CN219566360U - Four-way shuttle type transfer robot - Google Patents

Abstract

The utility model relates to a four-way shuttle type carrying robot, and belongs to the technical field of automatic warehouse logistics. In order to solve the problem that the existing four-way transfer robot is limited by space and causes poor using effect and high manufacturing cost. The utility model comprises a frame, a lifting mechanism, a travelling mechanism and a power mechanism, wherein travelling wheels are arranged on the periphery of the frame, each travelling wheel comprises a main channel travelling wheel and an auxiliary channel travelling wheel, and each travelling mechanism comprises a transmission assembly, a driving assembly and a connecting assembly; the transmission assembly is provided with two crossed transmission shafts which are respectively connected with the power mechanism through the driving assembly and are used for driving travelling wheels around the frame, at least one transmission shaft is provided with a transmission auxiliary shaft, collision between the travelling wheels and the other transmission shaft in the lifting process is avoided, and the lifting stroke of the frame is improved. And a connecting assembly is arranged between the travelling wheels on one side, so that the travelling wheels are driven by power of the power mechanism to synchronously rotate and walk, and the application range of the transfer robot is improved.

Description

Four-way shuttle type transfer robot

Technical Field

The utility model relates to a four-way shuttle type carrying robot, and belongs to the technical field of automatic warehouse logistics.

Background

With the rise of land cost and labor cost, the concept of dense storage is increasingly focused on logistics companies and electronic commerce companies. The automatic stereoscopic warehouse has high space utilization rate and strong warehouse-in and warehouse-out capability, so that the automatic stereoscopic warehouse becomes an indispensable warehouse technology for logistics and production management of enterprises, and the application of the automatic stereoscopic warehouse in the industries of automobiles, chemical engineering, electronics, tobacco and the like is growing year by year. In the next few years, one of the technological trends of the automatic stereoscopic warehouse system is represented by high speed, high efficiency and high density.

In order to accommodate the dense storage of pallet loads and increase the number of stored loads per unit space, a four-way shuttle type transfer robot is required to complete the transfer of pallet loads. There are many limitations to four-way shuttle robots on the market: for example, the patent number is CN 212447846U, the name is a four-way walking carrier, the four-way movement of the carrier is realized by arranging two transmission shafts to drive the walking wheels on two directions, and each transmission shaft drives the walking wheel on one side to walk, so that a one-side driving walking mode is formed. However, when the carrier is in actual use, two crossed transmission shafts are required to lift for traveling and reversing and lifting goods. Because four-way carrier is in order to carry out bearing transport in the warehouse system that storage space is little, the carrier designs into the high little structure of frame, and the frame is high little from ground. Therefore, two transmission shafts can collide in space in the lifting process, in order to avoid the collision of the transmission shafts, the lifting stroke of the conventional carrier is smaller, and the using effect is poor.

In addition, the single-side driving walking mode is adopted in the carrier, so that the distance between the frame and the ground is small in storage use, when the ground has the height change, the frame of the carrier is suspended on one side, and at the moment, the frame on the side of the driving wheel cannot transfer power to the driven wheel due to suspension, so that the robot is blocked and cannot move. In addition, the existing carrier adopts eight sets of screw lifters to realize bidirectional lifting, so that the cost is high, and limitations exist in practical cases, so that a carrier robot is needed to solve the problems of poor using effect and high manufacturing cost of the existing carrier robot due to space limitations.

Disclosure of Invention

The utility model provides a four-way shuttle type carrying robot, which solves the problems and defects existing in the prior art by arranging a connecting assembly between two walking wheels on two sides in the walking direction of a frame, and realizes synchronous rotation walking of the walking wheels on the two sides, so that the problem that the walking wheels on the non-suspending side of the robot can continue to rotate when one side of the robot is suspended, and the frame is driven to continue to walk. Through set up the transmission countershaft at the both ends of a transmission shaft of two crisscross transmission shafts to realize that two transmission shafts can not take place the space conflict in the lift in-process, improve the lift stroke of frame, improve transfer robot's application range.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a four-way shuttle type carrying robot comprises a frame, a lifting mechanism, a traveling mechanism and a power mechanism, wherein the lifting mechanism, the traveling mechanism and the power mechanism are arranged in the frame, the lifting mechanism and the traveling mechanism are controlled to operate by the power mechanism, and traveling wheels are arranged on the periphery of the frame; the travelling wheels are divided into a main channel travelling wheel and an auxiliary channel travelling wheel according to different directions of the travelling wheels, and the travelling mechanism comprises a transmission assembly, a driving assembly and a connecting assembly; the main channel travelling wheels are symmetrically arranged at two sides of the frame in the running direction of the main channel, and the auxiliary channel travelling wheels are symmetrically arranged at two sides of the frame in the running direction of the auxiliary channel; the main channel travelling wheel and the auxiliary channel travelling wheel are connected with the power mechanism through a transmission assembly; a connecting assembly is connected between the travelling wheels on two sides of at least one movement direction of the frame and is used for synchronously rotating and travelling by being driven by a power mechanism;

the transmission assembly comprises two first transmission shafts and second transmission shafts which are crossed in space, and the first transmission shafts and the second transmission shafts are respectively connected with the power mechanism through the driving assembly and are used for driving travelling wheels around the frame; two ends of at least one of the first transmission shaft and the second transmission shaft are provided with transmission auxiliary shafts which are different from the axis of the transmission shaft, the transmission auxiliary shafts are connected with the travelling wheels, and the transmission auxiliary shafts and the travelling wheels connected with the transmission auxiliary shafts are driven by the lifting mechanism to lift.

Specifically, the main channel travelling wheel is in driving connection with the first transmission shaft, and the auxiliary channel travelling wheel is in driving connection with the second transmission shaft; two ends of the first transmission shaft are provided with transmission auxiliary shafts which are different from the axis of the first transmission shaft.

Specifically, the main channel travelling wheel comprises a pair of driving main channel wheels and a pair of driven main channel wheels, and the driving main channel wheels and the driven main channel wheels are oppositely arranged at two sides of the frame; the driving main channel wheels are connected with the first transmission shaft through transmission auxiliary shafts, and the main channel travelling wheels and the transmission auxiliary shafts are driven by the lifting mechanism to lift.

Specifically, one end of the transmission auxiliary shaft penetrates through a kidney-shaped hole in the side wall of the frame and is connected with the driving main channel wheels, the adjacent driving main channel wheels are connected through a third chain wheel pair, the other end of the transmission auxiliary shaft is connected with the first transmission shaft, universal shaft connectors are respectively arranged at two ends of the transmission auxiliary shaft, and the transmission auxiliary shaft is respectively connected with the first transmission shaft and one of the driving main channel wheels through the universal shaft connectors.

Specifically, the auxiliary channel travelling wheels comprise two driving auxiliary channel wheels and two driven auxiliary channel wheels, the two driving auxiliary channel wheels are oppositely arranged on two sides of the single-side frame, and the two driven auxiliary channel wheels are respectively rotatably arranged on the frame on the side face of the driving auxiliary channel wheels; the driving auxiliary channel wheels at two sides of the frame form two groups of opposite driving auxiliary channel wheels, and two ends of the second transmission shaft are connected with one group of driving auxiliary channel wheels; a connecting component is connected between the two driving auxiliary channel wheels on the same side of the frame.

Specifically, the connecting component comprises two driving teeth, a transmission chain and a chain tensioning gear; the two driving teeth are respectively and fixedly sleeved on the outer sides of the rotating shafts of the two driving auxiliary channel wheels, the transmission chain is sleeved on the outer sides of the two driving teeth, and the tension degree of the transmission chain is adjusted through the chain tension gear.

Specifically, the lifting mechanism is composed of two groups of chain lifting units which are respectively arranged in the frame, and each group of chain lifting units controls the main channel travelling wheel at one side to lift; each group of chain lifting units comprises two lifting speed reducing motors, a lifting transmission shaft, a rigid chain transmission pair and two chain lifters, wherein the two chain lifters arranged on the same side of the frame are connected through the lifting transmission shaft, and the lifting transmission shaft is driven by the rigid chain transmission pair in a connecting manner with the lifting speed reducing motors; the top output shaft of the chain lifter drives the lifting plate to lift the goods, and one end of the lifting plate extends towards the outer side of the frame along the horizontal direction to form an extending end; the bottom of the extension end is fixedly provided with a sliding block; the sliding block is arranged on the frame in a sliding way along the radial direction, and the main channel wheel is rotatably arranged on the sliding block.

Specifically, the driving assembly comprises a walking motor and a double-output-shaft speed reducer, and two groups of output shafts of the double-output-shaft speed reducer are respectively connected with the first transmission shaft and the second transmission shaft through a first sprocket pair and a second sprocket pair.

Specifically, a three-gear lifting position height sensor is arranged on the side edge of the lifting transmission shaft; a position sensor is arranged on the side edge of the sliding block; the lifting position height sensor and the position sensor are respectively connected with the power mechanism.

Specifically, the power mechanism comprises a battery, a driver and a PLC controller; one end of the PLC is connected with the driver, and the other end of the PLC is connected with the battery; the walking motor and the lifting gear motor are respectively and electrically connected with the driver, and the lifting position height sensor and the position sensor are respectively and electrically connected with the PLC controller.

Compared with the prior art, the utility model has the beneficial effects that:

according to the four-way shuttle type transfer robot, the two ends of the first transmission shaft are respectively provided with the transmission auxiliary shafts which are different from the axis of the first transmission shaft, and the transmission auxiliary shafts are connected through the universal shaft connector. When the power transmission is realized through the universal shaft connector, the space conflict between the transmission auxiliary shaft and the second transmission shaft can not occur when the transfer robot lifts and changes direction or lifts goods, the height of the transfer robot can be reduced, the lifting stroke of the upgrading machine is large, and the application range of the transfer robot is improved.

On the basis of the above, the connecting assembly is arranged between the two driving auxiliary channel wheels, so that the two driving auxiliary channel wheels move synchronously, the situation that the frame of the robot is blocked and cannot move due to the fact that the frame is blocked when the road surface flatness of the frame changes during movement of the transfer robot is avoided, and the carrying capacity of the transfer robot is improved. The user can also set the same connecting assembly between the travelling wheels of the main channel according to the actual use environment, so that the synchronous rotation of the travelling wheels is realized in the running direction of the main channel by the rack, and the clamping stagnation of the rack in the running direction of the main channel is avoided.

On the basis of the above, the utility model adopts four sets of brand new chain lifting mechanisms to realize bidirectional lifting of the main channel wheel assembly of the vehicle and lifting of cargoes, thereby saving the whole space of the transfer robot and reducing the manufacturing cost of equipment.

Drawings

Fig. 1 is a schematic structural view of a four-way shuttle robot according to the present embodiment;

fig. 2 is a schematic structural diagram of a main channel travelling wheel of the four-way shuttle robot according to the present embodiment;

fig. 3 is a schematic structural diagram of a secondary channel travelling wheel of the four-way shuttle robot according to the present embodiment;

fig. 4 is a schematic structural view of a lifting mechanism of the four-way shuttle robot according to the present embodiment.

In the figure: 1. a frame; 2. a lifting mechanism; 3. a walking mechanism; 4. a power mechanism; 5. a main channel travelling wheel; 6. a secondary channel walking wheel; 7. a PLC controller; 8. a driver; 9. a battery; 100. A guide wheel; 101. lifting bolt lifting lugs; 50. a transmission assembly; 51. a first drive shaft; 52. a first sprocket set; 53. a transmission auxiliary shaft; 60. A connection assembly; 61. a second drive shaft; 62. a second sprocket set; 500. a main driving channel wheel; 501. a driven main channel wheel; 502. a third sprocket set; 503. a universal shaft connector; 600. a driving auxiliary channel wheel; 601. a driven secondary channel wheel; 602. a drive tooth; 603. a drive chain; 604. a chain tensioning gear; 200. a lifting gear motor; 201. lifting a transmission shaft; 202. a rigid chain drive pair; 203. a chain lifter; 204. a jacking plate; 205. a sliding block; 206. a lifting position height sensor; 207. a position sensor; 208. lifting channel steel; 209. a sprocket set; 300. a walking motor; 301. a double-output shaft speed reducer.

Description of the embodiments

The utility model will be further elucidated with reference to the drawings in the embodiments of the utility model.

Referring to fig. 1-4, the present embodiment provides a four-way shuttle-type transfer robot, which includes a frame 1, a lifting mechanism 2, a traveling mechanism 3 and a power mechanism 4, wherein the lifting mechanism 2 and the traveling mechanism 3 are controlled to operate by the power mechanism 4, and traveling wheels are installed around the frame; the travelling wheels are divided into a main channel travelling wheel 5 and an auxiliary channel travelling wheel 6 according to different directions of the travelling wheels, and the travelling mechanism comprises a transmission assembly, a driving assembly and a connecting assembly; the main channel travelling wheels 5 are symmetrically arranged at two sides of the frame in the running direction of the main channel, and the auxiliary channel travelling wheels 6 are symmetrically arranged at two sides of the frame in the running direction of the auxiliary channel; the main channel travelling wheel and the auxiliary channel travelling wheel are connected with a power mechanism through a transmission assembly 50; a connecting component 60 is connected between the travelling wheels on two sides of at least one movement direction of the frame, and the travelling wheels in the movement direction are driven by the power mechanism to synchronously rotate and walk.

The transmission assembly 50 comprises two first transmission shafts 51 and second transmission shafts 61 which are crossed in space, and the first transmission shafts 51 and the second transmission shafts 61 are respectively connected with the power mechanism 4 through a driving assembly and are used for driving travelling wheels around the frame; two ends of at least one of the first transmission shaft 51 and the second transmission shaft 61 are provided with a transmission auxiliary shaft 53 which is different from the axis of the transmission shaft, the transmission auxiliary shaft 53 is connected with the travelling wheels, and the transmission auxiliary shaft 53 and the travelling wheels connected with the transmission auxiliary shaft are driven to lift by the lifting mechanism 2.

Further, the main channel travelling wheel 5 is in driving connection with the first transmission shaft 51, and the auxiliary channel travelling wheel 6 is in driving connection with the second transmission shaft 61; the first drive shaft 51 is provided at both ends with a drive auxiliary shaft 53 different from the first drive shaft axis.

Further, the main channel travelling wheel 5 comprises a pair of driving main channel wheels 500 and a pair of driven main channel wheels 600, and the driving main channel wheels 500 and the driven main channel wheels 600 are oppositely arranged at two sides of the frame; the pair of driving main channel wheels 500 is connected with the first transmission shaft 51 through the transmission auxiliary shaft 53, and the main channel travelling wheels 5 and the transmission auxiliary shaft 53 are driven to lift by the lifting mechanism 2.

Further, one end of the transmission auxiliary shaft 53 penetrates through a kidney-shaped hole in the side wall of the frame and is connected with the driving main channel wheels, adjacent driving main channel wheels are connected through a third chain wheel pair 502, the other end of the transmission auxiliary shaft 53 is connected with the first transmission shaft 51, universal shaft connectors 503 are respectively arranged at two ends of the transmission auxiliary shaft 53, and the transmission auxiliary shaft 53 is respectively connected with the first transmission shaft 51 and one of the driving main channel wheels 500 through the universal shaft connectors 503.

Further, the auxiliary channel travelling wheel 6 comprises two driving auxiliary channel wheels 600 and two driven auxiliary channel wheels 601, the two driving auxiliary channel wheels 600 are oppositely arranged at two sides of the single-side frame, and the two driven auxiliary channel wheels 601 are respectively rotatably arranged on the frame at the side face of the driving auxiliary channel wheels; the driving auxiliary channel wheels at two sides of the frame form two groups of opposite driving auxiliary channel wheels, and two ends of the second transmission shaft 61 are connected with one group of driving auxiliary channel wheels; a connecting component 60 is connected between the two driving auxiliary channel wheels on the same side of the frame.

Further, the connection assembly 60 includes two driving teeth 602, a driving chain 603 and a chain tensioning gear 604; the two driving teeth 602 are respectively and fixedly sleeved on the outer sides of the rotating shafts of the two driving auxiliary channel wheels, the transmission chain 603 is sleeved on the outer sides of the two driving teeth, and the tensioning degree of the transmission chain is adjusted through the chain tensioning gear 604.

Further, the lifting mechanism 2 is composed of two groups of chain lifting units which are respectively arranged in the frame, and each group of chain lifting units controls the lifting of the main channel travelling wheel at one side; each group of chain lifting units comprises two lifting gear motors 200, a lifting transmission shaft 201, a rigid chain transmission pair 203 and two chain lifters 202, wherein the two chain lifters 202 arranged on the same side of the frame are connected with two ends of the lifting transmission shaft through a chain wheel pair 209, and the lifting transmission shaft 201 is driven by the rigid chain transmission pair 203 connected with the lifting gear motors 200; the top output shaft of the chain lifter 202 drives the lifting plate 204 to lift the goods, and one end of the lifting plate extends towards the outer side of the frame along the horizontal direction to form an extending end; the bottom of the extension end is fixedly provided with a sliding block 205; the sliding block is arranged on the frame in a sliding way along the radial direction, and the main channel wheel is rotatably arranged on the sliding block. The upper ends of the two jacking plates on the same side of the frame are provided with lifting channel steel 208.

Further, the driving assembly includes a walking motor 300 and a double-output-shaft speed reducer 301, and two groups of output shafts of the double-output-shaft speed reducer 301 are respectively connected with the first transmission shaft 51 and the second transmission shaft 62 through the first sprocket set 52 and the second sprocket set 62.

Further, a three-gear lifting position height sensor 206 is mounted on the side of the lifting transmission shaft 201; the side of the sliding block is provided with a position sensor 207; the elevation position height sensor 206 and the position sensor 207 are respectively connected to the power mechanism 4.

Further, the power mechanism 4 includes a battery 9, a driver 8, and a PLC controller 7; one end of the PLC 7 is connected with the driver 8, and the other end is connected with the battery 9; the walking motor 300 and the lifting gear motor 200 are respectively electrically connected with the driver 8, and the lifting position sensor 206 and the position sensor 207 are respectively electrically connected with the PLC controller 7. Four corners of the frame are provided with guide wheels 100, and the top of the frame adjacent to the guide wheels is provided with lifting bolt lifting lugs 101.

Working principle: when the four-way shuttle type transfer robot of the embodiment runs to the main channel, the lifting mechanism starts to run, the sliding plate on the walking wheel side of the main channel moves downwards, the transfer robot is in the direction facing the main channel, and at the moment, the walking wheel of the main channel is in contact with the rail of the main channel of the goods shelf, so that the four-way shuttle type transfer robot can pass through the main channel. The functions which can be realized at the moment are that the main channel runs, the main channel runs with goods, and goods or whole layers are replaced.

When the four-way shuttle type carrying robot enters the auxiliary passage from the main passage to carry cargoes, the wheels at the intersection are required to be reversed. At this time, the vehicle stops, the lifting mechanism starts to operate, the sliding plate on the side of the travelling wheel of the main channel moves upwards to the middle position, the carrying robot is in the direction facing the auxiliary channel, at this time, the travelling wheel of the main channel is separated from the main channel, the travelling wheel of the auxiliary channel is contacted with the auxiliary rail, the travelling wheel of the auxiliary channel operates, the four-way shuttle carrying robot is operated on the auxiliary channel, and goods to be carried are found.

When the four-way shuttle type carrying robot finds the goods to be carried in the auxiliary channel, the vehicle stops, the lifting mechanism is started at the moment, the sliding plate on the walking wheel side of the main channel continues to move upwards, and the lifting channel steel is driven to lift the tray and leave the goods shelf. At the moment, the auxiliary channel travelling wheels operate, and the four-way shuttle type carrying robot carries cargoes to the main and auxiliary channel intersections according to the scheduling requirements.

After the four-way shuttle-type carrying robot moves cargoes to the intersection of the main channel and the auxiliary channel, the vehicle stops, the lifting mechanism moves reversely, the sliding plate on the side of the travelling wheel of the main channel moves downwards, when the travelling wheel of the main channel moves downwards to contact the cargoes with the vehicle body, the sliding plate on the side of the travelling wheel of the main channel moves downwards to the contact of the travelling wheel of the main channel and the rail of the main channel, the travelling wheel of the auxiliary channel breaks away from the rail of the auxiliary channel, and the travelling wheel of the main channel moves. At the moment, the four-way shuttle type carrying robot moves to the intersection of the appointed auxiliary passage and the main passage with the goods.

After the four-way shuttle-type carrying robot moves to the intersection of the appointed auxiliary channel and the main channel with the goods, the vehicle stops, the lifting mechanism starts, and the sliding plate at the walking wheel side of the main channel continuously moves upwards until the tray and the goods are lifted; at this time, the auxiliary passage travelling wheels run, when the specified goods parking position is reached, the four-way shuttle type carrying robot stops, meanwhile, the lifting mechanism moves reversely, and the main passage travelling wheels move downwards, so that one-time goods carrying is completed. The goods can be delivered and put in warehouse in such a way, and the rapid warehouse function is realized.

While the embodiments of the present utility model have been described in detail with reference to the examples, the present utility model is not limited to the above embodiments, and it will be apparent to those skilled in the art that various equivalent changes and substitutions can be made therein without departing from the principles of the present utility model, and such equivalent changes and substitutions should also be considered to be within the scope of the present utility model.

Claims (10)

1. The four-way shuttle type transfer robot comprises a frame, and a lifting mechanism, a traveling mechanism and a power mechanism which are arranged in the frame, wherein the lifting mechanism and the traveling mechanism are controlled to operate by the power mechanism, and traveling wheels are arranged on the periphery of the frame; the method is characterized in that:

the travelling wheels are divided into main channel travelling wheels and auxiliary channel travelling wheels according to different directions of the travelling wheels, and the travelling mechanism comprises a transmission assembly, a driving assembly and a connecting assembly; the main channel travelling wheels are symmetrically arranged on two sides of the frame in the running direction of the main channel, and the auxiliary channel travelling wheels are symmetrically arranged on two sides of the frame in the running direction of the auxiliary channel; the main channel travelling wheel and the auxiliary channel travelling wheel are connected with the power mechanism through a transmission assembly; a connecting assembly is connected between the travelling wheels on two sides of at least one movement direction of the frame and is used for synchronously rotating and travelling by being driven by a power mechanism;

the transmission assembly comprises two first transmission shafts and two second transmission shafts which are crossed in space, and the first transmission shafts and the second transmission shafts are respectively connected with the power mechanism through the driving assembly and are used for driving travelling wheels around the frame; two ends of at least one of the first transmission shaft and the second transmission shaft are provided with transmission auxiliary shafts which are different from the axis of the transmission shaft, the transmission auxiliary shafts are connected with the travelling wheels, and the transmission auxiliary shafts and the travelling wheels connected with the transmission auxiliary shafts are driven by the lifting mechanism to lift.

2. A four-way shuttle robot as claimed in claim 1, wherein: the main channel travelling wheel is in driving connection with the first transmission shaft, and the auxiliary channel travelling wheel is in driving connection with the second transmission shaft; and two ends of the first transmission shaft are provided with transmission auxiliary shafts which are different from the axis of the first transmission shaft.

3. A four-way shuttle robot as claimed in claim 2, wherein: the main channel travelling wheels comprise a pair of driving main channel wheels and a pair of driven main channel wheels, and the driving main channel wheels and the driven main channel wheels are oppositely arranged at two sides of the frame; the driving main channel wheels are connected with the first transmission shaft through transmission auxiliary shafts, and the main channel travelling wheels and the transmission auxiliary shafts are driven by the lifting mechanism to lift.

4. A four-way shuttle robot according to claim 3, characterized in that: one end of the transmission auxiliary shaft penetrates through the kidney-shaped hole in the side wall of the frame and is connected with the driving main channel wheels, the adjacent driving main channel wheels are connected through a third chain wheel pair, the other end of the transmission auxiliary shaft is connected with the first transmission shaft, universal shaft connectors are respectively arranged at two ends of the transmission auxiliary shaft, and the transmission auxiliary shaft is respectively connected with the first transmission shaft and one of the driving main channel wheels through the universal shaft connectors.

5. A four-way shuttle robot as claimed in claim 2, wherein: the auxiliary channel travelling wheels comprise two driving auxiliary channel wheels and two driven auxiliary channel wheels, the two driving auxiliary channel wheels are oppositely arranged on two sides of the single-side frame, and the two driven auxiliary channel wheels are respectively rotatably arranged on the frame on the side face of the driving auxiliary channel wheels; the driving auxiliary channel wheels at two sides of the frame form two groups of opposite driving auxiliary channel wheels, and two ends of the second transmission shaft are connected with one group of driving auxiliary channel wheels; the connecting component is connected between the two driving auxiliary channel wheels on the same side of the frame.

6. A four-way shuttle robot as defined in claim 5, wherein: the connecting component comprises two driving teeth, a transmission chain and a chain tensioning gear; the two driving teeth are respectively and fixedly sleeved on the outer sides of the rotating shafts of the two driving auxiliary channel wheels, the transmission chain is sleeved on the outer sides of the two driving teeth, and the tensioning degree of the transmission chain is adjusted through the chain tensioning gear.

7. The four-way shuttle robot of claim 6 wherein: the lifting mechanism is composed of two groups of chain lifting units which are respectively arranged in the frame, and each group of chain lifting units controls the travelling wheels of the main channel at one side to lift; each group of the chain lifting units comprises two lifting speed reducing motors, a lifting transmission shaft, a rigid chain transmission pair and two chain lifters, wherein the two chain lifters arranged on the same side of the frame are connected through the lifting transmission shaft, and the lifting transmission shaft is driven by the rigid chain transmission pair in a connection manner with the lifting speed reducing motors; the top output shaft of the chain lifter drives the lifting plate to lift cargoes, and one end of the lifting plate extends towards the outer side of the frame along the horizontal direction to form an extending end; a sliding block is fixedly arranged at the bottom of the extension end; the sliding block is arranged on the frame in a sliding way along the radial direction, and the main channel wheel is rotatably arranged on the sliding block.

8. The four-way shuttle robot of claim 7 wherein: the driving assembly comprises a walking motor and a double-output-shaft speed reducer, and two groups of output shafts of the double-output-shaft speed reducer are respectively connected with the first transmission shaft and the second transmission shaft through a first sprocket pair and a second sprocket pair.

9. The four-way shuttle robot of claim 8 wherein a three-stage elevation sensor is mounted on the side of the elevation drive shaft; a position sensor is arranged on the side edge of the sliding block; the lifting position height sensor and the position sensor are respectively connected with the power mechanism.

10. A four-way shuttle robot as claimed in claim 9, wherein: the power mechanism comprises a battery, a driver and a PLC controller; one end of the PLC is connected with the driver, and the other end of the PLC is connected with the battery; the walking motor and the lifting gear motor are respectively and electrically connected with the driver, and the lifting position height sensor and the position sensor are respectively and electrically connected with the PLC controller.