Rail shuttle vehicle and warehouse logistics stereoscopic warehouse matched therewith

Abstract

The application discloses a track shuttle vehicle and a warehouse logistics stereoscopic warehouse matched with the track shuttle vehicle, which comprises the track shuttle vehicle, a goods shelf, a module guide rail and a box pallet, the goods shelf comprises a plurality of base frames arranged in layers, one end edge of each base frame is provided with a plurality of vertical rails used for climbing of the track shuttle vehicle, a plurality of horizontal guide rails used for horizontal movement of the track shuttle vehicle are arranged on the base frame, a plurality of support columns are fixedly connected between adjacent upper and lower base frames, one end edge of the horizontal guide rail is provided with a transition opening connected with the vertical rail, and the track shuttle vehicle walks on the vertical rail or the horizontal guide rail through the transition opening; the box pallet is contained on the base frame through a supporting plate, and a walking mechanism and a climbing mechanism on the track shuttle vehicle are all adjustable, so that walking of the track shuttle vehicle on the goods shelf can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aviation standard part warehouse logistics, in particular to a track shuttle vehicle and a warehouse logistics stereoscopic warehouse used in cooperation with the track shuttle vehicle. BACKGROUND

[0002] The products manufactured by the aviation industry have complex structures, a large variety of parts, and high process standard requirements, and the control of each production link is extremely strict. In order to ensure accurate production tracing of the processed finished or semi-finished parts, single-piece separate packaging, separate marking, and separate storage are often required, and the corresponding production scheduling requirements are quite different from those of traditional manufacturing. At present, aviation industry standard part production enterprises have a large variety of parts, unsteady production, a large range of specifications and sizes, and a large span of storage period. The workpiece storage management of the enterprises basically adopts a manual access mode, which has the problems of large workload, many occupied personnel, low access efficiency, and easy record errors, and is a weak link in the production and manufacturing of aviation industry standard parts.

[0003] Therefore, if a track shuttle vehicle and a warehouse logistics stereoscopic warehouse used in cooperation with the track shuttle vehicle are provided according to the process characteristics of the production and storage links of aviation industry processing parts, the aviation standard parts can be stored, and the above-mentioned problems in the field can be effectively solved. SUMMARY

[0004] Therefore, the present application provides a track shuttle vehicle and a warehouse logistics stereoscopic warehouse used in cooperation with the track shuttle vehicle, which is suitable for small-size aviation standard part separate packaging, separate marking, and separate storage, can realize seamless connection with the existing small-size aviation standard part production link of an enterprise, effectively improves the material management level and storage density, liberates manpower, and improves efficiency.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a track shuttle vehicle, comprising:

[0006] a central structural plate;

[0007] a tray taking and placing mechanism, the tray taking and placing mechanism being located above the central structural plate, the tray taking and placing mechanism comprising a plurality of electric push rods, a containing base plate, a bearing plate, a supporting plate, and a supporting plate driving assembly, the plurality of electric push rods being fixed around the top of the central structural plate, the containing base plate being horizontally located on the top of the electric push rods and being fixed to the lifting end of the electric push rods, the bearing plate having two groups and being fixed to the two side edges of the containing base plate, the supporting plate being slidingly connected to the bearing plate, and the supporting plate driving assembly being connected to the containing base plate and being in transmission connection with the supporting plate to drive the horizontal movement of the supporting plate;

[0008] The horizontal walking mechanism comprises a transverse wheel relay plate, a transverse wheel telescopic screw rod assembly and a transverse wheel set, the transverse wheel relay plate is slidably connected to the top of the central structural plate, the transverse wheel telescopic screw rod assembly is connected to the central structural plate and drives the transverse wheel relay plate to move, the transverse wheel set is transitionally connected to the central structural plate through a transverse wheel support, a transverse motor is fixedly connected to the transverse wheel relay plate, and the transverse motor is drivingly connected to the transverse wheel set.

[0009] The climbing mechanism is located below the central structural plate, and comprises a climbing walking base plate, a variable-distance screw rod module, a walking wheel back plate, a climbing walking screw rod module and a walking wheel set, the climbing walking base plate is slidably connected to the bottom of the central structural plate, the variable-distance screw rod module is connected to the central structural plate and drives the climbing walking base plate to move, the walking wheel back plate is slidably connected to the same climbing walking base plate in pairs, the climbing walking screw rod module is connected to the bottom of the climbing walking base plate and is screwedly connected to the walking wheel back plate, and the walking wheel set is rotationally connected to the walking wheel back plate and is driven by a walking motor, the walking motor is fixed to the walking wheel back plate.

[0010] The central structural plate is a main body base component, the tray taking and placing mechanism is located above the central structural plate and is used for taking and placing a box tray, the height of the tray is changed through the electric push rod lifting object base plate, the horizontal movement of the tray is realized through the tray driving assembly, the box tray is picked up or placed by extending into the bottom of the box tray, the horizontal walking mechanism can change the wheel track between the transverse wheel sets, match different width tracks, the climbing mechanism can adjust the wheel track and the wheel track between the walking wheel sets, match different lifting tracks, and the track shuttle vehicle can shuttle and walk in the stereoscopic warehouse to complete the taking and placing of target goods.

[0011] Preferably, the support plates are L-shaped plates, the inner sides of the two groups of support plates are rotationally connected with support plate rollers in rows at the top, the bottom of the tray is fixed with a support plate on both sides, the outer side of the support plate is rotationally connected with a support plate roller, the support plate roller and the corresponding side of the support plate roller are horizontally slidably connected with an object relay guide rail, and the bottom of the object relay guide rail is fixedly connected with an object relay plate.

[0012] The support plate rollers on the support plates and the support plate rollers on the support plates cooperate with the object relay guide rail to realize the sliding connection of the tray and the support plate,

[0013] Preferably, the tray driving assembly comprises a tray moving motor, a transmission gear, an upper rack and a lower rack, the tray moving motor is fixedly connected to the container relay plate, the output shaft of the tray moving motor is in transmission connection with the transmission gear, the upper rack is fixedly connected to the middle line of the bottom of the tray, the lower rack is fixedly connected to the middle line of the top of the container base plate, and the transmission gear is in meshing connection with the upper rack and the lower gear respectively and is located between the upper gear and the lower gear.

[0014] The technical effect produced thereby is that through the driving of the tray moving motor, the double horizontal movement of the tray is realized under the action of the upper rack, the lower rack and the container relay plate, and the efficiency of taking and placing goods by the tray is improved.

[0015] Preferably, the horizontal moving wheel telescopic screw assembly comprises a horizontal moving wheel telescopic motor, a horizontal screw support and a horizontal moving wheel telescopic screw, the horizontal moving wheel telescopic motor is fixedly connected to the top of the central structural plate, the horizontal screw support has two groups and is fixedly connected to the top of the central structural plate, one end of the horizontal moving wheel telescopic screw is in transmission connection with the output shaft of the horizontal moving wheel telescopic motor, the horizontal moving wheel telescopic screw is rotationally connected to the horizontal screw support, and the horizontal moving wheel telescopic screw is provided with two screw segments with opposite rotation directions, and two groups of the horizontal moving wheel relay plates are threadedly connected to the two screw segments one by one.

[0016] The technical effect produced thereby is that through the action of the horizontal moving wheel telescopic motor and the horizontal moving wheel telescopic screw, the horizontal moving wheel relay plate can be driven to move close to or away from each other, so as to change the wheel track between the two horizontal moving wheels.

[0017] Preferably, the horizontal moving wheel support is fixedly connected to the two end edges of the short shaft of the central structural plate, the horizontal moving wheel set comprises a plurality of horizontal moving wheels, the wheel shaft of the horizontal moving wheel is slidingly connected to the shaft sleeve of the horizontal moving wheel support, and one end of the horizontal moving wheel relay plate is rotationally connected to the wheel shaft and drives the axial movement of the wheel shaft.

[0018] The technical effect produced thereby is that the horizontal moving wheel support can provide the rotation and movement basis of the wheel shaft of the horizontal moving wheel, realize the rotation and axial movement of the horizontal moving wheel, adjust the axial position of the wheel shaft through the movement of the horizontal moving wheel relay plate, and change the position of the horizontal moving wheel.

[0019] Preferably, the variable lead screw module comprises a variable lead motor support, a variable lead motor and a variable lead screw, the variable lead motor support is fixedly connected to the bottom of the central structural plate, both ends of the central structural plate are fixedly connected with central structural plate end covers, the variable lead motor is fixedly connected to the variable lead motor support, the variable lead screw has two groups and is located at both sides of the variable lead motor respectively, the rotation directions of the two groups of variable lead screws are different, one end of the variable lead screw is in transmission connection with the output shaft of the variable lead motor, the other end is in rotation connection with the central structural plate end cover on the corresponding side, a screw nut is threadedly connected to each of the two groups of variable lead screws, and the screw nut is fixedly connected with the corresponding climbing walking base plate.

[0020] The technical effect produced thereby is that the climbing walking base plate is the installation basis of the whole climbing walking mechanism, and the distance between the groups of climbing walking base plates can be changed under the driving of the variable lead screw module, so that the positional relationship of the walking wheels in the walking wheel group is changed.

[0021] Preferably, the climbing walking screw module comprises a conversion motor support, a climbing walking conversion motor and a climbing walking screw, both ends of the climbing walking base plate are fixedly connected with climbing walking base plate cover plates, the conversion motor support is fixedly connected to the bottom of the climbing walking base plate, the climbing walking screws are arranged in pairs of groups at both sides of the climbing walking conversion motor, the output shaft of the climbing walking conversion motor is fixedly connected with one end of the climbing walking screw, and the other end of the climbing walking screw is in rotation connection with the climbing walking base plate cover plate on the corresponding side, the walking wheel back plate comprises a walking wheel back plate A and a walking wheel back plate B, the walking wheel back plate A and the walking wheel back plate B are fixedly connected, the walking wheel back plate B is connected with the climbing walking screw through a screw nut, the walking wheel back plate A is fixedly connected with a walking wheel support, the climbing walking wheels in the walking wheel group are in rotation connection with the walking wheel support, and the walking motor is fixedly connected to the bottom of the walking wheel back plate A.

[0022] The technical effect produced thereby is that the climbing walking screw module can adjust the wheelbase between the walking wheel groups.

[0023] The application further discloses a warehouse logistics stereoscopic warehouse, which comprises a track shuttle vehicle, a goods shelf, a module guide rail and a cargo box tray, the goods shelf comprises a plurality of base frames arranged in layers, one end edge of each base frame is provided with a plurality of vertical rails for the track shuttle vehicle to climb, and a plurality of horizontal guide rails for the track shuttle vehicle to move horizontally are arranged on the base frame, a plurality of support columns are fixedly connected between adjacent base frames in the up-down direction, one end edge of the horizontal guide rail is provided with a transition opening connected with the vertical rail, and the track shuttle vehicle moves on the vertical rail or the horizontal guide rail through the transition opening.

[0024] The module guide rail comprises fixed rails and movable rails arranged in parallel in groups, the fixed rails are laid on the ground, the movable rails are slidably connected on the guide rail slide, the two ends of the movable rails can be connected with the ends of the fixed rails, and the movable rails are located on the inner side of the plurality of vertical rails and guide the rail shuttle vehicle to connect the vertical rails.

[0025] The container tray is contained on the base frame by the supporting plate.

[0026] Therefore, the warehouse logistics stereoscopic warehouse can contain a plurality of aviation standard parts, the rail shuttle vehicle can take and place different aviation standard parts to the corresponding target position, the base frame is convenient to install, is convenient to cooperate with the rail shuttle vehicle, and the entire stereoscopic warehouse can contain multiple layers of container trays.

[0027] Preferably, the base frame is provided with a rack cross beam on the outer side of the horizontal guide rail, the two ends of the rack cross beam are fixedly connected with a rack closed beam, the rack closed beam is fixed with the outer side of the horizontal guide rail, a plurality of stable longitudinal beams are arranged between the rack cross beam and the adjacent side horizontal guide rail, and the container tray is placed on the rack cross beam.

[0028] Preferably, the outer side of the container tray is provided with a two-dimensional code and an RFID tag indicating the name, material, size and purpose of the standard part.

[0029] Therefore, the technical effect is that the mark information on the container tray can be easily identified, and the taking and placing are convenient. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a whole structure diagram of the warehouse logistics stereoscopic warehouse of the application;

[0031] Figure 2 It is a base frame schematic diagram of the warehouse logistics stereoscopic warehouse of the application;

[0032] Figure 3 It is a module guide rail schematic diagram of the warehouse logistics stereoscopic warehouse of the application;

[0033] Figure 4 It is a front view of the rail shuttle vehicle of the application;

[0034] Figure 5 It is a bottom view of the rail shuttle vehicle of the application;

[0035] Figure 6 It is a horizontal walking mechanism arrangement schematic diagram of the rail shuttle vehicle of the application;

[0036] Figure 7 It is a container tray size parameter schematic diagram of the application;

[0037] Figure 8Size parameter diagram of track shuttle vehicle of the present application;

[0038] Figure 9 Size parameter diagram of shelf of the present application A;

[0039] Figure 10 Size parameter diagram of shelf of the present application B;

[0040] Figure 11 Size parameter diagram of shelf of the present application C.

[0041] 1-shelf; 1.1-pillar; 1.2-vertical rail; 1.3-horizontal rail; 1.4-shelf beam; 1.5-stable longitudinal beam; 1.6-horizontal rail closing beam; 1.7-shelf closing beam;

[0042] 2-module rail; 2.1-fixed rail; 2.2-movable rail; 2.3-rail slide;

[0043] 3-track shuttle vehicle; 3.1-ware receiving base plate; 3.2-support plate; 3.3-support plate roller; 3.4-ware relay rail; 3.5-support plate moving motor; 3.6-rolling motor gear transmission; 3.7-transmission gear support; 3.8-transmission gear; 3.9-upper rack; 3.10-lower rack; 3.11-ware relay plate; 3.12-support plate roller; 3.13-support plate; 3.14-support plate; 3.15-electric push rod; 3.16-lateral moving wheel; 3.17-central structure plate; 3.18-traveling wheel back plate A; 3.19-climbing traveling wheel; 3.20-traveling motor belt transmission; 3.21-traveling wheel support; 3.22-traveling motor support; 3.23-traveling motor; 3.24-climbing traveling lead screw module; 3.25-climbing traveling base plate end cover; 3.26-traveling wheel back plate B; 3.27-lateral moving motor support; 3.28-lateral moving motor; 3.29-variable distance motor support; 3.30-variable distance motor; 3.31-lateral moving wheel relay plate; 3.32-lateral moving lead screw support; 3.33-lateral moving wheel telescopic lead screw; 3.34-variable distance lead screw; 3.35-climbing traveling base plate; 3.36-central structure plate end cover; 3.37-variable distance lead screw flange; 3.38-climbing traveling conversion motor; 3.39-conversion motor support; 3.40-traveling lead screw flange; 3.41-lateral moving wheel support; 3.42-lateral moving wheel telescopic motor; 3.43-lateral moving motor belt transmission;

[0044] 4-ware box tray. DETAILED DESCRIPTION

[0045] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0046] Bx - box length; By - box width; Bz - box height; Tx - pallet outer length; Tx' - pallet leg inner spacing; Ty - pallet width; Tz - pallet height; Cx - shuttle length; Cx' - pallet plate length; Cy - shuttle width; Cz - shuttle height; Cz' - pallet plate height; Hy - cross-moving wheel track; Px - walking wheel track; Py - walking wheel axle distance; Jx - inner spacing of vertical rail; Jz - height of rack beam from ground; Lx - lateral rail track spacing; Lx' - fixed rail track spacing; Ly - longitudinal rail track spacing; Lz - height of fixed rail track from ground; Jy - outer spacing of horizontal guide rail; Jy' - outer spacing of rack beam; Jz' - interlayer height of rack beam; ΔJz' - box pallet setting gap.

[0047] Reference is made to the drawings of the present application Figures 1 to 11 According to an embodiment of the present application, a rail shuttle vehicle comprises:

[0048] A central structural plate 3.17;

[0049] A pallet taking and placing mechanism is located above the central structural plate 3.17, and comprises four electric push rods 3.15, a container base plate 3.1, a supporting plate 3.2, a pallet plate 3.14, and a pallet plate driving assembly. The four electric push rods 3.15 are respectively fixed around the top of the central structural plate 3.17. The container base plate 3.1 is horizontally located on the top of the electric push rod 3.15 and is fixed to the lifting end of the electric push rod. The supporting plate 3.2 has two groups and is respectively fixed to the two side edges of the container base plate 3.1. The pallet plate 3.14 is slidingly connected to the supporting plate 3.2. The pallet plate driving assembly is connected to the container base plate 3.1 and is drivingly connected to the pallet plate 3.14 to drive the pallet plate 3.14 to move horizontally.

[0050] The horizontal walking mechanism comprises two groups of horizontal moving wheel relay plates 3.31, horizontal moving wheel telescopic screw rod assemblies and horizontal moving wheel sets. The two groups of horizontal moving wheel relay plates 3.31 are slidably connected on the top of the central structural plate 3.17 in a close-together or far-apart manner. The horizontal moving wheel telescopic screw rod assemblies are connected on the central structural plate 3.17 to drive the horizontal moving wheel relay plates 3.31 to move, thereby changing the positions of the two horizontal moving wheel relay plates 3.31 and adjusting the positional relationship between the horizontal moving wheels 3.16. The horizontal moving wheel sets are transitionally connected with the central structural plate 3.17 through horizontal moving wheel supports 3.41. The horizontal moving wheel relay plates 3.31 are fixedly connected with horizontal moving motors 3.28. The horizontal moving motors 3.28 are drivingly connected with the horizontal moving wheel sets to realize the rotation of the horizontal moving wheel sets. The horizontal moving wheel sets are used to move on the horizontal guide rail.

[0051] The climbing mechanism is located below the central structural plate 3.17. The climbing mechanism comprises two groups of climbing walking base plates 3.35, variable-distance screw rod modules, walking wheel back plates, climbing walking screw rod modules 3.24 and walking wheel sets. The two groups of climbing walking base plates 3.35 are slidably connected on the bottom of the central structural plate 3.17 in a close-together or far-apart manner. The climbing walking base plates 3.35 are driven by the variable-distance screw rod modules. The variable-distance screw rod modules are connected on the central structural plate 3.17 to drive the climbing walking base plates 3.35 to move. The walking wheel back plates are slidably connected on the same climbing walking base plate 3.35 in a pair-to-pair manner. The climbing walking screw rod modules 3.24 are connected on the bottom of the climbing walking base plate 3.35 and are threadedly connected with the walking wheel back plates. The walking wheel sets are rotationally connected on the walking wheel back plates and are driven by walking motors 3.23. The walking motors 3.23 are fixed on the walking wheel back plates.

[0052] The wheel track adjustment between the walking wheel sets is realized through the variable-distance screw rod modules. The wheelbase adjustment between the walking wheel sets is realized through the climbing walking screw rod modules 3.24 to match the connection between the climbing walking wheels 3.19 and the vertical rail 1.2.

[0053] Specifically, the central structural plate 3.17 is a rectangular flat plate structure, has two symmetrical axes, and the intersection of the two symmetrical axes is the position of the central mass point. The upper surface and the lower surface of the central structural plate 3.17 are provided with a plurality of process hole positions, such as rectangular through holes and threaded holes, which are the structure main body and assembly reference of the entire track shuttle vehicle 3. The bases of various executive mechanisms composed of other components are fixedly connected with the central structural plate 3.17, thereby forming a complete kinematic chain to realize the corresponding functions.

[0054] The four electric push rods 3.15 are the base of the tray taking and placing mechanism, and are arranged in a quadrilateral layout with the long and short symmetry axes of the central structural plate 3.17 as two central axes. The flanges at the bottom of the electric push rods 3.15 are bolted and fixed to the corresponding hole positions of the central structural plate 3.17. The push rod top of the electric push rod 3.15 is fixed and connected to the corresponding hole positions of the containing base plate 3.1 by bolts. When the motor of the electric push rod 3.15 receives a control signal, it can drive the containing base plate 3.1 to rise or fall.

[0055] The containing base plate 3.1 is a rectangular flat plate structure with long and short symmetry axes, and the intersection of the two symmetry axes is the position of the central mass point. The long symmetry axis of the containing base plate 3.1 coincides with the symmetry center plane of the track shuttle vehicle 3, and the line connecting the central mass point of the containing base plate 3.1 and the central mass point of the central structural plate 3.17 is perpendicular to the upper surfaces of the containing base plate 3.1 and the central structural plate 3.17. On the short symmetry axis of the containing base plate 3.1, a row of process hole positions for installing the lower rack 3.10 are arranged, and the lower rack 3.10 can be bolted and installed on the upper surface of the containing base plate 3.1.

[0056] The supporting plates 3.2 are L-shaped and used in pairs, symmetrically distributed around the short edges of the containing base plate 3.1 with the short symmetry axis of the containing base plate 3.1 as the central axis. The short edge side of the supporting plate 3.2 is bolted and fixed to the upper surface of the containing base plate 3.1. A row of hole positions for installing the supporting plate rollers 3.3 are arranged on the long edge side of the supporting plate 3.2, and the supporting plate rollers 3.3 are rotatably installed on the inner sides of the two supporting plates 3.2 opposite to each other.

[0057] The containing relay plate 3.11 is a rectangular flat plate structure with a symmetry axis parallel to the two long edges and perpendicular to the two short edges of the upper surface. Process hole positions for installing the transmission gear 3.8, the transmission gear support 3.7 and the tray moving motor 3.5 are arranged at the middle part of the symmetry axis, which can ensure that the rotation axis of the transmission gear 3.8 coincides with the symmetry axis of the containing relay plate 3.11 when the transmission gear 3.8 is installed. Process hole positions for installing the containing relay guide rail 3.4 are arranged near the two short edges of the containing relay plate 3.11, which can ensure that the long edge of the containing relay guide rail 3.4 coincides with the short edge of the containing relay plate 3.11 when the containing relay guide rail 3.4 is installed.

[0058] There are two transmission gear supports 3.7, which are installed at the two ends of the rotation axis of the transmission gear 3.8, respectively, to assist the transmission gear 3.8 to be bolted and installed on the corresponding hole positions on the upper surface of the containing relay plate 3.11. The transmission gear 3.8 and the tray moving motor 3.5, which are also bolted and installed on the corresponding hole positions on the upper surface of the containing relay plate 3.11, form a rotating pair through the rolling motor gear transmission 3.6, and can rotate under the drive of the tray moving motor 3.5.

[0059] The two common container relay guide rails 3.4 are respectively installed on the process hole positions near the two short sides of the container relay plate 3.11 through bolts. The container relay guide rail 3.4 is a channel rail, which can be divided into an outer groove and an inner groove according to the orientation during installation. The outer groove is responsible for cooperating with the support plate roller 3.3, and at the same time, the container relay guide rail 3.4 is hung on the support plate roller 3.3 to form a rolling-moving pair with the support plate roller 3.3. The inner groove is responsible for cooperating with the support plate roller 3.12, and at the same time, the container relay guide rail 3.4 provides support for the support plate roller 3.12 to form a rolling-moving pair with the support plate roller 3.12.

[0060] The support plate 3.14 is a rectangular flat plate structure, and its upper surface is used to directly hold the box pallet 4. The support plate 3.14 has two symmetric axes, and the intersection of the two symmetric axes is the position of the center of mass. The long symmetric axis of the support plate 3.14 coincides with the symmetric center plane of the rail shuttle vehicle 3, and the center of mass of the support plate 3.14 is collinear with the center of mass of the central structural plate 3.17 and the center of mass of the container base plate 3.1. On the short symmetric axis of the support plate 3.14, a row of process hole positions for installing the upper rack 3.9 are arranged, and the upper rack 3.9 can be installed on the lower surface of the support plate 3.14 through bolts.

[0061] The support plate 3.13 is an L-shaped plate and is used in pairs. The support plate 3.13 is symmetrically distributed near the short side of the support plate 3.14 with the short symmetric axis of the support plate 3.14 as the center axis, and the short side of the support plate 3.13 is fixedly connected to the lower surface of the support plate 3.14 through bolts. A row of hole positions for installing the support plate roller 3.12 are arranged on the long side of the support plate 3.13, and the support plate roller 3.12 is connected to the two support plates 3.13 through threads with the rollers outward and away from each other.

[0062] The transmission gear 3.8 is meshed with the lower rack 3.10 and the upper rack 3.9, respectively. Under the drive of the support plate moving motor 3.5 and the mutual connection and cooperation of the components of the pallet taking and placing mechanism, the support plate 3.14 will move along the container relay guide rail 3.4 at twice the speed of the container relay plate 3.11 relative to the container base plate 3.1.

[0063] The horizontal walking mechanism is an execution mechanism for the horizontal movement of the rail shuttle vehicle on the shelf;

[0064] The six horizontal moving wheel supports 3.41 are main components for fixing the horizontal moving mechanism and the central structural plate 3.17, and are also responsible for forming a rolling-moving pair with the horizontal moving wheels 3.16. The horizontal moving wheel supports 3.41 are arranged in three groups, and the horizontal moving wheel supports 3.41 in the same group are arranged symmetrically with the short symmetry axis of the central structural plate 3.17 as the central axis, and the support axis is parallel to the short symmetry axis of the central structural plate 3.17. The horizontal moving wheel supports 3.41 in different groups are arranged symmetrically with the long symmetry axis of the central structural plate 3.17 as the central axis. Overall, the three groups of horizontal moving wheel supports 3.41 are fixedly installed on the upper surface of the central structural plate 3.17 near the two long edges by bolt connection.

[0065] The six horizontal moving wheels 3.16 are responsible for moving the track shuttle vehicle 3 on the horizontal guide rail 1.3 of the shelf 1, and can form a one-to-one correspondence with the six horizontal moving wheel supports 3.41 through an axle. The rotation axis of the horizontal moving wheel 3.16 after cooperation coincides with the support axis of the horizontal moving wheel support 3.41, that is, parallel to the short symmetry axis of the central structural plate 3.17. Under the support of the horizontal moving wheel support 3.41, the horizontal moving wheel 3.16 can rotate around the transmission shaft and move axially along the transmission shaft.

[0066] The power for the rotation of the horizontal moving wheel 3.16 comes from the horizontal moving motor belt drive 3.43 fixedly connected to the other end of the axle, which can evenly divide the driving force of the horizontal moving motor 3.28 to the three horizontal moving wheels 3.16 in the same group. The power for the axial movement of the horizontal moving wheel 3.16 comes from the horizontal moving wheel telescopic motor 3.42, the driving force of which is transmitted to the horizontal moving wheel relay plate 3.31 through the horizontal moving wheel telescopic screw 3.33, and the horizontal moving wheel relay plate 3.31 is connected to the axle of the horizontal moving wheel 3.16, thereby driving the horizontal moving wheel 3.16 to move.

[0067] The two horizontal moving wheel relay plates 3.31 are shared by the three horizontal moving wheels 3.16 in each group. The horizontal moving wheel relay plate 3.31 can be fixedly connected to the axle of the horizontal moving wheel 3.16 in the axial direction through bearings, clamping springs and other parts without affecting the rotation of the horizontal moving wheel 3.16.

[0068] The two horizontal moving motors 3.28 are shared by the three horizontal moving wheels 3.16 in each group. The horizontal moving motor 3.28 can be fixedly connected to the corresponding hole position of the horizontal moving wheel relay plate 3.31 through the horizontal moving motor support 3.27 by bolt connection, and then the power can be transmitted to the three horizontal moving wheels 3.16 in the same group through the three pairs of horizontal moving motor belt drives 3.43.

[0069] The lateral movement wheel telescopic motor 3.42 is fixedly connected with the corresponding hole position of the central structural plate 3.17 through its flange by bolts, and its output shaft is connected with the screw input shaft end of the lateral movement wheel telescopic screw 3.33 through a shaft coupling. The lateral movement wheel telescopic screw 3.33 is installed on the corresponding hole position of the lower surface of the central structural plate 3.17 through the lateral movement screw support 3.32 by bolts. The lateral movement wheel telescopic motor 3.42 and the lateral movement wheel telescopic screw 3.33 are used in cooperation to provide power for the axial movement of the two groups of lateral movement wheels 3.16, i.e. telescopic movement.

[0070] According to symmetry, when the two groups of lateral movement wheels 3.16 move along their own rotation axes, they should move towards or away from each other, i.e. simultaneously move towards the outside or inside of the central structural plate 3.17 to realize telescopic movement. To achieve this, the screw rod of the lateral movement wheel telescopic screw 3.33 should include left-handed and right-handed helical threads, and two screw nuts respectively matched with the left-handed and right-handed helical threads. The two screw nuts are respectively fixedly connected with the two lateral movement wheel relay plates 3.31 through bolts. When the lateral movement wheel telescopic motor 3.42 receives a control signal to rotate, the lateral movement wheel telescopic screw 3.33 rotates, so that the left-handed screw nut and the right-handed screw nut move towards or away from each other, thereby driving the two lateral movement wheel relay plates 3.31 and the corresponding two groups of lateral movement wheels 3.16 to perform telescopic movement relative to the central structural plate 3.17.

[0071] The climbing mechanism is an execution mechanism for the track shuttle vehicle 3 to climb on the vertical rail 1.2 of the goods shelf 1 and to walk on the fixed rail 2.1 and the movable rail 2.2 of the module guide rail 2. Specifically, it includes:

[0072] The variable pitch screw module 3.34 is a base type component fixedly connected with the climbing mechanism and the lower surface of the central structural plate 3.17, and is also an execution type component for the track shuttle vehicle 3 to walk between the fixed rail 2.1 and the movable rail 2.2 of the module guide rail 2. The two slide rails of the variable pitch screw module are arranged in parallel with the long symmetry axis of the central structural plate 3.17, and are symmetrically installed on the corresponding hole positions of the lower surface of the central structural plate 3.17 through bolts with the long symmetry axis as the center line.

[0073] The variable pitch screw module comprises a variable pitch motor support 3.29, a variable pitch motor 3.30 and variable pitch screws 3.34. The variable pitch motor support 3.29 is fixedly connected to the bottom of the central structural plate 3.17. The central structural plate 3.17 is fixed with a central structural plate end cover 3.36 at both ends. The variable pitch motor 3.30 is fixedly connected to the variable pitch motor support 3.29. The variable pitch screws 3.34 are two groups and are respectively located at both sides of the variable pitch motor 3.30. The rotation directions of the two groups of variable pitch screws 3.34 are different, and they are symmetrically arranged along the long symmetry axis of the central structural plate 3.17. The input shaft ends of the two variable pitch screws are opposite to each other with a certain distance in the middle. Each is installed on the corresponding hole position near the central mass point of the central structural plate 3.17 through a variable pitch screw flange 3.37 and a plurality of bolts. The tail ends of the two variable pitch screws 3.34 are each installed on the corresponding hole position near the two short edges of the central structural plate 3.17 through a central structural plate end cover 3.36 and a plurality of bolts.

[0074] The variable pitch motor 3.30 is a power source for driving the two variable pitch screws 3.34 simultaneously. It is fixedly installed on the corresponding hole position near the central mass point on the lower surface of the central structural plate 3.17 through the variable pitch motor support 3.29 by means of bolts. Its through output shaft is collinear with the two variable pitch screws 3.34 and is connected to them through two couplings. When receiving a control signal, the variable pitch motor 3.30 can drive the two screws to rotate simultaneously in the same direction. However, due to the different rotation directions of the two screws, the corresponding left-handed screw nut and right-handed screw nut will move towards or away from each other.

[0075] The climbing walking base plate 3.35 is a rectangular flat structure with long and short symmetry axes. The intersection of the two symmetry axes is the position of the central mass point. The climbing walking base plate 3.35 has two pieces, which are symmetrically arranged with the short symmetry axis of the central structural plate 3.17 as the center line and the long edge parallel to the short symmetry axis of the central structural plate 3.17. The two climbing walking base plates 3.35 are connected to the left-handed screw nut and right-handed screw nut of the variable pitch screw 3.34 through bolts. The climbing walking base plate 3.35 is slidingly connected to the bottom surface of the central structural plate and can move towards or away from each other under the drive of the left-handed screw nut and right-handed screw nut.

[0076] The climbing walking screw module 3.24 has two sets, and each set is matched with a climbing walking base plate 3.35. The two slide rails of the climbing walking screw module 3.24 are arranged in parallel with the long symmetry axis of the climbing walking base plate 3.35 and are symmetrically installed on the corresponding hole positions on the lower surface of the climbing walking base plate 3.35 by taking the long symmetry axis as the center line. The screw module 3.24 has two screws in each set, one is a left-handed screw, matched with a left-handed screw nut, and the other is a right-handed screw, matched with a right-handed screw nut. The left-handed screw and the right-handed screw of the climbing walking screw module 3.24 are symmetrically arranged along the long symmetry axis of the climbing walking base plate 3.35 with the short symmetry axis of the climbing walking base plate 3.35 as the center, and the input shaft ends of the two screws are opposite to each other with a certain distance in the middle, each being installed on the corresponding hole position near the center point of the climbing walking base plate 3.35 through a walking screw flange 3.40 and a plurality of bolts; the tail ends of the two screws are each installed on the corresponding hole position near the two short sides of the climbing walking base plate 3.35 through a climbing walking base plate end cover 3.25 and a plurality of bolts.

[0077] The climbing walking conversion motor 3.38 has two sets, and each set is used to drive the two screws of a set of climbing walking screw module 3.24, which can be fixedly installed on the corresponding hole position near the center point on the lower surface of the climbing walking base plate 3.35 through a conversion motor support 3.39 by using bolts, and the through output shaft is collinear with the two screws of the climbing walking screw module 3.24 and is connected with the two screws through two couplings. When receiving a control signal, the climbing walking conversion motor 3.38 can drive the two screws to rotate in the same direction at the same time, but due to the different rotation directions of the two screws, the corresponding left-handed screw nut and right-handed screw nut will move towards or away from each other.

[0078] The walking wheel back plate includes a walking wheel back plate A 3.18 and a walking wheel back plate B 3.26, and the walking wheel back plate A 3.18 and the walking wheel back plate B 3.26 are used in pairs.

[0079] The walking wheel support 3.21 is used to support the climbing walking wheel 3.19, and there are four walking wheel supports 3.21 corresponding to the four walking wheel back plates A 3.18, respectively, and the walking wheel supports 3.21 are fixedly connected with the corresponding hole positions on the lower surface of the walking wheel back plate A 3.18 through bolts. The shaft center line of the installed walking wheel support 3.21 is parallel to the long symmetry axis of the central structure plate 3.17.

[0080] The four climbing and walking wheels 3.19 are responsible for driving the track shuttle vehicle 3 to climb up and down on the vertical rail 1.2 of the shelf 1 or to walk along the fixed rail 2.1 and the movable rail 2.2 of the module guide rail 2, and can form a rotating pair through the wheel shaft and the four walking wheel supports 3.21 respectively. The rotating axis of the matched climbing and walking wheels 3.19 coincides with the support axis of the walking wheel support 3.21, that is, parallel to the long symmetry axis of the central structural plate 3.17.

[0081] The walking motor 3.23 is the power source for rotating the climbing and walking wheels 3.19, and there are four walking motors in total, each of which drives one climbing and walking wheel 3.19. The walking motor support 3.22 can be fixed and installed on the corresponding hole position on the lower surface of the walking wheel back plate A3.18 through bolts. The output shaft axis of the installed walking motor 3.23 is parallel to the long symmetry axis of the central structural plate 3.17, and the rotating power is transmitted to the climbing and walking wheels 3.19 through the walking motor belt drive 3.20.

[0082] The application also discloses an intelligent three-dimensional warehouse suitable for storing aviation industry standard parts, and a scheme layout diagram is shown in the figure. Figure 1 The intelligent three-dimensional warehouse is mainly composed of a shelf 1, a module guide rail 2, a track shuttle vehicle 3 and a box tray 4.

[0083] The box tray 4 is responsible for containing the aviation standard parts according to the production scheduling requirements of the factory, and the surface of the box body is provided with a two-dimensional code and an RFID tag indicating the production process information such as the name, material, size and purpose of the standard parts.

[0084] The shelf 1 is composed of a plurality of stacked and connected base frames, and is responsible for storing the specified box tray 4 according to the classification rules and numbering standards of the aviation standard part warehouse logistics, and has vertical rails and horizontal guide rails for bearing and guiding the track shuttle vehicle 3 to vertically climb or horizontally walk on the shelf 1, and can be connected with the module guide rail 2 on the ground.

[0085] The module guide rail 2 is responsible for bearing and guiding the track shuttle vehicle 3 to move on the ground, has a fixed rail and a movable rail, and can be connected with the vertical rail of the shelf 1, and is a hub component for the track shuttle vehicle 3 to transport between the shelves 1.

[0086] The track shuttle vehicle 3 is responsible for identifying and transporting the corresponding box tray 4 according to the production scheduling requirements of the factory, and can walk on the module guide rail 2 or climb along the vertical rail of the shelf 1, and then move horizontally along the horizontal guide rail of the corresponding shelf layer of the shelf 1 when reaching the predetermined shelf layer, and then move to the specified horizontal position, and then place or pick up the target box tray 4, and finally return to the module guide rail 2 along the original route.

[0087] The base frame is a unit structure of the shelf 1

[0088] The support column 1.1 is the support structure of the rack 1, the top of which can be bolted to and supported by the horizontal guide rail 1.3 or the rack beam 1.4 on the same base frame of the rack 1 as needed, and the bottom can be bolted to the horizontal guide rail 1.3 or the rack beam 1.4 on the lower base frame or fixedly connected to the ground by anchor bolts.

[0089] The horizontal guide rail 1.3 is used in pairs and arranged symmetrically, and its two ends are fixed and closed by the horizontal guide rail closing beam 1.6. After being connected with the matching support column 1.1, it can form a spatial structure for carrying and guiding the track shuttle vehicle 3 to move horizontally on the base frame of the rack 1. Two transition openings are provided at one end of the horizontal guide rail 1.3 for connection with the vertical rail 1.2.

[0090] The vertical rail 1.2 is used in pairs, and each base frame of the rack 1 contains two vertical rails 1.2. One end of the vertical rail 1.2 can be bolted to the transition opening of the horizontal guide rail 1.3 on the same base frame of the rack 1, and the other end can be bolted to the transition opening of the horizontal guide rail 1.3 on the base frame of the combined rack 1 below or directly fixed to the ground by anchor bolts, so as to form a spatial structure for carrying and guiding the track shuttle vehicle 3 to vertically climb on the base frame of the rack 1 and connect with the matching module guide rail 2.

[0091] The rack beam 1.4 is also used in pairs, and the two ends of each rack beam 1.4 are fixed and closed by the rack closing beam 1.7, and the middle part of the same rack beam 1.4 is reinforced by a plurality of stable longitudinal beams 1.5. Each base frame of the rack 1 contains two rack beams 1.4, which are arranged symmetrically on the outside of the two horizontal guide rails 1.3 and are supported by the support column 1.1 and bolted to the horizontal guide rail 1.3 to form a spatial structure for containing the box pallet 4.

[0092] The fixed rail 2.1 is used in pairs and arranged symmetrically, and can be arranged at the input and output ends of the intelligent vertical warehouse according to different storage and logistics requirements, and extended to the nearest rack 1 according to the planned route, located on the outside of the vertical rail 1.2 and connected with the movable rail 2.2, responsible for carrying and guiding the track shuttle vehicle 3 to move after leaving the rack 1, and the bottom is fixedly connected to the ground by anchor bolts.

[0093] The movable rails 2.2 are used in pairs and in symmetrical layout, located at the inner side of the elevated rails 1.2 to which they are connected, arranged on the guide rail slides 2.3 which are also used in pairs and in symmetrical layout, and can slide along the direction of the guide rail slides 2.3, responsible for receiving the track shuttles 3 from the fixed rails 2.1 and guiding them to the elevated rails 1.2, or vice versa.

[0094] The guide rail slides 2.3 are fixed to the ground by their own legs through foundation bolts, responsible for bearing and guiding the movable rails 2.2 to slide, and can be additionally equipped with reset devices such as linear motors and electric push rods according to the actual production scheduling requirements to drive the movable rails 2.2 to slide to the desired position.

[0095] Implementation case A

[0096] The size parameters of the cargo box pallet 4 according to the present application are shown in the figure, wherein Bx, By and Bz represent the length, width and height of the cargo box respectively, Ty and Tz represent the width and height of the pallet respectively, Tx represents the length of the outer contour of the pallet, and Tx' represents the inner distance between the pallet legs. Figure 7 The size parameters of the track shuttle 3 according to the present application are shown in the figure, wherein Cx, Cy and Cz represent the length, width and height of the track shuttle 3 respectively, Cx' and Cz' represent the length and height of the pallet 3.14 after being installed on the track shuttle 3 respectively, Px and Py represent the wheel track between the two groups of climbing walking wheels 3.19 arranged symmetrically with the long symmetry axis of the central structural plate 3.17 as the center axis and the axle distance between the same group of climbing walking wheels 3.19 arranged symmetrically with the short symmetry axis of the central structural plate 3.17 as the center axis respectively, and Hy represents the wheel track between the two groups of transverse moving wheels 3.16 arranged symmetrically with the long symmetry axis of the central structural plate 3.17 as the center axis. Figure 8 For the cargo box pallet 4, the Bx value, By value and Bz value of the cargo box depend on the outer dimensions of the aviation standard parts contained therein, and should meet the production scheduling requirements of the production enterprises for separate packaging, separate marking and separate storage of small-sized aviation standard parts. The Tx value and Ty value of the pallet should leave a certain margin ΔBx and ΔBy respectively based on the Bx value and By value of the cargo box; the Tx' value should consider the size of the pallet legs, and the sum of the sizes of the two pallet legs should be smaller than the Tx value and have a certain margin ΔTx; and the Tz value should be slightly smaller than the Cz' value of the track shuttle 3, so as to facilitate the track shuttle 3 to pick up and contain the cargo box pallet 4.

[0097]

[0098] ​For the rail shuttle 3, the value of Cx' should be slightly smaller than the value of Tx' of the box pallet 4; the value of Cz' mainly depends on the outer dimensions of the transmission gear 3.8, the upper rack 3.9, the lower rack 3.10, the pallet moving motor 3.5 and other components; the values of Cx and Cy depend on the outer dimensions of the central structure plate 3.17 and the object containing base plate 3.1 respectively, and the values of the latter two are mainly based on the values of Tx and Ty of the box pallet 4; the value of Cz is a floating value, which depends on the superposition of the outer dimensions of the components in the rail shuttle 3 in the height direction on the one hand, and the real-time movement stroke of the electric push rod 3.15 on the other hand, and the actual value of Cz at the corresponding time can be obtained by multiplying the values of the two aspects by correction coefficients acz and bcz respectively and then adding them; the value of Hy is also a floating value, which depends on the value of Cy on the one hand, and the real-time movement stroke of the horizontal moving wheel telescopic lead screw 3.33 on the other hand, and the actual value of Hy at the corresponding time can be obtained by multiplying the values of the two aspects by correction coefficients ahy and bhy respectively and then adding them; the value of Px is also a floating value, which depends on the value of Cx on the one hand, and the real-time movement stroke of the variable distance lead screw 3.34 on the other hand, and the actual value of Px at the corresponding time can be obtained by multiplying the values of the two aspects by correction coefficients apx and bpx respectively and then adding them; the value of Py is also a floating value, which depends on the value of Cy on the one hand, and the real-time movement stroke of the climbing walking lead screw module 3.24 on the other hand, and the actual value of Py at the corresponding time can be obtained by multiplying the values of the two aspects by correction coefficients apy and bpy respectively and then adding them.

[0099] Embodiment B

[0100] The size parameters of the shelf 1 involved in the present application are shown in Figures 9 to 11 , wherein Lx and Ly respectively represent the transverse track spacing and the longitudinal track spacing between the vertical rails 1.2, Jx represents the inner spacing between the vertical rails 1.2 along the transverse direction, Jy represents the outer spacing between a pair of horizontal rails 1.3 in the same layer, Jy' represents the outer spacing between a pair of shelf cross beams 1.4 in the same layer, Jz represents the height of the shelf cross beam 1.4 of the first layer from the ground, Jz' represents the height between the shelf cross beams 1.4 of the adjacent two layers, and ΔJz' represents the gap between the bottom of the pallet leg and the upper surface of the shelf cross beam 1.4 when the rail shuttle 3 places the box pallet 4 on the specified shelf cross beam 1.4. Figure 9 , Figure 10 , wherein Lx' represents the track spacing between the fixed rails 2.1 used in pairs, and Lz represents the height of the upper surface of the fixed rail 2.1 from the ground.

[0101] For the shelf 1, the Lx value, Ly value and Jx value of the upright rail 1.2 depend on the Px value and Py value of the track shuttle 3, that is, the Lx value should be less than the maximum value Pxmax in the Px floating value and leave a certain margin ΔPxmax, the Jx value should be greater than the minimum value Pxmin in the Px floating value and leave a certain margin ΔPxmin, and the Ly value should be less than the maximum value Pymax in the Py floating value and leave a certain margin ΔPymax; the Jy value of the horizontal rail 1.3 should be greater than the maximum value Hymax in the Hy floating value of the track shuttle 3 and leave a certain margin ΔHymax; the Jy' value of the shelf beam 1.4 should leave a certain margin ΔTy based on the Ty value of the box tray 4; and the Jz value of the shelf beam 1.4 mainly depends on three aspects, that is, the Bz value and Tz value of the box tray 4, the maximum value Czmax in the Cz floating value of the track shuttle 3 and the Lz value of the fixed rail 2.1, and the Jz value can be obtained by multiplying the values of the three aspects by a correction coefficient ajz greater than 1 on the basis of mutual superposition; the Jz' value of the shelf beam 1.4 should mainly refer to the Bz value, Tz value of the box tray 4 and the ΔJz' value required when the track shuttle 3 places the box tray 4 on the shelf beam 1.4, and the Jz' value can be obtained by multiplying the superimposed Bz value, Tz value and ΔJz' value by a correction coefficient bjz' greater than 1; and the size of the ΔJz' value should be slightly less than the movement stroke of the electric push rod 3.15.

[0102] For the module rail 2, the Lx' value of the fixed rail 2.1 should be greater than the minimum value Pxmin in the Px floating value of the track shuttle 3 and leave a certain margin ΔPxmin', and at the same time should be less than the Jx value of the upright rail 1.2; and the Lz value of the fixed rail 2.1 should ensure that the upper surface of the track of the fixed rail 2.1 is flush with the upper surface of the track of the movable rail 2.2 on the basis of ensuring the installation process of each component of the module rail 2.

[0103] The basic working process of the intelligent stereoscopic warehouse suitable for storing aviation industry standard parts according to the application is as follows:

[0104] (1) The operator is located at the material input end of the intelligent stereoscopic warehouse, and a single packaged and marked aviation standard part is placed in the empty box tray 4 for separate storage, and the two-dimensional code and RFID tag of the box tray 4 are updated, and the related production process information is input into the electric control system of the intelligent stereoscopic warehouse.

[0105] (2) The electric control system of the intelligent stereoscopic warehouse will configure a designated shelf 1 for the box tray 4 according to the warehouse logistics classification rules and numbering standards prepared by the factory in advance, and plan the driving route on the module rail 2 and the climbing layer number, transverse movement distance and other movement information on the designated shelf 1 for the track shuttle 3 on standby.

[0106] (3) The rail shuttle vehicle 3 in standby mode completes wireless communication with the intelligent vertical warehouse electric control system by identifying the two-dimensional code and RFID tag on the cargo box pallet 4, and obtains the driving route, climbing layer number, lateral movement distance and other information specified by the intelligent vertical warehouse electric control system in step (2).

[0107] (4) The operator issues an instruction on the human-machine interface, and the rail shuttle vehicle 3 carrying the cargo box pallet 4 loaded with aviation standard parts starts from the material input end along the planned driving route along the module guide rail 2. At this time, the walking of the rail shuttle vehicle 3 mainly relies on the four climbing walking wheels 3.19 driven by the four walking motors 3.23, and the Px floating value of the rail shuttle vehicle 3 should be equal to the Lx' value of the fixed rail 2.1, the Py floating value should be near the minimum value Pymin, and the Hy floating value should also be near the minimum value Hymin. When passing through other movable rails 2.2, the corresponding guide rail 2.3 should ensure that the track spacing of the movable rail 2.2 is equal to the Lx' value of the fixed rail 2.1.

[0108] (5) When the rail shuttle vehicle 3 drives along the module guide rail 2 to the specified shelf 1, it should stop in the middle of the corresponding movable rail 2.2, at which time the corresponding sensor can obtain the real-time position of the rail shuttle vehicle 3 and upload it to the electric control system of the intelligent vertical warehouse. After updating the relevant data, the variable distance motor 3.30 of the rail shuttle vehicle 3 starts to operate, driving the two variable distance leadscrews 3.34 of the variable distance leadscrew module to rotate, so as to drive the corresponding climbing walking wheels 3.19 to expand along the long symmetry axis of the central structural plate 3.17 to both sides, until the Px floating value of the rail shuttle vehicle 3 is equal to the Lx value of the upright rail 1.2, at which time the track spacing of the movable rail 2.2 will also change with the movement of the climbing walking wheels 3.19 to equal the Lx value of the upright rail 1.2.

[0109] (6) After that, the two climbing walking conversion motors 3.38 of the rail shuttle vehicle 3 start to operate, driving the corresponding two sets of climbing walking leadscrew modules 3.24 to move, so as to drive the corresponding climbing walking wheels 3.19 to expand along the short symmetry axis of the central structural plate 3.17 to both sides, until the Py floating value of the rail shuttle vehicle 3 matches the Ly value of the upright rail 1.2. At this time, the rail shuttle vehicle 3 will upload its motion state information to the electric control system of the intelligent vertical warehouse, and after updating the relevant data, the four walking motors 3.23 of the rail shuttle vehicle 3 will drive the four climbing walking wheels 3.19 to rotate, and the rail shuttle vehicle 3 will climb along the upright rail 1.2 to the specified shelf layer while carrying the cargo box pallet 4 loaded with aviation standard parts.

[0110] (7) When the rail shuttle 3 climbs to the designated shelf layer, the parking position should ensure that the axis of the horizontal moving wheel 3.16 is opposite to the horizontal guide rail 1.3, at this time the corresponding sensor can obtain the real-time position of the rail shuttle 3 and upload it to the intelligent three-dimensional warehouse electric control system. After updating the relevant data, the horizontal moving wheel telescopic motor 3.42 of the rail shuttle 3 starts to operate, drives the horizontal moving wheel telescopic screw 3.33 to rotate, so as to drive the corresponding horizontal moving wheel 3.16 to expand along the short symmetrical axis of the central structural plate 3.17 to both sides, until the Hy floating value of the rail shuttle 3 matches the Jy value of the horizontal guide rail 1.3.

[0111] (8) Subsequently, the two climbing walking conversion motors 3.38 of the rail shuttle 3 start to operate in reverse, drive the corresponding two sets of climbing walking screw to move in reverse, so as to drive the corresponding climbing walking wheel 3.19 to shrink along the short symmetrical axis of the central structural plate 3.17 to the center, until the Py floating value of the rail shuttle 3 returns to the vicinity of its minimum value Pymin. At this time, the rail shuttle 3 uploads its motion state information to the intelligent three-dimensional warehouse electric control system, and after updating the relevant data, the two horizontal moving motors 3.28 of the rail shuttle 3 drive the six horizontal moving wheels 3.16 to rotate through the horizontal moving motor belt drive 3.43, so that the rail shuttle 3 can move horizontally along the horizontal guide rail 1.3 until it reaches the position specified by the intelligent three-dimensional warehouse electric control system.

[0112] (9) Then, the four electric push rods 3.15 of the rail shuttle 3 start to operate, the related Cz floating value will be located in the vicinity of its maximum value Czmax, and the ΔJz' value generated at the same time is beneficial to the placement of the box tray 4. At this time, the tray moving motor 3.5 starts to operate, drives the transmission gear 3.8 to rotate through the rolling motor gear transmission 3.6, under the joint action of the lower rack 3.10 and the upper rack 3.9 meshing with the transmission gear 3.8, the tray 3.14 together with the placed box tray 4 moves along the short symmetrical axis of the central structural plate 3.17 to one side of the designated shelf beam 1.4, until the box tray 4 is located in the middle of the two shelf beams 1.4 in the same group.

[0113] (10) Finally, the four electric push rods 3.15 of the rail shuttle 3 start to operate in reverse, the related Cz floating value will return to the vicinity of its minimum value Czmin, and the corresponding ΔJz' value is zero, so that the box tray 4 is stably placed on the designated position of the designated shelf beam 1.4. At this time, the tray moving motor 3.5 starts to operate in reverse, drives the transmission gear 3.8 to rotate in reverse through the rolling motor gear transmission 3.6, under the joint action of the lower rack 3.10 and the upper rack 3.9 meshing with the transmission gear 3.8, the tray 3.14 will return to the initial position.

[0114] (11) After completing the placement task of one box pallet 4, the rail shuttle vehicle 3 will upload its movement state to the intelligent three-dimensional warehouse's electric control system again. The electric control system will command the rail shuttle vehicle 3 to return to the material input end where the operator is according to the production scheduling requirements, or directly command the rail shuttle vehicle 3 to go to another position on the shelf 1 to place another box pallet 4, pick up the box pallet 4, and then move to the material output end of the intelligent three-dimensional warehouse.

[0115] For the device and the use method disclosed in the embodiments, since they correspond to the method disclosed in the embodiments, the description is relatively simple, and the relevant part can be referred to the method part.

[0116] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rail shuttle comprising: The utility model provides a kind of track shuttle vehicle, including: Central structural plate; Tray pick-and-place mechanism, the tray pick-and-place mechanism is located above the central structural plate, and the tray pick-and-place mechanism includes electric push rod, material containing base plate, bearing plate, support plate and support plate drive assembly, the electric push rod has multiple groups and is fixed at the top of central structural plate around respectively, the material containing base plate is horizontally located at the top of electric push rod and is fixed with the lifting end of electric push rod, the bearing plate has two groups and is fixed at the two side edges of material containing base plate respectively, the support plate is slidably connected on the bearing plate, the support plate drive assembly is connected on material containing base plate and is drivingly connected with support plate transmission connection belt to drive support plate to move horizontally, the bearing plate is L-shaped plate, and the inner side top of two groups of bearing plate close to each other is rotatably connected with bearing plate roller in row, the bottom of support plate is fixed with support plate on both sides, the outer side of support plate is rotatably connected with support plate roller, and support plate roller and the bearing plate roller of corresponding side are slidably connected with material containing relay guide rail horizontally between, the bottom of material containing relay guide rail is fixedly connected with material containing relay plate; Horizontal walking mechanism, the horizontal walking mechanism includes transverse wheel relay plate, transverse wheel telescopic screw rod assembly and transverse wheel group, the transverse wheel relay plate has two groups and is slidably connected on the top of central structural plate, the transverse wheel telescopic screw rod assembly is connected with central structural plate and drives transverse wheel relay plate to move, and the transverse wheel group is transitionally connected between central structural plate, the transverse wheel relay plate is fixedly connected with transverse motor, and the transverse motor is drivingly connected with the transverse wheel group; Climbing mechanism, the climbing mechanism is located below the central structural plate, and the climbing mechanism includes climbing walking base plate, variable pitch screw rod module, walking wheel back plate, climbing walking screw rod module and walking wheel group, the climbing walking base plate has two groups and is slidably connected on the bottom of central structural plate, the variable pitch screw rod module is connected with central structural plate and drives climbing walking base plate to move, the walking wheel back plate is slidably connected on the same climbing walking base plate two by two, the climbing walking screw rod module is connected on the bottom of the climbing walking base plate and is screwedly connected with the walking wheel back plate, the walking wheel group is rotatably connected on the walking wheel back plate and is driven by walking motor, and the walking motor is fixed on the walking wheel back plate;Horizontal walking mechanism can change the wheel track between transverse wheel group, match different width tracks, climbing mechanism can adjust the wheel track and wheel track between walking wheel group, cooperate different lifting tracks, and track shuttle vehicle can shuttle walk in three-dimensional warehouse.

2. The rail shuttle of claim 1, wherein, The support plate drive assembly includes support plate moving motor, transmission gear, upper rack and lower rack, the support plate moving motor is fixedly connected on the material containing relay plate, the output shaft of the support plate moving motor is drivingly connected with the transmission gear, the upper rack is fixedly connected on the center line of the bottom of support plate, the lower rack is fixedly connected on the center line of the top of material containing base plate, and the transmission gear is respectively engaged with the upper rack and lower rack and located between the upper rack and lower rack.

3. The rail shuttle of claim 1, wherein, The horizontal moving wheel telescopic screw rod assembly comprises a horizontal moving wheel telescopic motor, horizontal moving screw rod supports and horizontal moving wheel telescopic screw rods, the horizontal moving wheel telescopic motor is fixedly connected to the top of the central structural plate, the horizontal moving screw rod supports are spaced and fixed to the top of the central structural plate, one end of the horizontal moving wheel telescopic screw rod is in transmission connection with the output shaft of the horizontal moving wheel telescopic motor, the horizontal moving wheel telescopic screw rod is rotatably connected to the horizontal moving screw rod supports, and two screw rod sections with opposite rotation directions are arranged on the horizontal moving wheel telescopic screw rod.

4. The rail shuttle of claim 3, wherein, The horizontal moving wheel supports are fixedly connected to the edges of the short shaft of the central structural plate, the horizontal moving wheel set comprises a plurality of horizontal moving wheels, the wheel shafts of the horizontal moving wheels are slidably connected to the shaft sleeves of the horizontal moving wheel supports, and one end of the wheel shaft is rotatably connected to the horizontal moving wheel relay plate and drives the wheel shaft to move axially.

5. The rail shuttle of claim 1, wherein, The variable-distance screw rod module comprises a variable-distance motor support, a variable-distance motor and variable-distance screw rods, the variable-distance motor support is fixedly connected to the bottom of the central structural plate, end covers of the central structural plate are fixed to the two ends of the central structural plate, the variable-distance motor is fixedly connected to the variable-distance motor support, the variable-distance screw rods are arranged on the two sides of the variable-distance motor, the rotation directions of the two variable-distance screw rods are different, one end of the variable-distance screw rod is in transmission connection with the output shaft of the variable-distance motor, the other end is rotatably connected to the end cover of the corresponding side of the central structural plate, screw rod nuts are threadedly connected to the two variable-distance screw rods, and the screw rod nuts are fixedly connected to the climbing walking base plates of the corresponding sides.

6. The rail shuttle of claim 5, wherein, The climbing walking screw rod module comprises a conversion motor support, a climbing walking conversion motor and climbing walking screw rods, end cover plates of the climbing walking base plates are fixedly connected to the two ends of the climbing walking base plate, the conversion motor support is fixedly connected to the bottom of the climbing walking base plate, the climbing walking screw rods are arranged in pairs on the two sides of the climbing walking conversion motor, the output shaft of the climbing walking conversion motor is fixedly connected to one end of the climbing walking screw rod, the other end of the climbing walking screw rod is rotatably connected to the end cover plate of the corresponding side of the climbing walking base plate, the walking wheel back plate comprises a walking wheel back plate A and a walking wheel back plate B, the walking wheel back plate A and the walking wheel back plate B are fixedly connected, the walking wheel back plate B is connected to the climbing walking screw rod through a screw rod nut, the walking wheel back plate A is fixedly connected with a walking wheel support, the climbing walking wheels in the walking wheel set are rotatably connected to the walking wheel support, and the walking motor is fixedly connected to the bottom of the walking wheel back plate A.

7. A warehouse logistics stereoscopic warehouse, characterized in that, The track shuttle vehicle, the shelf, the module guide rail and the box tray in any one of claims 1-6, the shelf comprises a plurality of base frames arranged in layers, one end edge of the base frame is provided with a plurality of vertical rails for the track shuttle vehicle to climb, and the base frame is provided with two horizontal guide rails for the track shuttle vehicle to horizontally move; a plurality of support columns are fixedly connected between adjacent base frames in the up-down direction; one end edge of the horizontal guide rail is provided with a transition opening connected with the vertical rail; and the track shuttle vehicle walks on the vertical rail or the horizontal guide rail through the transition opening. The module guide rail comprises fixed rails and movable rails arranged in parallel in groups, the fixed rails are laid on the ground, the movable rails are slidably connected to the guide rail slide, the two ends of the movable rails are capable of being connected to the ends of the fixed rails, the movable rails are located on the inner side of the plurality of vertical rails and guide the rail shuttles to connect to the vertical rails. The container tray is placed on the base frame by the supporting plate.

8. The warehouse logistics stereoscopic warehouse according to claim 7, characterized in that, A shelf cross beam is arranged on the outer side of the horizontal guide rail on the base frame, two ends of the shelf cross beam are fixedly connected with a shelf closing beam, the shelf closing beam is fixed to the outer side of the horizontal guide rail, a plurality of stable longitudinal beams are arranged between the shelf cross beam and the adjacent side horizontal guide rail, and the container tray is placed on the shelf cross beam.

9. The warehouse logistics stereoscopic warehouse according to claim 7, characterized in that, A two-dimensional code and an RFID tag are arranged on the outer side of the container tray, and the two-dimensional code and the RFID tag are marked with the name, material, size and purpose information of the standard part.

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