A vertically climbing shuttle vehicle and a shuttle vehicle stereoscopic warehouse

Abstract

The present invention discloses a shuttle car capable of vertical climbing and a shuttle car stereoscopic warehouse, wherein a climbing device is arranged on a body of the shuttle car, and the climbing device comprises: a first climbing mechanism and a second climbing mechanism symmetrically arranged on both sides of the body, a climbing motor driving the first climbing mechanism and the second climbing mechanism, the first climbing mechanism and the second climbing mechanism are of crawler design, a first limit pin is arranged on the first climbing mechanism, and a second limit pin is arranged on the second climbing mechanism, and the first limit pin and the second limit pin cooperate with ladder teeth on a shelf column, so that the shuttle car can stably move in a vertical direction, which not only reduces the investment in lifting equipment and realizes the high efficiency of material handling, but also avoids the problem of insufficient stability and easy tipping during climbing, thereby ensuring the safety of goods and the shuttle car.

Description

Technical Field

[0001] The present application relates to the technical field of automated logistics equipment, and in particular to a vertically climbable shuttle vehicle and a shuttle vehicle stereoscopic warehouse. Background Art

[0002] The shuttle car for shelves successfully saves the forklift driving channel that must be reserved between rows of shelves in the traditional cargo storage method; it realizes the storage and retrieval of workpieces between closely packed shelves, and the storage capacity has been greatly improved. It can also form a fully automatic three-dimensional warehouse transportation system with shuttle mother vehicles, lifting shafts, conveying trolleys, chain conveyors, roller conveyors, stackers and other equipment to transport materials according to the plan, significantly reducing the workload of management personnel, and has great advantages in terms of warehouse space utilization, cargo storage and retrieval efficiency and shelf investment costs.

[0003] However, the existing shuttle vehicles need to be transported to different shelf tracks by lifting devices such as forklifts and stackers to realize the storage and retrieval of goods at different heights. This requires a large number of lifting devices, the investment in lifting equipment is large, and the work efficiency is not ideal. At the same time, too many lifting devices cause the problem of insufficient utilization of warehouse space. In the patent document with application number CN20180596918.5 and invention name "A shuttle-type automated warehousing and shuttle vehicle", a shuttle vehicle that can climb is recorded, but it has the defect of insufficient stability during the climbing process, and the climbing effect is not ideal. For some goods with a shifted center of gravity, it may even tip over. Summary of the invention

[0004] In order to address the deficiencies in the prior art, the inventor provides a vertically climbing shuttle vehicle and a shuttle vehicle three-dimensional warehouse, which can enable the shuttle vehicle to move on a horizontal plane and realize a vertical climbing operation mode, thereby achieving high efficiency in material handling and reducing the investment in lifting equipment. It has the characteristics of high efficiency and high flexibility, and can meet the fast, flexible and changeable application scenarios of the logistics system; at the same time, during the climbing process, it has good stability and anti-rollover effect, has good safety performance, and can ensure the safety of goods and shuttle vehicles.

[0005] According to a first aspect, the present invention provides a shuttle vehicle capable of vertical climbing, the shuttle vehicle comprising: a vehicle body and a climbing device arranged in the vehicle body, the climbing device comprising: a climbing motor located in the vehicle body and a first climbing mechanism and a second climbing mechanism symmetrically arranged at the front and rear sides of the vehicle body, the climbing motor being transmission-connected to the first climbing mechanism and the second climbing mechanism through a transmission mechanism, and being used to drive the first climbing mechanism and the second climbing mechanism;

[0006] The first climbing mechanism is symmetrically arranged along the left and right sides of the vehicle body: an "H"-shaped first roller and a first crawler and a second crawler arranged on the first roller, and the first crawler and the second crawler are fixedly connected laterally by a first limit pin;

[0007] The second climbing mechanism is symmetrically arranged along the left and right sides of the vehicle body: an "H"-shaped second roller and a third crawler and a fourth crawler arranged on the second roller, and the third crawler and the fourth crawler are fixedly connected laterally by a second limit pin;

[0008] There are a plurality of the first limit pins and the second limit pins, and the spacing between each limit pin is the same. The limit pins can cooperate with the ladder teeth evenly arranged on the shelf columns to achieve climbing and positioning of the shuttle vehicle.

[0009] Further, the transmission mechanism comprises: a climbing drive shaft, a first driving wheel and a second driving wheel arranged on the climbing drive shaft, and the climbing motor is electrically connected to the climbing drive shaft to drive the climbing drive shaft to rotate;

[0010] The first driving wheel is meshed with a reversing gear, and the reversing gear is fixedly connected to the third driving wheel via a fixing pin;

[0011] A first driven wheel is provided on one side of the first climbing mechanism, the first driven wheel is fixedly connected to the first roller by a fixing pin, and the second driving wheel is transmission connected to the first driven wheel by a first chain; a second driven wheel is provided on one side of the second climbing mechanism, the second driven wheel is fixedly connected to the second roller by a fixing pin, and the third driving wheel is transmission connected to the second driven wheel by a second chain.

[0012] Furthermore, a telescopic mechanism is provided on the vehicle body, and the telescopic mechanism includes: a telescopic motor, a fixed block provided on the vehicle body, a fixed rod passing through the fixed block, and a first nut block and a second nut block provided at both ends of the fixed rod; the fixed rod is rotatably connected to the fixed block, the first nut block and the second nut block are threadedly connected to the fixed rod, the first nut block is fixedly connected to the first climbing mechanism, the second nut block is fixedly connected to the second climbing mechanism, and the telescopic motor is electrically connected to the fixed rod for driving the fixed rod to rotate.

[0013] Furthermore, a slide rail is provided on the vehicle body, and a first slider and a second slider are slidably connected to the slide rail, a third driven wheel is provided on the first slider, a fourth driven wheel is provided on the second slider, the second driving wheel is transmission connected to the third driven wheel through a first chain, and the third driving wheel is transmission connected to the fourth driven wheel through a second chain.

[0014] Further, a fifth driven wheel is provided on one side of the first climbing mechanism, the second driving wheel, the first driven wheel, the third driven wheel and the fifth driven wheel are located in the same plane, and the second driving wheel is transmission-connected with the first driven wheel, the third driven wheel and the fifth driven wheel through the first chain;

[0015] A sixth driven wheel is arranged on one side of the second climbing mechanism, the third driving wheel, the second driven wheel, the fourth driven wheel and the sixth driven wheel are located in the same plane, and the third driving wheel is transmission-connected with the second driven wheel, the fourth driven wheel and the sixth driven wheel through a second chain.

[0016] Further, the third driven wheel is located at a higher position than the fifth driven wheel, the fifth driven wheel is located at a higher position than the first driven wheel, the fourth driven wheel is located at a higher position than the sixth driven wheel, and the sixth driven wheel is located at a higher position than the second driven wheel.

[0017] Further, the slide rail comprises an upper slide rail and a lower slide rail, and the first slider and the second slider are slidably connected to the upper slide rail;

[0018] The first climbing mechanism further includes: a first partition plate and a second partition plate, the first roller is located between the first partition plate and the second partition plate, the first roller is fixedly connected to the first partition plate and the second partition plate via a rotating shaft, the first nut block is fixedly connected to the second partition plate, the first partition plate and the second partition plate are fixedly connected via a first mounting seat and a first fixing column, the first mounting seat is provided with a third slider, and the third slider is slidably connected to the lower slide rail;

[0019] The second climbing mechanism also includes: a third partition and a fourth partition, the second roller is located between the third partition and the fourth partition, the second roller is fixedly connected to the third partition and the fourth partition via a rotating shaft, the second nut block is fixedly connected to the fourth partition, the third partition and the fourth partition are fixedly connected via a second mounting seat and a second fixing column, a fourth slider is provided on the second mounting seat, and the fourth slider is slidably connected to the lower slide rail.

[0020] Furthermore, the shuttle vehicle also includes a vehicle shell, the vehicle body is located inside the vehicle shell, and the vehicle shell is provided with openings corresponding to the first and second climbing mechanisms; baffles are provided on both sides of the vehicle body, the first driving wheel and the reversing gear are located on the inner side of the baffle, and the second driving wheel, the third driving wheel, the first driven wheel, the second driven wheel, the third driven wheel, the fourth driven wheel, the fifth driven wheel and the sixth driven wheel are all located on the outer side of the baffle; a protective cover is provided on the inner side of the baffle, and the protective cover covers the first driving wheel and the reversing gear.

[0021] According to the second aspect, the present invention also provides a shuttle warehouse, which includes: a shelf and a vertically climbable shuttle as described above, wherein the columns of the shelf are provided with a plurality of ladder teeth that cooperate with the first limit pin and the second limit pin of the shuttle.

[0022] The working principle of the present invention is introduced as follows: the shuttle is controlled by the existing shuttle operating system. Specifically, taking the upper material as an example, first, the traveling motor works to drive the shuttle to move on the track below until it reaches the bottom of the upper material, and then the telescopic motor drives the fixed rod to rotate, so that the first nut block and the second nut block move outward on the threads at both ends of the fixed rod, and the nut block drives the first climbing wheel mechanism and the second climbing wheel mechanism to extend outward. At the same time, limited by the length of the first and second chains, the first slider and the second slider both slide outward until the telescopic motor stops working; then, the climbing motor works to drive the climbing drive shaft to rotate, driving the first driving wheel and the second driving wheel to rotate, and the second driving wheel drives the first driven wheel, the third driven wheel and the fifth driven wheel through the first chain, and then drives the first roller to rotate, so that the first limit pin cooperates with the ladder teeth on the shelf column to climb. Similarly, the first driving wheel drives the reversing gear to work, so that the third driving wheel rotates in the opposite direction, driving the third driving wheel to rotate, and then driving the second roller to rotate, so that the second limit pin cooperates with the ladder teeth on the shelf column. The first climbing mechanism and the second climbing mechanism work together to make the shuttle car climb on the shelf column to achieve the purpose of moving in the vertical direction. After the shuttle car reaches the height where the material is located, the fork works, takes out the material and then returns.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] (1) The vertically climbing shuttle provided by the present invention has a first climbing mechanism and a second climbing mechanism, so that the first limit pin and the second limit pin are respectively matched with the ladder teeth on the shelf column. The first climbing mechanism and the second climbing mechanism work together to realize the vertical up and down movement of the shuttle, and also realize the accurate positioning of the shuttle when it reaches the height where the materials are located in the shelf, which greatly reduces the investment in lifting equipment and realizes the high efficiency of material handling.

[0025] (2) The crawler design has good climbing ability and stability, avoiding tipping during climbing, effectively improving the adaptability of the first limit pin, the second limit pin and the ladder teeth, and ensuring the safety of the cargo and the shuttle.

[0026] (3) The setting of the reversing gear enables one climbing motor to drive the first and second climbing mechanisms to work, thereby reducing the complexity of the structure and reducing energy consumption.

[0027] (4) The arrangement of the telescopic mechanism enables the first and second climbing mechanisms to be extended or retracted into the vehicle shell, thereby preventing the climbing mechanisms from being accidentally damaged when the shuttle vehicle moves on a horizontal plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a vertically climbable shuttle vehicle provided for this application;

[0029] Figure 2 A schematic diagram of the internal structure of a vertically climbable shuttle provided for this application;

[0030] Figure 3 for Figure 2 A is a partial enlarged view of the middle;

[0031] Figure 4 A schematic diagram of the structure of the climbing device provided in this application when it is retracted;

[0032] Figure 5 A schematic diagram of the structure of the climbing device provided in this application when extended;

[0033] Figure 6 A schematic diagram of the structure of the first climbing mechanism provided in this application;

[0034] Figure 7 A schematic diagram of the structure of the second climbing mechanism provided in this application;

[0035] Figure 8 A schematic diagram of the working principle of the first climbing component provided in this application during climbing;

[0036] Fig. 9 This is a schematic diagram of the structure of the shuttle warehouse provided in this application.

[0037] Reference numerals:

[0038] 1-car body; 11-fork; 12-opening; 2-shelf; 21-column; 22-ladder teeth; 3-car body; 31-baffle; 4-travel motor; 5-climbing motor; 51-climbing drive shaft; 511-first driving wheel, 512-second driving wheel; 513-reversing gear; 514-third driving wheel; 52-first climbing mechanism; 521-first driven wheel; 522-fifth driven wheel; 523-first mounting seat; 524-first fixing column; 525-first roller; 5251-first crawler; 5252-second crawler; 526-first partition; 527-second partition; 528-first limit pin; 53-second climbing mechanism; 531-second driven wheel wheel; 532-sixth driven wheel; 533-second mounting seat; 534-second fixing column; 535-second roller; 5351-third crawler; 5352-fourth crawler; 536-third partition; 537-fourth partition; 538-second limit pin; 54-first chain; 55-second chain; 61-telescopic motor; 62-fixing block; 63-fixing rod; 641-first nut block; 642-first nut block; 7-slide rail; 71-upper slide rail; 72-lower slide rail; 711-first slider; 712-third driven wheel; 721-second slider; 722-fourth driven wheel; 731-third slider; 741-fourth slider; 8-fixing pin; 9-protective cover. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0040] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0041] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0042] It should be noted that the present application does not involve improvements to the shuttle control method. The climbing motor, traveling motor, and telescopic motor involved are all existing commercially available products, and their control methods are also conventional technical means used by technical personnel in this field.

[0043] Example 1

[0044] like Figure 1-3 As shown, the present invention provides a shuttle vehicle that can climb vertically, and the shuttle vehicle comprises: a vehicle shell 1, a vehicle body 3, a traveling motor 4, a climbing device and a fork 2 arranged on the vehicle body 3, the vehicle body 3 is arranged in the vehicle shell 1, and the traveling motor 4 is used to drive the shuttle vehicle to move on a horizontal plane.

[0045] The climbing device includes: a climbing motor 5, a telescopic mechanism, a first climbing mechanism 52 and a second climbing mechanism 53 symmetrically arranged on the left and right sides of the vehicle body 3. The climbing motor 5 is connected to the first climbing mechanism 52 and the second climbing mechanism 53 through a transmission mechanism, and is used to drive the first climbing mechanism 52 and the second climbing mechanism 53 to work. The first climbing mechanism 52 and the second climbing mechanism 53 are fixedly connected to the telescopic mechanism, respectively. The vehicle shell 1 is provided with an opening 12 corresponding to the first climbing mechanism 52 and the second climbing mechanism 53, so that the telescopic mechanism can drive the first climbing mechanism 52 and the second climbing mechanism 53 to extend or retract into the vehicle shell 1. A baffle 31 is provided in the vehicle shell 1, and the baffle 31 is used to protect the transmission mechanism.

[0046] Furthermore, the transmission mechanism includes: a climbing drive shaft 51 that passes through the baffle 31, a first driving wheel 511 and a second driving wheel 512 that are arranged on the climbing drive shaft 51, and the climbing motor 5 is electrically connected to the climbing drive shaft 51, and is used to drive the climbing drive shaft 51 to rotate, thereby driving the first driving wheel 511 and the second driving wheel 512 to rotate. The first driving wheel 511 is located on the inner side of the baffle 31, and the second driving wheel 512 is located on the outer side of the baffle 31. A reversing gear 513 is meshed on the first driving wheel 511, and the reversing gear is fixedly connected to the third driving wheel 514 through a fixing pin 8. A first driven wheel 521 is arranged on one side of the first climbing mechanism 52, and the first driven wheel 521 is located on the outer side of the baffle 31. The second driving wheel 512 is transmission-connected to the first driven wheel 521 through a first chain 54, and then transmission-connected to the first climbing mechanism 52. A second driven wheel 531 is provided on one side of the second climbing mechanism 53, and the third driving wheel 514 is connected to the second driven wheel 531 through a second chain 55, and then connected to the second climbing mechanism 53, so that when the climbing motor 5 is working, it can drive the first climbing mechanism 52 and the second climbing mechanism 53 to work. That is, when the climbing motor 5 is working, it drives the climbing drive shaft 51 to rotate, and at the same time makes the first driving wheel 511 and the second driving wheel 512 rotate, and the second driving wheel 512 drives the first climbing mechanism 52 to work through the first chain 54; the first driving wheel 511 drives the reversing gear 513 to rotate, and then drives the third driving wheel 514 to rotate, and the third driving wheel 514 drives the second climbing mechanism 53 to work through the second chain 55, so as to realize the function of vertical climbing.

[0047] Specifically, see Figure 2-Figure 6 The first climbing mechanism 52 includes: a first partition 526, a second partition 527, and a first roller 525 disposed between the first partition 526 and the second partition 527. The first partition 526 and the second partition 527 are fixedly connected by a first mounting seat 523 and a first fixing column 524, which can effectively improve the strength and structural stability of the first climbing mechanism 52. The first roller 525 is "H" shaped, and a first crawler 5251 and a second crawler 5252 are disposed on the first roller 525. The first crawler 5251 and the second crawler 5252 are fixedly connected by a first limiting pin 528. A plurality of first limiting pins 528 are provided, and the spacing between each first limiting pin 528 is the same, which is N times the crawler pitch. Figure 8 A plurality of ladder teeth 22 are provided on the column 21 of the shelf 2, and the spacing between each ladder tooth 22 is the same as the spacing between the first limit pins 528, which is N times the track pitch, so that the first limit pin 528 can be stuck on the ladder tooth 22, thereby achieving the purpose of climbing upwards, and has good climbing adaptability.

[0048] Likewise, see Figure 7The second climbing mechanism 53 includes: a third partition 536, a fourth partition 537, and a second roller 535 disposed between the third partition 536 and the fourth partition 537. The third partition 536 and the fourth partition 537 are fixedly connected by the second mounting seat 533 and the second fixing column 534, which can effectively improve the strength and structural stability of the second climbing mechanism 53. The second roller 535 is provided with a third crawler 5351 and a fourth crawler 5352, and the third crawler 5351 and the fourth crawler 5352 are fixedly connected by a second limiting pin 538. A plurality of second limiting pins 538 are provided, and the spacing between each second limiting pin 538 is the same, which is N times the crawler belt pitch.

[0049] The first climbing mechanism 52 and the second climbing mechanism 53 of the present application adopt a crawler design, which has a simple structure, low cost, and is not easy to damage, so that the shuttle vehicle has good climbing ability and stability, and effectively avoids rollover during the climbing process.

[0050] Furthermore, the telescopic mechanism includes: a telescopic motor 61, a fixed block 62 arranged on the vehicle body 3, a fixed rod 63 passing through the fixed block 62, and a first nut block 641 and a second nut block 642 arranged at both ends of the fixed rod 63, and the fixed rod 63 is rotatably connected to the fixed block 62. Threads are arranged at both ends of the fixed rod 63, and the threads at both ends are in opposite directions. The first nut block 641 and the second nut block 642 are connected to the fixed rod 63 by threads, so that the first nut block 641 and the second nut block 642 can move on the threads, that is, screw out or screw in. The first nut block 641 is fixedly connected to the second partition 527, so that when the first nut block 641 moves, it can drive the first climbing mechanism 52 to move, and the second nut block 642 is fixedly connected to the fourth partition 537, so that when the second nut block 642 moves, it can drive the second climbing mechanism 53 to move, so as to achieve the purpose of telescopic.

[0051] Further, the vehicle body 3 is provided with a slide rail 7, which includes an upper slide rail 71 and a lower slide rail 72. The upper slide rail 71 is slidably connected with a first slider 711 and a second slider 721. The first slider 711 is provided with a third driven wheel 712, and the second slider 721 is provided with a fourth driven wheel 722. The third driven wheel 712 is located outside the baffle 31 and is transmission-connected to the second driving wheel 512 and the first climbing mechanism 52 through a first chain 54. The fourth driven wheel 722 is located outside the baffle 31 and is transmission-connected to the third driving wheel 514 and the second climbing mechanism 53 through a second chain 55. A third slider 731 and a fourth slider 741 are slidably provided on the lower sliding rail 72, and the other end of the third slider 731 is fixedly connected to the first mounting seat 523, and the other end of the fourth slider 741 is fixedly connected to the second mounting seat 533, so that when the first climbing mechanism 52 and the first climbing mechanism 53 are extended or retracted, the third slider 731 and the fourth slider 741 slide on the lower sliding rail 72 at the same time, which not only enhances the stability of the structure, but also makes the first climbing mechanism 52 and the first climbing mechanism 53 extend or retract more smoothly.

[0052] Furthermore, a fifth driven wheel 522 is provided on one side of the first climbing mechanism 52, the second driving wheel 512, the first driven wheel 521, the third driven wheel 712 and the fifth driven wheel 522 are located in the same plane and are all located on the outside of the baffle 31, the third driven wheel 712 is located at a higher position than the fifth driven wheel 522, and the fifth driven wheel 522 is located at a higher position than the first driven wheel 521, and the second driving wheel 512 is connected to the first driven wheel 521, the third driven wheel 712 and the fifth driven wheel 522 through a first chain 54. A sixth driven wheel 532 is provided on one side of the second climbing mechanism 53, the third driving wheel 514, the second driven wheel 531, the fourth driven wheel 722 and the sixth driven wheel 532 are located in the same plane, the fourth driven wheel 722 is located higher than the sixth driven wheel 532, the sixth driven wheel 532 is located higher than the second driven wheel 531, and the third driving wheel 514 is connected to the second driven wheel 531, the fourth driven wheel 722 and the sixth driven wheel 532 through the second chain 55. The multi-wheel design allows the length of the first chain 54 to remain unchanged during extension and retraction, so that the power transmission is not affected and the power transmission is more stable.

[0053] Furthermore, a protective cover 9 is disposed inside the baffle 31 , and the protective cover 9 covers the first driving wheel 511 and the reversing gear 513 , thereby protecting the first driving wheel 511 and the reversing gear 513 and improving their service life.

[0054] like Fig. 9As shown, the present application also provides a shuttle warehouse, which includes: a shelf 2 and a vertically climbable shuttle as described above, and there can be multiple shuttles. The column 21 of the shelf 2 is provided with multiple ladder teeth 22 that cooperate with the first limit pin 528 and the second limit pin 538 of the shuttle, and the spacing between each ladder tooth 22 is the same as the spacing between the above-mentioned first limit pin 528 and the second limit pin 538.

[0055] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A vertically climbing shuttle vehicle, comprising: A vehicle body and a climbing device arranged in the vehicle body, characterized in that: The climbing device comprises: a climbing motor located in the vehicle body and a first climbing mechanism and a second climbing mechanism symmetrically arranged on the front and rear sides of the vehicle body, wherein the climbing motor is connected to the first climbing mechanism and the second climbing mechanism through a transmission mechanism, and is used to drive the first climbing mechanism and the second climbing mechanism; The first climbing mechanism is symmetrically arranged along the left and right sides of the vehicle body: an "H"-shaped first roller and a first crawler and a second crawler arranged on the first roller, and the first crawler and the second crawler are fixedly connected laterally by a first limit pin; The second climbing mechanism is symmetrically arranged along the left and right sides of the vehicle body: an "H"-shaped second roller and a third crawler and a fourth crawler arranged on the second roller, and the third crawler and the fourth crawler are fixedly connected laterally by a second limit pin; The first limit pin and the second limit pin are provided in plurality, and the spacing between each limit pin is the same. The limit pins can cooperate with the ladder teeth evenly arranged on the shelf columns to realize the climbing and positioning of the shuttle vehicle; The transmission mechanism comprises: a climbing drive shaft, a first driving wheel and a second driving wheel arranged on the climbing drive shaft, and the climbing motor is connected to the climbing drive shaft through a coupling to drive the climbing drive shaft to rotate; The first driving wheel is meshed with a reversing gear, and the reversing gear is fixedly connected to the third driving wheel via a fixing pin; A first driven wheel is provided on one side of the first climbing mechanism, the first driven wheel is fixedly connected to the first roller via a fixing pin, and the second driving wheel is transmission-connected to the first driven wheel via a first chain; A second driven wheel is provided on one side of the second climbing mechanism, the second driven wheel is fixedly connected to the second roller via a fixing pin, and the third driving wheel is transmission-connected to the second driven wheel via a second chain; The vehicle body is provided with a telescopic mechanism, and the telescopic mechanism comprises: a telescopic motor, a fixed block provided on the vehicle body, a fixed rod passing through the fixed block, and a first nut block and a second nut block provided at both ends of the fixed rod; the fixed rod is rotatably connected to the fixed block, the first nut block and the second nut block are threadedly connected to the fixed rod, the first nut block is fixedly connected to the first climbing mechanism, the second nut block is fixedly connected to the second climbing mechanism, and the telescopic motor is electrically connected to the fixed rod, so as to drive the fixed rod to rotate; The vehicle body is provided with a slide rail, a first slider and a second slider are slidably connected to the slide rail, a third driven wheel is provided on the first slider, a fourth driven wheel is provided on the second slider, the second driving wheel is transmission-connected to the third driven wheel via a first chain, and the third driving wheel is transmission-connected to the fourth driven wheel via a second chain; A fifth driven wheel is provided on one side of the first climbing mechanism, the second driving wheel, the first driven wheel, the third driven wheel and the fifth driven wheel are located in the same plane, and the second driving wheel is transmission-connected with the first driven wheel, the third driven wheel and the fifth driven wheel through the first chain; A sixth driven wheel is provided on one side of the second climbing mechanism, the third driving wheel, the second driven wheel, the fourth driven wheel and the sixth driven wheel are located in the same plane, and the third driving wheel is transmission-connected with the second driven wheel, the fourth driven wheel and the sixth driven wheel through a second chain; The slide rail comprises an upper slide rail and a lower slide rail, and the first slider and the second slider are slidably connected to the upper slide rail; The first climbing mechanism further includes: a first partition plate and a second partition plate, the first roller is located between the first partition plate and the second partition plate, the first roller is fixedly connected to the first partition plate and the second partition plate via a rotating shaft, the first nut block is fixedly connected to the second partition plate, the first partition plate and the second partition plate are fixedly connected via a first mounting seat and a first fixing column, the first mounting seat is provided with a third slider, and the third slider is slidably connected to the lower slide rail; The second climbing mechanism also includes: a third partition and a fourth partition, the second roller is located between the third partition and the fourth partition, the second roller is fixedly connected to the third partition and the fourth partition via a rotating shaft, the second nut block is fixedly connected to the fourth partition, the third partition and the fourth partition are fixedly connected via a second mounting seat and a second fixing column, a fourth slider is provided on the second mounting seat, and the fourth slider is slidably connected to the lower slide rail.

2. The vertically climbable shuttle vehicle according to claim 1, characterized in that: The third driven wheel is located higher than the fifth driven wheel, the fifth driven wheel is located higher than the first driven wheel, the fourth driven wheel is located higher than the sixth driven wheel, and the sixth driven wheel is located higher than the second driven wheel.

3. The vertically climbable shuttle vehicle according to claim 1, characterized in that: It also includes a vehicle shell, the vehicle body is located inside the vehicle shell, and the vehicle shell is provided with openings corresponding to the first and second climbing mechanisms; baffles are provided on both sides of the vehicle body, the first driving wheel and the reversing gear are located on the inner side of the baffles, and the second driving wheel, the third driving wheel, the first driven wheel, the second driven wheel, the third driven wheel, the fourth driven wheel, the fifth driven wheel and the sixth driven wheel are all located on the outer side of the baffles; a protective cover is provided on the inner side of the baffle, and the protective cover covers the first driving wheel and the reversing gear.

4. A shuttle vehicle three-dimensional warehouse, characterized in that: include: A shelf and a vertically climbable shuttle as described in any one of claims 1 to 3, wherein a plurality of ladder teeth cooperating with a first limit pin and a second limit pin of the shuttle are evenly arranged on the columns of the shelf.

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