Transport vehicle and warehousing system

Abstract

The embodiment of the present application provides a transport vehicle and a storage system. The transport vehicle provided by the embodiment of the present application comprises: a vehicle body, a driving wheel system and a climbing assembly. The driving wheel system is arranged at the bottom of the vehicle body and is used for driving the transport vehicle to move horizontally. The climbing assembly is arranged on both sides of the vehicle body and is used for engaging with a track arranged on a shelf so that the transport vehicle can vertically climb along the track. The transport vehicle provided by the embodiment of the present application can not only move horizontally and straightly, but also vertically climb on the shelf, so that the running track of the transport vehicle is enriched, and the running efficiency of the transport vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to a transport vehicle and a warehousing system. Background Art

[0002] With the rapid development of science and technology, cargo warehousing is becoming more and more intelligent. In modern warehouses, transport vehicles are gradually replacing manual labor in cargo handling.

[0003] Traditional transport vehicles are typically used to transport goods in and out of high-bay warehouses. They can only travel in one direction, primarily on a horizontal, linear track within a plane. If a horizontal, straight-travel transport vehicle needs to change lanes, it must be moved from one lane to another using a hoist or other means at the end of the lane. After removing goods, the transport vehicle must pass through a series of assembly lines for transfer, collection, and storage before sorting. After sorting, it must return to the high-bay warehouse through another series of assembly lines.

[0004] It can be seen that when traditional horizontal straight transport vehicles realize automatic transportation of goods, they also need to be equipped with a large number of auxiliary equipment such as conveyor lines and elevators, which are costly and require large equipment investment. Moreover, when there is a large demand for order outbound and inbound orders, the traditional horizontal straight transport vehicles have a fixed driving trajectory, which can easily cause congestion. Summary of the Invention

[0005] The embodiments of the present invention provide a transport vehicle and a warehousing system, so that the transport vehicle can not only move horizontally and straight, but also climb vertically on a shelf.

[0006] In a first aspect, an embodiment of the present invention provides a transport vehicle comprising: a vehicle body, a drive wheel system, and a climbing assembly;

[0007] The driving wheel system is arranged at the bottom of the vehicle body, and the driving wheel system is used to drive the transport vehicle to move horizontally;

[0008] The climbing components are arranged on both sides of the vehicle body, and the climbing components are used to engage with the tracks arranged on the shelves so that the transport vehicle can climb vertically along the direction of the tracks.

[0009] In one possible design, the climbing assembly includes: a power assembly and a transmission assembly;

[0010] The output end of the power assembly is connected to the input end of the transmission assembly, and the output end of the transmission assembly is used to engage with the track.

[0011] In one possible design, the power assembly includes: a motor and a transmission pair;

[0012] The motor is connected to the input end of the transmission pair, and the output end of the transmission pair is connected to the input end of the transmission assembly.

[0013] In a possible design, the climbing assembly further includes: telescopic assemblies provided on both sides of the vehicle body, brackets provided at the moving ends of the telescopic assemblies, and a transmission shaft;

[0014] The motor is connected to the input end of the transmission pair, the output end of the transmission pair is connected to the transmission shaft, and rotating components are respectively provided at both ends of the transmission shaft, and the rotating components are rotatably connected to the bracket;

[0015] When the transport vehicle climbs vertically, the telescopic assembly extends to engage the rotating member with the track to form a kinematic pair;

[0016] When the transport vehicle moves horizontally, the telescopic assembly is retracted to disengage the rotating component from the track, thereby releasing the kinematic pair.

[0017] In one possible design, the bracket is provided with an alignment wheel set;

[0018] The alignment wheel set includes two alignment wheels arranged opposite to each other;

[0019] When the telescopic assembly is extended, the guide block provided at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels move along the two side walls of the guide block respectively to complete the alignment of the rotating component and the track.

[0020] In one possible design, the drive train includes: a mounting seat, a swing arm, a buffer assembly, and a wheel;

[0021] The mounting seat is arranged at the bottom of the vehicle body;

[0022] The first end of the swing arm is hinged to the mounting seat, the second end of the swing arm is connected to the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body;

[0023] The wheel is arranged between the two ends of the swing arm.

[0024] In one possible design, the buffer assembly includes: a limiting rod, a spring, and a limiting ring;

[0025] The limiting rod passes through the vehicle body, the spring and the swing arm in sequence;

[0026] The limiting ring is arranged at an end of the limiting rod away from the vehicle body.

[0027] In one possible design, a first sensor is provided on the climbing assembly on one side of the vehicle body, and a second sensor is provided on the climbing assembly on the other side, and the first sensor and the second sensor are respectively connected to a control assembly provided on the vehicle body;

[0028] The first sensor is used to detect a first detection hole on the track on the corresponding side, and the second sensor is used to detect a second detection hole on the track on the corresponding side, wherein the first detection hole and the second detection hole are located at the same height;

[0029] The control component adjusts the rotation speed of the motor according to the current climbing speed of the transport vehicle and the time difference between detecting the first detection hole and detecting the second detection hole, so that the transport vehicle maintains a posture perpendicular to the track for vertical climbing.

[0030] In one possible design, the transport vehicle further includes: a cargo box pick-up and placement assembly;

[0031] The cargo box pick-up and placement assembly is arranged on the vehicle body;

[0032] The cargo box picking and placing component is used to pick up the cargo boxes placed on the shelf.

[0033] In one possible design, the cargo box access assembly includes: a cargo box access telescopic plate and a drive mechanism;

[0034] The cargo box taking and placing telescopic plate extends out or retracts into the vehicle body when driven by the driving mechanism.

[0035] In one possible design, the transport vehicle further includes: a third sensor disposed on the vehicle body, the third sensor being connected to a control component disposed on the vehicle body;

[0036] The cargo box picking and placing telescopic plate triggers the third sensor when it is extended;

[0037] The control component determines the operation time of the cargo box picking and placing telescopic plate according to the extension speed of the cargo box picking and placing telescopic plate and the preset positioning distance;

[0038] The preset distance is the distance between the dead stop portion on the shelf and the third sensor.

[0039] In one possible design, the vehicle body includes: a main frame, a cargo box access assembly support frame, and a battery compartment frame;

[0040] The cargo box access assembly support frame and the battery compartment frame are detachably mounted on the main frame;

[0041] The cargo box picking and placing assembly is provided on the cargo box picking and placing assembly support frame;

[0042] A battery assembly is arranged on the battery compartment frame.

[0043] In a second aspect, an embodiment of the present invention further provides a warehousing system, comprising a shelf and any one of the transport vehicles provided in the first aspect.

[0044] An embodiment of the present invention provides a transport vehicle and a storage system, in which the transport vehicle is driven to move horizontally by a driving wheel system arranged at the bottom of the vehicle body, and the transport vehicle is enabled to climb vertically along the track direction by engaging with the track on the shelf through climbing components arranged on both sides of the vehicle body. In this way, the transport vehicle can not only move horizontally and straight, but also climb vertically on the shelf, enriching the operation track of the transport vehicle and thus improving the operation efficiency of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1a Schematic diagram of the overall structure of a transport vehicle according to an exemplary embodiment of the present invention;

[0047] Figure 1b for Figure 1a A schematic diagram of a portion of the structure of the transport vehicle described in ;

[0048] Figure 2a Schematic diagram of the vehicle body structure;

[0049] Figure 2b This is a schematic diagram of the vehicle body structure explosion;

[0050] Figure 3a This is the structural front view of the climbing assembly;

[0051] Figure 3b This is the structural axonometric view of the climbing assembly;

[0052] Figure 3c This is another structural axonometric view of the climbing assembly;

[0053] Figure 4a Schematic diagram of the structure of the driving gear train;

[0054] Figure 4b is a cross-sectional schematic diagram of the drive gear train;

[0055] Figure 5a This is a schematic diagram of the transport vehicle picking up and releasing goods;

[0056] Figure 5b for Figure 5a A magnified schematic diagram of point A in the middle;

[0057] Figure 5c for Figure 5a A magnified schematic diagram of point B in the middle;

[0058] Figure 6 It is a schematic structural diagram of a warehousing system according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0059] First, to make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0060] Secondly, it should be noted that in the description of the embodiments of the present invention, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the embodiments of the present invention.

[0061] In addition, it should be noted that in the description of the embodiments of the present invention, unless otherwise clearly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be internal communication between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0062] Figure 1a FIG1 is a schematic diagram of the overall structure of a transport vehicle according to an exemplary embodiment of the present invention. Figure 1b for Figure 1a Schematic diagram of part of the structure of the transport vehicle described in FIG. Figure 1a-Figure 1b As shown, the transport vehicle provided in this embodiment includes: a vehicle body 110 , a driving wheel system 120 and a climbing assembly 130 .

[0063] Specifically, the drive wheel train 120 is disposed at the bottom of the vehicle body 110. The drive wheel train 120 may be composed of multiple wheel trains. Furthermore, a universal wheel may be disposed at the bottom of the vehicle body 110 to assist the transport vehicle in steering. It is worth noting that the wheels in the drive wheel train 120 are connected to a drive mechanism, thereby driving the transport vehicle to move horizontally.

[0064] The climbing assembly 130 is provided on both sides of the vehicle body 110. The climbing assembly 130 is used to engage with the track provided on the shelf so that the transport vehicle can climb vertically along the direction of the track. It is worth noting that the end actuator of the climbing assembly 130 can be a sprocket or a gear, and the corresponding shelf track can be provided with a chain or a rack that cooperates with the climbing assembly 130. When the climbing assemblies 130 on both sides of the vehicle body 110 are respectively engaged with the corresponding tracks on both sides, the actuator of the climbing assembly 130 moves, for example, the sprocket or gear in the climbing assembly 130 rotates, so that the climbing assembly 130 and the transport vehicle can climb vertically along the track.

[0065] In this embodiment, the transport vehicle is driven to move horizontally by a driving wheel system arranged at the bottom of the vehicle body, and the transport vehicle is enabled to climb vertically along the track direction by engaging with the climbing components arranged on both sides of the vehicle body with the track on the shelf. This enables the transport vehicle to move horizontally and climb vertically on the shelf, enriching the operation trajectory of the transport vehicle and thus improving the efficiency of the transport vehicle operation.

[0066] Based on the above embodiments, Figure 2a The schematic diagram of the vehicle body structure is shown in Figure 2. Figure 2b This is a schematic diagram of the vehicle body structure explosion. Figure 2a-2b As shown, the vehicle body in this embodiment includes: a main frame 112, a cargo box pick-up and placement assembly support frame 111, and a battery compartment frame 113. Among them, the main frame 112, the cargo box pick-up and placement assembly support frame 111, and the battery compartment frame 113 are all welded frame structures, and the cargo box pick-up and placement assembly support frame 111 and the battery compartment frame 113 can be detachably installed on the main frame 112. Specifically, they can be connected by bolts. Optionally, the cargo box pick-up and placement assembly support frame 111 can be connected to the top of the main frame 112 by bolts, and the battery compartment frame 113 can be connected to the bottom of the main frame 112 by bolts. In addition, it is worth noting that a cargo box pick-up and placement assembly 140 can be set on the cargo box pick-up and placement assembly support frame 111, and a battery assembly 160 can be set on the battery compartment frame 113.

[0067] Figure 3a This is the structural front view of the climbing component. Figure 3b This is the structural axonometric view of the climbing component. Figure 3cThis is another structural isometric view of the climbing component. Figure 1b as well as Figure 3a-3c As shown, the climbing assembly 130 includes a power assembly and a transmission assembly, wherein the output end of the power assembly is connected to the input end of the transmission assembly, and the output end of the transmission assembly is used to engage with the track. The power assembly includes a motor 131 and a transmission pair 134, wherein the motor 131 is connected to the input end of the transmission pair 134, and the output end of the transmission pair 134 is connected to the input end of the transmission assembly. In addition, the climbing assembly 130 may also include a telescopic assembly 137 arranged on both sides of the vehicle body, a bracket 138 arranged at the moving end of the telescopic assembly 137, and a transmission shaft 134. Specifically, the motor 131 is connected to the input end of the transmission pair 134, and the output end of the transmission pair 134 is connected to the transmission shaft 136. Rotating components, such as sprockets 135, are respectively provided at both ends of the transmission shaft 136, and the transmission shaft 136 is rotatably connected to the bracket 138.

[0068] The transmission pair 134 may be a chain drive, a gear drive or a belt drive. In this embodiment, the specific form of the transmission pair 134 is not limited. It only needs to ensure that the power of the motor 131 can be transmitted to the transmission shaft 136.

[0069] Furthermore, a speed limiting assembly 132 and a reducer 133 may be provided between the motor 131 and the transmission pair 134. One end of the speed limiting assembly 132 is connected to the output shaft of the motor 131, and the other end is connected to the input end of the reducer 133. The output end of the reducer 133 is connected to the transmission pair 134. It is worth noting that the speed limiting assembly 132 is used to brake or even lock the transmission pair 134 in the event of a fall caused by an electrical fault, thereby protecting the transport vehicle. The reducer 133 is used to convert the high speed output by the motor 131 into a low speed, thereby increasing torque.

[0070] When the transport vehicle climbs vertically, the telescopic assembly 137 extends, causing the bracket 138 to extend outward, allowing the sprocket 135 disposed in the bracket 138 to engage with the chain in the track, thereby forming a kinematic pair. When the transport vehicle moves horizontally, the telescopic assembly 137 retracts, disengaging the sprocket 135 disposed in the bracket 138 from the chain in the track, thereby releasing the kinematic pair. It should be understood that the telescopic assembly 137 may be a hydraulic rod, a pneumatic rod, or other retractable component or transmission mechanism, and is not specifically limited in this embodiment.

[0071] When the transport vehicle needs to switch from horizontal movement to vertical climbing, it will first move to a designated position near the shelf under the guidance of the navigation module 150, wherein the navigation module 150 may be a QR code navigation module. Because the sprocket 135 in the bracket 138 and the chain in the track need to be aligned before the transport vehicle performs vertical climbing, there may be some deviation between the position reached by the transport vehicle under the guidance of the navigation module 150 and the designated position at which it actually needs to stop, resulting in a positional deviation between the relative position of the transport vehicle and the shelf, making it impossible to strictly align the sprocket 135 in the bracket 138 with the chain in the track.

[0072] Please continue to refer to Figure 3a-3c In order to align the sprocket 135 in the bracket 138 with the chain in the track before the transport vehicle climbs vertically, an alignment wheel set 139 may be provided on the bracket 138. Optionally, the alignment wheel set 139 includes two alignment wheels arranged opposite to each other. When the telescopic assembly is extended, the guide block 220 provided at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels can move along the side walls of the guide block 220 respectively to complete the alignment of the alignment wheel set 139 and the guide block 220, thereby achieving a relative position relationship that satisfies the meshing of the sprocket 135 and the chain in the track. It is worth noting that the guide block 220 can be set on the bottom side wall of the shelf, and the part of the guide block 220 facing outward can be set to a convex arc, so that the alignment wheel group 139 can more easily fit the side wall of the guide block 220 when it moves to meet the guide block 220, and reach the designated position under the guidance of the guide block 220 to achieve alignment of the sprocket 135 and the chain in the track, thereby ensuring that the relative position between the transport vehicle and the shelf meets the relative position requirements for vertical climbing.

[0073] In addition, continue to refer to Figure 3c The guide block 220 may include a guide block base 221 and a guide block body 222, wherein the guide block base 221 is used to be installed on the shelf, specifically, it can be installed by bolt connection. The guide block body 222 is used to be set toward the transport vehicle. In addition to the front end of the guide block body 222 being set to a convex arc, the upper end surface boundary of the guide block body 222 can also be set to an arc, rounded or chamfered form. As a result, when the transport vehicle is lowered from the shelf to the ground, the alignment wheel group 139 slides down along the upper end surface boundary of the guide block body 222, thereby reducing the impact. In addition, it can also effectively prevent the transport vehicle from being stuck at the upper end of the guide block body 222, resulting in the transport vehicle being unable to switch from the vertical climbing mode to the horizontal operation mode.

[0074] Based on the above embodiments, Figure 4a is a structural diagram of the drive train. Figure 4b Figure 2 is a cross-sectional diagram of the drive train. Figure 4a-4b As shown, the driving wheel system 120 in the above embodiment includes: a mounting seat 121, a swing arm 122, a buffer assembly, and a wheel 123, wherein the mounting seat 121 is disposed at the bottom of the vehicle body 110, the first end of the swing arm 122 is hinged to the mounting seat 121, the second end of the swing arm 122 is connected to the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body 124. It is worth noting that by arranging the wheel 123 in the middle of the swing arm 122, rotatably connecting the first end of the swing arm 122 to the mounting seat 121, and arranging the buffer assembly between the second end of the swing arm 122 and the vehicle body 110, the impact force of the transport vehicle when it is lowered from the shelf to the ground can be buffered.

[0075] Optionally, the buffer assembly may include: a limiting rod 124, a spring 125, and a limiting ring 126, wherein the limiting rod 124 sequentially passes through the vehicle body 110, the spring 125, and the swing arm 126, and the limiting ring 126 is provided at the end of the limiting rod 124 away from the vehicle body 110. With the above-described arrangement of the buffer assembly, the spring 125 can provide positive pressure when the transport vehicle is moving, and provide a buffer when the transport vehicle is lowered from the shelf to the ground. In addition, the limiting ring 126 is provided at one end of the limiting rod 124 to limit the range of motion of the spring 125.

[0076] In addition, in order to ensure that the vehicle body maintains the correct posture when climbing, a detection device can be set on the vehicle body 110 to first detect the detection holes of the shelves on both sides, and then the vehicle body posture can be corrected in real time based on the detection results.

[0077] Specifically, Figure 5a This is a schematic diagram of the transport vehicle picking up and releasing goods. Figure 5b for Figure 5a The enlarged schematic diagram of point A in the middle, Figure 5c for Figure 5a The enlarged schematic diagram of point B in the figure. Figure 5a-5c As shown, a first sensor 180 may be provided on the climbing assembly 130 on one side of the vehicle body 110, while a second sensor 182 may be provided on the climbing assembly on the other side. The first sensor 181 and the second sensor 182 are respectively connected to a control assembly 190 provided on the vehicle body 110. The first sensor 181 and the second sensor 182 are identical sensors, for example, diffuse reflection optical sensors, and their detection principles are the same. Therefore, the detection principle of the second sensor 182 will not be described in detail in this embodiment. Specifically, the first sensor 181 is used to detect a first detection hole 211 on the track 210 on the corresponding side, and the second sensor is used to detect a second detection hole on the track on the corresponding side. The first detection hole 211 and the second detection hole are located at the same height.

[0078] Continue to refer to Figure 5a It is worth noting that the two parallel rails are each provided with a series of detection holes, and the detection holes in the detection hole series on the two rails are in a one-to-one correspondence, with the heights of each set of corresponding detection holes being consistent. The first detection hole 211 and the second detection hole in the above embodiment may be any set of detection holes on the two rails.

[0079] During the climbing process of the transport vehicle, the control component 190 can determine the height difference on both sides of the transport vehicle based on the time difference between detecting the first detection hole 211 and detecting the second detection hole, as well as the current climbing speed of the transport vehicle. Then, combined with the encoder of the motor itself, by adjusting the rotation speed of the motor in the climbing components 130 on both sides or the rotation amount at a fixed time, a travel difference is formed on both sides of the transport vehicle to compensate for the height difference, thereby correcting the tilted posture so that the transport vehicle can maintain a posture perpendicular to the track 210 on the shelf 200 for vertical climbing.

[0080] Continue to refer to Figure 1a-Figure 1b On the basis of the above embodiment, the transport vehicle provided in this embodiment further includes: a cargo box picking and placing component 140. Specifically, the cargo box picking and placing component 140 is arranged on the vehicle body 110. Specifically, the cargo box picking and placing component 140 can be arranged on the cargo box picking component support frame 111, and the cargo box picking and placing component 140 is used to pick up and place cargo boxes placed on the shelf 200.

[0081] It is worth noting that the cargo box access assembly 140 includes: a cargo box access telescopic plate 141 and a drive mechanism. The cargo box access telescopic plate 141 can be extended or retracted into the vehicle body 110 under the drive of the drive mechanism. The cargo box access telescopic plate 141 can be slidably connected to the vehicle body 110, and one end of the drive mechanism is connected to the bottom of the cargo box access telescopic plate 141, and the movable end is connected to the cargo box access telescopic plate 141. Under the drive of the drive mechanism, the cargo box access telescopic plate 141 can be extended and retracted relative to the vehicle body 110. It is worth noting that the above-mentioned drive mechanism can be a gear rack structure, a belt drive mechanism, or a chain drive mechanism. The specific form of the above-mentioned drive mechanism is not limited in this embodiment.

[0082] The following describes in detail the process of picking up and placing cargo boxes on the transport vehicle provided in this embodiment in combination with the actual workflow:

[0083] First, during the cargo pickup process, the transport vehicle may ascend along the track 210 on the shelf 200 to a designated position. Then, the telescopic plate 141 in the cargo box pickup assembly 140 is controlled to begin extending and inserting into the reserved cargo pickup and placement gap between the lower surface of the cargo box and the shelf 200. After the telescopic plate 141 has extended a designated distance, the transport vehicle is controlled to continue ascending along the track 210 on the shelf 200 for a predetermined distance, allowing the cargo box to be lifted off the shelf 200 by the telescopic plate 141. Then, the telescopic plate 141 is controlled to begin retracting, at which point the cargo box moves onto the transport vehicle as the telescopic plate 141 retracts, completing the cargo pickup process.

[0084] In addition, for the cargo unloading process, the transport vehicle may be raised along the track 210 on the shelf 200 to a designated position. The designated position here can be understood as a position where, after the cargo box access telescopic plate 141 is extended, a certain gap can still be maintained between the bottom of the cargo box on it and the shelf 200. Then, the cargo box access telescopic plate 141 in the cargo box access assembly 140 is controlled to begin to extend. At this time, the cargo box placed on the transport vehicle will move toward the shelf side along with the extension of the cargo box access telescopic plate 141. After the cargo box access telescopic plate 141 extends a designated distance, the transport vehicle is controlled to descend a certain distance along the track 210 on the shelf 200 so that the bottom of the cargo box falls on the shelf 200. Then, the cargo box access telescopic plate 141 is controlled to retract so that the cargo box access telescopic plate 141 is separated from the bottom of the cargo box, thereby completing the cargo unloading process.

[0085] In addition, in order to ensure that when placing a cargo box on the shelf 200, the cargo box picking and placing component 140 can accurately control the extension stroke to facilitate subsequent cargo placement, a third sensor 183 can also be set on the vehicle body 110, wherein the third sensor 183 is connected to the control component 190 set on the vehicle body 110, and the third sensor 183 can also be a diffuse reflection optical sensor.

[0086] Specifically, when the container access and placement telescopic plate 141 is extended, it blocks the third sensor 183. When the container access and placement telescopic plate 141 is fully retracted, it stops blocking the third sensor 183. Therefore, when the container access and placement telescopic plate 141 is extended from the retracted state, the control component 190 can obtain the moment when the front end of the container access and placement telescopic plate 141 blocks the third sensor 183. Then, the control component 190 can continue to obtain the current extension speed of the container access and placement telescopic plate 141 and determine the running time required for the container access and placement telescopic plate 141 to complete the cargo placement based on a preset positioning distance, where the preset distance is the distance between the dead stop 212 on the shelf 2 and the third sensor 183. It is worth understanding that the dead stop 212 can be the innermost position for placing the cargo box on the shelf 200, and when the transport vehicle 100 runs to the designated cargo placement position, the distance between the third sensor 183 fixed on the transport vehicle 100 and the stop 212 fixed on the shelf 200 is a fixed value, and this distance can be written into the control component 190 as the above-mentioned preset positioning distance.

[0087] Figure 6 FIG. 1 is a schematic diagram of a storage system according to an exemplary embodiment of the present invention. Figure 6 As shown, an embodiment of the present invention provides a warehousing system, including a shelf 200 and a transport vehicle 100 provided in any of the above embodiments.

[0088] Specifically, the transport vehicle 100 engages with the rails 210 on the shelves 200 on both sides through the climbing components arranged on both sides of the vehicle body, so that the transport vehicle 100 can climb vertically along the direction of the rails 210.

[0089] It is worth noting that the warehousing system provided in this embodiment can pick up, place and transport goods on the shelves by utilizing a transport vehicle that can move horizontally and climb vertically, thereby greatly improving the operating efficiency of the warehousing system.

[0090] In the description of the embodiments of the present invention, it should be understood that the terms used, such as “center”, “length”, “width”, “thickness”, “top”, “bottom”, “up”, “down”, “left”, “right”, “front”, “back”, “vertical”, “horizontal”, “inside”, “outside”, “axial”, and “circumferential”, to indicate orientations or positional relationships may be based on the orientations or positional relationships shown in the accompanying drawings. These are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the position or component referred to must have a specific orientation, a specific structure, and operation, and therefore cannot be understood as limiting the embodiments of the present invention.

[0091] In the embodiments of the present invention, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc. should be understood broadly. For example, they can mean fixed, removable, or integrated; they can mean mechanical, electrical, or communicative; they can mean direct or indirect connection through an intermediate medium, allowing for internal communication between two components or interaction between the two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances. Unless otherwise specified or limited, a first feature being "above" or "below" a second feature can include the first and second features being in direct contact, or can also include the first and second features not being in direct contact but contacting via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature can include the first feature being directly above or diagonally above the second feature, or can simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature generally means that the first feature is directly below or diagonally below the second feature, or can simply mean that the first feature is at a lower level than the second feature.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the embodiments of the present invention have been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transport vehicle, characterized in that: include: A vehicle body, a driving wheel system, a climbing assembly, a cargo box pick-up and placement assembly, and a third sensor provided on the vehicle body; The driving wheel system is arranged at the bottom of the vehicle body, and the driving wheel system is used to drive the transport vehicle to move horizontally; The climbing components are arranged on both sides of the vehicle body, and the climbing components are used to engage with the tracks arranged on the shelves so that the transport vehicle can climb vertically along the track direction; The climbing assembly includes: a power assembly and a transmission assembly, and the power assembly includes: a motor and a transmission pair; A first sensor is provided on the climbing assembly on one side of the vehicle body, and a second sensor is provided on the climbing assembly on the other side, and the first sensor and the second sensor are respectively connected to a control assembly provided on the vehicle body; The first sensor is used to detect a first detection hole on the track on the corresponding side, and the second sensor is used to detect a second detection hole on the track on the corresponding side, wherein the first detection hole and the second detection hole are located at the same height; The control component adjusts the rotation speed of the motors in the climbing components on both sides or the rotation amount of a fixed time according to the current climbing speed of the transport vehicle and the time difference between detecting the first detection hole and detecting the second detection hole, so that the transport vehicle maintains a posture perpendicular to the track for vertical climbing; The cargo box pick-up and placement assembly is arranged on the vehicle body; The cargo box picking and placing component is used to pick up the cargo box placed on the shelf; The cargo box pick-up and placement assembly includes: a cargo box pick-up and placement telescopic plate and a driving mechanism; The cargo box loading and unloading telescopic plate extends out of or retracts into the vehicle body under the drive of the driving mechanism; The third sensor is connected to a control component provided on the vehicle body; The cargo box picking and placing telescopic plate triggers the third sensor when it is extended, so that the control component determines the operation time of the cargo box picking and placing telescopic plate according to the extension speed of the cargo box picking and placing telescopic plate and the preset positioning distance; The preset positioning distance is the distance between the dead stop portion on the shelf and the third sensor.

2. The transport vehicle according to claim 1, characterized in that: The output end of the power assembly is connected to the input end of the transmission assembly, and the output end of the transmission assembly is used to engage with the track.

3. The transport vehicle according to claim 2, characterized in that: The motor is connected to the input end of the transmission pair, and the output end of the transmission pair is connected to the input end of the transmission assembly.

4. The transport vehicle according to claim 3, characterized in that: The climbing assembly further comprises: telescopic assemblies arranged on both sides of the vehicle body, brackets and a transmission shaft arranged at the moving end of the telescopic assemblies; The output end of the transmission pair is connected to the transmission shaft, and rotating components are respectively provided at both ends of the transmission shaft, and the transmission shaft is rotatably connected to the bracket; When the transport vehicle climbs vertically, the telescopic assembly extends to engage the rotating member with the track to form a kinematic pair; When the transport vehicle moves horizontally, the telescopic assembly is retracted to disengage the rotating component from the track, thereby releasing the kinematic pair.

5. The transport vehicle according to claim 4, characterized in that: The bracket is provided with an alignment wheel set; The alignment wheel set includes two alignment wheels arranged opposite to each other; When the telescopic assembly is extended, the guide block provided at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels move along the two side walls of the guide block respectively to complete the alignment of the rotating component and the track.

6. The transport vehicle according to claim 1, characterized in that: The driving wheel system includes: a mounting seat, a swing arm, a buffer assembly and a wheel; The mounting seat is arranged at the bottom of the vehicle body; The first end of the swing arm is hinged to the mounting seat, the second end of the swing arm is connected to the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body; The wheel is arranged between the two ends of the swing arm.

7. The transport vehicle according to claim 6, characterized in that: The buffer assembly includes: a limiting rod, a spring and a limiting ring; The limiting rod passes through the vehicle body, the spring and the swing arm in sequence; The limiting ring is arranged at an end of the limiting rod away from the vehicle body.

8. The transport vehicle according to claim 1, characterized in that: The vehicle body includes: a main frame, a cargo box loading and unloading component support frame and a battery compartment frame; The cargo box access assembly support frame and the battery compartment frame are detachably mounted on the main frame; The cargo box picking and placing assembly is provided on the cargo box picking and placing assembly support frame; A battery assembly is arranged on the battery compartment frame.

9. A warehousing system, characterized in that: The utility model comprises a shelf and a transport vehicle according to any one of claims 1 to 8.

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