A goods-carrying AGV travels in a high-throughput warehouse under high-bay racks

Abstract

The present invention relates to a high-throughput warehouse where goods-carrying AGVs travel under high-bay racks, including AGVs, stacker cranes, high-bay racks, with or without conveyor lines, belonging to the technical field of warehousing logistics, sorting, and distribution equipment. As an integrated warehouse for enterprises, it also integrates e-commerce warehousing and picking processes; there is at least one stacker crane in each aisle, and the conveyor lines at one or both ends of the aisle are parallel to the aisle; the stacker cranes are either ground-rail embedded in the ground or ground-rail free; the goods-carrying or empty AGVs can travel unobstructed under the high-bay racks; the three types of AGVs are respectively those with fixed support bars, or lifting support bars, or lifting platforms to facilitate the operation of the L-shaped forks of the stacker crane; the two L-shaped forks rotate 180 degrees outward along the vertical axis to operate on the other side of the high-bay rack; by the cooperation of the stacker crane, AGV, and conveyor line, goods are stored and retrieved into and from the high-bay rack. The present invention overcomes the bottleneck that goods can only enter and exit the warehouse from both ends of the aisle, and is efficient and flexible.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment such as warehousing logistics and sorting and distribution, and in particular to a high-throughput warehouse where an AGV carrying goods travels under high-bay shelves. As an integrated enterprise warehouse for tools, outsourced parts, self-made parts, and assembled finished products, it is also suitable for the integration of e-commerce warehousing and picking processes. Background Art

[0002] In enterprise application scenarios, the vast majority of enterprises conduct large-scale warehousing of the products they produce, and some enterprises also conduct large-scale warehousing of production raw materials; in actual applications, there are also many enterprises with a need for an integrated warehouse for tools, outsourced parts, self-made parts (semi-finished products), and assembled finished products; in terms of working conditions, there is frequent access to tools, outsourced parts, self-made parts (semi-finished products), and stored assembled finished products. Therefore, when reforming the overall structure of an automated stereoscopic warehouse, it is particularly necessary to overcome the bottleneck phenomenon at the access ports of the aisles.

[0003] With the development of e-commerce, the efficient distribution of goods has become increasingly important. The current e-commerce picking process includes: ① Non-destructively opening the logistics box, which is a cardboard box transported from the supplier's logistics to the e-commerce site. After the logistics box is opened, each piece of inner-packaged goods is barcoded, and the goods information is entered into the database; ② Warehousing: The logistics box is resealed and stocked; ③ Tallying: The logistics box is unsealed again, and the goods are placed on the supermarket shelves; ④ Picking (also known as goods allocation): At each supermarket shelf (either manually towing a picking cart or an intelligent vehicle moving by itself), the goods are manually taken according to the order, barcoded, and picked into the order turnover box for internal use; ⑤ Packaging: Barcode verification is performed, and all the consolidated goods and invoices for one order in the order turnover box are packed into outer packages such as small cardboard boxes or plastic bags, and an express waybill is affixed; ⑥ Sorting: They are loaded into plastic turnover boxes or woven bags according to different routes or each express company; ⑦ Loading: The plastic turnover boxes or woven bags are allocated to the transport vehicles according to the routes. In the above existing picking process, operations such as sealing and opening the box multiple times are required, and the operation process is cumbersome and the implementation efficiency is low; on the other hand, the picking process is similar to supermarket shopping, where it is necessary to manually tow a picking cart or an intelligent vehicle to find the location of the goods and manually pick the goods in the order from the supermarket shelves, resulting in low picking efficiency.

[0004] To solve the problems of low picking efficiency caused by operations such as multiple sealing and opening of cardboard boxes and picking goods from supermarket shelves, and the large space occupied by supermarket shelves, the industry has proposed a new model based on eliminating supermarket shelves: using the method of remote transportation of corrugated cardboard boxes, opening the boxes upon entry, pouring them into in-warehouse turnover boxes for storage, or warehousing corrugated cardboard boxes and directly transporting them to the picking station. However, the operation volume at the sorting station is large and the occupied floor area is large. This new method is a back-end picking model for warehousing.

[0005] In addition, there is also a front-end picking mode, which includes the following operating steps: Step 1: Preparation work, process the lid of the corrugated cardboard box in the warehouse to expose the goods inside the corrugated cardboard box; Step 2: Sub-packaging operation, the robot grabs or sucks, or manually grabs, and after scanning the goods in the common quantity, puts them into the drawer with RFID; Step 3: Through the three-dimensional transportation of the middle layer and the lower layer, the drawer is stored in a high-throughput warehouse dust-proof, or directly transported to the picking location; Step 4: One or more drawers corresponding to the variety and quantity of the order goods are retrieved from the high-throughput warehouse; Step 5: Through the three-dimensional transportation of the middle layer and the lower layer, it is transported to the picking location, and the palletizing robot gently dumps the order goods corresponding to the variety and quantity in one or more drawers onto the corresponding identification section on the conveyor belt, and the identification section identification is an RFID soft label or a visual recognition code; or it is sent to the shipping outlet and transferred to the assembly process; The already empty drawer is transported to the sub-packaging operation station through the three-dimensional transportation of the upper layer and the lower layer; Step 6: Through the conveyor belt, it is sent to the packaging station for transportation packaging and pasting the shipping label, or directly paste the shipping label on the order goods with a shipping carton.

[0006] The front-end picking mode and the rear-end picking mode of e-commerce involve automated stereoscopic warehouses with integrated functions of warehousing and picking (order filling), thus eliminating processes such as unpacking after corrugated cardboard box warehousing, manually placing goods on supermarket shelves, and using AGV to send supermarket shelves to order fillers.

[0007] In the application scenarios of the aforementioned enterprise integrated warehouse and the e-commerce warehousing and picking integrated warehouse, different from the conventional method of storing each corrugated cardboard box only once, the number of times of storage is based on the quantity of goods in each corrugated cardboard box, with frequent access conditions, and it is also necessary to transform the overall structure of the automated stereoscopic warehouse, especially to overcome the bottleneck phenomenon at the access ports of the aisles to improve the throughput efficiency. Summary of the Invention

[0008] In view of the above-mentioned shortcomings in the existing production technology, the applicant provides a high-throughput warehouse where a goods-carrying AGV travels under high-bay racks with a reasonable structure, thereby transforming the overall structure of the automated stereoscopic warehouse, effectively overcoming the bottleneck phenomenon at the access ports of the aisles, greatly improving the throughput efficiency, reducing the width of the aisles, and greatly improving the space utilization rate.

[0009] The technical solution adopted by the present invention is as follows:

[0010] A high-throughput warehouse where a goods-carrying AGV travels under high-bay racks, including an AGV vehicle, a stacker, high-bay racks, and a conveyor line (either with or without it).

[0011] An aisle is provided between two adjacent high-bay racks. Each aisle contains at least one stacker crane, and each stacker crane is coordinated with multiple AGV vehicles. When the AGV vehicle carrying goods or the empty AGV vehicle enters or exits the warehouse, it travels horizontally between the legs of the high-bay racks below and longitudinally in the aisle, or travels horizontally and longitudinally between the legs and longitudinally in the aisle; by dynamically optimizing the operating pose of the stacker crane and the travel path of the AGV vehicle, the optimal delivery position of the goods in the aisle is determined, and the stacker crane and the AGV vehicle are coordinated to control and exchange the goods at the optimal delivery position.

[0012] On the top surface of a single AGV vehicle, two fixed support bars, or two lifting support bars, or a lifting platform are provided. The positions of the two fixed support bars relative to the wheels remain unchanged. The two lifting support bars lift and lower synchronously relative to the wheels. The lifting platform lifts and lowers relative to the wheels.

[0013] The stacker cranes are respectively: a stacker crane with its ground rail embedded in the ground, with or without an overhead rail; a stacker crane without a ground rail, with or without an overhead rail.

[0014] The stacker crane travels longitudinally in the aisle. The lower end of the column is fixed on the counterweight traveling device, and one side of the counterweight traveling device is provided with the counterweight of the whole stacker crane. The L-shaped fork is arranged at the bottommost. The transverse movement device is above the L-shaped fork, the rotation device is above the transverse movement device, and the driving part of the lifting device is below the column. The transverse movement device, the rotation device and the lifting device are arranged on one side of a column, and the lifting counterweight device is arranged on the other side of the other column. The lifting device and the lifting counterweight device are connected by a steel cable, and their lifting movement directions are opposite, so as to reduce the power of the driving part of the lifting device. Under the guidance of the column, the lifting device drives the rotation device and the transverse movement device to lift and lower simultaneously. The transverse movement device drives the L-shaped fork to move horizontally, and performs the access operation on the high-bay rack. The rotation device rotates the whole two L-shaped forks 180 degrees outward along the vertical axis to perform the access operation on the high-bay rack on the other side.

[0015] When there is a conveyor line, the conveyor line is arranged at one end or both ends of the aisle.

[0016] The goods include pallets and the items thereon, or turnover boxes and the items therein, or corrugated cartons, or bagged items.

[0017] As a further improvement of the above technical solution:

[0018] The height below all of the high-bay racks is higher than the total height of the AGV vehicle and the goods it carries; or through multi-objective comprehensive optimization according to the throughput and space utilization rate, in addition to the height below the high-bay rack part being higher than the total height of the AGV vehicle and the goods it carries, the height below the remaining part of the high-bay rack is higher than the height of the AGV vehicle, and only the empty AGV vehicle is allowed to pass through.

[0019] Among them, each supporting leg of the high rack is partially welded with a vertical angle iron or bolt-connected with a rectangular pipe.

[0020] In the case of a stacker with or without an overhead rail and the ground rail embedded in the ground, under the stacker moving in the aisle, there is a ground rail embedded in the ground for support and guidance. The upper surface of the ground rail is flush with the ground, and there is a narrow groove between the side surface of the ground rail and the ground. The AGV vehicle can smoothly pass above the narrow groove. The ground rail is fixed in the groove of the ground by expansion bolts, pads and pressure plates. The ground adjacent to the narrow groove on the side surface of the ground rail is inlaid with a right-angle steel plate to prevent the cement at the corners of the ground from breaking.

[0021] The wider the width of the narrow groove between the side surface of the ground rail and the ground, the larger the wheel diameter and the wider the width of the AGV vehicle, and the better the anti-impact effect and the better the anti-jamming and anti-slip effects.

[0022] In the case of a stacker without a ground rail and with or without an overhead rail, two lower side rails are symmetrically arranged on both sides of the aisle at a position higher than the total height of the AGV vehicle and the goods it carries. The two lower side rails for guiding the movement of the stacker in the aisle are fixed on the high rack or supported and fixed on the ground at multiple points.

[0023] At the same time, two fixing plates are installed on the outer sides of the two columns of the stacker. Two side guide wheel brackets are installed on each fixing plate, and the side guide wheels on the four side guide wheel brackets are always in contact with the lower side rails on both sides for longitudinal guidance.

[0024] The AGV vehicle selects an AGV with a zero turning radius that can move in four directions of front, back, left and right. The AGV is an automatic guided vehicle or an autonomous mobile robot and can smoothly drive under the high rack.

[0025] In the AGV vehicle, the height of the fixed support bar, the lifting height of the lifting support bar and the lifting platform are all higher than the thickness of the L-shaped fork on the stacker and the thickness of the horizontal fork part. At the same time, the outer distance between the two fixed support bars or the lifting support bars and the width of the lifting platform are both smaller than the longitudinal gap between the two L-shaped forks. Therefore, there is an operating space for the L-shaped fork between the goods and the AGV vehicle body, and the lower ends of the L-shaped forks are all in the shape of an L, which is convenient for entering and exiting the operating space.

[0026] When the stacker accesses goods from the high rack, the L-shaped fork moves horizontally. In order to reduce the width of the aisle, the movement of the L-shaped fork and the working conditions of the AGV vehicle are as follows:

[0027] When depositing goods at the optimal delivery position, the empty L-shaped forklift moves into place and stops. It is the body of the AGV carrying the goods that moves under the L-shaped forklift, rather than the L-shaped forklift moving horizontally and actively inserting into the operation space. Then, the L-shaped forklift with goods moves vertically upward, takes the goods away from the AGV, and then deposits the goods into the high-bay rack according to the pose planning.

[0028] When picking up goods at the optimal delivery position, the L-shaped forklift with goods first moves vertically downward into place and stops. The body of the AGV moves horizontally under the L-shaped forklift with goods. The L-shaped forklift moves slightly downward to place the goods on the fixed support bar, or the lifting support bar or the lifting platform moves upward to lift the goods from the L-shaped forklift. Then, the body of the AGV moves horizontally again to directly take away the goods. Finally, the empty L-shaped forklift reaches the specified position according to the pose planning.

[0029] At the optimized optimal delivery position, the AGV is directly under the L-shaped forklift, and the goods only have the lifting movement and the inventory or picking movement along with the movement of the AGV.

[0030] In the case where there is a conveyor line at one or both ends of the aisle, the conveyor line and the AGV are jointly responsible for the in and out transportation of goods. The stacker exchanges goods with the AGV and the conveyor line respectively and stores and retrieves goods in the high-bay rack. The stacker, the AGV, and the conveyor line are scheduled and optimized to determine the goods storage and retrieval plan.

[0031] The conveyor line transportation is unidirectional or bidirectional.

[0032] The types of conveyor lines are belt conveyor lines, roller conveyor lines, chain plate conveyor lines, mesh belt conveyor lines, or double-speed chain conveyor lines.

[0033] In the transverse movement device, the right-angle bottom plate and the right-angle bracket are finally assembled into a whole. Two L-shaped forklifts are symmetrically fixed in the slots of the moving plate by two screws. A lead screw nut is fixed on the symmetry plane of the moving plate, and a long linear bearing is fixed on each side of the symmetry plane of the moving plate. The two long linear bearings are sleeved on two guide rods. The two end table-stage shafts of each guide rod are respectively inserted into the corresponding holes on the right-angle bottom plate and the right-angle bracket. The transverse movement motor is installed on the side of the right-angle bottom plate. The large gear is fixed on the shaft of the transverse movement motor by screws and washers. The large gear meshes with the small gear. The small gear is fixed on one end of the lead screw by screws and washers. The lead screw is supported by two rolling ball bearings on the right-angle bottom plate and the right-angle bracket respectively. Therefore, the transverse movement motor drives the moving plate, and the moving plate drives the two L-shaped forklifts to move horizontally under the guidance of the long linear bearings and the guide rods to store and retrieve goods in the high-bay rack.

[0034] The moving part of the lifting device and the indexing device are both inside the U-shaped box. In the indexing device, the indexing motor is fixed on the right side wall of the U-shaped box. The small bevel gear is fixed on the indexing motor by screws and washers. The small bevel gear meshes with the large bevel gear. The large bevel gear is installed on the vertical shaft and axially limited by two thick sleeves. The vertical shaft is supported by two tapered roller bearings, and the two tapered roller bearings are respectively installed in the bearing holes on the rectangular lower cover plate and the rectangular upper cover plate. The rectangular upper cover plate and the rectangular lower cover plate are respectively fixed at the upper and lower parts on the right side of the U-shaped box. The flange at the lower end of the vertical shaft is fastened to the right-angle bottom plate of the transverse movement device. Therefore, the indexing motor drives the transverse movement device to rotate 180 degrees outward along the vertical shaft to perform access operations on the high rack on the other side.

[0035] In the lifting device, at the left opening of the U-shaped box, four guide rollers are arranged identically up and down. The four guide rollers are installed on the guide rotating shaft, and the long sleeve limits the axial position. The guide rotating shaft is supported by two pedestal bearings, and the two pedestal bearings are respectively installed on the front and rear walls of the U-shaped box. The modified rack block is installed in the middle part of the adjusting partition. The adjusting partition is installed on the front and rear walls of the U-shaped box by mating screws. A clearance fit relationship is formed between the diameter of the cylindrical surface in the middle of the mating screw and the width of the waist-shaped groove on the U-shaped box. The toothed belt tensioning device is arranged above the right column. The output gear of the driving part of the lifting device below the column is the driving wheel of the toothed belt. The toothed belt meshes with the modified rack block. A large fillet transition is formed between the tooth top plane and the tooth profile plane of the modified rack block. The driving part of the lifting device drives the toothed belt to move, so that the transverse movement device and the indexing device perform lifting movement under the guidance of the eight guide rollers and the column.

[0036] In the lifting counterweight device, at the right side of the two side plates, four guide rollers are arranged identically up and down. The four guide rollers are installed on the guide rotating shaft, and the long sleeve limits the axial position. The guide rotating shaft is supported by two pedestal bearings, and the two pedestal bearings are respectively installed on the two side plates. The counterweight block is installed at the left position between the two side plates. The lifting ring is fixed on the counterweight block. One end of the steel cable is fixed to this lifting ring. The other end of the steel cable is guided by two steel cable guide wheel devices and passes through the two columns and is fixed to another lifting ring. The lifting ring is fixed on the rectangular upper cover plate of the U-shaped box. The two guide wheel devices are inverted and fixed under the lifting device at the overhead rail.

[0037] The beneficial effects of the present invention are as follows:

[0038] The present invention has a compact and reasonable structure and is easy to operate. By setting AGVs, stackers, high-leg racks, with or without conveyor lines, there is at least one stacker in each aisle between the high-leg racks, and the conveyor lines at one end or both ends of the aisle are parallel to the aisles. The stackers are either embedded in the ground with ground rails or have no ground rails. AGVs carrying goods or being empty can all travel unimpeded under the high-leg racks. The three types of AGVs are respectively fixed with support bars, lifting support bars, or lifting platforms to facilitate the operation of the L-shaped forks of the stacker. The two L-shaped forks rotate 180 degrees outward along the vertical axis to operate the high-leg rack on the other side. The stacker cooperates with the AGV and the conveyor lines to store and retrieve goods into the high-leg racks. The present invention effectively overcomes the bottleneck phenomenon of the aisle entrance and exit ports, greatly improves the throughput efficiency, is efficient and flexible, reduces the width of the aisle, and greatly improves the space utilization rate.

[0039] At the same time, the present invention also has the following advantages:

[0040] (1) Not only is it a bidirectional conveyor line, but also AGV, which participates in the input and output of goods, and then is stored and retrieved on high-leg racks by one or more stackers. Therefore, the present invention overcomes the bottleneck that goods can only be entered and exited from the two ends of the aisle, and greatly improves the warehouse's high throughput.

[0041] (2) One or more stackers, in coordination with two-way conveyor lines and AGVs, make the automated warehouse flexible and adaptable. For corporate users, it not only serves as a warehouse for assembled finished products, but also forms a comprehensive warehouse with tool warehouses, raw material warehouses, and purchased parts warehouses. For e-commerce users, it integrates the warehousing and picking processes of goods, eliminating supermarket shelves, reducing storage area, and improving picking efficiency.

[0042] (3) The location where the stacker crane and AGV exchange goods can be the bottom of any vertical row of shelves in the middle of the aisle, and the best delivery position of the goods in the aisle is obtained by optimization. Therefore, the distance the stacker crane moves longitudinally in the aisle is greatly shortened, and the storage and retrieval efficiency is high.

[0043] (IV) When the stacker crane stores and retrieves goods from the high-legged shelf, the L-shaped fork moves horizontally; the working conditions between the L-shaped fork movement and the AGV are as follows:

[0044] When storing goods at the optimal delivery location, the unloaded L-shaped fork moves to the designated position and stops, while the loaded AGV moves under the L-shaped fork, rather than the L-shaped fork moving horizontally and actively inserting into the operating space. The loaded L-shaped fork then moves vertically upward, removing the goods from the AGV, and then storing the goods in the high-bay rack according to the posture planning.

[0045] When picking up the goods at the optimal delivery position, the L-shaped fork with the goods first moves vertically downward to the position and stops. The AGV vehicle body moves horizontally under the L-shaped fork with the goods. The L-shaped fork moves slightly downward to place the goods on the fixed support bar, or the lifting support bar or the lifting platform moves upward to lift the goods from the L-shaped fork. Then the AGV vehicle body moves horizontally again to directly take away the goods. Finally, the empty L-shaped fork reaches the designated position according to the pose planning.

[0046] Thus, the width of the roadway is reduced, and the space utilization rate is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the elevation composition structure of the high-throughput warehouse of the present invention.

[0048] Figure 2 For Figure 1 the enlarged partial sectional view A-A in

[0049] Figure 3 It is a schematic diagram of the plane layout of the high-throughput warehouse of the present invention.

[0050] Figure 4 It is a front view of the rotation device and the transverse movement device of the stacker in the high-throughput warehouse of the present invention.

[0051] Figure 5 It is a sectional view B-B of the rotation device and the transverse movement device of the stacker in the high-throughput warehouse of the present invention.

[0052] Figure 6 It is a sectional view C-C of the rotation device and the transverse movement device of the stacker in the high-throughput warehouse of the present invention.

[0053] Figure 7 It is an enlarged partial sectional view D-D of the rotation device and the transverse movement device of the high-throughput warehouse machine of the present invention.

[0054] Figure 8 It is a front view of the lifting counterweight device of the stacker in the high-throughput warehouse of the present invention.

[0055] Figure 9 It is a sectional view E-E of the lifting counterweight device of the stacker in the high-throughput warehouse of the present invention.

[0056] Figure 10 It is a front view of the L-shaped fork part of the stacker in the high-throughput warehouse of the present invention.

[0057] Figure 11 It is a left view of the L-shaped fork part of the stacker in the high-throughput warehouse of the present invention.

[0058] Figure 12 It is a front view of the moving plate part of the stacker in the high-throughput warehouse of the present invention.

[0059] Figure 13 This is the F-F sectional view of the moving plate part of the high-throughput warehouse stacker of the present invention.

[0060] Figure 14 This is the partially enlarged view of the side guide rail guiding of the high-throughput warehouse stacker of the present invention.

[0061] Wherein: 1. AGV vehicle; 2. Stacker; 3. High-leg shelf; 4. Conveyor line;

[0062] The AGV vehicle 1 includes: 11. Fixed support bar; 12. Lifting support bar; 13. Lifting platform;

[0063] The stacker 2 includes: 21. Ground rail; 211. Lower side rail; 212. Fixed plate; 213. Side guide wheel frame; 214. Side guide wheel; 215. Right-angle steel plate; 216. Pressure plate; 217. Spacer block; 22. Sky rail; 23. L-shaped fork; 24. Transverse movement device; 25. Rotation device; 26. Lifting device; 27. Column; 28. Lifting counterweight device; 29. Counterweight traveling device;

[0064] The transverse movement device 24 includes: 240. Right-angle bottom plate; 241. Transverse movement motor; 242. Large gear; 243. Small gear; 244. Moving plate; 245. Lead screw nut; 246. Lead screw; 247. Right-angle bracket; 248. Long linear bearing; 249. Guide rod;

[0065] The rotation device 25 includes: 250. Rotation motor; 251. Rectangular lower cover plate; 252. Small bevel gear; 253. Large bevel gear; 254. Thick sleeve; 255. Rectangular upper cover plate; 256. Vertical shaft; 257. Tapered roller bearing;

[0066] The lifting device 26 includes: 260. U-shaped box body; 261. Toothed belt; 262. Modified rack block; 263. Adjusting partition; 264. Matching screw; 265. Toothed belt tensioning device; 266. Guide roller; 267. Bearing with seat; 268. Guide rotating shaft; 269. Long sleeve;

[0067] The lifting counterweight device 28 includes: 280. Counterweight block; 281. Hoisting ring; 282. Steel cable guide wheel device; 283. Steel cable; 284. Side plate;

[0068] The high-leg shelf 3 includes: 31. Upright angle iron; 32. Rectangular pipe. Specific embodiments

[0069] The following combines the drawings to illustrate the specific embodiments of the present invention.

[0070] As Figures 1-14As shown in the figure, the goods-carrying AGV of this embodiment travels in a high-throughput warehouse under the high-bay racks, including an AGV vehicle 1, a stacker crane 2, high-bay racks 3, and a conveyor line 4 with or without it;

[0071] An aisle is arranged between two adjacent high-bay racks 3. Each aisle contains at least one stacker crane 2. Each stacker crane 2 cooperates with multiple AGV vehicles 1. When the goods-carrying AGV vehicle 1 or the empty AGV vehicle 1 enters or exits the warehouse, it travels horizontally between the high-bays under the high-bay racks 3 and longitudinally in the aisle, or travels horizontally and longitudinally between the high-bays and longitudinally in the aisle; by dynamically optimizing the operating pose of the stacker crane 2 and the traveling path of the AGV vehicle 1, the optimal delivery position of the goods in the aisle is determined. The stacker crane 2 and the AGV vehicle 1 are controlled in coordination to exchange goods at the optimal delivery position;

[0072] Two fixed support bars 11, or two lifting support bars 12, or a lifting platform 13 are arranged on the top surface of a single AGV vehicle 1. The positions of the two fixed support bars 11 remain unchanged relative to the wheels. The two lifting support bars 12 lift and lower synchronously relative to the wheels. The lifting platform 13 lifts and lowers relative to the wheels;

[0073] The stacker cranes 2 are respectively: a stacker crane 2 with a ground rail 21 embedded in the ground, with or without a sky rail 22, and a stacker crane 2 without a ground rail 21, with or without a sky rail 22;

[0074] The stacker crane 2 travels longitudinally in the aisle. The lower end of the column 27 is fixed on the counterweight traveling device 29. One side of the counterweight traveling device 29 has the counterweight of the whole stacker crane 2; the L-shaped fork 23 is arranged at the bottom. The transverse movement device 24 is above the L-shaped fork 23. The rotation device 25 is above the transverse movement device 24. The driving part of the lifting device 26 is below the column 27; the transverse movement device 24, the rotation device 25 and the lifting device 26 are arranged on one side of a column 27. The lifting counterweight device 28 is arranged on the other side of the other column 27. The lifting device 26 and the lifting counterweight device 28 are connected by a steel cable 283 and their lifting movement directions are opposite, so as to reduce the power of the driving part of the lifting device 26; under the guidance of the column 27, the lifting device 26 drives the rotation device 25 and the transverse movement device 24 to lift and lower simultaneously. The transverse movement device 24 drives the L-shaped fork 23 to move horizontally, and performs the access operation on the high-bay racks 3. The rotation device 25 rotates the whole two L-shaped forks 23 180 degrees outward along the vertical axis 256 to perform the access operation on the high-bay racks 3 on the other side;

[0075] When there is a conveyor line 4, the conveyor line 4 is arranged at one end or both ends of the aisle;

[0076] The goods include pallets and the items on them, or turnover boxes and the items in them, or corrugated cardboard boxes, or bagged items.

[0077] The height below the entire high - foot shelf 3 is higher than the total height of the AGV vehicle 1 and the goods it carries; or, for multi - objective comprehensive optimization based on throughput and space utilization rate, in addition to the height below the high - foot shelf 3 being higher than the total height of the AGV vehicle 1 and the goods it carries, the height below the remaining part of the high - foot shelf 3 is higher than the height of the AGV vehicle 1, and only the unloaded AGV vehicle 1 can pass through.

[0078] Among them, each support foot of the high - foot shelf 3 is welded with a vertical angle iron 31 or bolt - connected with a rectangular pipe 32.

[0079] In the case of the stacker 2 with or without the overhead rail 22 and the ground rail 21 embedded in the ground, below the stacker 2 moving in the lane, there is a ground rail 21 embedded in the ground for support and guidance. The upper surface of the ground rail 21 is flush with the ground, and there is a narrow groove between the side surface of the ground rail 21 and the ground. The AGV vehicle 1 can smoothly pass through above the narrow groove; the ground rail 21 is fixed in the groove of the ground by expansion bolts, pads 217 and pressure plates 216; the ground adjacent to the narrow groove on the side surface of the ground rail 21 is inlaid with a right - angle steel plate 215 to prevent the cement at the ground corners from breaking.

[0080] The wider the width of the narrow groove between the side surface of the ground rail 21 and the ground, the larger the wheel diameter and the wider the width of the AGV vehicle 1, and the better the anti - impact effect and the anti - jamming and anti - skid effects.

[0081] In the case of the stacker 2 without the ground rail 21 and with or without the overhead rail 22, two lower side rails 211 are symmetrically arranged on both sides of the lane at a position higher than the total height of the AGV vehicle 1 and the goods it carries; the two lower side rails 211 for guiding the movement of the stacker 2 in the lane are fixed on the high - foot shelf 3 or supported and fixed on the ground at multiple points.

[0082] At the same time, two fixing plates 212 are installed on the outer sides of the two columns 27 of the stacker 2, and two side guide wheel frames 213 are installed on each fixing plate 212. The side guide wheels 214 on the four side guide wheel frames 213 are always in contact with the two lower side rails 211 on both sides for longitudinal guidance.

[0083] The AGV vehicle 1 is an AGV with a zero turning radius that can move in four directions: forward, backward, left, and right. The AGV is an automated guided vehicle or an autonomous mobile robot and can smoothly drive under the high - foot shelf 3.

[0084] In the AGV vehicle 1, the height of the fixed support bar 11, the lifting height of the lifting support bar 12 and the lifting platform 13 are all higher than the thickness of the L-shaped fork 23 on the stacker 2 and the thickness of the horizontal fork part. At the same time, the outer distance between the two fixed support bars 11 or the lifting support bars 12 and the width of the lifting platform 13 are both smaller than the longitudinal gap between the two L-shaped forks 23. Therefore, there is an operating space for the L-shaped fork 23 between the goods and the body of the AGV vehicle 1, and the shape of the lower end of the L-shaped fork 23 is L-shaped, which is convenient for entering and exiting the operating space.

[0085] When the stacker 2 stores and retrieves goods from the high-bay rack 3, the L-shaped fork 23 moves horizontally and laterally. In order to reduce the width of the roadway, the movement of the L-shaped fork 23 and the working conditions of the AGV vehicle 1 are as follows:

[0086] When storing goods at the optimal delivery position, the empty L-shaped fork 23 moves into place and stops. It is the body of the loaded AGV vehicle 1 that moves under the L-shaped fork 23, rather than the L-shaped fork 23 moving horizontally and laterally and actively inserting into the operating space. Then the loaded L-shaped fork 23 moves vertically upward, takes the goods away from the AGV vehicle 1, and then stores the goods in the high-bay rack 3 according to the pose planning.

[0087] When retrieving goods at the optimal delivery position, the loaded L-shaped fork 23 first moves vertically downward into place and stops. The body of the AGV vehicle 1 moves laterally under the loaded L-shaped fork 23. The L-shaped fork 23 moves slightly downward to place the goods on the fixed support bar 11, or the lifting support bar 12 and the lifting platform 13 move upward to lift the goods from the L-shaped fork 23. Then the body of the AGV vehicle 1 moves laterally again to directly take away the goods. Finally, the empty L-shaped fork 23 reaches the designated position according to the pose planning.

[0088] At the optimized optimal delivery position, the AGV vehicle 1 is directly below the L-shaped fork 23, and the goods only have lifting movement and the inventory or picking movement along with the movement of the AGV vehicle 1.

[0089] When there is a conveyor line 4 at one or both ends of the roadway, the conveyor line 4 and the AGV vehicle 1 are jointly responsible for the in and out transportation of goods. The stacker 2 exchanges goods with the AGV vehicle 1 and the conveyor line 4 respectively and stores and retrieves the goods in the high-bay rack 3. The stacker 2, the AGV vehicle 1, and the conveyor line 4 are optimized for scheduling to determine the goods storage and retrieval plan.

[0090] The transportation of the conveyor line 4 is one-way or two-way;

[0091] The types of the conveyor line 4 are belt conveyor line, roller conveyor line, chain plate conveyor line, mesh belt conveyor line, or double-speed chain conveyor line.

[0092] In the transverse movement device 24, the right-angled base plate 240 and the right-angled support 247 are finally assembled into a whole. Two L-shaped forks 23 are symmetrically fixed in the slots of the moving plate 244 by two screws. A lead screw nut 245 is fixed on the symmetry plane of the moving plate 244. On both sides of the symmetry plane of the moving plate 244, a long linear bearing 248 is fixed respectively. The two long linear bearings 248 are sleeved on two guide rods 249. The two end-stage shafts of each guide rod 249 are respectively inserted into the corresponding holes on the right-angled base plate 240 and the right-angled support 247. The transverse movement motor 241 is installed on the side of the right-angled base plate 240. The large gear 242 is fixed on the shaft of the transverse movement motor 241 by screws and washers. The large gear 242 meshes with the small gear 243. The small gear 243 is fixed on one end of the lead screw 246 by screws and washers. The lead screw 246 is supported by two rolling ball bearings on the right-angled base plate 240 and the right-angled support 247 respectively. Therefore, the transverse movement motor 241 drives the moving plate 244, and under the guidance of the long linear bearings 248 and the guide rods 249, the moving plate 244 drives the two L-shaped forks 23 to move horizontally to store and retrieve goods in the high-leg shelf 3.

[0093] The moving part of the lifting device 26 and the indexing device 25 are both inside the U-shaped box body 260. In the indexing device 25, the indexing motor 250 is fixed on the right side wall of the U-shaped box body 260. The small bevel gear 252 is fixed on the indexing motor 250 by screws and washers. The small bevel gear 252 meshes with the large bevel gear 253. The large bevel gear 253 is installed on the vertical shaft 256 and axially limited by two thick sleeves 254. The vertical shaft 256 is supported by two tapered roller bearings 257. The two tapered roller bearings 257 are respectively installed in the bearing holes of the rectangular lower cover plate 251 and the rectangular upper cover plate 255. The rectangular upper cover plate 255 and the rectangular lower cover plate 251 are respectively fixed at the upper and lower parts on the right side of the U-shaped box body 260. The lower flange of the vertical shaft 256 is fastened to the right-angled base plate 240 of the transverse movement device 24. Therefore, the indexing motor 250 drives the transverse movement device 24 to rotate 180 degrees outward along the vertical shaft 256 to perform storage and retrieval operations on the high-leg shelf 3 on the other side.

[0094] In the lifting device 26, at the left opening of the U-shaped box body 260, four guiding rollers 266 are arranged identically up and down. The four guiding rollers 266 are installed on the guiding rotating shaft 268. The long sleeve 269 limits the axial position. The guiding rotating shaft 268 is supported by two pedestal bearings 267, and the two pedestal bearings 267 are respectively installed on the front and rear walls of the U-shaped box body 260. The modified rack block 262 is installed at the middle part of the adjusting partition plate 263. The adjusting partition plate 263 is installed on the front and rear walls of the U-shaped box body 260 by the mating screws 264. A clearance fit relationship is formed between the diameter of the cylindrical surface in the middle of the mating screw 264 and the width of the waist-shaped groove on the U-shaped box body 260. The toothed belt tensioning device 265 is arranged above the right column 27. The output gear of the driving part of the lifting device 26 below the column 27 is the driving wheel of the toothed belt 261. The toothed belt 261 meshes with the modified rack block 262. A large fillet transition is formed between the tooth top plane and the tooth profile plane of the modified rack block 262. The driving part of the lifting device 26 drives the toothed belt 261 to move, so that the transverse movement device 24 and the indexing device 25 perform lifting movement under the guidance of the eight guiding rollers 266 and the column 27.

[0095] In the lifting counterweight device 28, at the right side of the two side plates 284, four guiding rollers 266 are arranged identically up and down. The four guiding rollers 266 are installed on the guiding rotating shaft 268. The long sleeve 269 limits the axial position. The guiding rotating shaft 268 is supported by two pedestal bearings 267, and the two pedestal bearings 267 are respectively installed on the two side plates 284. The counterweight block 280 is installed at the left position between the two side plates 284. The lifting ring 281 is fixed on the counterweight block 280. One end of the steel cable 283 is fixed to this lifting ring 281. The other end of the steel cable 283 is guided by two steel cable guiding wheel devices 282, passes through the two columns 27, and is fixed to another lifting ring 281. The lifting ring 281 is fixed on the rectangular upper cover plate 255 of the U-shaped box body 260. The two guiding wheel devices are inversely fixed under the lifting device 26 at the overhead rail 22.

[0096] The core of the high-throughput warehouse of the present invention is the cooperation among the stacker 2, the AGV vehicle 1, and the conveyor line 4 to achieve the working effect of high throughput. Its components mainly include: the AGV vehicle 1, the stacker 2, the high-bay rack 3, and the conveyor line 4.

[0097] Among them, the AGV vehicle 1 mainly includes a fixed support bar 11, a lifting support bar 12, and a lifting platform 13.

[0098] Among them, the stacker 2 mainly includes a ground rail 21, a lower side rail 211, a fixing plate 212, a side guide wheel frame 213, side guide wheels 214, a right-angle steel plate 215, a pressing plate 216, a cushion block 217, an overhead rail 22, an indexing device 25, an L-shaped fork 23, a transverse movement device 24, a lifting device 26, a column 27, a lifting counterweight device 28, and a counterweight traveling device 29.

[0099] Among them, the transverse movement device 24 mainly includes a right-angle bottom plate 240, a transverse movement motor 241, a large gear 242, a small gear 243, a moving plate 244, a lead screw nut 245, a lead screw 246, a right-angle bracket 247, a long linear bearing 248, and a guide rod 249.

[0100] Among them, the indexing device 25 mainly includes an indexing motor 250, a rectangular lower cover plate 251, a small bevel gear 252, a large bevel gear 253, a thick sleeve 254, a rectangular upper cover plate 255, a vertical shaft 256, and a tapered roller bearing 257.

[0101] Among them, the lifting device 26 mainly includes a U-shaped box body 260, a toothed belt 261, a modified rack block 262, an adjusting partition 263, a mating screw 264, a toothed belt tensioning device 265, a guide roller 266, a pedestal bearing 267, a guide rotating shaft 268, and a long sleeve 269.

[0102] Among them, the lifting counterweight device 28: a counterweight block 280, a lifting ring 281, a steel cable guide wheel device 282, a steel cable 283, and a side plate 284.

[0103] Among them, the high-rise shelf 3 mainly includes upright angle irons 31 and rectangular tubes 32.

[0104] Embodiment 1:

[0105] As Figure 1 、 Figure 3 shown, an AGV for carrying goods of the present invention travels in a high-throughput warehouse under a high-rise shelf, including an AGV vehicle 1, a stacker 2, a high-rise shelf 3, and a conveyor line 4 with or without;

[0106] When the AGV vehicle 1 carrying goods or the empty AGV vehicle 1 enters and exits the warehouse, it can travel smoothly under the high-rise shelf 3; there are aisles between the high-rise shelves 3, and each aisle contains at least one stacker 2. Each stacker 2 cooperates with multiple AGV vehicles 1. By dynamically optimizing the operating pose of the stacker 2 and the traveling path of the AGV vehicle 1, the optimal delivery position of the goods in the aisle is determined, and the stacker 2 and the AGV vehicle 1 are controlled in coordination to exchange goods at the optimal delivery position.

[0107] There are three kinds of goods support structures on the top surface of the AGV vehicle 1, namely: two fixed support bars 11, or two lifting support bars 12, or a lifting platform 13; among them, the two fixed support bars 11 are fixed relative to the wheel position, the two lifting support bars 12 lift synchronously relative to the wheels, and the lifting platform 13 lifts relative to the wheels.

[0108] The stacker 2 is: a stacker 2 with a ground rail 21 embedded in the ground, with or without a sky rail 22.

[0109] The stacker 2 travels longitudinally in the aisle. The lower end of the column 27 is fixed on the counterweight traveling device 29, and one side of the counterweight traveling device 29 is provided with the counterweight of the whole stacker 2. The L-shaped fork 23 is arranged at the bottommost, the transverse movement device 24 is above the L-shaped fork 23, and the turning device 25 is above the transverse movement device 24. As Figure 1 shown, the driving part of the lifting device 26 is below the right column 27, and the toothed belt tensioning device 265 is arranged above the right column 27. The moving part of the lifting device 26 and the turning device 25 are both within the U-shaped box body 260. The transverse movement device 24, the turning device 25 and the lifting device 26 are arranged on one side of a column 27, and the lifting counterweight device 28 is arranged on the other side of the other column 27. The lifting device 26 and the lifting counterweight device 28 are connected by a steel cable 283, and their lifting movement directions are opposite, so as to reduce the power of the driving part of the lifting device 26. Under the guidance of the column 27, the lifting device 26 of the stacker 2 drives the turning device 25 and the transverse movement device 24 to move up and down. The transverse movement device 24 of the stacker 2 drives the L-shaped fork 23 to move horizontally and laterally to perform the access operation on the high-bay shelf 3. The turning device 25 rotates the whole two L-shaped forks 23 180 degrees outward along the vertical axis 256 ( Figure 5 in Figure 2, the whole two L-shaped forks 23 rotate clockwise by 180 degrees) to perform the access operation on the high-bay shelf 3 on the other side.

[0110] When there is a conveyor line 4, the conveyor line 4 is arranged at one end or both ends of the aisle;

[0111] The goods include: pallets and the items thereon, or turnover boxes and the items therein, or corrugated cartons, or bagged items.

[0112] In the high-bay shelf 3, the height below all of the high-bay shelf 3 is higher than the total height of the AGV vehicle 1 and the goods carried thereon; or as Figure 1 shown, according to the throughput and space utilization rate for multi-objective comprehensive optimization, in addition to the height below the part of the high-bay shelf 3 being higher than the total height of the AGV vehicle 1 and the goods carried thereon, the height below the remaining part of the high-bay shelf 3 is higher than the height of the AGV vehicle 1, and only the empty AGV vehicle 1 can pass through.

[0113] As Figure 2 shown, in order to prevent the support feet from having poor rigidity due to being too high and causing instability, a rectangular tube 32 is welded or bolted to each upright angle iron 31 of the support feet of the high-bay shelf 3.

[0114] As Figure 2As shown, in the case of the stacker 2 with the ground rail 21 embedded in the ground and with or without the overhead rail 22, under the stacker 2 moving in the aisle, there is a ground rail 21 embedded in the ground for support and guidance. The upper surface of the ground rail 21 is flush with the ground, and there is a narrow groove between the side surface of the ground rail 21 and the ground. The AGV vehicle 1 can smoothly pass above the narrow groove; the ground rail 21 is fixed in the groove of the ground by expansion bolts, pads 217 and pressure plates 216; the ground adjacent to the narrow groove on the side surface of the ground rail 21 is inlaid with a right-angle steel plate 215 to prevent the cement at the corners of the ground from breaking.

[0115] The wider the width of the narrow groove between the side surface of the ground rail 21 and the ground, the larger the wheel diameter and the wider the width of the AGV vehicle 1, and the better the anti-impact effect and the anti-sticking and anti-slip effect.

[0116] In order to smoothly travel under the high-bay rack 3, the AGV vehicle 1 preferably selects an AGV with a zero turning radius and capable of moving in four directions of front, back, left and right. The AGV is an automatic guided vehicle or an autonomous mobile robot.

[0117] As Figure 1 shown, in the AGV vehicle 1, the height of the fixed support bar 11, the lifting height of the lifting support bar 12 and the lifting platform 13 are all higher than the thickness of the horizontal fork part of the L-shaped fork 23 on the stacker 2; at the same time, the settings of the fixed support bar 11, the lifting support bar 12 and the lifting platform 13 in terms of width will not hinder their movement relative to the two L-shaped forks 23 (that is, the outer distance between the two fixed support bars or the lifting support bars 12 and the width of the lifting platform 13 are all smaller than the longitudinal gap between the two L-shaped forks 23); therefore, there is an operating space for the L-shaped fork 23 between the goods and the body of the AGV vehicle 1, and the lower ends of the L-shaped forks 23 are all in the shape of an L, which is convenient for entering and exiting the operating space.

[0118] As Figure 1 、 Figure 3 shown, when the stacker 2 stores and retrieves goods from the high-bay rack 3, the L-shaped fork 23 moves horizontally; in order to reduce the width of the aisle, the working conditions between the L-shaped fork 23 and the AGV are as follows:

[0119] When storing goods at the optimal delivery position, the empty L-shaped fork 23 moves into place and stops, and it is the body of the loaded AGV vehicle 1 that moves under the L-shaped fork 23, rather than the L-shaped fork 23 moving horizontally and actively inserting into the operating space; then the loaded L-shaped fork 23 moves vertically upward, takes the goods away from the AGV vehicle 1, and then stores the goods in the high-bay rack 3 according to the pose planning.

[0120] When picking up goods at the optimal delivery position, the L-shaped fork 23 with goods first moves vertically downward to the position and stops. The AGV vehicle 1 moves horizontally to the lower part of the L-shaped fork 23 with goods. The L-shaped fork 23 moves slightly downward to place the goods on the fixed support bar 11, or the lifting support bar 12 and the lifting platform 13 move upward to lift the goods from the L-shaped fork 23. Then the AGV vehicle 1 moves horizontally again to directly take away the goods. Finally, the empty L-shaped fork 23 reaches the designated position according to the pose planning.

[0121] At the optimal delivery position with optimized settings, the AGV vehicle 1 is directly below the L-shaped fork 23, and the goods only have the lifting movement and the inventory or picking movement along with the movement of the AGV vehicle 1.

[0122] Such as Figure 1 、 Figure 3 As shown, when there is a conveyor line 4 at one or both ends of the roadway, the conveyor line 4 and the AGV vehicle 1 are jointly responsible for the in and out transportation of goods. The stacker 2 exchanges goods with the AGV vehicle 1 and the conveyor line 4 respectively and stores and retrieves the goods in the high-bay rack 3. The stacker 2, the AGV vehicle 1, and the conveyor line 4 are scheduled and optimized to determine the goods storage and retrieval plan.

[0123] The transportation of the conveyor line 4 is unidirectional or bidirectional.

[0124] The types of the conveyor line 4 are belt conveyor line, roller conveyor line, chain plate conveyor line, mesh belt conveyor line, or double-speed chain conveyor line.

[0125] Such as Figures 4-9 As shown in the main structure of the stacker 2, in the Figures 6-7 As shown in the transverse movement device 24, the right-angle bottom plate 240 and the right-angle bracket 247 are finally assembled into a whole. Two L-shaped forks 23 are symmetrically fixed in the slots of the moving plate 244 by two screws (the positions of the slots are as shown by the dotted line in Figure 10 ). A lead screw nut 245 is fixed on the symmetry plane of the moving plate 244. A long linear bearing 248 is fixed on each side of the symmetry plane of the moving plate 244. The two long linear bearings 248 are sleeved on two guide rods 249. The two end stepped shafts of each guide rod 249 are respectively inserted into the corresponding holes on the right-angle bottom plate 240 and the right-angle bracket 247. The transverse movement motor 241 is installed on the side of the right-angle bottom plate 240. The large gear 242 is fixed on the shaft of the transverse movement motor 241 by screws and washers. The large gear 242 meshes with the small gear 243. The small gear 243 is fixed on one end of the lead screw 246 by screws and washers. The lead screw 246 is supported by two rolling ball bearings on the right-angle bottom plate 240 and the right-angle bracket 247 respectively. Therefore, the transverse movement motor 241 drives the moving plate 244, and the moving plate 244 drives the two L-shaped forks 23 to move horizontally under the guidance of the long linear bearings 248 and the guide rods 249 to store and retrieve goods in the high-bay rack 3.

[0126] In Figure 4 、 Figure 6 the indexing device 25 shown in the figure, both the moving part of the lifting device 26 and the indexing device 25 are within the U-shaped box body 260. The indexing motor 250 is fixed on the right side wall of the U-shaped box body 260. The small bevel gear 252 is fixed on the indexing motor 250 by screws and washers. The small bevel gear 252 meshes with the large bevel gear 253. The large bevel gear 253 is installed on the vertical shaft 256 and axially limited by two thick sleeves 254. The vertical shaft 256 is supported by two tapered roller bearings 257. The two tapered roller bearings 257 are respectively installed in the bearing holes on the rectangular lower cover plate 251 and the rectangular upper cover plate 255. The rectangular upper cover plate 255 and the rectangular lower cover plate 251 are respectively fixed at the upper and lower parts on the right side of the U-shaped box body 260. The lower flange of the vertical shaft 256 is fastened to the right-angle bottom plate 240 of the transverse movement device 24. Therefore, the indexing motor 250 drives the transverse movement device 24 to rotate 180 degrees outward along the vertical shaft 256 to perform access operations on the high rack 3 on the other side;

[0127] As Figure 1 、 Figures 4-5 shown in the figure, in the lifting device 26, at the left opening of the U-shaped box body 260, four guiding rollers 266 are arranged identically up and down. The four guiding rollers 266 are installed on the guiding rotating shaft 268. The long sleeve 269 limits the axial position. The guiding rotating shaft 268 is supported by two pedestal bearings 267. The two pedestal bearings 267 are respectively installed on the front and rear walls of the U-shaped box body 260. The modified rack block 262 is installed in the middle part of the adjusting partition plate 263 and is installed on the front and rear walls of the U-shaped box body 260 by the mating screws 264. As Figure 4 shown in the figure, a clearance fit relationship is formed between the diameter of the cylindrical surface in the middle of the mating screw 264 and the width of the waist-shaped groove on the U-shaped box body 260; As Figure 1 shown in the figure, the toothed belt tensioning device 265 is arranged above the right column 27. The output gear of the driving part of the lifting device 26 below the column 27 is the driving wheel of the toothed belt 261. The toothed belt 261 meshes with the modified rack block 262. A large fillet transition is made between the tooth top plane and the tooth profile plane of the modified rack block 262. The driving part of the lifting device 26 drives the toothed belt 261 to move, so that the transverse movement device 24 and the indexing device 25 perform lifting movements under the guidance of the eight guiding rollers 266 and the column 27;

[0128] As Figures 8-9As shown, in the lifting counterweight device 28, on the right side of the two side plates 284, four guide rollers 266 are identically arranged vertically and horizontally. The four guide rollers 266 are mounted on a guide rotating shaft 268. A long sleeve 269 restricts the axial position. The guide rotating shaft 268 is supported by two pedestal bearings 267, and the two pedestal bearings 267 are respectively mounted on the two side plates 284. The counterweight block 280 is mounted at the left position between the two side plates 284. A lifting ring 281 is fixed to the counterweight block 280. One end of a steel cable 283 is fixed to this lifting ring 281. The other end of the steel cable 283 is guided by two steel cable guide wheel devices 282, passes through two columns 27, and is fixed to another lifting ring 281. The lifting ring 281 is fixed to the rectangular upper cover plate 255 of the U-shaped box body 260. The two guide wheel devices are inversely fixed under the lifting device 26 at the overhead rail 22.

[0129] As Figures 10-11 shown, the L-shaped fork 23 is inserted under the goods and then lifted to pick up the goods. Therefore, the cross-sectional dimensions of different parts of the L-shaped fork are designed according to the rigidity requirements.

[0130] As Figures 12-13 shown, the parts of the L-shaped fork 23 are positioned by the notches on the moving plate 244. Four threaded holes are provided in the middle of the moving plate 244 for installing screw nuts 245, and six threaded holes are provided on each side for installing a long linear bearing 248.

[0131] Embodiment 2:

[0132] As Figure 14 shown, in the case of the stacker 2 without a ground rail 21 and with or without an overhead rail 22, two lower side rails 211 are symmetrically arranged on both sides of the lane at a position higher than the total height of the AGV vehicle 1 and the goods carried by it. The two lower side rails 211 for guiding the movement of the stacker 2 in the lane are fixed to the high-bay rack 3 or supported and fixed to the ground at multiple points.

[0133] At the same time, two fixing plates 212 are installed on the outer sides of the two columns 27 of the stacker 2. Two side guide wheel frames 213 are installed on each fixing plate 212. The side guide wheels 214 on the four side guide wheel frames 213 are always in contact with the lower side rails 211 on both sides for longitudinal guidance.

[0134] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention is referred to the claims. Any form of modification can be made within the protection scope of the present invention.

Claims

1. A high-throughput warehouse where an AGV carrying goods travels under high-bay racks, characterized in that: It includes an AGV vehicle (1), a stacker crane (2), high-bay racks (3), and a conveyor line (4) with or without An aisle is provided between two adjacent high-bay racks (3). Each aisle contains at least one stacker crane (2). Each stacker crane (2) cooperates with multiple AGV vehicles (1). When the AGV vehicle (1) carrying goods or the empty AGV vehicle (1) enters or exits the warehouse, it travels horizontally between the lower parts of the high-bay racks (3) and longitudinally in the aisle, or travels horizontally and longitudinally between the high-bay racks and longitudinally in the aisle. By dynamically optimizing the operating pose of the stacker crane (2) and the travel path of the AGV vehicle (1), the optimal delivery position of the goods in the aisle is determined. The stacker crane (2) and the AGV vehicle (1) are controlled in coordination to exchange goods at the optimal delivery position. On the top surface of a single AGV vehicle (1), there are two fixed support bars (11), or two lifting support bars (12), or a lifting platform (13). The positions of the two fixed support bars (11) are unchanged relative to the wheels. The two lifting support bars (12) lift and lower synchronously relative to the wheels. The lifting platform (13) lifts and lowers relative to the wheels. The stacker cranes (2) are respectively: a stacker crane (2) with a ground rail (21) embedded in the ground, with or without an overhead rail (22); a stacker crane (2) without a ground rail (21), with or without an overhead rail (22). The stacker crane (2) travels longitudinally in the aisle. The lower end of the column (27) is fixed on the counterweight traveling device (29). One side of the counterweight traveling device (29) has the overall counterweight of the stacker crane (2). The L-shaped fork (23) is arranged at the bottom. The transverse movement device (24) is above the L-shaped fork (23). The rotation device (25) is above the transverse movement device (24). The driving part of the lifting device (26) is below the column (27). The transverse movement device (24), the rotation device (25), and the lifting device (26) are arranged on one side of a column (27). The lifting counterweight device (28) is arranged on the other side of the other column (27). The lifting device (26) and the lifting counterweight device (28) are connected by a steel cable (283), and their lifting movement directions are opposite, thereby reducing the power of the driving part of the lifting device (26). Under the guidance of the column (27), the lifting device (26) drives the rotation device (25) and the transverse movement device (24) to perform lifting movement simultaneously. The transverse movement device (drive the L-shaped fork (23) to move horizontally and perform access operations on the high-bay racks (3). The rotation device (25) rotates the two L-shaped forks (23) as a whole 180 degrees outward along the vertical axis (256) to perform access operations on the high-bay racks (3) on the other side. When there is a conveyor line (4), the conveyor line (4) is arranged at one end or both ends of the aisle. The goods include a pallet and the items thereon, or a turnover box and the items therein, or a corrugated cardboard box, or bagged items.

2. The high-throughput warehouse where the goods-carrying AGV as claimed in claim 1 travels under the high-bay rack, characterized in that: The height of the entire lower part of the high-leg shelf (3) is higher than the total height of the AGV vehicle (1) and the goods it carries; or, for multi-objective comprehensive optimization based on throughput and space utilization rate, in addition to the height of the lower part of the high-leg shelf (3) being higher than the total height of the AGV vehicle (1) and the goods it carries, the height of the remaining part of the high-leg shelf (3) is higher than the height of the AGV vehicle (1), and only the unloaded AGV vehicle (1) can pass through; Among them, each support leg part of the high-leg shelf (3) is welded with a vertical angle iron (31) or bolt-connected with a rectangular tube (32).

3. The high-throughput warehouse where the goods-carrying AGV as claimed in claim 1 travels under the high-bay rack is characterized in that: In the case of the stacker (2) with or without the overhead rail (22) and the ground rail (21) embedded in the ground, under the stacker (2) moving in the aisle, there is a ground rail (21) embedded in the ground for support and guidance. The upper surface of the ground rail (21) is flush with the ground, and there is a narrow groove between the side surface of the ground rail (21) and the ground. The AGV vehicle (1) can smoothly pass through above the narrow groove; the ground rail (21) is fixed in the groove of the ground by expansion bolts, pads (217) and pressure plates (216); the ground adjacent to the narrow groove on the side surface of the ground rail (21) is inlaid with a right-angle steel plate (215) to prevent the cement at the ground corners from breaking. The wider the width of the narrow groove between the side surface of the ground rail (21) and the ground, the larger the wheel diameter and the wider the width of the AGV vehicle (1), and the better the anti-impact effect and the better the anti-jamming and anti-slip effects.

4. The high-throughput warehouse where the AGV carrying goods travels under the high-bay rack as claimed in claim 1, characterized in that: In the case of the stacker (2) without the ground rail (21) and with or without the overhead rail (22), two lower side rails (211) are symmetrically arranged on both sides of the aisle at a position higher than the total height of the AGV vehicle (1) and the goods it carries; the two lower side rails (211) for guiding the movement of the stacker (2) in the aisle are fixed on the high-leg shelf (3) or supported and fixed on the ground at multiple points; At the same time, two fixing plates (212) are installed on the outer sides of the two columns (27) of the stacker (2), and two side guide wheel frames (213) are installed on each fixing plate (212). The side guide wheels (214) on the four side guide wheel frames (213) are always in contact with the lower side rails (211) on both sides for longitudinal guidance.

5. The high-throughput warehouse where the goods-carrying AGV as claimed in claim 1 travels under the high-bay racks, characterized in that: The AGV vehicle (1) is an AGV with a zero turning radius that can move in four directions of front, back, left, and right. The AGV is an automatic guided vehicle or an autonomous mobile robot and can smoothly drive under the high-leg shelf (3).

6. The high-throughput warehouse in which the AGV carrying goods travels under the high-bay rack as claimed in claim 1, characterized in that: When the stacker (2) stores and retrieves goods from the high-leg shelf (3), the L-shaped forklift (23) moves horizontally. In order to reduce the width of the aisle, the working conditions between the movement of the L-shaped forklift (23) and the AGV vehicle (1) are as follows: When storing goods at the optimal delivery position, the unloaded L-shaped forklift (23) moves into place and stops. It is the loaded AGV vehicle (1) that moves the vehicle body under the L-shaped forklift (23), rather than the L-shaped forklift (23) moving horizontally and actively inserting into the operation space; then the L-shaped forklift (23) with goods moves vertically upward, takes the goods away from the AGV vehicle (1), and then stores the goods in the high-leg shelf (3) according to the pose planning. When picking up goods at the optimal delivery position, the L-shaped fork (23) with goods first moves vertically downward to the position and stops. The body of the AGV vehicle (1) moves horizontally to the lower part of the L-shaped fork (23) with goods. The L-shaped fork (23) moves slightly downward to place the goods on the fixed support bar (11), or the lifting support bar (12) and the lifting platform (13) move upward to lift the goods from the L-shaped fork (23). Then the body of the AGV vehicle (1) moves horizontally again to directly take away the goods. Finally, the empty L-shaped fork (23) reaches the designated position according to the pose planning. At the optimized optimal delivery position, the AGV vehicle (1) is directly below the L-shaped fork (23), and the goods only have the lifting movement and the movement of storing or picking up goods along with the AGV vehicle (1).

7. The high-throughput warehouse where the AGV carrying goods travels under the high-bay rack as claimed in claim 1, wherein: In the case where there is a conveyor line (4) at one or both ends of the roadway, the conveyor line (4) and the AGV vehicle (1) are jointly responsible for the transportation of goods in and out of the warehouse. The stacker (2) exchanges goods with the AGV vehicle (1) and the conveyor line (4) respectively, and stores and retrieves the goods in the high-bay rack (3). The stacker (2), the AGV vehicle (1), and the conveyor line (4) are scheduled and optimized to determine the goods storage and retrieval plan.

8. The high-throughput warehouse where the AGV carrying goods travels under the high-bay rack as claimed in claim 1 or 7, characterized in that: The transportation of the conveyor line (4) is one-way or two-way. The types of the conveyor line (4) are belt conveyor line, roller conveyor line, chain plate conveyor line, mesh belt conveyor line, or double-speed chain conveyor line.

9. The high-throughput warehouse where the goods-carrying AGV as claimed in claim 1 travels under the high-bay racks, characterized in that: In the transverse movement device (24), the right-angle bottom plate (240) and the right-angle bracket (247) are finally assembled into a whole. Two L-shaped forks (23) are symmetrically fixed in the slots of the moving plate (244) by two screws. A lead screw nut (245) is fixed on the symmetry plane of the moving plate (244). A long linear bearing (248) is fixed on each side of the symmetry plane of the moving plate (244). The two long linear bearings (248) are sleeved on two guide rods (249). The two end table stage shafts of each guide rod (249) are respectively inserted into the corresponding holes on the right-angle bottom plate (240) and the right-angle bracket (247). The transverse movement motor (241) is installed on the side of the right-angle bottom plate (240). The large gear (242) is fixed on the shaft of the transverse movement motor (241) by screws and washers. The large gear (242) meshes with the small gear (243). The small gear (243) is fixed on one end of the lead screw (246) by screws and washers. The lead screw (246) is supported on the right-angle bottom plate (240) and the right-angle bracket (247) by two rolling ball bearings respectively. Therefore, the transverse movement motor (241) drives the moving plate (244), and the moving plate (244) drives the two L-shaped forks (23) to move horizontally under the guidance of the long linear bearings (248) and the guide rods (249) to store and retrieve goods in the high-bay rack (3). Both the moving part of the lifting device (26) and the indexing device (25) are within the U-shaped box body (260). In the indexing device (25), the indexing motor (250) is fixed on the right side wall of the U-shaped box body (260). The small bevel gear (252) is fixed to the indexing motor (250) by screws and washers. The small bevel gear (252) meshes with the large bevel gear (253). The large bevel gear (253) is installed on the vertical shaft (256) and axially limited by two thick sleeves (254). The vertical shaft (256) is supported by two tapered roller bearings (257). The two tapered roller bearings (257) are respectively installed in the bearing holes on the rectangular lower cover plate (251) and the rectangular upper cover plate (255). The rectangular upper cover plate (255) and the rectangular lower cover plate (251) are respectively fixed at the upper and lower parts on the right side of the U-shaped box body (260). The lower flange of the vertical shaft (256) is fastened to the right-angle bottom plate (240) of the traversing device (24). Therefore, the indexing motor (250) drives the traversing device (24) to rotate 180 degrees outward along the vertical shaft (256) to perform access operations on the high-bay rack (3) on the other side. In the lifting device (26), at the left opening of the U-shaped box body (260), four guide rollers (266) are arranged identically up and down. The four guide rollers (266) are installed on the guide rotating shaft (268). The long sleeve (269) limits the axial position. The guide rotating shaft (268) is supported by two pedestal bearings (267). The two pedestal bearings (267) are respectively installed on the front and rear walls of the U-shaped box body (260). The modified rack block (262) is installed in the middle part of the adjusting partition plate (263). The adjusting partition plate (263) is installed on the front and rear walls of the U-shaped box body (260) by the mating screws (264). A clearance fit relationship is formed between the diameter of the cylindrical surface in the middle of the mating screw (264) and the width of the waist-shaped groove on the U-shaped box body (260). The toothed belt tensioning device (265) is arranged above the right column (27). The output gear of the driving part of the lifting device (26) below the column (27) is the driving wheel of the toothed belt (261). The toothed belt (261) meshes with the modified rack block (262). A large fillet transition is made between the tooth top plane and the tooth profile plane of the modified rack block (262). The driving part of the lifting device (26) drives the toothed belt (261) to move, so that the traversing device (24) and the indexing device (25) perform lifting movement under the guidance of the eight guide rollers (266) and the column (27). In the lifting counterweight device (28), on the right side of the two side plates (284), four guide rollers (266) are arranged identically up and down. The four guide rollers (266) are installed on the guide rotating shaft (268), and the long sleeve (269) limits the axial position. The guide rotating shaft (268) is supported by two pedestal bearings (267), and the two pedestal bearings (267) are respectively installed on the two side plates (284); the counterweight block (280) is installed at the left position between the two side plates (284), the lifting ring (281) is fixed on the counterweight block (280), one end of the steel cable (283) is fixed to this lifting ring (281), the other end of the steel cable (283) is guided by two steel cable guide wheel devices (282), passes through two columns (27), and is fixed to another lifting ring (281). The lifting ring (281) is fixed on the rectangular upper cover plate (255) of the U-shaped box body (260), and the two guide wheel devices are inversely fixed under the lifting device (26) at the overhead rail (22).

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