Intelligent warehouse transport system

Abstract

The application discloses an intelligent warehouse conveying system, which comprises a power transmission system, a track and a walking vehicle. The track comprises a longitudinal track and a transverse track, and the longitudinal track and the transverse track are arranged perpendicularly. A rotatable turning track is arranged at the intersection. The walking vehicle comprises a bottom plate and wheels. The bottom plate is provided with a running rack. The wheels are installed on the bottom plate. In the power transmission system, a main shaft is connected with a driving motor, a driven shaft is perpendicular to the main shaft, a secondary shaft is arranged on both sides of the main shaft, the driven shaft is connected with the main shaft through a gear set, one driven shaft is connected with the secondary shaft, and the remaining driven shafts are engaged with the running rack for transmission. The application improves the goods storage and taking efficiency, saves the turning track and the occupied area, and can splice multiple walking vehicles to realize large goods conveying and improve the conveying efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics and warehousing, and particularly relates to an intelligent warehouse conveying system for goods picking and transferring. BACKGROUND

[0002] In a large warehouse, various goods are mixed and temporarily stored, and a channel for transporting goods needs to be reserved during the goods storage and retrieval process, thereby reducing the utilization rate of the warehouse. In particular, in a cold storage, the low-temperature environment will affect human health after personnel enter. When goods need to be transferred, they are picked by pickers and then transferred. The transfer methods include: one is to push the picking trolley to the packing table. Since the warehouse area is large, the picker needs to walk a long distance to deliver the goods on the picking trolley to the packing table. This method is low in efficiency and consumes a lot of physical strength. The other is to use a conveying belt. The picker places the goods container after checking the goods on the conveying belt, and the conveying belt automatically conveys the goods container to the packing table. This method does not require the picker to repeatedly shuttle in the warehouse, thereby saving physical strength. However, a large warehouse area is needed to build the conveying belt equipment. In particular, in large supermarkets or express stations, there are various types of goods, and different goods need to be delivered to different outlets. Therefore, the goods need to be delivered in multiple directions, and conveying belts need to be arranged in each direction. However, the goods cannot be arbitrarily diverted after being delivered to the conveying belt, and a diversion rod needs to be installed at the branch of the conveying belt to control the change of direction. Therefore, a large warehouse area is needed, which brings a large economic burden to the manufacturer.

[0003] For example, in Chinese patent "Goods picking conveying device, goods picking system and method (201810835874.7)", a straight track and a turning slide for turning and changing direction are arranged on the track. When the track is arranged, a special turning track space is also needed, which occupies a large area and affects the transportation efficiency. SUMMARY

[0004] The present application is directed to the defects of the turning track in the background art, such as large area, high cost and low transportation efficiency. The present application provides an intelligent warehouse conveying system which can effectively improve the utilization rate of the warehouse and does not need personnel to frequently enter and exit the warehouse.

[0005] The technical scheme adopted by the present application is as follows: an intelligent warehouse conveying system, comprising a power transmission system, a track and a walking vehicle.

[0006] The track comprises a plurality of parallel longitudinal tracks and a plurality of parallel transverse tracks, and the longitudinal tracks and the transverse tracks are arranged perpendicularly.

[0007] The walking vehicle comprises a bottom plate and wheels. The bottom plate is provided with perpendicularly arranged driving racks, and the intersection of the racks is a bidirectional cross tooth with horizontal and vertical staggered arrangement. The wheels are movably installed on the bottom plate through connecting members.

[0008] The power transmission system comprises a main shaft, a secondary shaft and driven shafts; the main shaft is connected with a driving motor, the driven shafts are perpendicular to the main shaft, and the secondary shaft is arranged on both sides of the main shaft; the driven shafts are connected with the main shaft through a gear set, and the two ends of one driven shaft are connected with the secondary shaft through gears, and the two ends of the remaining driven shafts are connected with the running rack through running gears.

[0009] As a preferred technical solution: the turning track is movably installed at the position where the longitudinal track and the transverse track intersect through a rotating shaft, and four turning tracks form a group, the rotating shafts of two turning tracks arranged in transverse parallel in each group are connected through connecting rods and swing arms respectively; the rotating shafts of two turning tracks arranged in longitudinal parallel in each group are connected through connecting rods and swing arms respectively, one of the connecting rods is provided with a gas cylinder; the gas cylinder controls the movement of the swing arm and the connecting rod to realize the synchronous rotation of the turning tracks in one group.

[0010] As a preferred technical solution: the bidirectional cross teeth comprise transverse teeth and longitudinal teeth, and each tooth has a quadrangular pyramid structure.

[0011] As a preferred technical solution: the power transmission system comprises two secondary shafts arranged on both sides of the main shaft; the two ends of each secondary shaft are respectively sleeved with a running gear, and the running gears are engaged with the running rack; the secondary shaft is sleeved with a bevel gear.

[0012] As a preferred technical solution: a plurality of driven shafts are arranged in parallel along the axial direction of the main shaft; the bevel gear at one end of one of the driven shafts is engaged with the bevel gear on the secondary shaft; the two ends of the remaining driven shafts and the secondary shaft are respectively engaged with the running rack through running gears.

[0013] As a preferred technical solution: a reversing mechanism is arranged on each driven shaft, the reversing mechanism comprises a shell, and the driven shaft penetrates through the shell; a reversing gear, a reversing lever combination and a main shaft output bevel gear are arranged inside the shell; the two reversing gears are symmetrically sleeved on the driven shaft, and the yokes in the reversing lever combination are respectively inserted into the reversing gears; the main shaft output bevel gear is arranged below the two reversing gears and is rotatably connected with the base through a rotating shaft, a worm gear is sleeved on the rotating shaft, and the worm gear is engaged with the main shaft for transmission.

[0014] As a preferred technical solution: the reversing lever combination comprises a yoke, a lever, a compression spring and a gas cylinder, the gas cylinder is connected with the lever, the lever penetrates through the shell, the yoke is arranged downwardly and perpendicularly to the lever, and the lever outside the shell is sleeved with the compression spring;

[0015] The yoke is inserted into the reversing gear, the electromagnetic valve on the gas cylinder is connected with the controller to realize synchronous reversing.

[0016] As a preferred technical solution: each running vehicle straddles two longitudinal tracks and two transverse tracks, and four wheels on the bottom plate correspond to four turning tracks respectively.

[0017] As a preferred technical scheme: the main shaft is rotated through a driving mechanism, the main shaft drives a main shaft output bevel gear to rotate through a worm gear, the main shaft output bevel gear drives a reversing gear to rotate, and the driven shaft is rotated; the driven shaft is rotated, a sub-shaft is driven to rotate through the bevel gear, and the sub-shaft is driven to rotate through the walking gear at the shaft end and the running rack on the running vehicle; the rest driven shafts are driven to rotate through the walking gear and the running rack on the running vehicle; and the movement of the running vehicle is realized.

[0018] Compared with the prior art, the transmission system disclosed by the application is arranged in limited storage space, and a plurality of vertical and horizontal straight tracks are arranged in the limited storage space, so that the effective area is fully utilized without the need of reserving additional transport tool channels and pedestrian channels; the reversing track is arranged at the intersection of the vertical and horizontal straight tracks, the running vehicle can advance and retreat along the vertical track and move left and right along the horizontal track, and a plurality of running vehicles can move in different directions at the same time, so that the goods storage and taking efficiency is improved, the turning track is saved, the occupied area is saved, a plurality of running vehicles can be spliced to realize large goods transportation, and the transportation efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The figure is a schematic diagram of the track structure of the application.

[0020] Figure 2 The figure is a schematic diagram of the bottom surface of the running vehicle bottom plate in the application.

[0021] Figure 3 The figure is a schematic diagram of the power transmission system structure in the application.

[0022] Figure 4 The figure is a schematic diagram of the reversing mechanism structure in the application.

[0023] Figure 5 The figure is a schematic diagram of the cross-tooth structure in the application.

[0024] Figure 6 The figure is a layout diagram of the power transmission system and the track in the application.

[0025] Figure 7 The figure is a schematic diagram of the relationship between the running vehicle bottom plate and the wheels in the application.

[0026] Figure 8 The figure is a top view of the control part of the reversing track in the application.

[0027] Figure 9 The figure is a side view of the reversing track in the application.

[0028] Figure 10 The figure is a schematic diagram of the automatic locking structure in the application.

[0029] Figure 11A cross-sectional view of the walking gear in the present application.

[0030] In the figure: longitudinal track 1, transverse track 2, steering track 3, walking car 4, main shaft 5, auxiliary shaft 6, first driven shaft 7, second driven shaft 8, third driven shaft 9, front-back moving walking gear 10, left-right moving walking gear 11, reversing gear 12, bearing seat 13, push rod 14, compression spring 15, air cylinder 16, push fork 17, main shaft output bevel gear 18, worm gear 19, housing 20, connecting rod 21, swing arm 22, air cylinder 23, locking sleeve 24, positioning hole 25, positioning ball 26, spring 27. DETAILED DESCRIPTION

[0031] The present application will be further described below in conjunction with the accompanying drawings and examples.

[0032] Referring to the accompanying drawings Figures 1-11 , the intelligent warehouse transport system disclosed in the present application is mainly applied to warehouse goods transportation and comprises a power transmission system, a track and a walking car.

[0033] The track comprises vertically intersecting longitudinal tracks 1 and transverse tracks 2, and the intersection positions of the longitudinal tracks 1 and the transverse tracks 2 are provided with rotatable steering tracks 3. The outer edge of the steering track 3 is a convex circular arc surface, and the middle part of the steering track 3 is provided with a positioning groove for positioning the wheels. The end faces of the longitudinal tracks and the transverse tracks corresponding to the steering tracks are matching concave circular arc surfaces. There is a gap between the steering track 3 and the transverse tracks 2 and the longitudinal tracks 1 around the steering track 3, so as to ensure the circumferential rotation of the steering track 3.

[0034] As a preferred embodiment: see Figures 8-9 , the steering track 3 is movably mounted at the intersection position of the longitudinal tracks and the transverse tracks through a rotating shaft. The bearing seat is fixedly mounted on the ground, the rotating shaft is movably mounted in the bearing seat, the rotating shaft is rotated by 90°, the steering track 3 is fixedly mounted at the upper end of the rotating shaft and rotates circumferentially with the rotating shaft. The four steering tracks at the four intersection positions of the two longitudinal tracks and the two transverse tracks form a reversing combination. The rotating shafts of the two steering tracks horizontally arranged in each group are connected through the connecting rods 21 and the swing arms 22 respectively; the rotating shafts of the two steering tracks vertically arranged in each group are connected through the connecting rods 21 and the swing arms 22 respectively, and the swing arm is provided with an air cylinder 23. The air cylinder controls the movement of the swing arm and the connecting rod to realize the synchronous rotation of the steering tracks in the same group, and each parking space corresponds to a reversing combination.

[0035] The walking vehicle 4 comprises a bottom plate 4-3 and wheels 4-4; the bottom plate 4-3 is provided with vertically intersecting running racks 4-2, and the intersection of the transverse and longitudinal racks is a transverse-longitudinal staggered bidirectional intersection tooth 4-1. The wheels 4-4 are movably mounted on the bottom plate 4-3 through connecting members. The wheels are groove wheels and universal wheels, and are driven after the racks engage with the gears. As a preferred embodiment, each walking vehicle straddles two longitudinal tracks and two transverse tracks. When the steering track rotates, the two sides of the wheel fit with the side surface of the steering track and rotate together.

[0036] As a preference, the wheels are mounted on the bottom plate through brackets, and the brackets of the wheels can rotate freely by 360 degrees. See Figure 10 An automatic locking structure is arranged on the vertical shaft of the wheel to prevent the vertical shaft from shaking when the wheel is walking.

[0037] As a preference, at least one empty parking space is left on the tracks in the warehouse to facilitate the adjustment of the position of the walking vehicle. The tracks are laid in the warehouse, and the tracks corresponding to the outlet of the warehouse extend to the outside of the warehouse for targeted transportation of goods as needed.

[0038] The power transmission system is arranged on the side surface of the track and below the track and comprises a main shaft 5, a secondary shaft 6 and a driven shaft. Each set of longitudinal tracks is matched with a main shaft, and the main shaft passes below the transverse tracks. Each set of steering tracks is matched with a set of power transmission systems, and in this embodiment, each set of power transmission systems comprises three driven shafts and two secondary shafts. The shaft end of the main shaft 5 is connected with a driving motor, the driven shaft is perpendicular to the main shaft, and the secondary shaft is arranged on both sides of the main shaft. The three driven shafts are connected with the main shaft through a gear set, and the two ends of one of the driven shafts are connected with the secondary shaft through bevel gears. The end portions of the other two driven shafts and the end portions of the two secondary shafts are respectively provided with walking gears, and the upper working surface of the walking gears is higher than the upper working surface of the track.

[0039] The bidirectional intersection tooth 4-1 is matched with the walking gears, and the walking gears comprise front and rear moving walking gears 10 and left and right moving walking gears 11. See Figure 11The tooth part of the walking gear is in a large chamfer shape, because the walking vehicle moves in the longitudinal direction, the transverse gear needs to pass under the transverse rack, and the large chamfer structure facilitates the gear to smoothly engage into the rack. The teeth in the bidirectional cross teeth are in a four-pyramid structure, which ensures that the walking vehicle can realize meshing transmission with the gear when moving horizontally left and right and moving forward and backward. When the 5 walking vehicle is in the middle of the longitudinal and transverse track, the four wheels are in the middle of the steering track, and automatic positioning is realized through the positioning groove in the middle of the steering track. The four forward and backward moving walking gears 10 are meshed with the longitudinal rack, and the four left and right moving walking gears 11 are meshed with the transverse rack, so as to lock the walking vehicle and play a brake role. When the walking vehicle needs to move longitudinally, the forward and backward moving walking gears 10 rotate to push the rack to move, and the left and right moving walking gears 11 are taken out of the rack. Similarly, when the walking vehicle needs to move transversely, the left and right moving walking gears 11 rotate to push the walking vehicle to move, and the forward and backward moving walking gears 10 are taken out of the longitudinal rack.

[0040] The walking wheels are installed on the bottom plate of the vehicle and can rotate by 360°. Automatic locking structures are arranged at two positions in the transverse and longitudinal directions respectively to prevent the wheels from swinging freely when walking and improve the service life of the wheels and the track. The automatic locking structure includes a locking sleeve 24, a positioning hole 25 and a positioning ball 26. As a preferred embodiment, four positioning holes are uniformly distributed on the circumference of the wheel vertical shaft in the embodiment, and two springs 27 with positioning balls 26 at the ends are arranged correspondingly in the locking sleeve. The vertical shaft rotates in the locking sleeve, and after rotating to a position, the positioning ball enters the positioning hole under the action of the spring elastic force to realize positioning. When the vertical shaft rotates again, the positioning ball is separated from the positioning hole to release the automatic locking. When reaching the next position, the positioning ball at the next position enters the positioning hole again to realize limiting.

[0041] As a preferred embodiment, the power transmission system includes two secondary shafts 6 arranged on the two sides of the main shaft 5. The two shaft ends of each secondary shaft are sleeved with walking gears, i.e. left and right moving walking gears 11, which are meshed and transmitted with the running rack. The secondary shaft is sleeved with a bevel gear for meshing and transmitting with the gear on the driven shaft.

[0042] In the embodiment, three driven shafts are arranged in parallel perpendicular to the axial direction of the main shaft, including a first driven shaft 7, a second driven shaft 8 and a third driven shaft 9. The bevel gear at the shaft end of the first driven shaft is meshed with the bevel gear on the secondary shaft. The shaft ends of the second driven shaft and the third driven shaft are sleeved with walking gears meshed with the running rack, which are forward and backward moving walking gears 11.

[0043] In the embodiment, each driven shaft is provided with a reversing mechanism, the reversing mechanism includes a shell 20, and the driven shaft penetrates through the shell 20. The shell is internally provided with a reversing gear 12, a reversing lever combination and a main shaft output bevel gear 18. The two reversing gears 12 are symmetrically sleeved on the driven shaft. The yokes 17 in the reversing lever combination are respectively inserted on the reversing gears 12 and horizontally push the reversing gears. The main shaft output bevel gear 18 is arranged below the two reversing gears 12 and is in meshing transmission with the reversing gears. The reversing gear that needs to control is pushed close to the main shaft output bevel gear and is in meshing transmission with the main shaft output bevel gear. The main shaft output bevel gear 18 is rotationally connected with the base through a rotating shaft, the rotating shaft is sleeved with a worm gear 19, and the worm gear 19 and the main shaft 5 form a worm gear structure and are in meshing transmission. The reversing gear and the main shaft output bevel gear form a gear set and realize the connection transmission between the driven shaft and the main shaft. The reversing lever combination includes the yoke 17, a lever 14, a compression spring 15 and a cylinder 16. The cylinder 16 is connected with the lever 14, the lever penetrates through the shell 20, the yoke 17 is vertically arranged downward on the lever 14, and the compression spring 15 is sleeved on the lever outside the shell. The yoke 17 is inserted in the reversing gear 12, the electromagnetic valve on the cylinder is connected with the controller, and synchronous reversing is realized. The reversing gear includes a gear body and a reversing seat, the reversing seat is arranged on the side of the gear body and is an integral structure with the gear body, an insertion slot is annularly arranged between the side of the reversing seat and the gear body, and the yoke 17 is suspended in the insertion slot. The lever is horizontally pushed, and the yoke pushes the reversing gear to realize horizontal movement.

[0044] As a preferred embodiment, the controller is installed in the control room, signals are respectively sent to the rotating cylinder relay of the steering track, the driving motor of the main shaft and the reversing mechanism according to the expected route, the rotating angle of the steering track is 90 degrees, the steering of the walking vehicle is realized, the driving motor of the main shaft drives the main shaft to rotate, and the advancing, retreating and left-right moving track changes are realized.

[0045] The overall working principle of the system is as follows:

[0046] The main shaft is rotated through the driving mechanism, the main shaft drives the main shaft output bevel gear to rotate through the worm gear, the main shaft output bevel gear drives the reversing gear to rotate, and the driven wheel is rotated; the first driven wheel is rotated, the auxiliary shaft is driven to rotate through the bevel gear, and the auxiliary shaft is in meshing transmission with the running rack on the walking vehicle through the running gear at the shaft end; the second driven shaft and the third driven shaft are in meshing transmission with the running rack on the walking vehicle through the six running gears; and the movement of the walking vehicle is realized. In the system, the driving members and sensors in the power transmission system for realizing the walking of the walking vehicle are connected with the computer, remote control is realized, and the principle of the movement of the trolley is as follows:

[0047] First, the parking space number in the garage is input into the computer access system.

[0048] Second, the trolley on the parking space is also numbered and input into the access system;

[0049] If the parking space is N, the number of trolleys is at most (N-1), that is, there is at least one empty parking space in the warehouse;

[0050] Third, if you want to store goods in the warehouse, you need to calculate the shortest path through the system first, drive the trolley out of the warehouse through the main motor drive walking system, and return to the warehouse after loading the goods;

[0051] Fourth, if you want to take out the goods, you need to find the trolley number and parking space number loaded with goods and input them into the taking-out program, and then calculate the shortest path through the computer to transport the goods out.

Claims

1. An intelligent warehouse conveying system, comprising a power transmission system, a track and a walking vehicle; characterized in that: the track comprises a plurality of parallel longitudinal tracks and a plurality of parallel transverse tracks, the longitudinal tracks and the transverse tracks being arranged perpendicularly; each intersection of the longitudinal tracks and the transverse tracks is provided with a rotatable steering track; the walking vehicle comprises a bottom plate and wheels; the bottom plate is provided with vertically intersecting running racks, and the intersection of the racks is a transverse-longitudinal staggered bidirectional intersection tooth; the wheels are movably mounted on the bottom plate by connecting members; the power transmission system comprises a main shaft, a secondary shaft and driven shafts; the main shaft is connected with a driving motor, the driven shafts are perpendicular to the main shaft, and the secondary shaft is arranged on both sides of the main shaft; one end of each driven shaft is connected with the main shaft through a gear set, and the other end of one of the driven shafts is connected with the secondary shaft through a gear, and the other ends of the remaining driven shafts and the secondary shaft are respectively connected with the running racks through walking gears; the power transmission system comprises two secondary shafts arranged on both sides of the main shaft; the two ends of each secondary shaft are respectively provided with a walking gear, and the walking gears are in meshing transmission with the running racks; a bevel gear is arranged on the secondary shaft; a plurality of driven shafts are arranged in parallel along the axial direction of the main shaft; the bevel gear at one end of one of the driven shafts is in meshing transmission with the bevel gear on the secondary shaft; the other ends of the remaining driven shafts are provided with walking gears in meshing transmission with the running racks; a reversing mechanism is arranged on each driven shaft, the reversing mechanism comprises a shell, and the driven shaft penetrates through the shell; the shell is internally provided with a reversing gear, a reversing lever combination and a main shaft output bevel gear; two reversing gears are symmetrically arranged on the driven shaft, and the yokes in the reversing lever combination are respectively inserted into the reversing gears; the main shaft output bevel gear is arranged below the two reversing gears and is rotatably connected with the base through a rotating shaft, a worm gear is sleeved on the rotating shaft, and the worm gear is in meshing transmission with the main shaft; the reversing lever combination comprises a yoke, a lever, a compression spring and a cylinder; the cylinder is connected with the lever, the lever penetrates through the shell, the yoke is arranged vertically downward relative to the lever, and the lever outside the shell is sleeved with the compression spring; the yoke is inserted into the reversing gear, an electromagnetic valve on the cylinder is connected with a controller, and synchronous reversing is realized; the main shaft is rotated through a driving mechanism, the main shaft drives the main shaft output bevel gear to rotate through the worm gear, the main shaft output bevel gear drives the reversing gear to rotate, and the driven shaft is rotated; the driven shaft is rotated, the secondary shaft is driven to rotate through the bevel gear, the secondary shaft is in meshing transmission with the running rack on the walking vehicle through the walking gear at the shaft end; the remaining driven shafts are in meshing transmission with the running rack on the walking vehicle through the walking gears; and the movement of the walking vehicle is realized; the power transmission system is arranged on the side of the track and below the track.

2. The intelligent warehouse conveyor system of claim 1, wherein: the steering tracks are movably mounted on the intersection of the longitudinal tracks and the transverse tracks through rotating shafts; four steering tracks form a group, the rotating shafts of the two steering tracks arranged in parallel in the horizontal direction in each group are connected through connecting rods and swing arms; the rotating shafts of the two steering tracks arranged in parallel in the longitudinal direction in each group are connected through connecting rods and swing arms, and a cylinder is arranged on one of the connecting rods; the cylinder controls the movement of the swing arm and the connecting rod, and realizes the synchronous rotation of the steering tracks in one group.

3. The intelligent warehouse conveyor system of claim 1, wherein: the bidirectional intersection tooth comprises transverse teeth and longitudinal teeth, and each tooth has a quadrangular pyramid structure.

4. The intelligent warehouse conveyor system according to any one of claims 1-3, wherein: Each walking vehicle straddles two longitudinal tracks and two lateral tracks, with four wheels on the base corresponding to the four turning tracks.

Images