be fixed to the base plate 110 by a connection manner such as welding; the battery 180 is used to provide electrical power to the powered components of the four-way shuttle 100.

In the related art, the outer edge of the traveling wheel of the four-way shuttle 100 is provided with a flash, and the four-way shuttle 100 is limited by the cooperation of the flash and the track 210.

According to an embodiment of the present utility model, as shown in fig. 1, the first and second traveling wheels 120 and 140 have smooth outer edges, so that the height of the four-way shuttle 100 can be reduced. Accordingly, a stop may be provided on the rail to limit the four-way shuttle 100.

Fig. 6 illustrates a transport system 200 according to one embodiment of the utility model, described in detail below in conjunction with fig. 6.

As shown in fig. 6, the transport system 200 includes a track 210 and the four-way shuttle 100 as described above, the track 210 may be provided in a plurality and intersecting arrangement, such as providing a longitudinal track and a transverse track (only two longitudinal tracks 210 are shown in fig. 6), and the four-way shuttle 100 is configured to travel on the track 210. Preferably, a flange 212 is provided on the inner side of the track 210 to limit the four-way shuttle 100, so as to avoid derailment of the four-way shuttle 100.

Compared with the prior art, the embodiment of the utility model provides the four-way shuttle 100 and the transportation system 200, wherein the corresponding first travelling wheels 120 are directly driven by the first driving motor 130, the corresponding second travelling wheels 140 are directly driven by the second driving motor 150, and the second travelling wheels 140 positioned at two sides of the bottom plate are respectively driven to ascend and descend by the two lifting devices 160 through the two lifting devices 160, so that a complex transmission mechanism is omitted, the arrangement difficulty and the assembly difficulty of the whole vehicle can be reduced, and the reliability and the transmission efficiency are improved. The height of the entire vehicle can be effectively reduced by providing the notch 111 around the floor panel 110, disposing the first driving motor 130 in the notch 111, and/or aligning the second driving motor 150 with the notch 111. By providing the double parallelogram mechanism 165 between the beam 161 and the base plate 110, the beam 161 can be kept horizontal even when subjected to an offset load, and the bending moment to which the linear bearing 1621 is subjected can be greatly reduced.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (14)

1. A four-way shuttle, comprising:

a bottom plate;

the first travelling wheels are respectively rotatably arranged on two opposite sides of the bottom plate and are configured to bear the bottom plate to move along a first direction;

at least two first driving motors, each of which directly drives one of the first traveling wheels;

the second travelling wheels are respectively arranged on the other opposite sides of the bottom plate in a lifting manner and are configured to bear the bottom plate to move along a second direction; and

and at least two second driving motors, wherein each second driving motor directly drives one of the second travelling wheels.

2. The four-way shuttle of claim 1, wherein a plurality of notches are provided around the bottom plate;

the first driving motor is at least partially positioned in the corresponding notch and is fixedly connected with the bottom plate; and/or the second drive motor is aligned with the corresponding notch and the second drive motor may at least partially pass through the notch.

3. The four-way shuttle of claim 1 or 2, wherein the first traveling wheels are provided with four, the first driving motor is provided with two or four, and an output shaft of the first driving motor is fixedly connected with one of the first traveling wheels respectively.

4. The four-way shuttle of claim 1 or 2, wherein the other opposite sides of the bottom plate are respectively provided with a lifting device, the lifting device comprising:

the beam is arranged above the bottom plate, and the second travelling wheel is arranged on the beam;

the linear guide module is connected between the cross beam and the bottom plate;

the lifting motor is arranged on the bottom plate; and

the transmission module is connected between the output end of the lifting motor and the cross beam, and is configured to convert the rotation motion output by the lifting motor into lifting motion of the cross beam along the linear guide module.

5. The four-way shuttle of claim 4, wherein the transmission module comprises a gear and a rack that are engaged with each other, the rack being disposed on the cross beam, the gear being connected to an output of the lift motor.

6. The four-way shuttle of claim 4, wherein the cross beam is provided with a chute along a first direction; the transmission module comprises a roller and a connecting arm, wherein the roller is positioned in the chute and is configured to move along the chute, the roller is rotatably connected with one end of the connecting arm, and the other end of the connecting arm is connected with the output end of the lifting motor.

7. The four-way shuttle of claim 4, wherein a double parallelogram mechanism or a scissor mechanism is connected between the cross beam and the bottom plate.

8. The four-way shuttle of claim 4, wherein four second traveling wheels are provided, wherein two second traveling wheels are connected to a beam of one lifting device and the other two second traveling wheels are connected to a beam of the other lifting device;

the second driving motor is provided with two or four, and the output shaft of the second driving motor is fixedly connected with one of the second travelling wheels respectively.

9. The four-way shuttle of claim 8, wherein the second drive motor is mounted on the inner side of the cross beam, the second traveling wheel is disposed on the outer side of the cross beam, and the second traveling wheel is rotatably connected with the cross beam or fixedly connected with an output shaft of the second drive motor.

10. The four-way shuttle of claim 4, further comprising a carrier plate connected between the cross beams of the two lifting devices.

11. The four-way shuttle of claim 1, wherein the upper side of the bottom plate is provided with a stiffener and the upper side of the bottom plate is provided with a battery.

12. The four-way shuttle of claim 1, wherein the first and second road wheels have smooth outer edges.

13. A transportation system, comprising:

a track; and

the four-way shuttle of any one of claims 1-12 configured to walk on the track.

14. The transport system of claim 13, wherein the rail has a flange thereon.