Three-dimensional warehouse receiving and sending docking system

Abstract

The present application relates to a three-dimensional cargo warehouse receiving and sending docking system, which belongs to the field of unmanned logistics technology. The present application proposes a three-dimensional cargo warehouse receiving and sending docking system, including a receiving warehouse, in which a first conveyor belt is provided; a shipping warehouse, in which a second conveyor belt is provided; a transfer mechanism, which is used to transfer the cargo box from the unmanned vehicle chassis to the upper cargo position of the first conveyor belt, and to transfer the cargo box from the unloading position of the second conveyor belt to the unmanned vehicle chassis. Compared with the existing unmanned logistics warehousing system, the three-dimensional cargo warehouse receiving and sending docking system in the embodiment of the present application adopts an automatic driving unmanned vehicle, which drives in and out of the docking position in an unmanned manner, and the transfer mechanism can realize unmanned loading and unloading operations of cargo boxes, thereby improving work efficiency.

Description

Technical Field

[0001] The present application relates to the field of unmanned logistics technology, and more specifically, to a three-dimensional warehouse receiving, sending and docking system. Background Art

[0002] Unmanned logistics refers to the process whereby packages depart from unmanned warehouses, are transported to distribution centers by unmanned commercial vehicles, and then delivered to customers by unmanned delivery vehicles. Unmanned logistics can improve efficiency and reduce labor costs in the express delivery industry, and has broad application prospects.

[0003] Currently, when packages are divided and packed at distribution centers, unmanned vehicles still rely on manual labor to load the boxes, which not only reduces work efficiency but also makes them prone to errors. Summary of the Invention

[0004] To this end, the present application proposes a three-dimensional cargo warehouse receiving and sending docking system, which can realize unmanned loading and unloading operations of cargo boxes and improve work efficiency.

[0005] Some embodiments of the present application propose a three-dimensional cargo warehouse receiving and sending docking system, including a receiving warehouse, in which a first conveyor belt is provided; a shipping warehouse, in which a second conveyor belt is provided; a transfer mechanism, used to transfer the cargo box from the unmanned vehicle chassis to the loading position of the first conveyor belt, and to transfer the cargo box from the unloading position of the second conveyor belt to the unmanned vehicle chassis.

[0006] Compared with the existing unmanned logistics warehousing system, the three-dimensional warehouse receiving and sending docking system in the embodiment of the present application can realize unmanned loading and unloading operations of cargo boxes, thereby improving work efficiency.

[0007] In addition, the three-dimensional warehouse receiving and dispatching docking system according to the embodiment of the present application also has the following additional technical features:

[0008] According to some embodiments of the present application, a docking station is provided between the receiving and shipping bays. When an unmanned vehicle docks at the docking station, a transfer mechanism first transfers the cargo box from the unmanned vehicle chassis to the loading station of the first conveyor belt. The transfer mechanism then transfers the cargo box from the unloading station of the second conveyor belt to the unmanned vehicle chassis. This arrangement allows the unmanned vehicle to dock once for both loading and unloading, improving loading and unloading efficiency.

[0009] According to some embodiments of the present application, a receiving warehouse includes a first lifting mechanism and multiple layers of receiving warehouse shelves, wherein a first conveyor belt is provided on one layer of receiving warehouse shelves, and a third conveyor belt is provided on the other layers of receiving warehouse shelves. A loading position is formed at one end of the first conveyor belt, and a first lifting mechanism is arranged at the other end of the first conveyor belt, and the first lifting mechanism is used to transfer cargo boxes from the first conveyor belt to the third conveyor belt. This arrangement can increase the storage capacity of the receiving warehouse, and the loading position remains fixed, which helps simplify the structure of the transfer mechanism.

[0010] According to some embodiments of the present application, a retractable first fork is provided at one end of the third conveyor belt near the first lifting mechanism. This arrangement allows for convenient transport of cargo boxes from the third conveyor belt to the first lifting mechanism, and for convenient transport of cargo boxes delivered by the first lifting mechanism to the third conveyor belt.

[0011] According to some embodiments of the present application, the shipping warehouse includes a second lifting mechanism and multiple layers of shipping warehouse shelves. A second conveyor belt is provided on one layer of shipping warehouse shelves, and a fourth conveyor belt is provided on the other layers of shipping warehouse shelves. A loading position is formed at one end of the second conveyor belt, and a second lifting mechanism is arranged at the other end of the second conveyor belt. The second lifting mechanism is used to transfer cargo boxes from the fourth conveyor belt to the second conveyor belt. This arrangement can increase the storage capacity of the shipping warehouse, and the loading position remains fixed, which helps simplify the structure of the transfer mechanism.

[0012] According to some embodiments of the present application, a retractable second fork is provided at one end of the fourth conveyor belt near the second lifting mechanism. This arrangement allows for convenient transport of cargo boxes from the fourth conveyor belt to the second lifting mechanism, and for convenient transport of cargo boxes delivered by the second lifting mechanism to the fourth conveyor belt.

[0013] According to some embodiments of the present application, the receiving warehouse and the shipping warehouse have the same structure, which is convenient for assembly and can simplify the construction of the transfer mechanism.

[0014] According to some embodiments of the present application, the transfer mechanism includes a guide rail and a manipulator, wherein the guide rail is connected between the receiving bin and the shipping bin, and the manipulator is slidably disposed on the guide rail. This type of transfer mechanism can conveniently grab or unload cargo boxes, is low-cost, and is easy to assemble.

[0015] According to some embodiments of the present application, a receiving bin and a shipping bin are spaced apart along the Y direction. The guide rails include two X-direction guide rails and one Y-direction guide rail. The two X-direction guide rails are fixed to the receiving bin and the shipping bin, respectively. The ends of the Y-direction guide rail are slidably connected to the two X-direction guide rails, and the manipulator is slidably mounted on the Y-direction guide rails. The top of the cargo box is provided with a dovetail groove or an inverted T-slot. The manipulator includes a telescopic arm, the upper end of which is slidably connected to the Y-direction guide rail, and the lower end is provided with a lifting block that matches the dovetail groove or inverted T-slot. This arrangement is low-cost, simple in construction, and easy to implement.

[0016] According to some embodiments of the present application, a first infrared sensor is provided at the loading station to detect the presence of a cargo box, while a second infrared sensor is provided at the unloading station to detect the presence of a cargo box. This arrangement facilitates an external control device to determine whether a cargo box has reached a predetermined position, thereby initiating a response from the transfer mechanism.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic structural diagram of a three-dimensional warehouse receiving and dispatching docking system from one perspective provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the positions of loading, unloading, and docking locations in the three-dimensional warehouse receiving and docking system provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of the structure of the receiving warehouse in the three-dimensional warehouse receiving and docking system provided in an embodiment of the present application;

[0022] Figure 4 A schematic structural diagram of the first lifting mechanism and the first fork in the three-dimensional warehouse receiving and docking system provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the structure of the shipping warehouse in the three-dimensional warehouse receiving and dispatching docking system provided in an embodiment of the present application;

[0024] Figure 6 A schematic structural diagram of the second lifting mechanism and the second cargo hold in the three-dimensional cargo hold receiving and docking system provided in an embodiment of the present application;

[0025] Figure 7 A schematic structural diagram of the three-dimensional warehouse receiving and dispatching docking system provided in an embodiment of the present application from another perspective;

[0026] Figure 8 A schematic diagram of the structure of the transfer mechanism in the three-dimensional warehouse receiving and docking system provided in an embodiment of the present application;

[0027] Figure 9 This is a schematic diagram of the coordination between the lifting block and the lifting part in the three-dimensional warehouse receiving and docking system provided in an embodiment of the present application.

[0028] Icons: 100-Three-dimensional warehouse receiving and dispatching docking system; 10-Receiving warehouse; 11-First conveyor belt; 111-Loading position; 1111-First infrared sensing mechanism; 112-First end; 113-Second end; 12-Third conveyor belt; 121-Third end; 122-Fourth end; 13-First lifting mechanism; 131-First lifting drive stand; 132-Second lifting drive stand; 133-First lifting plate; 134-Second lifting plate; 14-First floor receiving warehouse shelf; 15-Second floor receiving warehouse shelf; 16-Third floor receiving warehouse shelf; 17-First fork; 171-First telescopic fork; 172-Second telescopic fork; 20-Shipping warehouse; 21-Second conveyor belt; 211-Unloading position; 2111-Second infrared sensing mechanism; 212-Fifth end; 213-Sixth end ;22-fourth conveyor belt;221-seventh end;222-eighth end;23-second lifting mechanism;231-third lifting drive stand;232-fourth lifting drive stand;233-third lifting plate;234-fourth lifting plate;24-first layer shipping warehouse shelf;25-second layer shipping warehouse shelf;26-third layer shipping warehouse shelf;27-second fork;271-third telescopic fork;272-fourth telescopic fork;30-transfer mechanism;31-guide rail;311-first X-guide rail;312-second X-guide rail;313-Y-guide rail;32-first manipulator;321-telescopic arm;322-hoisting block;33-second manipulator;40-docking position;50-unmanned vehicle chassis;60-cargo box;61-first cargo box;62-second cargo box;63-hoisting part. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0031] In the description of this application, the upper surface of the unmanned vehicle chassis 50 is used to place a cargo box 60. The cargo box 60 is a standard cargo box that matches the specifications of the unmanned vehicle chassis 50, the receiving warehouse 10, and the shipping warehouse 20. The execution end of the transfer mechanism 30 is capable of grabbing the cargo box 60 to transfer the cargo box 60. For ease of description, the cargo box 60 entering or about to enter the receiving warehouse 10 is defined as the first cargo box 61, and the cargo box 60 removed or about to be removed from the shipping warehouse 20 is defined as the second cargo box 62.

[0032] Please refer to Figure 1 The three-dimensional cargo warehouse receiving and dispatching docking system 100 of the embodiment of the present application includes a receiving warehouse 10, a shipping warehouse 20, and a transfer mechanism 30. A first conveyor belt 11 is provided in the receiving warehouse 10, and a second conveyor belt 21 is provided in the shipping warehouse 20. The transfer mechanism 30 is used to transfer a first cargo box 61 from the unmanned vehicle chassis 50 to the loading position 111 of the first conveyor belt 11, and to transfer a second cargo box 62 from the unloading position 211 of the second conveyor belt 21 to the unmanned vehicle chassis 50.

[0033] Compared with the existing unmanned logistics warehousing system, the three-dimensional warehouse receiving and sending docking system 100 in the embodiment of the present application can realize unmanned loading and unloading operations of cargo boxes, thereby improving work efficiency.

[0034] The following describes the structure and interconnection relationship of the various components of the three-dimensional warehouse receiving and dispatching docking system 100 according to an embodiment of the present application.

[0035] Please refer to Figure 1 and Figure 2 The three-dimensional cargo warehouse receiving and sending docking system has a docking position 40, which is located between the receiving warehouse 10 and the shipping warehouse 20. When the unmanned vehicle docks at the docking position 40, the transfer mechanism 30 first transfers the cargo box 60 from the unmanned vehicle chassis 50 to the loading position 111 of the first conveyor belt 11, and then the transfer mechanism 30 transfers the cargo box 60 from the unloading position 211 of the second conveyor belt 21 to the unmanned vehicle chassis 50.

[0036] Optionally, the docking position 40 is provided with an in-position sensing mechanism for detecting whether the unmanned vehicle on the docking position 40 is parked at a preset position, so as to ensure that the docking position 40 is accurately docked with the transfer mechanism 30 .

[0037] The cargo receiving warehouse 10 is used to store the first cargo box 61 transferred from the unmanned vehicle chassis 50 to the loading position 111 .

[0038] Please refer to Figure 3 Optionally, the receiving warehouse 10 includes a first lifting mechanism 13 and multi-layer receiving warehouse shelves, wherein a first conveyor belt 11 is provided on one layer of receiving warehouse shelves, and a third conveyor belt 12 is provided on other layers of receiving warehouse shelves.

[0039] It is easy to understand that the receiving warehouse 10 is a three-dimensional warehouse to increase the number of first cargo boxes 61 that can be stored therein.

[0040] Please refer to Figure 3 In some embodiments of the present application, the receiving warehouse shelves are arranged in three layers, which are, from bottom to top, the first layer receiving warehouse shelves 14, the second layer receiving warehouse shelves 15 and the third layer receiving warehouse shelves 16.

[0041] A first conveyor belt 11 is disposed on the first-level receiving warehouse rack 14. The first conveyor belt 11 includes a first end 112 and a second end 113. A loading position 111 is formed at the first end 112 of the first conveyor belt 11, and a first lifting mechanism 13 is disposed at the second end 113 of the first conveyor belt 11. The first conveyor belt 11 travels in a first predetermined direction to transfer the first cargo box 61 from the loading position 111 to the second end 113. The first lifting mechanism 13 then lifts the first cargo box 61 to the second-level receiving warehouse rack 15 or the third-level receiving warehouse rack 16.

[0042] A third conveyor belt 12 is provided on each of the second-layer receiving warehouse shelf 15 and the third-layer receiving warehouse shelf 16. The third conveyor belt 12 travels along a third preset direction to deliver the first cargo box 61 to the depth of the receiving warehouse shelf on that layer.

[0043] As an example, the first conveyor belt 11 and the third conveyor belt 12 are both electric roller conveyor belts.

[0044] The first lifting mechanism 13 is used to transfer the first cargo box 61 from the first conveyor belt 11 to the third conveyor belt 12 .

[0045] Please refer to Figure 4 In some embodiments of the present application, the first lifting mechanism 13 includes a first lifting drive frame 131 and a second lifting drive frame 132 disposed opposite each other. A first lifting plate 133 is mounted on a side of the first lifting drive frame 131 close to the second lifting drive frame 132, and a second lifting plate 134 is mounted on a side of the second lifting drive frame 132 close to the first lifting drive frame 131. The first lifting drive frame 131 is capable of driving the first lifting plate 133 to rise and fall, and the second lifting drive frame 132 is capable of driving the second lifting plate 134 to rise and fall synchronously with the first lifting plate 133 to transfer the first cargo box 61 from the second end 113 of the first conveyor belt 11 to the third conveyor belt 12.

[0046] The first lift drive frame 131 and the second lift drive frame 132 have the same structure. Taking the first lift drive frame 131 as an example, the first lift drive frame 131 comprises a first frame and a first linear guide. The first frame is provided with a first vertical slot, and the first linear guide is mounted within the first frame. The first lifting plate 133 is mounted on the actuating end of the first linear guide through the first slot.

[0047] Please refer to Figure 3 Furthermore, the third conveyor belt 12 includes a third end 121 and a fourth end 122 , the third end 121 is close to the first lifting mechanism 13 , and the fourth end 122 is close to the docking position 40 .

[0048] Please refer to Figure 4 The third end 121 of the third conveyor belt 12 is provided with a retractable first fork 17.

[0049] Specifically, the first fork 17 includes a first telescopic fork 171 and a second telescopic fork 172 . The two telescopic forks are arranged on the lower side of the third conveyor belt 12 and can be synchronously telescoped in the moving direction of the third conveyor belt 12 .

[0050] As an example, the first telescopic fork 171 and the second telescopic fork 172 are hydraulic telescopic forks.

[0051] As is readily understood, when the first lifting plate 133 and the second lifting plate 134 of the first lifting mechanism 13 lift the first cargo box 61 from the bottom side of the first cargo box 61 and raise the first cargo box 61 to the third end 121 of the third conveyor belt 12, the first telescopic fork 171 and the second telescopic fork 172 simultaneously extend outward to support the first cargo box 61 from the bottom of the first cargo box 61. The first telescopic fork 171 and the second telescopic fork 172 simultaneously retract to bring a portion of the bottom surface of the first cargo box 61 into contact with the third conveyor belt 12, and the third conveyor belt 12 moves the first cargo box 61 along the third preset direction to the depth of the receiving warehouse shelf on that level.

[0052] The shipping warehouse 20 is used to store the second cargo box 62 to be transferred to the unmanned vehicle chassis 50 .

[0053] Please refer to Figure 5 Optionally, the shipping warehouse 20 includes a second lifting mechanism 23 and multi-layer shipping warehouse shelves, wherein a second conveyor belt 21 is provided on one layer of the shipping warehouse shelves, and a fourth conveyor belt 22 is provided on the other layers of the shipping warehouse shelves.

[0054] It is easy to understand that the shipping warehouse 20 is a three-dimensional warehouse to increase the number of second cargo boxes 62 that can be stored therein.

[0055] Please refer to Figure 5 In some embodiments of the present application, the shipping warehouse shelves are arranged in three layers, which are, from bottom to top, the first layer shipping warehouse shelves 24, the second layer shipping warehouse shelves 25 and the third layer shipping warehouse shelves 26.

[0056] A second conveyor belt 21 is provided on the first-level shipping warehouse shelf 24. The second conveyor belt 21 includes a fifth end 212 and a sixth end 213. A second lifting mechanism 23 is arranged at the fifth end 212 of the second conveyor belt 21. A unloading position 211 is formed at the sixth end 213 of the second conveyor belt 21.

[0057] A fourth conveyor belt 22 is respectively provided on the second-layer shipping warehouse shelf 25 and the third-layer shipping warehouse shelf 26. The fourth conveyor belt 22 moves along the fourth preset direction to send the second cargo box 62 out of the outer end of the receiving warehouse shelf on that layer, so that the second cargo box 62 reaches the second lifting mechanism 23, so that the second lifting mechanism 23 can lower the second cargo box 62 from the third-layer shipping warehouse shelf 26 to the second-layer shipping warehouse shelf 25, from the third-layer shipping warehouse shelf 26 to the first-layer shipping warehouse shelf 24, or from the second-layer shipping warehouse shelf 25 to the first-layer shipping warehouse shelf 24.

[0058] The second conveyor belt 21 travels along the second predetermined direction to transfer the second container 62 from the fifth end 212 to the unloading position 211 .

[0059] As an example, the second conveyor belt 21 and the fourth conveyor belt 22 are both electric roller conveyor belts.

[0060] The second lifting mechanism 23 is used to transfer the second cargo box 62 from the fourth conveyor belt 22 to the second conveyor belt 21 .

[0061] Please refer to Figure 6 In some embodiments of the present application, the second lifting mechanism 23 includes a third lifting drive frame 231 and a fourth lifting drive frame 232 disposed opposite each other. A third lifting plate 233 is mounted on the side of the third lifting drive frame 231 adjacent to the fourth lifting drive frame 232, and a fourth lifting plate 234 is mounted on the side of the fourth lifting drive frame 232 adjacent to the third lifting drive frame 231. The third lifting drive frame 231 is capable of driving the third lifting plate 233 to rise and fall, and the fourth lifting drive frame 232 is capable of driving the fourth lifting plate 234 to rise and fall synchronously with the third lifting plate 233 to transfer the second cargo box 62 from the fourth conveyor belt 22 to the fifth end 212 of the second conveyor belt 21.

[0062] As an example, the third lift drive frame 231 and the fourth lift drive frame 232 have the same structure. Taking the third lift drive frame 231 as an example, the third lift drive frame 231 includes a second frame and a second linear guide. The second frame is provided with a second vertical slot. The second linear guide is mounted within the second frame. The third lift plate 233 is mounted on the actuator end of the second linear guide through the second slot.

[0063] Please refer to Figure 5Furthermore, the fourth conveyor belt 22 includes a seventh end 221 and an eighth end 222, wherein the seventh end 221 is close to the second lifting mechanism 23, and the eighth end 222 is close to the docking position 40. The seventh end 221 of the fourth conveyor belt 22 is provided with a retractable second fork 27.

[0064] Please refer to Figure 6 Specifically, the second fork 27 includes a third telescopic fork 271 and a fourth telescopic fork 272 . The two telescopic forks are arranged on the lower side of the fourth conveyor belt 22 and can be synchronously telescoped in the moving direction of the fourth conveyor belt 22 .

[0065] As an example, the third telescopic fork 271 and the fourth telescopic fork 272 are hydraulic telescopic forks.

[0066] As is readily understood, when the fourth conveyor belt 22 transfers the second cargo box 62 to the seventh end 221, the third and fourth telescopic forks 271, 272 simultaneously extend outward, and driven by the fourth conveyor belt 22, the second cargo box 62 is transferred onto the third telescopic fork 271. After the third and fourth lifting plates 233, 234 of the second lifting mechanism 23 abut against the second cargo box 62 from the bottom, the third and fourth telescopic forks 271, 272 simultaneously retract, and the second lifting mechanism 23 transfers the second cargo box 62 vertically to the fifth end 212 of the second conveyor belt 21. Part of the bottom surface of the second cargo box 62 contacts the second conveyor belt 21, and the second conveyor belt 21 transfers the second cargo box 62 along the second preset direction to the unloading position 211.

[0067] In some embodiments of the present application, the receiving warehouse 10 and the shipping warehouse 20 have the same structure.

[0068] In other embodiments, the loading position 111 of the receiving warehouse 10 and the unloading position 211 of the shipping warehouse 20 are respectively arranged on both sides of the docking position 40 to facilitate the operation of the transfer mechanism 30.

[0069] Please refer to Figure 7 Optionally, the loading position 111 is provided with a first infrared sensing mechanism 1111 for detecting whether there is a first cargo box 61 in the loading position 111. The unloading position 211 is provided with a second infrared sensing mechanism 2111 for detecting whether there is a second cargo box 62 in the unloading position 211.

[0070] It is easy to understand that this arrangement can help the external control device to determine whether the cargo box 60 has reached the preset position, so that the transfer mechanism 30 can respond.

[0071] As an example, the first infrared sensing mechanism 1111 and the second infrared sensing mechanism 2111 may be in-position sensors for detecting whether the outline of the first cargo box 61 is located at the upper cargo position 111 , or whether the outline of the second cargo box 62 is located at the unloading position 211 .

[0072] Please refer to Figure 2 The transfer mechanism 30 is used to transfer the first cargo box 61 from the unmanned vehicle chassis 50 to the upper cargo position 111 of the first conveyor belt 11, and to transfer the second cargo box 62 from the unloading position 211 of the second conveyor belt 21 to the unmanned vehicle chassis 50.

[0073] The following is an example of a specific structural form of the transfer mechanism 30.

[0074] Please refer to Figure 8 The transfer mechanism 30 includes a guide rail 31 and a manipulator. The guide rail 31 is connected between the receiving bin 10 and the shipping bin 20, and the manipulator is slidably disposed on the guide rail 31.

[0075] The receiving bin 10 and the shipping bin 20 are spaced apart along the Y direction. The guide rails 31 include a first X-direction guide rail 311, a second X-direction guide rail 312, and a Y-direction guide rail 313. The first X-direction guide rail 311 is fixed to the receiving bin 10, and the second X-direction guide rail 312 is fixed to the shipping bin 20. The ends of the Y-direction guide rail 313 are slidably connected to the first X-direction guide rail 311 and the second X-direction guide rail 312, respectively. The first and second manipulators 32 and 33 are slidably mounted on the Y-direction guide rails 313.

[0076] As an example, the first X-guide rail 311 , the second X-guide rail 312 , and the Y-guide rail 313 are all common linear guide mechanisms.

[0077] In some embodiments of the present application, two manipulators are arranged, namely a first manipulator 32 and a second manipulator 33 , and the first manipulator 32 and the second manipulator 33 are slidably arranged on the guide rail 31 .

[0078] Please refer to Figure 8 and Figure 9 The top of the cargo box 60 is provided with a lifting portion 63. The first manipulator 32 and the second manipulator 33 have the same structure. Taking the first manipulator 32 as an example, the first manipulator 32 includes a telescopic arm 321. The upper end of the telescopic arm 321 is slidably connected to the Y-guide rail 313, and the lower end is provided with a lifting block 322. The lifting block 322 matches the lifting portion 63 and is used to lift the cargo box 60.

[0079] As an example, the hanging portion 63 is a dovetail groove or an inverted T-slot, and the hanging block 322 matches the dovetail groove or the inverted T-slot.

[0080] In other embodiments, the transfer mechanism 30 may also include more than two manipulators to improve transfer efficiency.

[0081] The following illustrates the working process of the three-dimensional warehouse receiving and dispatching docking system 100 according to an embodiment of the present application.

[0082] The unmanned vehicle enters the docking station 40 , with the first cargo box 61 on the unmanned vehicle chassis 50 . Meanwhile, the second cargo box 62 is stored on the fourth conveyor belt 22 of the second-level shipping warehouse shelf 25 of the shipping warehouse 20 .

[0083] The Y-direction guide rail 313 of the transfer mechanism 30 moves in the reverse direction along the X direction to move the lifting block 322 of the first manipulator 32 to the side end of the first cargo box 61. The Y-direction guide rail 313 moves in the forward direction along the X direction to engage the lifting block 322 with the lifting portion 63 and move the lifting block 322 to the center of the first cargo box 61.

[0084] The telescopic arm 321 contracts, and the first manipulator 32 lifts the first cargo box 61 from the unmanned vehicle chassis 50;

[0085] The Y-direction guide rail 313 drives the first manipulator 32 to move along the Y direction to transfer the first cargo box 61 to the upper cargo position 111;

[0086] The telescopic arm 321 is opened to place the first cargo box 61 on the upper cargo position 111;

[0087] After the first infrared sensing mechanism 1111 detects that the first cargo box 61 is in the upper cargo position 111, the Y guide rail 313 moves in the opposite direction along the X direction again to remove the lifting block 322 of the first manipulator 32 from the lifting portion 63;

[0088] The first conveyor belt 11 drives the first cargo box 61 to move along the first preset direction to the second end 113;

[0089] The first lifting mechanism 13 moves the first cargo box 61 upward from the first-level receiving warehouse shelf 14 to the height of the second-level receiving warehouse shelf 15;

[0090] The two telescopic forks of the first cargo fork 17 extend outward to receive the first cargo box 61, and the first lifting mechanism 13 returns to its original position.

[0091] The two telescopic forks of the first cargo fork 17 retract inward, driving part of the bottom wall of the first cargo box 61 onto the third conveyor belt 12;

[0092] The third conveyor belt 12 drives the first cargo box 61 to move along the third preset direction to store the first cargo box 61 in the deep of the second-level receiving warehouse shelf 15;

[0093] The fourth conveyor belt 22 drives the second cargo box 62 to move along the second predetermined direction to the seventh end 221;

[0094] The two telescopic forks of the second fork 27 extend outward to move the second cargo box 62 to a preset position for docking with the second lifting mechanism 23, and the two telescopic forks of the second fork 27 retract inward;

[0095] The second lifting mechanism 23 receives the second cargo box 62 and moves the second cargo box 62 vertically to the fifth end 212 of the second conveyor belt 21 .

[0096] The second conveyor belt 21 drives the second cargo box 62 to move along the second preset direction to transfer the second cargo box 62 to the unloading position 211;

[0097] After the second infrared sensing mechanism 2111 detects that the second cargo box 62 has arrived at the unloading position 211, the transfer mechanism 30 lifts the second cargo box 62, transfers it to the unmanned vehicle chassis 50, and releases the second cargo box 62;

[0098] The unmanned vehicle carrying the second cargo box 62 drives out of the docking position 40 and sends the second cargo box 62 to the next link.

[0099] Compared with the existing unmanned logistics warehousing system, the three-dimensional cargo warehouse receiving and sending docking system 100 of the embodiment of the present application has a receiving warehouse 10, a shipping warehouse 20, a transfer mechanism 30 and a docking position 40. After the unmanned vehicle carrying the first cargo box 61 enters the docking position 40, the transfer mechanism 30 sends the first cargo box 61 into the receiving warehouse 10, the receiving warehouse 10 stores the first cargo box 61, and the shipping warehouse 20 sends a second cargo box 62 to the unloading position 211. The transfer mechanism 30 then places the second cargo box 62 on the unmanned vehicle chassis 50, completing the loading and unloading operations without any loading and unloading operations, thereby improving work efficiency.

[0100] It should be noted that, unless there is any conflict, the features in the embodiments of this application can be combined with each other.

[0101] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A three-dimensional warehouse receiving and dispatching docking system, characterized in that: include: A receiving warehouse, wherein a first conveyor belt is provided in the receiving warehouse; A shipping warehouse, wherein a second conveyor belt is provided in the shipping warehouse; A transfer mechanism, for transferring a cargo box from the chassis of the unmanned vehicle to the loading position of the first conveyor belt, and for transferring a cargo box from the unloading position of the second conveyor belt to the chassis of the unmanned vehicle; The receiving warehouse includes a first lifting mechanism and multi-layer receiving warehouse shelves, wherein the first conveyor belt is provided on one layer of receiving warehouse shelves, and the third conveyor belt is provided on the other layers of receiving warehouse shelves. The loading position is formed at one end of the first conveyor belt, and the first lifting mechanism is arranged at the other end of the first conveyor belt. The first lifting mechanism is used to transfer cargo boxes from the first conveyor belt to the third conveyor belt; The first lifting mechanism includes a first lifting drive frame and a second lifting drive frame arranged opposite to each other, a first lifting plate installed on a side of the first lifting drive frame close to the second lifting drive frame, and a second lifting plate installed on a side of the second lifting drive frame close to the first lifting drive frame; the first lifting drive frame drives the first lifting plate to rise and fall, and the second lifting drive frame drives the second lifting plate to rise and fall synchronously with the first lifting plate to transfer the cargo box from the first conveyor belt to the third conveyor belt; The third conveyor belt is provided with a retractable first fork at one end close to the first lifting mechanism. The first fork includes a first telescopic fork and a second telescopic fork. The two telescopic forks are arranged on the lower side of the third conveyor belt and can be synchronously retracted and extended in the moving direction of the third conveyor belt.

2. The three-dimensional warehouse receiving and dispatching docking system according to claim 1 is characterized in that: There is a docking position between the receiving warehouse and the shipping warehouse. When the unmanned vehicle docks at the docking position, the transfer mechanism first transfers the cargo box from the unmanned vehicle chassis to the upper cargo position of the first conveyor belt, and then the transfer mechanism transfers the cargo box from the unloading position of the second conveyor belt to the unmanned vehicle chassis.

3. The three-dimensional warehouse receiving and dispatching docking system according to claim 1, characterized in that: The shipping warehouse includes a second lifting mechanism and multi-layer shipping warehouse shelves, wherein the second conveyor belt is provided on one layer of shipping warehouse shelves, and the fourth conveyor belt is provided on other layers of shipping warehouse shelves. The unloading position is formed at one end of the second conveyor belt, and the second lifting mechanism is arranged at the other end of the second conveyor belt. The second lifting mechanism is used to transfer the cargo box from the fourth conveyor belt to the second conveyor belt.

4. The three-dimensional warehouse receiving and dispatching docking system according to claim 3 is characterized in that: An end of the fourth conveyor belt close to the second lifting mechanism is provided with a retractable second fork.

5. The three-dimensional warehouse receiving and dispatching docking system according to claim 1, characterized in that: The receiving warehouse and the shipping warehouse have the same structure.

6. The three-dimensional warehouse receiving and dispatching docking system according to claim 1, characterized in that: The transfer mechanism includes a guide rail and a manipulator, the guide rail is connected between the receiving bin and the shipping bin, and the manipulator is slidably disposed on the guide rail.

7. The three-dimensional warehouse receiving and dispatching docking system according to claim 6, characterized in that: The receiving bin and the shipping bin are spaced apart along the Y direction, the guide rails include two X-direction guide rails and one Y-direction guide rail, the two X-direction guide rails are respectively fixed to the receiving bin and the shipping bin, the two ends of the Y-direction guide rail are respectively slidably connected to the two X-direction guide rails, and the manipulator is slidably disposed on the Y-direction guide rails; A dovetail groove or an inverted T-slot is provided on the top of the cargo box, and the manipulator includes a telescopic arm, the upper end of the telescopic arm is slidably connected to the Y-guide rail, and the lower end is provided with a lifting block matching the dovetail groove or inverted T-slot.

8. The three-dimensional warehouse receiving and dispatching docking system according to any one of claims 1 to 7, characterized in that: The loading position is provided with a first infrared sensing mechanism for detecting whether there is a cargo box at the loading position; the unloading position is provided with a second infrared sensing mechanism for detecting whether there is a cargo box at the unloading position.

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