Unmanned taking warehouse based on intelligent weighing system

Abstract

The application provides an unmanned taking warehouse based on an intelligent weighing system. The warehouse comprises a shelf main body and a hoisting weighing vehicle running in a horizontally and vertically staggered shelf lane structure in the shelf main body. The hoisting weighing vehicle runs and turns in the horizontally and vertically staggered shelf lane structure through four-way driving wheels, moves a clamp to a hoisting tray position to be extracted through a telescopic suspension device, clamps and suspends the hoisting tray to a storage position for storage or to an open position at the front end of the shelf main body for extracting goods. The application can realize intelligent weighing through driving data in the hoisting process of the suspension device, reduces the required channel area of forklift operation by arranging the hoisting weighing vehicle to hoist and carry along the shelf lane structure on the top of the storage position, and improves the space utilization rate of the warehouse system. The application can realize the process of taking and placing goods between the open port at the front end of the shelf and the storage position without replacing the forklift, and is more efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned warehousing, in particular to an unmanned taking warehouse based on an intelligent weighing system. BACKGROUND

[0002] The existing turnover warehouse generally adopts the traditional beam shelf + flat storage mode. The total height of the indoor beam shelf is about 6.5 meters, and the storage space of 10 meters in the warehouse is not fully utilized. Usually, only 1 or 2 layers of the shelf are used, and the space utilization rate is low. Moreover, the existing storage system flat area adopts forklift operation, and the forklift channel occupies the storage area, so the actual space utilization rate is low. In addition, the existing turnover warehouse facilities and equipment are outdated and the operation mode is relatively traditional, and the operation efficiency is low, mainly in the following aspects: first, the warehouse uses manual forklift operation mode, and practical automatic facilities and equipment are not configured; second, the outdoor yard does not configure a gantry crane, and heavy goods that need to be lifted by a crane need to be reserved in advance, which is low in loading and unloading efficiency and cannot be used as needed; third, the information system is imperfect, and the documents and goods storage management mainly rely on manual offline recording, and special personnel are arranged for inventory. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides an unmanned taking warehouse based on an intelligent weighing system. The present application directly adopts a lifting mode to realize weighing and carrying and storage of goods, can flexibly arrange the lifting mode according to the size of the goods, and improves the storage efficiency. The present application specifically adopts the following technical solutions.

[0004] Firstly, in order to achieve the above-mentioned purpose, an unmanned taking warehouse based on an intelligent weighing system is provided, which comprises: a shelf main body comprising a horizontally and vertically staggered shelf lane structure and a storage position arranged between the shelf lane structure; a lifting and weighing vehicle having four-way running wheels, driven by the four-way running wheels to run along the shelf lane structure in the shelf main body, and a telescopic suspension device arranged at the front end of the lifting and weighing vehicle; in the process of storing goods, the lifting and weighing vehicle is driven to run along the shelf lane structure to the open position at the front end of the shelf main body, the lifting and weighing vehicle is driven to extend the suspension device, the clamp at the end of the suspension device is lowered to the bottom of the shelf main body to clamp the lifting tray, and the lifting tray carrying the goods is suspended into the storage position of the storage layer to which the lifting and weighing vehicle belongs; in the process of extracting goods, the lifting and weighing vehicle is driven to run along the shelf lane structure to the storage position corresponding to the goods, the clamp at the end of the suspension device is driven to clamp the lifting tray carrying the goods, and then the lifting and weighing vehicle is driven to continue running to the open position at the front end of the shelf main body, the suspension device is extended, the clamp at the end of the suspension device is lowered to the bottom of the shelf main body to put down the goods.

[0005] Optionally, an unmanned warehouse based on an intelligent weighing system as described above, wherein the shelf body includes several vertically stacked shelf structures, and each shelf structure is respectively configured to include: a storage layer, which is arranged below the shelf aisle structure, and a storage bin support frame is provided at the bottom of the storage layer for receiving a hoisting pallet and providing a storage bin for storing goods in the hoisting pallet; a shelf aisle structure, which is arranged at the top of the storage layer, and includes a top plate and an intermediate support plate laid along both sides of the shelf aisle structure; the top plate is connected to the bottom of the upper shelf structure, which extends inward from the top of the shelf aisle structure and is horizontally abutted against the top of the four-way travel wheel; the intermediate support plate is arranged below the top plate, extends inward from the bottom of the shelf aisle structure, and is horizontally supported by the bottom of the four-way travel wheel; the hoisting weighing truck is driven by the four-way travel wheel to run along the shelf aisle structure between the top plate and the intermediate support plate.

[0006] Optionally, an unmanned warehouse based on an intelligent weighing system as described above, wherein the top plate and the middle support plate form longitudinal lanes and transverse lanes arranged in a crisscross pattern, and the top plate and the middle support plate extend inwardly of the shelf lane structure at the intersection between the longitudinal lanes and the transverse lanes to form an inward convex corner; the storage bin support frame is arranged in the enclosed area therebetween.

[0007] Optionally, an unmanned collection warehouse based on an intelligent weighing system as described above, wherein the lifting weighing vehicle includes: a vehicle body with four-way driving wheels at its four corners, a retractable suspension device arranged inside the vehicle, a cable driving device arranged at the end of the suspension device in the extension direction, the cable driving device drives the cable to descend or rise, the cable is wound around the clamp wheel axle to drive the clamp wheel axle to rotate or rise and fall, and a clamp for clamping the lifting pallet is installed on the clamp wheel axle.

[0008] Optionally, in an unmanned collection warehouse based on an intelligent weighing system as described above, the four-way driving wheels are Mecanum wheels that are abutted between the top plate and the middle support plate, and are protruding from the vehicle body and are respectively arranged at the four corners of the hoisting weighing truck, and each Mecanum wheel is driven by a group of independent motors.

[0009] Optionally, the unmanned taking warehouse based on the intelligent weighing system according to any one of the above, wherein the suspension device comprises a screw rod pair arranged in the vehicle body along the extension direction of the clamp; a lifting arm driven by the screw rod pair to extend outward or retract inward along the vehicle body; the cable driving device comprises at least two groups arranged in the extension direction of the lifting arm, each group of the cable driving device comprises two independent cable motors driving the first end and the second end of the cable respectively; the first end of the cable is driven by one of the cable motors, the middle part of the cable is coiled to drive the clamp shaft, and the second end of the cable is driven by the other cable motor; during the lowering process, the cable motors at the first end and the second end of the cable are driven to rotate simultaneously to loosen the cable to drive the clamp shaft and the clamp to descend synchronously; during the lifting process, the cable motors at the first end and the second end of the cable are driven to rotate simultaneously to contract the cable to drive the clamp shaft and the clamp to ascend synchronously; during the rotating process, one of the cable motors at the first end and the second end of the cable rotates to contract the cable, and the other cable motor drives to rotate to loosen the cable to make the clamp rotate around the clamp shaft.

[0010] Optionally, the unmanned taking warehouse based on the intelligent weighing system according to any one of the above, wherein the screw rod pair comprises a screw rod arranged in the vehicle body and a driving connection shaft arranged on the screw rod, the driving connection shaft comprises an inner shaft body threadedly matched with the screw rod and an outer shaft body fixedly connected with the lifting arm, and the inner shaft body is rotationally connected with the outer shaft body.

[0011] Optionally, the unmanned taking warehouse based on the intelligent weighing system according to any one of the above, wherein the suspension device comprises a pair arranged in the vehicle body, and the two suspension devices are synchronously extended and retracted to synchronously drive the clamp to ascend or descend or rotate.

[0012] Optionally, the unmanned taking warehouse based on the intelligent weighing system according to any one of the above, wherein the outer side of the lifting tray is provided with a lifting lug for clamping by the clamp, and a magnetic body is embedded in the inner side of the lifting lug structure; the clamp comprises an upper clamp body and a lower clamp body, and the clamp opening end of the lower clamp body is provided with a magnetic pole which is attracted to the magnetic body; during the clamping process, the clamp at the end of the suspension device is driven by the clamp shaft to turn upward, the upper clamp body and the lower clamp body are kept in an open state, the lower clamp body is attracted to the inner side of the lifting lug structure by the magnetic body, and then the upper clamp body is closed downward to pass through the inside of the lifting lug and connect with the lower clamp body below the lifting lug to clamp the lifting tray.

[0013] Optionally, the unmanned taking warehouse based on the intelligent weighing system according to any one of the above, wherein the width of the longitudinal lane and the width of the transverse lane are the same, and the width of the top plate and the intermediate support plate reaches the width required for the Mecanum wheel to run along the longitudinal lane and the transverse lane. Beneficial effects

[0014] The hoisting and weighing vehicle of the present application runs and turns in the transverse and longitudinal staggered rack lane structure through four-way running wheels, moves the clamp to the hoisting tray position to be extracted through the telescopic suspension device, clamps and suspends the hoisting tray into the storage position for storage or suspends it to the open position in front of the rack body to extract the goods. The present application can realize intelligent weighing directly through the driving data in the hoisting process of the suspension device, reduces the required passage area of forklift operation by arranging the hoisting and carrying of the hoisting and weighing vehicle along the rack lane structure on the top of the storage position, and improves the space utilization rate of the warehouse system. The present application can realize the taking and placing process of goods between the open port in front of the rack and the storage position without replacing the forklift, and is more efficient. Since the hoisting and carrying tool does not need to be replaced, the present application can also eliminate the handover steps between different carrying equipment during the transportation process of the hoisting and weighing vehicle, and directly register and check the record management system of the single sheet and goods.

[0015] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and together with the embodiments of the present application, serve to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0017] Figure 1 is a schematic diagram of the running mode of the hoisting and weighing vehicle in the unmanned warehouse of the present application;

[0018] Figure 2 is a schematic diagram of the hoisting and weighing vehicle of the present application running to take and place goods along the rack lane structure;

[0019] In the figure, 1 represents the rack lane structure; 11 represents the intermediate support plate; 2 represents the hoisting and weighing vehicle; 21 represents the clamp; 22 represents the four-way running wheel; 23 represents the vehicle body; 24 represents the hoisting arm; 25 represents the screw pair; 26 represents the cable driving device; and 27 represents the clamp wheel shaft. EMBODIMENT

[0020] In order to make the purpose and technical scheme of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0022] The meaning of "and / or" described in the present application means that each single existence or both existences are included.

[0023] The meaning of "in, out" described in the present application means that, relative to the shelf aisle structure itself, the direction in which the center of the hoisting and weighing vehicle points to the top plate or the intermediate support plate outer mounting position is out, and vice versa; and is not a specific limitation on the device mechanism of the present application.

[0024] The meaning of "left, right" described in the present application means that, when the user is facing the advancing direction of the hoisting and weighing vehicle, the left side of the user is left and the right side of the user is right; and is not a specific limitation on the device mechanism of the present application.

[0025] The meaning of "connection" described in the present application can be direct connection between components or indirect connection between components through other components.

[0026] The meaning of "up, down" described in the present application means that, when the user is facing the advancing direction of the hoisting and weighing vehicle, the direction from the ground to the shelf aisle structure in the shelf main body is up, and the direction from the shelf aisle structure to the storage layer in the shelf body structure is down; and is not a specific limitation on the device mechanism of the present application.

[0027] Figure 1 An unmanned warehouse based on an intelligent weighing system according to the present application comprises:

[0028] A shelf main body comprising shelf aisle structures 1 arranged in a horizontal and vertical staggered manner and storage positions arranged between the shelf aisle structures 1;

[0029] A hoisting and weighing vehicle 2 having four-way running wheels 22 driven to run along the shelf aisle structures in the shelf main body, and a retractable suspension device arranged at the front end of the hoisting and weighing vehicle 2;

[0030] During the storage of goods, the hoisting and weighing vehicle 2 is driven to run along the shelf aisle structures 1 to an open position at the front end of the shelf main body, the suspension device of the hoisting and weighing vehicle 2 is extended, the clamp at the end of the suspension device is lowered to the bottom of the shelf main body to clamp the hoisting tray, and the hoisting tray carrying the goods is suspended into the storage position of the storage layer to which the hoisting and weighing vehicle 2 belongs.

[0031] In the process of goods extraction, the lifting and weighing vehicle 2 is driven to run along the rack lane structure 1 to the storage position corresponding to the goods, the clamp at the end of the suspension device clamps the lifting tray carrying the goods, and then the lifting and weighing vehicle 2 continues to run to the open position at the front end of the rack body, the suspension device is extended to lower the clamp at the end of the suspension device to the bottom of the rack body to put down the goods;

[0032] The unmanned warehouse system of the present application can also obtain the detection data of the weight of the goods in the lifting tray during the process of lifting and weighing the cargo lifting tray by the lifting and weighing vehicle 2 by detecting the clamping weight of the clamp or by detecting the driving torque required by the clamp connecting cable, thereby realizing the updating and management of the goods invoice and record form in combination with the identification signal of the goods label, and realizing the whole process tracking feedback of the goods storage.

[0033] Generally, in order to accommodate more goods, the rack body of the present application is usually provided to include a plurality of vertically stacked shelf body structures, each of which is respectively provided to include:

[0034] A storage layer is provided below the rack lane structure 1, and a storage position support frame is provided at the bottom of the storage layer for receiving the lifting tray and providing a storage position to store the goods in the lifting tray;

[0035] A rack lane structure 1 is provided at the top of the storage layer, including a top plate and a middle support plate 11 respectively laid on the left and right sides along the direction of the lifting and weighing vehicle running in the rack lane structure 1, the top plate and the middle support plate 11 are fixed by the edge support structure on both sides of the rack lane structure 1, and the top plate and the middle support plate 11 form a gap for goods suspension transportation near the axis in the direction of the lifting and weighing vehicle running in the rack lane structure 1;

[0036] The top plate is connected to the bottom of the upper shelf body structure, which extends from the top of the rack lane structure 1 to the middle of the lifting and weighing vehicle running axis direction on both sides, and horizontally abuts the top of the four-way running wheel 22;

[0037] The middle support plate 11 is provided below the top plate, which extends from the bottom of the rack lane structure 1 to the middle of the lifting and weighing vehicle running axis direction on both sides, and horizontally supports the bottom of the four-way running wheel 22;

[0038] The lifting and weighing vehicle 2 is driven by the four-way running wheel 22 to run between the top plate and the middle support plate 11 along the rack lane structure 1. The lifting and weighing vehicle 2 clamps the lifting tray suspended by the clamp, and the goods carried in the lifting tray are suspended below the lifting and weighing vehicle by the gap formed between the top plate and the middle support plate 11. After the lifting and weighing vehicle lifts and transports to the corresponding storage position in the storage layer, the clamp is slowly lowered, and the goods can be put into the storage position for stable storage.

[0039] To realize the lifting and hoisting of the clamp, the hoisting and weighing vehicle 2 can be specifically provided with:

[0040] The vehicle body 23 is provided with Mecanum wheels at four corners as four-direction traveling wheels 22, and a retractable suspension device is arranged inside the vehicle body 23. The suspension device is provided with a cable driving device 26 at the end of the extension direction, so as to drive the cable to descend or lift through the cable driving device 26. During the driving process, the cable driving device 26 can detect the driving current in real time to judge the weight of the goods in the hoisting tray through the current size, and in other ways, the cable driving device 26 can also directly detect the torque output in real time to judge the weight of the goods in the hoisting tray. The cable driven by the cable driving device 26 can be wound on the clamp shaft 27, and the rotation speed and rotation direction of the front and rear ends of the cable are used to cooperatively drive the clamp shaft 27 to rotate or lift, and the clamp 21 for clamping the hoisting tray can be installed at the bottom of the cable through the clamp shaft 27.

[0041] In specific practice, the suspension device in the vehicle body 23 can be specifically provided with:

[0042] The screw rod pairs 25 are arranged in the vehicle body 23 along the extension direction of the clamp, and are preferably arranged as a pair of parallel and synchronous driving pairs;

[0043] The lifting arms 24 are respectively connected to the two screw rod pairs 25 and are driven by the respective screw rod pairs 25 to extend outwardly or retract inwardly along the vehicle body 23;

[0044] The cable driving device 26 includes at least two groups arranged at the end of the extension direction of each lifting arm 24, and each group of cable driving devices 26 includes two independent cable motors for driving the first and last ends of the cable. The first end of the cable is driven by one of the cable motors, the middle part of the cable is hung and wound on the outer periphery of the clamp shaft 27 to provide rotary drive, and the last end of the cable is driven by the other cable motor in the same group of cable driving devices 26;

[0045] In this way, the left and right sides of the hoisting tray are respectively clamped and fixed by the clamps suspended by the left and right lifting arms 24 of the vehicle body, so as to stably lift or lower;

[0046] During the lowering process, the cable motors at the first and last ends of the same cable are driven to rotate to loosen the cable, so that the cable drives the clamp shaft 27 and the clamp 21 to synchronously descend;

[0047] During the lifting process, the cable motors at the first and last ends of the same cable are driven to rotate to retract the cable, so that the cable drives the clamp shaft 27 and the clamp 21 to synchronously ascend;

[0048] When the clamp wheel shaft 27 is driven to rotate, the cable motors at the two ends of the cable rotate in the same line, one of which rotates to contract the cable in the target rotating direction, and the other of which rotates to loosen the cable away from the target rotating direction. The two motors cooperate in front and back to generate a speed difference in the target rotating direction of the clamp wheel shaft 27 to drive the clamp 21 to rotate in the target direction with the clamp wheel shaft 27 as the center.

[0049] Therefore, the hoisting and transporting process of the hoisting tray can be realized in the following way:

[0050] After receiving the hoisting and transporting instruction, the hoisting and weighing vehicle runs to the hoisting position along the horizontally and vertically arranged rack lane structure 1 through its Mecanum wheels, extends the hoisting arm 24, adjusts the hoisting arm extension position according to the detection signal of the photoelectric sensor so that the clamp at the end of the hoisting arm is just above the lifting lug outside the hoisting tray. At this time, the cable motors at the two ends of the cable rotate to loosen the cable at the same time to lower the clamp to the height of the lifting lug outside the hoisting tray, and then the cable motor at the front end of the cable contracts the cable and simultaneously drives the cable motor at the rear end of the cable to loosen the cable. The clamp wheel shaft 27 wound at the bottom end of the cable is driven to turn forward and upward through the speed difference of the front and rear cables, and at the same time, the upper clamp body in the clamp is driven to open upward, the upper clamp body passes through the lifting lug from the top of the lifting lug to the lower clamp body to realize closed connection to clamp the hoisting tray. By maintaining the clamping cooperation state of the upper and lower clamp bodies, the cable motors at the two ends of the cable are synchronized to contract the cable to lift the hoisting tray so that the goods move on the storage layer. After the hoisting and weighing vehicle moves the hoisting tray to the target position, the corresponding clamp is lowered to stabilize the hoisting tray, then the upper and lower clamp bodies are opened, the clamp wheel shaft 27 is turned over, and at the same time the hoisting arm is withdrawn to wait for the next hoisting task.

[0051] Reference Figure 2 The four-way running wheels 22 of the hoisting and weighing vehicle can be set as Mecanum wheels abutting against the top plate and the middle support plate 11 on the upper and lower sides, respectively. The Mecanum wheels can be set to protrude outward from the vehicle body, and the corresponding wheel driving shafts are arranged at the four corners of the hoisting and weighing vehicle 2, respectively. Each Mecanum wheel is driven to operate by a group of independent motors. Therefore, the hoisting and weighing vehicle can utilize the in-situ four-way walking characteristics of the Mecanum wheels, and drive the vehicle body to run flexibly along the longitudinal lane and the transverse lane through the cooperation between the four groups of motors.

[0052] In the vehicle body 23 of the present application, the screw rod pair 25 can be specifically provided by a screw rod in the vehicle body 23 and a driving connection shaft provided on the screw rod. The driving connection shaft includes an inner shaft body threadedly matched with the screw rod and an outer shaft body fixedly connected with the lifting arm 24, and the inner shaft body and the outer shaft body are rotationally connected through a ball structure. The screw rod rotates to drive the inner shaft body to move forward and backward, the inner shaft body drives the outer shaft body and the lifting arm fixedly connected with the outer shaft body to move forward and backward to extend out of the vehicle body for hoisting operation or to be retracted into the vehicle body. The inner shaft body and the outer shaft body are rotationally connected, so that the rotation component of the inner shaft body is not transmitted to the outer shaft body, and thus the lifting arm connected with the outer shaft body only slides in the extension direction thereof.

[0053] To stabilize the lifting of the lifting tray on the left and right sides and ensure that the goods will not overturn, the present application further preferably provides that the suspension device comprises a pair of suspension devices respectively installed on the left and right sides of the vehicle body 23, and the two suspension devices are synchronously extended and retracted to synchronously drive the clamp 21 to lift or rotate to realize lifting.

[0054] In a more preferred implementation manner, the lifting lug provided on the outer side of the lifting tray for the clamp 21 to clamp is further embedded with a magnetic body on the inner side of the lifting lug structure;

[0055] In cooperation with the magnetic body, the upper clamp body and the lower clamp body of the clamp 21 can be further provided with a magnetic pole at the clamping port end of the lower clamp body, and the magnetic pole and the magnetic body in the lifting lug can be magnetically attracted;

[0056] Thus, in the clamping process, the clamp at the end of the suspension device is driven to turn up by the clamp shaft 27, the upper clamp body and the lower clamp body are kept in an open state, the lower clamp body is attracted to the inner side of the lifting lug structure by the magnetic body, and then the upper clamp body is closed downward to pass through the inside of the lifting lug and is connected with the lower clamp body below the lifting lug to clamp the clamp 21 of the lifting tray.

[0057] In the present application, the widths of the longitudinal aisle and the transverse aisle of the storage rack aisle structure are set to be the same, and the widths of the top plate and the intermediate support plate 11 in the longitudinal aisle and the transverse aisle are further set to be the same as the width of the wheel surface of the Mecanum wheel to ensure that the Mecanum wheel can smoothly run along the longitudinal aisle and the transverse aisle. In the longitudinal aisle and the transverse aisle formed by the staggered arrangement of the top plate and the intermediate support plate 11, the top plate and the intermediate support plate respectively extend inwardly of the storage rack aisle structure 1 at the intersection positions between the longitudinal aisle and the transverse aisle to form inner convex corners, so that the wheel surface of the Mecanum wheel can be supported by the intermediate support plate at the intersection position, thereby stably switching to run in the vertical direction at the turning position or continuing to run in the original direction across the intersection. In the longitudinal aisle and the transverse aisle formed by the staggered arrangement of the top plate and the intermediate support plate 11, the storage bin support frame can be specifically provided in a structure similar to Figure 1The combined area between the middle horizontal and vertical tunnels is used to avoid the storage and the goods in the warehouse blocking the bottom of the hoisting and weighing vehicle suspended to be placed to obtain along the tunnel.

[0058] The above merely describes the embodiments of the present application, which are specific and detailed, but should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. An unmanned taking warehouse based on an intelligent weighing system, characterized in that, Comprise: The shelf body includes transverse and longitudinal staggered shelf aisle structure (1) and storage position arranged between shelf aisle structure (1); Hoisting weighing vehicle (2) has four-way running wheel (22), is driven in shelf body along shelf aisle structure by four-way running wheel (22), the front end of hoisting weighing vehicle (2) is also provided with retractable suspension device; During goods storage, drive hoisting weighing vehicle (2) to run along shelf aisle structure (1) to the open position at the front end of shelf body, drive hoisting weighing vehicle (2) to extend suspension device, the clamp at the end of suspension device is lowered to the bottom of shelf body and is held hoisting pallet, hoisting pallet loaded with goods is suspended to the storage position of the storage layer of hoisting weighing vehicle (2); During goods extraction, drive hoisting weighing vehicle (2) to run along shelf aisle structure (1) to the storage position of goods, drive the clamp at the end of suspension device to hold hoisting pallet loaded with goods, then drive hoisting weighing vehicle (2) to continue running to the open position at the front end of shelf body, extend suspension device and lower the clamp at the end of suspension device to the bottom of shelf body and put down goods; The hoisting weighing vehicle (2) comprises: Vehicle body (23) is provided with four-way running wheel (22) at four corners, retractable suspension device is arranged in the inside, the end of suspension device in the extension direction is provided with cable drive device (26), cable drive device (26) drives cable to descend or lift, cable is wound on clamp shaft (27) and drives clamp shaft (27) to rotate or lift, clamp (21) for holding hoisting pallet is installed on clamp shaft (27); The suspension device comprises: Screw rod pair (25) is arranged in vehicle body (23) along the extension direction of clamp; Lifting arm (24) is driven by screw rod pair (25) and extends outward or retracts inward along vehicle body (23); The cable drive device (26) comprises at least two groups arranged in the extension direction of lifting arm (24), each group of cable drive device (26) comprises two independent cable motors respectively driving the first end and the last end of cable; The first end of cable is driven by one of cable motors, the middle part of cable is wound to drive clamp shaft (27), and the last end of cable is driven by the other cable motor; During descending, the cable motors at the first end and the last end of cable are driven to rotate simultaneously to loosen cable, so that clamp shaft (27) and clamp (21) descend synchronously; During lifting, the cable motors at the first end and the last end of cable are driven to rotate simultaneously to shrink cable, so that clamp shaft (27) and clamp (21) ascend synchronously; During rotation, one of the cable motors at the first end and the last end of cable rotates to shrink cable, and the other drives to rotate to loosen cable, so that clamp shaft (27) generates speed difference and drives clamp (21) to rotate around clamp shaft (27).

2. The smart weighing system based unmanned access warehouse of claim 1, wherein, The shelf body comprises a plurality of vertically stacked shelf body structures, each shelf body structure is arranged to comprise: A storage layer is provided below the shelf lane structure (1), and a storage space support frame is provided at the bottom of the storage layer for receiving a hoisting pallet and providing a storage space for storing goods in the hoisting pallet; A shelf aisle structure (1) is provided on the top of the storage layer and includes a top plate and an intermediate support plate (11) laid along both sides of the shelf aisle structure (1); The top plate is connected to the bottom of the upper shelf structure, extends inward from the top of the shelf lane structure (1), and is horizontally abutted against the top of the four-way travel wheel (22); The intermediate support plate (11) is arranged below the top plate, extends inward from the bottom of the shelf lane structure (1), and is horizontally supported on the bottom of the four-way travel wheel (22); The hoisting weighing vehicle (2) is driven by four-way running wheels (22) and runs along the shelf lane structure (1) between the top plate and the middle support plate (11).

3. The smart weighing system based unmanned use warehouse according to claim 2, characterized in that, The top plate and the middle support plate (11) form a longitudinal lane and a transverse lane arranged in a crisscross pattern, and the top plate and the middle support plate extend toward the inside of the shelf lane structure (1) at the intersection between the longitudinal lane and the transverse lane to form an inward convex corner; The storage bin support frame is arranged in the enclosed area between the longitudinal lane and the transverse lane.

4. The smart weighing system based unmanned use warehouse according to claim 3, characterized in that, The four-way travel wheels (22) are Mecanum wheels that abut between the top plate and the middle support plate (11), and are protruding from the vehicle body and are respectively arranged at the four corners of the lifting weighing vehicle (2). Each Mecanum wheel is driven by a group of independent motors.

5. The smart weighing system based unmanned use warehouse according to claim 4, characterized in that, The screw pair (25) includes a screw arranged in the vehicle body (23) and a drive connecting shaft arranged on the screw, the drive connecting shaft includes an inner shaft body that is threadably matched with the screw and an outer shaft body that is fixedly connected to the boom (24), and the inner shaft body and the outer shaft body are rotationally connected.

6. The smart weighing system based unmanned use warehouse according to claim 5, characterized in that, The suspension device comprises a pair of devices arranged in the vehicle body (23); the two suspension devices are synchronously extended and retracted, and synchronously drive the clamp (21) to rise and fall or rotate.

7. The smart weighing system based unmanned use warehouse according to claim 6, characterized in that, The outer side of the hoisting tray is provided with a lifting lug for clamping by a clamp (21), and the inner side of the lifting lug structure is embedded with a magnetic body; The clamp (21) comprises an upper clamp body and a lower clamp body, and a magnetic pole is provided at the clamping end of the lower clamp body, and the magnetic pole is attracted to the magnetic body; During the clamping process, the clamp at the end of the suspension device is driven to flip up by the clamp wheel shaft (27), and the upper clamp body and the lower clamp body are kept in an open state. After the lower clamp body is attracted to the inner side of the ear structure by the magnetic body, the upper clamp body is closed and passes downward through the inside of the ear to connect with the lower clamp body below the ear to clamp the ear of the hoisting pallet. 8.The smart weighing system based unmanned use warehouse according to claim 7, wherein, The widths of the longitudinal lanes and the transverse lanes are set to be the same, and the widths of the top plate and the intermediate support plate (11) simultaneously reach the widths required for the Mecanum wheel to run along the longitudinal lanes and the transverse lanes.

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