A shuttle car and a warehousing system

Abstract

The present invention belongs to the technical field of transfer trolleys, and discloses a shuttle car and a warehousing system. The shuttle car includes a vehicle frame and a traveling mechanism detachably connected to the vehicle frame. The traveling mechanism includes traveling wheels, a driving assembly for driving the traveling wheels to rotate and travel, and a steering assembly for driving the traveling wheels to rotate and reverse; the driving assembly includes an intersecting-axis gear mechanism connected to the traveling wheels. When the traveling wheels rotate and travel, the steering assembly locks the steering of the traveling wheels; when the traveling wheels turn, the intersecting-axis gear mechanism rotates differentially. The traveling wheels are driven by a driving mechanism, and the driving mechanism is realized by an intersecting-axis gear pair. Through differential connection, walking and steering do not require disengaging any transmission mechanism during driving, the two actions are quickly connected, and the reversing range can be between 360°, so that the shuttle car can travel in any direction, rather than the conventional 90° reversing only, making the shuttle car have the advantages of fast speed, stability, controllable traveling range and accurate steering.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer trolleys, and in particular to a shuttle car and a warehousing system. Background Art

[0002] A shuttle car is an intelligent robot in a warehousing logistics equipment, which can run on a fixed track to realize operations such as picking up, transporting, and placing various goods. It has a relatively wide application in modern warehousing systems.

[0003] In the prior art, an RGV (Rail Guided Vehicle) does not have a function of wheel commutation and can only move on a laid track. There are two ways for an AGV (Automated Guided Vehicle) to commute. One is in-situ commutation, and the second is walking commutation with a turning angle. The walking commutation with a turning angle has high requirements for space, and the turning angle is not accurate enough and not stable enough during turning. There are two ways for in-situ commutation. One is to use two sets of wheels in two different directions; the other is walking rotation commutation, and when commuting, it is necessary to switch the engagement of the transmission components by means of lifting and the like.

[0004] An AGV adopting in-situ commutation mainly includes a vehicle body, a walking system, and a commutation system. The walking system enables the vehicle body to move horizontally or vertically in a horizontal plane, and the commutation system can enable the moving direction of the vehicle body to switch between horizontal and vertical directions.

[0005] The walking system generally includes a walking motor, a transmission mechanism, and walking wheels, etc. The commutation system includes a commutation motor, a cam transmission component or a link transmission component, etc. The two systems need to be combined and installed according to the structure of the vehicle body to meet the commutation movement of the vehicle body. The combination of the two systems is relatively complex, which causes great difficulty in the reasonable and accurate control of the overall shuttle car, and also causes great interference to the assembly of the whole vehicle. Summary of the Invention

[0006] The purpose of the present invention is to provide a shuttle car and a warehousing system, which solve the problems that the overall structure of the shuttle car in the prior art is relatively complex, resulting in great difficulty in the reasonable and accurate control during its operation and also causing great interference to its assembly process.

[0007] To achieve this purpose, the present invention adopts the following technical solutions:

[0008] A shuttle car, comprising: a car frame and a traveling mechanism detachably connected to the car frame. The traveling mechanism includes traveling wheels, a driving assembly for driving the traveling wheels to rotate and travel, and a steering assembly for driving the traveling wheels to rotate and change direction; the driving assembly includes an intersecting-axis gear mechanism connected to the traveling wheels. When the traveling wheels rotate and travel, the steering assembly locks the steering of the traveling wheels; when the traveling wheels change direction, the intersecting-axis gear mechanism rotates differentially.

[0009] Optionally, the traveling mechanism is detachably connected to the car frame through a mounting plate; the driving assembly includes: a first driving member disposed on the mounting plate; the intersecting-axis gear includes a first gear and a second gear that mesh with each other, the first gear is connected to the first driving member, and the axis of rotation of the first gear is coaxial with the steering axis of the traveling wheels; the second gear is fixedly connected to the traveling wheels and is coaxial with the traveling wheels.

[0010] Optionally, the driving assembly includes: a connecting member, the connecting member is a cylindrical or conical structure with a cavity, one end of the connecting member is the first gear, the other end of the connecting member is connected to the first driving member, and the traveling wheels are partially accommodated in the cavity; the connecting member and the first gear are an integral structure or a split connection structure.

[0011] Optionally, the other end of the connecting member is connected to the first driving member through gear transmission, and the transmission ratio of the driving wheel of the gear transmission is greater than 1.

[0012] Optionally, the steering assembly includes: a second driving member disposed on the mounting plate; a wheel seat, the traveling wheels are rotatably connected to the wheel seat, and the output shaft of the second driving member is connected to the wheel seat to drive the wheel seat to swing, thereby realizing direction change.

[0013] Optionally, the shuttle car further includes: a cargo platform disposed on the car frame; and a moving assembly disposed on the car frame and connected to the cargo platform, the moving assembly is used to drive the cargo platform to extend out of the car frame to carry or place goods.

[0014] Optionally, the moving assembly includes: a translation driving member disposed on the car frame and connected to the cargo platform to drive the cargo platform to extend out of or retract into the car frame.

[0015] Optionally, the moving assembly includes: a lifting driving member disposed on the car frame; a lifting lead screw rotatably connected to the car frame and connected to the lifting driving member; and a lifting transmission member respectively connected to the lifting lead screw and the cargo platform to drive the cargo platform to rise or fall.

[0016] Optionally, the steering assembly partially passes through the drive assembly and is connected to the walking wheels.

[0017] A warehousing system, the warehousing system comprising: a multi-tier warehouse, the multi-tier warehouse including tracks for a shuttle vehicle to move and a hoist for providing longitudinal movement for the shuttle vehicle; a control system; a shelf, the shelf being provided with a plurality of storage layers for storing goods, the shelf being capable of being placed independently or stored in the multi-tier warehouse, and the shuttle vehicle as described in any one of the above, the shuttle vehicle being arranged in the multi-tier warehouse and communicatively connected to the control system for transporting goods, the shuttle vehicle being capable of walking on the ground of the multi-tier warehouse or between the grounds of multiple multi-tier warehouses, and being capable of being lifted by the hoist to any layer of the multi-tier warehouse and walking on the tracks of the multi-tier warehouse to achieve the handling of goods between multiple multi-tier warehouses or between the multi-tier warehouse and the ground working position.

[0018] Advantages of the present invention:

[0019] During the walking process of the shuttle vehicle, the walking wheels are driven by a drive mechanism, and the drive mechanism is realized by an intersecting-axis gear pair. When the walking wheels are steered, the gear pair remains engaged, so that the driving forces in two different directions of the drive mechanism and the steering assembly are respectively output. Through differential connection, walking and steering do not require disengaging any transmission mechanism during driving, and the two actions are quickly connected, quickly realizing the in-situ commutation of the shuttle vehicle, and the commutation range can be between 360°, so that the shuttle vehicle can walk in any direction, rather than only being able to commutate by 90° conventionally, making the shuttle vehicle have the advantages of fast speed, stability, controllable walking range, and precise steering.

[0020] The shuttle vehicle of the present invention can replace two types of transfer vehicles, namely RGV and ARV, and can walk on the ground and in the multi-tier storage positions at the same time. Combining the functions of telescopic goods picking and lifting goods picking, it can realize picking goods from the storage position (telescopic) and directly taking away the shelf from the ground (lifting), and has a very wide application range. With the above-mentioned advantages of walking, it can be adapted to most existing warehousing devices. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of the shuttle vehicle in some embodiments of the present invention.

[0022] Figure 2 It is a schematic structural diagram of the shuttle vehicle when picking up goods in some embodiments of the present invention.

[0023] Figure 3 It is a schematic structural diagram of the mounting plate, drive assembly and steering assembly in the shuttle vehicle in some embodiments of the present invention.

[0024] Figure 4A cross-sectional view of the mounting plate, drive assembly, and steering assembly in the shuttle car in some embodiments of the present invention.

[0025] Figure 5 A schematic structural view of the shelf in the storage system in some embodiments of the present invention.

[0026] Figure 6 A side view of the shelf in the storage system in some embodiments of the present invention.

[0027] Figure 7 A schematic structural view of the shuttle car when the loading platform is raised in some embodiments of the present invention.

[0028] Figure 8 A bottom view of the shuttle car in some embodiments of the present invention.

[0029] In the figure:

[0030] 100, vehicle frame; 110, bottom plate; 120, side plate; 130, mounting shell; 140, loading platform; 141, accommodating cavity; 142, connecting block; 150, lifting driving member; 160, lifting lead screw; 170, lifting rod; 200, mounting plate; 300, drive assembly; 310, first driving member; 322, connecting member; 321, steering cavity; 323, first gear; 324, second gear; 325, drive shaft; 330, driving gear; 340, driven gear; 400, steering assembly; 410, second driving member; 420, steering shaft; 430, wheel seat; 500, traveling wheel. Detailed implementation manners

[0031] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0032] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the case where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0034] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] The present invention provides a shuttle car and a warehousing system.

[0036] Embodiment 1

[0037] Figure 1 It is a schematic structural diagram of the shuttle car in some embodiments of the present invention. Figure 2 It is a schematic structural diagram of the shuttle car when picking up goods in some embodiments of the present invention. Refer to Figure 1 and Figure 2 As shown in the figures, the shuttle car includes a car frame 100 and a traveling mechanism detachably connected to the car frame. The traveling mechanism includes traveling wheels 500, a driving assembly 300 for driving the traveling wheels 500 to rotate and travel, and a steering assembly 400 for driving the traveling wheels 500 to rotate and change direction; the driving assembly 300 includes an intersecting-axis gear mechanism connected to the traveling wheels 500. When the traveling wheels 500 rotate and travel, the steering assembly 400 locks the steering of the traveling wheels 500; when the traveling wheels 500 change direction, the intersecting-axis gear mechanism rotates differentially.

[0038] Specifically, the car frame 100 may have a box structure with an open top for receiving goods. The car frame 100 includes a bottom plate 110 and side plates 120. Two side plates 120 are provided and are relatively fixed on the top wall of the bottom plate 110. Mounting shells 130 are provided on the opposite sides of the two side plates 120, and the mounting shells 130 are connected to the side plates 120 through fasteners such as bolts. The bottom wall of the mounting shell 130 is snap-fitted or bolted to the bottom plate 110. An installation cavity is formed among the mounting shell 130, the bottom plate 110 and the side plates 120. Installation holes may be provided on the bottom plate 110 in the installation cavity, and the traveling mechanism is arranged in the installation holes.

[0039] A cavity is provided in the part of the driving assembly 300 located on the lower side of the vehicle frame 100, and the upper side of the traveling wheel 500 is located within this cavity. The steering assembly 400 extends into this cavity to partially pass through the driving assembly 300 and is connected to the traveling wheel 500. The size of the cavity depends on the angle through which the traveling wheel 500 needs to turn. In the embodiments of the present invention, the steering assembly 400 can drive the traveling wheel 500 to rotate 360°.

[0040] When the vehicle frame 100 is assembled, the steering assembly 400 is partially passed through the driving assembly 300 and connected to the traveling wheel 500, making its structure more compact. Both the driving assembly 300 and the steering assembly 400 are directly connected to the traveling wheel 500 without being combined and arranged, so that the driving assembly 300 and the steering assembly 400 do not interfere with each other during operation, effectively simplifying its structure, reducing the complexity of its structure, and facilitating the reasonable and precise control of the movement of the vehicle frame 100 on the tracks laid in at least four directions.

[0041] At the same time, the driving mechanism 300 is realized by an intersecting-axis gear pair, and this gear pair remains meshed when the traveling wheel 500 steers, so that the powers in two different directions of the driving mechanism 300 and the steering assembly 400 are respectively output. Through differential connection, walking and steering do not require disengaging any transmission mechanism during driving, the two actions are quickly connected, and the in-situ commutation of the shuttle car is quickly realized. Moreover, the commutation range can be between 360°, enabling the shuttle car to travel in any direction instead of only being able to commutate 90° conventionally, making the shuttle car have the advantages of fast speed, stability, controllable traveling range, and precise steering.

[0042] Figure 3 It is a schematic structural diagram of the mounting plate, driving assembly, and steering assembly in the shuttle car in some embodiments of the present invention. Figure 4 It is a cross-sectional view of the mounting plate, driving assembly, and steering assembly in the shuttle car in some embodiments of the present invention. Refer to Figure 3 and Figure 4 As shown, in some embodiments of the present invention, the traveling mechanism is detachably connected to the vehicle frame 100 through the mounting plate 200. The driving assembly 300 includes a first driving member 310. The first driving member 310 is provided on the mounting plate 200. The intersecting-axis gear mechanism includes a first gear 323 and a second gear 324 that mesh with each other. The first gear 323 is connected to the first driving member, and the first gear 323 is coaxial with the steering axis of the traveling wheel 500. The second gear 324 is fixedly connected to the traveling wheel 500 and is coaxial with the traveling wheel 500.

[0043] Specifically, the first driving member 310 is fixed on the top wall of the mounting plate 200, and its output end passes through the mounting plate 200. The first gear 323 is rotatably connected below the mounting plate 200, and it can be connected to the output end of the first driving member 310 in a manner of two gears meshing. The second gear 324 can be coaxially connected to the walking wheel 500 through the driving shaft 325. In this embodiment, the second gear 324 and the first gear 323 that form an intersecting-axis gear pair are in a bevel gear structure, preferably a straight bevel gear, and a helical or curved tooth can also be used. In addition, a structure of an end face tooth disc and a gear meshing can also be used. Through the bevel gear, the first gear 323 is coaxial with the steering shaft of the walking wheel 500, and the second gear 324 is coaxial with the walking wheel. In this way, when the first driving member 310 operates, the first gear 323 drives the second gear 324 to rotate, so as to smoothly drive the walking wheel 500 to rotate and walk. When the walking wheel 500 steers, it will drive the second gear 324 to rotate relative to the first gear 323, ensuring that the first gear 323 and the second gear 324 do not disengage. Thus, after the steering is completed, the walking wheel 500 can be immediately driven to rotate and walk by itself, so as to achieve a rapid connection between the steering and the walking.

[0044] The mounting plate 200 can be provided with three or four or more in number. The specific number is designed according to the size of the vehicle frame 100, and the present invention does not make a limitation. The distribution of the multiple mounting plates 200 can also be designed according to the shape of the vehicle frame 100. For example, when the vehicle frame 100 is a cube, the multiple mounting plates 200 can be divided into two columns and respectively arranged on the left and right sides of the vehicle frame 100. Another example is that when the vehicle frame 100 is a cylinder, the multiple mounting plates 200 can be arranged in a circumferential ring along the vehicle frame 100. In the embodiment of the present invention, the vehicle frame 100 is in a cube shape, and four mounting plates 200 are provided, which are respectively located at the four corners of the vehicle frame 100.

[0045] At the same time, the driving assembly 300, the steering assembly 400 and the walking wheel 500 are all integrated through the mounting plate 200, effectively reducing the occupied space structure, facilitating the overall disassembly and installation, and effectively reducing the overall assembly difficulty of the vehicle frame 100. In this way, during the operation of the vehicle frame 100, the driving assembly 300 arranged on the mounting plate 200 drives the walking wheel 500 to rotate by itself to drive the vehicle frame 100 to move, and the steering assembly 400 drives the walking wheel 500 to rotate to drive the vehicle frame 100 to change direction, so that the vehicle frame 100 can move in at least four directions, effectively simplifying the overall structural complexity of the vehicle frame 100, which is not only convenient for precise control, but also conducive to reducing the assembly difficulty thereof.

[0046] Refer to Figure 3As shown, in some embodiments of the present application, the driving assembly 300 includes a connecting member 322. The connecting member 322 is rotatably connected to the mounting plate 200. The connecting member 322 is a cylindrical or conical structure with a cavity 321. One end of the connecting member 322 is a first gear 323, and the other end of the connecting member 322 is in gear transmission connection with the first driving member 310, and the transmission ratio of the driving wheel of the gear transmission is greater than 1. The traveling wheel 500 is partially received in the cavity 321; the connecting member 322 and the first gear 323 are an integral structure or a split connection structure.

[0047] Specifically, the connecting member 322 is rotatably connected to the bottom wall of the mounting plate 200. Both the upper and lower ends of the connecting member 322 are open, so that the steering assembly 400 can extend into the steering cavity 321 from the upper end, and the upper side of the traveling wheel 500 extends into the steering cavity 321. The connecting member 322 can be in the shape of a cylindrical tube, a square tube, or a conical tube. The specific shape of the connecting member 322 is not limited in the present invention. In the embodiments of the present application, the connecting member 322 is in the shape of a conical tube, and the first gear 323 is provided at its lower end. A driven gear 340 is fixed to the upper end of the connecting member 322, and the driven gear 340 is rotatably connected to the bottom wall of the mounting plate 200. The output end of the first driving member 310 is provided with a driving gear 330 that meshes with the driven gear 340 to achieve the gear transmission connection between the connecting member 322 and the first driving member 310. The first driving member 310 can be a servo motor, and its motor housing is fixed to the mounting plate 200 in the vertical direction.

[0048] When it is necessary to drive the traveling wheel 500 to rotate on its own axis, the first driving member 310 is started. The first driving member 310 drives the connecting member 322 to rotate through the driving gear 330 and the driven gear 340. The connecting member 322 will drive the first gear 323 to rotate, and the first gear 323 drives the second gear 324 to rotate. The second gear 324 can drive the traveling wheel 500 to rotate on its own axis, so that the traveling wheel 500 moves on the corresponding track, and thus the vehicle frame 100 can be smoothly driven to translate.

[0049] Refer to Figure 2 and Figure 3 As shown, in some embodiments of the present invention, the steering assembly 400 includes a second driving member 410 and a wheel seat 430. The second driving member 410 is provided on the mounting plate 200. The traveling wheel 500 is rotatably connected to the wheel seat 430. The output shaft of the second driving member 410 is connected to the wheel seat 430 to drive the wheel seat 430 to swing, thereby realizing commutation.

[0050] Specifically, the second driving member 410 can also be a servo motor, which is fixed on the top wall of the mounting plate 200. The output end of the second driving member 420 is provided with a steering shaft 420. The lower end of the steering shaft 420 passes through the mounting plate 200 and the driven gear 340 and extends into the steering cavity 321. The wheel seat 430 is fixed to the lower end of the steering shaft 420. The cross-section of the wheel seat 430 can be an inverted U shape, and its outer top wall is fixedly connected to the second end. The traveling wheel 500 is rotatably connected within the wheel seat 430.

[0051] When driving the traveling wheel 500 to rotate, the second driving member 410 is started. The second driving member 410 drives the steering shaft 420 to rotate. The steering shaft 420 drives the wheel seat 430 to rotate within the steering cavity 321, and the wheel seat 430 will drive the traveling wheel 500 to rotate. When the traveling wheel 500 rotates, the drive shaft 325 will also shift in the same direction, and then the second gear 324 will also rotate relative to the first gear 323. At this time, the traveling wheel 500 will not rotate on its own, so the second gear 324 will not rotate. As the position of the second gear 324 changes, the first gear 323 will rotate, driving the connecting portion 322 to rotate. The connecting portion 322 will successively drive the driven gear 340 and the driving gear 330 to rotate, and then the motor shaft of the first driving member 310 will rotate accordingly.

[0052] For example, when the second driving member 410 drives the traveling wheel 500 to rotate 90 degrees for steering on two mutually perpendicular tracks, the second gear 324 will move on the first gear 323 by a distance equal to 1 / 4 of the circumference of the first gear 323. Suppose the first gear 323 has a module of 3 and 60 teeth. Then the second gear 324 will travel 15 teeth on the first gear 323. The first gear 323 will drive the connecting portion 322, the driven gear 340, and the driving gear 330 to travel 15 teeth as well. The traveling distance is 141.3 mm, which means the first driving member 310 needs to rotate reversely by 141.3 mm. This enables the traveling wheel 500 not to rotate on its own during the steering process, thus keeping the vehicle frame 100 from moving and allowing the vehicle frame 100 to change its moving direction in place.

[0053] Refer to Figure 2 As shown, in some embodiments of the present invention, the shuttle vehicle further includes a loading platform 140 and a moving component. The loading platform 140 is arranged on the vehicle frame 100. The moving component is arranged on the vehicle frame 100 and connected to the loading platform 140. The moving component is used to drive the loading platform 140 to extend out of the vehicle frame 100 to carry or place goods.

[0054] Specifically, the loading platform 140 is disposed within the vehicle frame 100. The cross-section of the loading platform 140 can be U-shaped, and its interior serves as a receiving cavity 141 for accommodating goods. Clamping strips can also be provided within the loading platform 140 to facilitate clamping of the goods. The loading platform 140 can also have a flat plate-like structure, and its top wall is used to carry goods. Specifically, the structure of the loading platform 140 can be designed according to the shape of the goods to be actually transported, and the present invention does not make any limitations. Structures such as manipulators or forklifts can also be provided on the vehicle frame 100 so that when the vehicle frame 100 moves to a designated position, the goods on the loading platform 140 can be directly transported.

[0055] The moving assembly can use an electric cylinder, a motor, etc. as the power source and cooperate with a moving transmission structure to drive the loading platform 140 to move, so that the loading platform 140 extends out of the vehicle frame 100, facilitating the receiving or placing of goods. The moving direction of the loading platform 140 can be forward and backward movement, that is, extending from the front and rear sides of the vehicle frame 100; it can also move in the vertical direction, that is, extending from the top of the vehicle frame 100. It should be understood that the loading platform 140 can also have the displacement functions in both the forward and backward movement and the vertical movement directions to better cope with the intelligent warehousing system.

[0056] When carrying out goods handling, the driving assembly 300 and the steering assembly 400 can move the vehicle frame 100 to a designated position along the corresponding regulations, and the moving assembly can extend the loading platform 140 out of the vehicle frame 100 to quickly and stably receive the goods and pull the goods into the vehicle frame 100, thereby quickly completing the handling of the goods. The process of placing goods is the same as the process of handling goods and will not be elaborated here.

[0057] In some embodiments of the present invention, the moving assembly includes a translation driving member (not shown in the figure). The translation driving member is disposed on the vehicle frame 100 and connected to the loading platform 140 to drive the loading platform 140 to extend out of or retract into the vehicle frame 100. Specifically, the translation driving member can use an electric cylinder, or it can also use a combination of a motor and a lead screw. It should be understood that the translation driving member can also use other structures, such as a cylinder, etc., and can be specifically designed according to the actual installation space and translation distance. A translation slide rail can be provided on the vehicle frame 100 in the front-back direction, and the loading platform is slidably connected to the translation slide rail. When driving the loading platform 140 to translate, the translation driving member can be activated to drive the loading platform 140 to extend out of the vehicle frame 100 in the front-back direction.

[0058] Figure 5 It is a schematic structural diagram of a shelf in a warehousing system in some embodiments of the present invention. Figure 6 It is a side view of a shelf in a warehousing system in some embodiments of the present invention. Refer to Figure 5 and Figure 6As shown in the figure, the warehousing system includes a three-dimensional warehouse, a control system, a shelf 800, and a shuttle vehicle as described in any of the above embodiments. The three-dimensional warehouse includes a track for the shuttle vehicle to move and a lifter for providing vertical movement for the shuttle vehicle. The shelf 800 is provided with a plurality of storage layers for storing goods 810. The shelf 800 can be placed independently or stored in the three-dimensional warehouse. The shuttle vehicle is arranged in the three-dimensional warehouse and is communicatively connected to the control system for transporting the goods 810. The shuttle vehicle can travel on the ground of the three-dimensional warehouse or between multiple three-dimensional warehouses, and can be lifted by the lifter to any layer of the three-dimensional warehouse and travel on the track of the three-dimensional warehouse to realize the handling of goods between multiple three-dimensional warehouses or between the three-dimensional warehouse and the ground working position.

[0059] Specifically, a plurality of tracks are laid in the three-dimensional warehouse. The plurality of tracks can be arranged in a crisscross pattern or can be specifically designed according to the space in the three-dimensional warehouse. The present invention does not make any limitations. The running wheels 500 of the shuttle vehicle are arranged on the track. The shelf 800 is built above or on the side of the track. The shelf 800 can be formed by welding a plurality of rod-shaped structures. The specific composition of the shelf 800 can be designed according to the space of the three-dimensional warehouse. The present invention does not make specific limitations. The lifter can be designed according to the space size of the three-dimensional warehouse and the running direction of the shuttle vehicle. The present application does not make specific limitations on it.

[0060] The control system can include a controller and a plurality of detection sensors. The plurality of detection sensors are distributed in the three-dimensional warehouse and on the shuttle vehicle. The plurality of detection sensors can be respectively used to detect the position, state, load, etc. of the shuttle vehicle. The controller can generate corresponding control signals according to the detected results to control the shuttle vehicle to move automatically in the three-dimensional warehouse. The specific control logic can be designed according to the actual scenario. The present invention does not make any limitations.

[0061] In the use of this three-dimensional warehouse, the shuttle vehicle can replace two types of transfer trolleys, namely RGV and ARV. It can travel on the ground and in the three-dimensional warehouse at the same time. Combining the functions of telescopic picking and lifting picking, it can realize picking goods (telescopic) from the storage location in the three-dimensional warehouse, or directly taking away goods from the ground of the three-dimensional warehouse (lifting). Its application range is extremely wide. With the above-mentioned advantages of traveling, it can adapt to most existing warehousing systems.

[0062] Embodiment 2

[0063] The difference between this embodiment and Embodiment 1 is only the different structure of the moving component.

[0064] Figure 7 It is a schematic structural view of the shuttle vehicle when the loading platform is raised in some embodiments of the present invention. Figure 8 It is a bottom view of the shuttle vehicle in some embodiments of the present invention. Refer to Figure 7 and Figure 8As shown, in some embodiments of the present invention, the moving component includes a lifting driving member 150, a lifting lead screw 160, and a lifting transmission member. The lifting driving member 150 is disposed on the vehicle frame 100. The lifting lead screw 160 is rotatably connected to the vehicle frame 100 and connected to the lifting driving member 150. The lifting transmission member is respectively connected to the lifting lead screw 160 and the loading platform 140 for driving the loading platform 140 to rise or fall.

[0065] Specifically, the lifting driving member 150 may adopt a servo motor, which is fixed on the vehicle frame 100. The lifting lead screw 160 is rotatably connected to the vehicle frame 100, and the end wall of the lifting lead screw 160 is connected to the motor shaft of the servo motor. The lower end of the lifting transmission member is movably connected to the lifting lead screw 160, and its upper end is movably connected to the loading platform 140.

[0066] The lifting transmission member may include two lifting rods 170, and the middle positions of the two lifting rods 170 are hinged to each other. A nut sleeve is provided at the lower end of the lifting rod 170, and the nut sleeve is sleeved on the lifting lead screw 160 and the two are threadedly connected. Two thread segments with opposite helix directions are provided on the lifting lead screw 160, and the two nut sleeves are respectively sleeved on the two thread segments.

[0067] Two connecting blocks 142 may also be provided on the bottom wall of the loading platform 140. The two connecting blocks 142 can both be slidably connected to the loading platform 140, and their sliding direction is the same as the extension direction of the lifting lead screw 160. One of the two connecting blocks 142 can also be slidably provided on the loading platform 140, while the other is fixed to the loading platform 140. The two connecting blocks 142 are respectively hinged to the upper ends of the two lifting rods 170.

[0068] When it is necessary to raise the loading platform 140, the lifting driving member 150 can be started. The lifting driving member 150 drives the lifting lead screw 160 to rotate. The lifting lead screw 160 can drive the two nut sleeves to approach each other, so that the included angle between the two lifting rods 170 becomes smaller. The upper ends of the lifting rods 170 will synchronously drive the two connecting blocks 142 to approach each other, thereby smoothly lifting the loading platform 140.

[0069] To improve the stability of the loading platform 140, a guide rod can also be respectively provided around the loading platform 140. The guide rod is fixedly connected to the vehicle frame 100, and the guide rod itself can adopt a telescopic rod to ensure that the loading platform 140 can be smoothly lifted and lowered.

[0070] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A shuttle car, characterized in that, The shuttle car includes: A car frame (100); and A traveling mechanism detachably connected to the car frame (100), the traveling mechanism including traveling wheels (500), a driving assembly (300) for driving the traveling wheels (500) to rotate and travel, and a steering assembly (400) for driving the traveling wheels (500) to rotate and change direction; The driving assembly (300) includes an intersecting-axis gear mechanism connected to the traveling wheels (500). When the traveling wheels (500) rotate and travel, the steering assembly (400) locks the steering of the traveling wheels (500); when the traveling wheels (500) change direction, the intersecting-axis gear mechanism rotates differentially; The traveling mechanism is detachably connected to the car frame (100) through a mounting plate (200); The driving assembly (300) includes: a first driving member (310) provided on the mounting plate (200); The intersecting-axis gear includes a first gear (323) and a second gear (324) that mesh with each other. The first gear (323) is connected to the first driving member, and the first gear (323) is coaxial with the steering axis of the traveling wheels (500); the second gear (324) is fixedly connected to the traveling wheels (500) and is coaxial with the traveling wheels (500); A connecting member (322), the connecting member (322) being a cylindrical or conical structure having a cavity (321). One end of the connecting member (322) is the first gear (323), and the other end of the connecting member (322) is connected to the first driving member (310). The traveling wheels (500) are partially received in the cavity (321); the connecting member (322) and the first gear (323) are an integral structure or a split connection structure; The steering assembly (400) includes: a second driving member (410) provided on the mounting plate (200); A wheel seat (430), the traveling wheels (500) being rotatably connected to the wheel seat (430). The output shaft of the second driving member (410) is connected to the wheel seat (430) to drive the wheel seat (430) to swing, thereby achieving a direction change.

2. The shuttle car according to claim 1, characterized in that, The other end of the connecting member (322) is connected to the first driving member (310) through gear transmission, and the transmission ratio of the driving wheel of the gear transmission is greater than 1.

3. The shuttle car according to claim 2, characterized in that, The shuttle car further includes: A cargo platform (140) provided on the car frame (100); and A moving assembly provided on the car frame (100) and connected to the cargo platform (140), the moving assembly being used to drive the cargo platform (140) to extend out of the car frame (100) to carry or place goods.

4. The shuttle car according to claim 3, characterized in that, The moving assembly includes: A translation driving member provided on the car frame (100) and connected to the cargo platform (140) to drive the cargo platform (140) to extend out of or retract into the car frame (100).

5. The shuttle car according to claim 3, characterized in that, The moving assembly includes: A lifting driving member (150) provided on the car frame (100); Lifting lead screw (160), rotatably connected to the vehicle frame (100) and connected to the lifting drive member (150); and Lifting transmission member, respectively connected to the lifting lead screw (160) and the loading platform (140) for driving the loading platform (140) to rise or fall.

6. The shuttle car according to claim 1, wherein The steering assembly (400) partially passes through the drive assembly (300) and is connected to the walking wheel (500).

7. A warehousing system, characterized in that, The storage system includes: Automated storage and retrieval system, the automated storage and retrieval system includes a track for the shuttle vehicle to move and a hoist for providing longitudinal movement of the shuttle vehicle; Control system; Shelves (800), on which a plurality of storage layers are provided for storing goods (810), and the shelves (800) can be placed independently or stored in the automated storage and retrieval system; and The shuttle vehicle according to any one of claims 1 to 6 above, disposed in the automated storage and retrieval system and communicatively connected to the control system for transporting the goods (810), the shuttle vehicle being capable of walking on the ground of the automated storage and retrieval system or between the grounds of multiple automated storage and retrieval systems, and being capable of being lifted by the hoist to any layer of the automated storage and retrieval system and walking on the track of the automated storage and retrieval system to achieve the handling of goods between multiple automated storage and retrieval systems or between the automated storage and retrieval system and the ground working position.

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