Stereo library shuttle gear selection method

Abstract

The application provides a gear selection method for a stereoscopic warehouse. A shuttle vehicle comprises a vehicle body, a rotating shaft and a driving mechanism installed on the vehicle body, gears arranged at both ends of the rotating shaft, and a driving mechanism for driving the rotating shaft and the gears to rotate. Support wheels are also installed at both ends of the rotating shaft, and the support wheels can rotate relative to the gears and the rotating shaft. The outer diameter of the support wheels is greater than the outer diameter of the gears. By preselecting a certain gear, whether the gear system of the gear meets the design requirements is determined according to the related parameters of the gear and the design parameters of the shuttle vehicle.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of stereoscopic libraries, and mainly relates to a gear selection method for a stereoscopic library shuttle vehicle. BACKGROUND

[0002] With the development of technology, stereoscopic libraries are increasingly applied to production enterprises, which not only greatly help in warehousing and production links, but also improve production efficiency and realize digital production.

[0003] Chinese application CN2017113403837 discloses a "stereoscopic library system based on a multi-directional shuttle vehicle and a warehouse-in and warehouse-out method of the shuttle vehicle", which comprises a shelf, a goods frame is arranged on the shelf, a track system is arranged between the shelves, an operation table is arranged on both sides of the shelf, and a shuttle vehicle runs on the track system. The track system comprises a plurality of horizontal tracks and vertical tracks, the horizontal tracks are respectively arranged on the top and bottom of the shelf, and the vertical tracks are respectively connected to the horizontal tracks at the top and bottom. The vertical tracks and the horizontal tracks both comprise a rack track and a common track, the shuttle vehicle travels along the rack track, and the common track provides auxiliary guidance for the shuttle vehicle. The vertical tracks and the horizontal tracks are provided with a valve switch mechanism at the horizontal and vertical intersection. The shuttle vehicle comprises a vehicle body, a control module, a goods frame pushing and pulling mechanism, a valve switch triggering mechanism and a positioning mechanism are arranged on the vehicle body. A motor is installed in the vehicle body, the output shaft of the motor is connected to an axle, and the two ends of the axle are respectively connected to saw gears matched with the track system, so that the trolley can be stopped at any position. When the shuttle vehicle travels or stops on the vertical track, the saw gears are in contact with the rack track and the common track parallel to the rack track, so that the shuttle vehicle will not fall, but the saw gears are stuck with the common track. Due to the gravity of the vehicle body and the goods carried by the vehicle body, the saw gears cause damage to the common track, and the saw gears and the common track rub against each other, which causes the saw gears to wear out quickly and reduces the service life of the shuttle vehicle. SUMMARY

[0004] The application provides a stereoscopic library shuttle vehicle gear selection method, which is provided with a support wheel outside the gear of the shuttle vehicle, the support wheel is in contact with the inner wall of the track, which avoids the contact between the gear and the side wall of the main track on the opposite side of the rack, thereby avoiding wear and tear. The selection method of the application can quickly select the appropriate gear for the shuttle vehicle.

[0005] The application provides a gear selection method for a three-dimensional warehouse shuttle vehicle. The shuttle vehicle comprises a vehicle body, a rotating shaft and a driving mechanism installed on the vehicle body, gear wheels arranged at both ends of the rotating shaft, and a driving mechanism for driving the rotating shaft and the gear wheels to rotate. Support wheels are also installed at both ends of the rotating shaft and can rotate relative to the gear wheels and the rotating shaft. The outer diameter of the support wheels is greater than that of the gear wheels. A certain gear wheel is selected in advance, the pressure angle of the gear wheel is θ, the addendum circle radius of the gear wheel is R, the meshing torque is T, the required upward pushing force F of the shuttle vehicle in the vertical direction is calculated, F = F1 μ + M g + M α, wherein M is the total weight of the shuttle vehicle loaded with articles, g is the acceleration of gravity, α is the designed running acceleration of the shuttle vehicle, μ is the rolling friction coefficient of the support wheels, and F1 = tan θ M g. The force F3 of each gear wheel of the shuttle vehicle is calculated, F3 = F / n, wherein n is the number of gear wheels of the shuttle vehicle. The gear torque T1 of the gear wheel is calculated, T1 = F3 R. The gear coefficient T / T1 of the gear wheel is calculated. If the gear coefficient is between the theoretical minimum value and the theoretical maximum value of the gear coefficient, the gear wheel meets the requirements, and the gear wheel is installed at both ends of the rotating shaft of the shuttle vehicle.

[0006] Preferably, the theoretical maximum value and the theoretical minimum value of the gear system are determined according to a load coefficient KA, a safety coefficient SB and a running time coefficient fn and are obtained by multiplying KA, SB and fn. KA = 1-2.25, SB = 1.1-1.4, and fn = 1.05-2.3.

[0007] Preferably, the gear system is greater than 2 and meets the requirements, thereby meeting the delicacy requirements of the equipment.

[0008] Preferably, the three-dimensional warehouse comprises shelves and a track system, the track system comprises a main track, the main track comprises two side walls, one of the side walls is provided with a rack, the gear wheel is engaged with the rack, and the support wheels are in contact with at least one of the side walls.

[0009] Preferably, the support wheels are located between the gear wheels and the vehicle body, the inner ends of the support wheels are provided with limiting flanges, the outer diameter of the limiting flanges is greater than the distance between the two side walls, the limiting flanges prevent the axial movement of the shuttle vehicle, and the shuttle vehicle cannot shake on the main track.

[0010] Preferably, two guide wheels are arranged at both ends of the vehicle body, the two guide wheels are distributed on both sides of the gear wheels, or four guide wheels are arranged at both ends of the vehicle body, the four guide wheels are distributed on both sides of the gear wheels, and the guide wheels on the same side are distributed in an up-down manner. The track system further comprises guide tracks matched with the guide wheels.

[0011] Preferably, the guide rail is arranged at the vertical part, the bending part and the horizontal part of the main rail, and the guide rail of the vertical part and the bending part is arranged outside the main rail. In the present application, the guide rail is arranged outside the main rail, and no guide rail is arranged inside the main rail. Therefore, in the vertical part and the bending part, the guide wheel on one side of the gear performs guiding, and the guide wheel on the other side does not work. When the shuttle moves to the other end, the guide wheel on the other side of the gear performs guiding, and the guide wheel on the opposite side does not work.

[0012] Preferably, for the three-dimensional warehouse shuttle with four guide wheels arranged at two ends of the vehicle body, the guide rail is provided with two guide tracks for guiding two guide wheels arranged on the same side and distributed upwards and downwards into the vertical part at the bending part.

[0013] Preferably, the vehicle body is provided with a controller and an encoder connected to the controller, the encoder is used to record the rotation angle of the rotating shaft, and the controller is used to obtain the corresponding rotation angle according to the number of racks between two points on the main rail of the three-dimensional warehouse. When the rotation angle recorded by the encoder is equal to the rotation angle obtained by the controller, the controller controls the driving mechanism to stop.

[0014] The rotating shaft of the shuttle of the present application is provided with a gear and a supporting wheel. The supporting wheel is arranged inside the gear, the outer diameter of the supporting wheel is greater than the outer diameter of the gear, the supporting wheel and the gear are arranged in the groove of the main rail, the gear is engaged with the rack on the main rail, and the supporting wheel is abutted against and walks along at least one side wall of the main rail. Since the supporting wheel is greater than the gear, the gear is avoided from being abutted against the side wall opposite to the rack, the wear between the gear and the side wall opposite to the rack is avoided, and the service life is prolonged. Through the gear selection method of the present application, a suitable gear can be quickly selected for the three-dimensional warehouse shuttle. The main rail of the present application is arranged in a ring shape, the cargo frames are sequentially numbered along the moving direction of the shuttle, the number of racks from each cargo frame to the original point is fixed, the rotating shaft of the shuttle is provided with an encoder, the encoder is used to record the rotation angle of the rotating shaft, and there is a certain conversion ratio between the number of racks and the rotation angle. If the goods are to be sent to a certain cargo frame, the rotation angle is calculated according to the number of racks from the cargo frame to the original point, the shuttle starts to move from the original point, and the rotation angle is recorded to reach the calculated value, which means that the shuttle reaches the specified cargo frame. The present application is more convenient and has high precision in searching for goods. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a perspective view of the three-dimensional warehouse of the present application;

[0016] Figure 2 It is a top view of the three-dimensional warehouse of the present application;

[0017] Figure 3 It is a side view of the three-dimensional warehouse of the present application;

[0018] Figure 4 For the invention Figure 3 B-B cross-sectional view in the invention;

[0019] Figure 5 For the invention Figure 4 State diagram of shuttle car operation;

[0020] Figure 6 For the invention, the top view of the shuttle car;

[0021] Figure 7 For the invention, the perspective view of the shuttle car;

[0022] Figure 8 For the invention, the matching diagram of the shuttle car gear, support wheel and main track;

[0023] Figure 9 For the invention, the state of the shuttle car running on the horizontal track Figure 1 ;

[0024] Figure 10 For the invention, the state of the shuttle car running on the horizontal track Figure 2 ;

[0025] Figure 11 For the invention, the state diagram of the shuttle car running on the vertical track;

[0026] Figure 12 For the force relationship between the shuttle car gear and the track.

[0027] In the figure: 1- shelf; 1.1- goods frame; 2- track system; 2.1- main track; 2.1.1- first side wall; 2.1.2- second side wall; 2.1.3- connecting part; 2.1.4- rack; 2.2- guide track; 2.2.1- guide turnout; 3- shuttle car; 3.1- motor; 3.2- rotating shaft; 3.3- gear; 3.4- support wheel; 3.4.1- limiting flange; 3.5- guide wheel; 3.6- encoder; 3.7- controller; 3.8- goods taking mechanism; 4- warehouse in and out conveying line. DETAILED DESCRIPTION

[0028] The application provides a three-dimensional warehouse shuttle car, a three-dimensional warehouse and a production system, in which the gear and the rack installed on the opposite side of the main track do not directly interfere with each other.

[0029] As Figures 1-5As shown, the stereoscopic warehouse includes shelves 1, and the shelves 1 are provided with goods frames 1.1 for storing goods, and a rail system 2 is arranged between the shelves 1, and a shuttle 3 runs on the rail system 2. The rail system 2 includes a main rail 2.1 and a guide rail 2.2. The main rail 2.1 is arranged in a ring shape, such as a "mouth" shape, a "concave" shape, a "convex" shape, etc. The shuttle 3 circulates along the main rail 2 to form a loop. The main rail does not have a three-way branch, and compared with the prior art, a shutter switch mechanism is not required. One side of the rail system 2 is connected with an in-out warehouse conveying line 4, and a production line is connected with the stereoscopic warehouse through the in-out warehouse conveying line.

[0030] As shown in Figure 6 , 7 , the shuttle 3 includes a vehicle body, a motor 3.1 is mounted on the vehicle body, an output shaft of the motor 3.1 is in transmission connection with a rotating shaft 3.2, the motor 3.1 is used as a driving mechanism to drive the rotating shaft, gear wheels 3.3 that rotate together with the rotating shaft 3.2 are mounted at both ends of the rotating shaft 3.2, support wheels 3.4 that can rotate relative to the gear wheels and the rotating shaft are mounted on the rotating shaft 3.2 through bearings. Guide wheels 3.5 are also mounted on the vehicle body, the guide wheels 3.5 are matched with the guide rail 2.2, guide the shuttle, and make the shuttle keep horizontal. Four guide wheels 3.5 are arranged at each end, the four guide wheels at the same end are distributed on both sides of the gear wheels, and the two guide wheels at each side are distributed vertically. Two guide wheels can also be arranged at each end. Figure 4 , 5 As shown in Figure 5 , the guide rail of the present application is arranged at the vertical part and the turning part of the main rail. For the guide wheels that are vertically distributed, two guide branches 2.2.1 are arranged at the turning part, so as to guide the two guide wheels on the same side of the gear wheel into or out of the same vertical guide rail. The guide rails at the vertical part and the turning part are arranged at the outer side of the main rail, and are not arranged at the inner side of the main rail, as shown in Figure 5 , when the shuttle 3 is guided by the guide rail on the left side, the guide wheels on the left side of the shuttle 3 run on the guide rail, and when the shuttle 3 is guided by the guide rail on the right side, the guide wheels on the right side of the shuttle 3 run on the guide rail. As can be seen from Figure 5 , the present application also arranges guide rails at the horizontal position, and the guide rails at the horizontal part can be arranged above or below the main rail, and guide the guide wheels on the upper part and the lower part of the shuttle 3, respectively. Figure 4

[0031] The matching relationship between the gear wheels 3.3, the support wheels 3.4 and the main rail 2.1 is shown in Figure 8 ​As shown, the cross section of the main track 2.1 is U-shaped, including a first side wall 2.1.1, a second side wall 2.1.2 and a connecting portion 2.1.3 connecting the first side wall 2.1.1 and the second side wall 2.1.2. The first side wall 2.1.1 is internally provided with a rack 2.1.4. The gear 3.3 and the support wheel 3.4 are both located in the groove of the main track 2.1. The support wheel 3.4 runs on at least one of the first side wall 2.1.1 and the second side wall 2.1.2, that is, abuts and runs on the inner wall of at least one of the first side wall 2.1.1 and the second side wall 2.1.2. The gear 3.3 is engaged with the rack 2.1.4 on the first side wall 2.1.1. The outer diameter of the support wheel 3.4 is greater than the outer diameter of the gear 3.3, so the vehicle body is mainly supported by the support wheel 3.4. The support wheel 3.4 shown in the figure is located on the inner side of the gear 3.3, and the inner end of the support wheel 3.4 is provided with a limiting flange 3.4.1 matched with the free end of the first side wall and the second side wall, that is, the outer diameter of the flange 3.4.1 is greater than the width of the main track groove. The limiting flange 3.4.1 is used to limit the axial movement of the shuttle vehicle to avoid shaking on the track.

[0032] As shown in FIG. 2, the main track is a horizontal section, the first side wall 2.1.1 with the rack 2.1.4 is located below the second side wall 2.1.2, at this time, the support wheel 3.4 mainly abuts against the first side wall 2.1.1, and the gear 3.3 is engaged with the rack 2.1.4. If the shuttle vehicle runs from left to right, at this time, the gear 2.3 and the support wheel 3.4 both rotate clockwise. Figure 9 As shown in FIG. 3, the main track is a horizontal section, the first side wall 2.1.1 with the rack 2.1.4 is located above the second side wall 2.1.2, at this time, the support wheel 3.4 mainly abuts against the second side wall 2.1.2, and the gear 3.3 is engaged with the rack 2.1.4. If the shuttle vehicle runs from left to right, at this time, the gear 2.3 rotates counterclockwise, and the support wheel 3.4 rotates clockwise.

[0033] Figure 10 As shown in FIG. 4, the main track is a vertical section, the first side wall 2.1.1 with the rack 2.1.4 is located to the right of the second side wall 2.1.2, at this time, due to the gravity of the shuttle vehicle itself, the support wheel 3.4 mainly abuts against the second side wall 2.1.2, and the gear 3.3 is engaged with the rack 2.1.4, so that the shuttle vehicle is stuck and cannot fall, that is, the support wheel also plays a role of stabilizing the shuttle vehicle in the vertical section, and cooperates with the gear to prevent the shuttle vehicle from falling. If the shuttle vehicle runs from bottom to top, at this time, the gear 2.3 rotates clockwise, and the support wheel 3.4 rotates counterclockwise.

[0034] As shown in FIG. 5, the main track is a horizontal section, the first side wall 2.1.1 with the rack 2.1.4 is located above the second side wall 2.1.2, at this time, the support wheel 3.4 mainly abuts against the second side wall 2.1.2, and the gear 3.3 is engaged with the rack 2.1.4. If the shuttle vehicle runs from left to right, at this time, the gear 2.3 rotates counterclockwise, and the support wheel 3.4 rotates clockwise. Figure 11 As shown in FIG. 6, the main track is a vertical section, the first side wall 2.1.1 with the rack 2.1.4 is located to the right of the second side wall 2.1.2, at this time, due to the gravity of the shuttle vehicle itself, the support wheel 3.4 mainly abuts against the second side wall 2.1.2, and the gear 3.3 is engaged with the rack 2.1.4, so that the shuttle vehicle is stuck and cannot fall, that is, the support wheel also plays a role of stabilizing the shuttle vehicle in the vertical section, and cooperates with the gear to prevent the shuttle vehicle from falling. If the shuttle vehicle runs from bottom to top, at this time, the gear 2.3 rotates clockwise, and the support wheel 3.4 rotates counterclockwise.

[0035] ​The rotation shaft 3.2 is provided with an encoder 3.6 connected with a controller 3.7. The encoder 3.6 is used to record the rotation angle of the rotation shaft and send data to the controller 3.7, which is used to calculate the rotation angle corresponding to a certain number of teeth and monitor whether the actual rotation angle reaches the corresponding value. For example, the position where the main track connects the storage and retrieval conveying line can be taken as the origin, and the cargo frames passing through in sequence can be numbered in sequence along the main track in the direction of the shuttle vehicle. The number of rack teeth from the origin to each numbered cargo frame is fixed, and the angle of rotation of the corresponding rotation shaft required to reach the specified cargo frame from the origin is calculated. When the rotation angle recorded by the encoder reaches the corresponding value, it means that the shuttle vehicle has reached the specified cargo frame, and the control motor stops driving the shuttle vehicle to move, and the cargo taking mechanism 3.8 on the shuttle vehicle puts the goods into the cargo frame or takes the goods from the cargo frame to the shuttle vehicle.

[0036] The walking power of the shuttle vehicle in the track comes from the gear 3.3 driven by the motor 3.1; when the gear 3.3 rotates, it pushes the rack 2.1.4, thereby walking on the rack. The main track 2.1 includes horizontal, vertical and curved sections, and the shuttle vehicle involves horizontal walking, vertical walking and curved walking. Through force analysis, it can be known that the maximum torque required for vertical walking is the largest, the walking speed V and the acceleration time t1 of the shuttle vehicle are known quantities, and the acceleration α of the shuttle vehicle can be obtained, α = V / t1, assuming that the walking speed of the shuttle vehicle is 1 m / s and the acceleration time t1 is 0.5 m, then the acceleration α = V / t1 = 1 / 0.5 = 2 m / s 2 .

[0037] In combination Figure 11 , 12 , because it is a vertical climbing motion, the two components of the gravity are F1 and F2, F2 acts on the side wall of the main track through the rack, which is manifested as a sliding thrust with an angle θ acting on the rack 3.3, which is equal to the pressure angle of the gear 3.3. The thrust is finally transmitted to the contact surface between the support wheel 3.4 and the main track 2.1, forming a balance to keep the gear 3.3 from running off the main track in the vertical direction. When the shuttle vehicle climbs, the component F1 of the gravity acts on the support wheel, assuming that the total weight of the shuttle vehicle (including the goods carried by the shuttle vehicle) is M, then F1 = tan θ·M·g, g is the acceleration of gravity. Assuming that the gear 3.3 with a pressure angle θ of 20° is selected, then F1 = tan 20°·M·g = 0.364×70×9.8 = 249.7 N.

[0038] Because the support wheel rolls on the main track, there is a frictional reaction, assuming the friction coefficient is μ, the shuttle vehicle overcomes the friction, plus the gravity that needs to be overcome when climbing, and the upward force of the entire shuttle vehicle walking upward, then the required thrust F of the shuttle vehicle vertically climbing upward can be obtained F = F1 μ + Fg + M α = F1 μ + M g + M α. Assuming μ = 0.2, the total weight of the shuttle vehicle M is 70 kg, then F = F1 μ + M g + M α = 249.7 x 0.2 + 70 x 9.8 + 70 x 2 = 876 N.

[0039] When selecting the gear, it is necessary to judge whether the selection is appropriate according to the related coefficients of the gear, wherein the load coefficient KA = 1 ~ 2.25, the safety coefficient SB = 1.1 ~ 1.4, and the running time coefficient fn = 1.05 ~ 2.3. Thus, the gear coefficient theoretical maximum value that tends to be safer is KA SB fn = 2.25 1.4 2.3 = 7.245, and the gear coefficient minimum value that meets the minimum configuration requirement is KA SB fn = 1 1.1 1.05 = 1.155. The gear coefficient of the selected gear should be between 1.155 and 7.245, and should be selected within the range according to actual needs.

[0040] In the case of known gear modulus and tooth number, the meshing torque T and the addendum circle diameter D of the gear can be obtained, which are standard values and can be obtained by consulting gear standard data. Assuming that a spur gear with a modulus of 4 and a tooth number of 18 is selected, the meshing torque T of the gear can be queried as 20.57 Nm.

[0041] The number n of the gear 3.3 of the shuttle vehicle can be 2, and the shuttle vehicle can be provided with 4 gears or even more, and the number of gears is determined according to the design situation. Figure 7 The illustrated shuttle vehicle adopts 2 gears. Assuming that the shuttle vehicle adopts 4 gears, the force F3 of each gear is F3 = F / n = 876 / 4 = 219 N.

[0042] The gear torque T1 of the gear is T1 = F3 D / 2, based on the above information, the gear torque T1 of the selected gear can be calculated T1 = F3 R = F3 D / 2 = 219 N 80 mm / 2 / 1000 = 8.76 Nm, wherein the gear diameter unit in the above formula is millimeter, so it needs to be converted into meter by dividing by 1000, and R is the addendum circle radius. The gear coefficient of the gear is T / T1 = 20.57 / 8.76 = 2.348.

[0043] The gear coefficient selected in the above embodiment is 2.348, which is between 1.155 and 7.245, meets the requirements, and can be used for the shuttle vehicle. The gear is installed at both ends of the rotating shaft of the shuttle vehicle. According to the selection experience, the gear coefficient is generally recommended to be greater than 2, and the appropriate gear coefficient can be selected according to the actual situation.

Claims

1. A method for gear selection of a stereoscopic warehouse shuttle, characterized in that: The shuttle vehicle comprises a vehicle body, a rotating shaft and a driving mechanism installed on the vehicle body, two ends of the rotating shaft are provided with gears, the driving mechanism is used for driving the rotating shaft and the gears to rotate, two ends of the rotating shaft are further provided with supporting wheels, the supporting wheels can rotate relative to the gears and the rotating shaft, and the outer diameter of the supporting wheels is greater than the outer diameter of the gears; a certain gear is selected in advance, the pressure angle of the gear is θ, the addendum circle radius of the gear is R, the meshing torque is T, the required thrust F of the shuttle vehicle in the vertical direction for upward climbing is calculated, F=F1*mu+M*g+M*alpha, wherein M is the total weight of the shuttle vehicle loaded with articles, g is the gravity acceleration, alpha is the designed running acceleration of the shuttle vehicle, mu is the rolling friction coefficient of the supporting wheels, and F1=tan theta*M*g; the force F3 of each gear of the shuttle vehicle is calculated, F3=F / n, wherein n is the number of gears of the shuttle vehicle; the gear torque T1 of the gear is calculated, T1=F3*R; the gear coefficient T / T1 of the gear is calculated, if the gear coefficient is between the theoretical minimum value and the theoretical maximum value of the gear coefficient, the gear meets the requirements, and the gear is installed at two ends of the rotating shaft of the shuttle vehicle.

2. The stereoscopic warehouse shuttle gear selection method of claim 1, wherein: The theoretical maximum value and the theoretical minimum value of the gear coefficient are determined according to a load coefficient KA, a safety coefficient SB and a running time coefficient fn, and are obtained by multiplying KA, SB and fn.

3. The stereoscopic warehouse shuttle gear selection method of claim 2, wherein: KA=1-2.25, SB=1.1-1.4, and fn=1.05-2.

3.

4. The cube shuttle gear sizing method of claim 1, 2, or 3, wherein: The gear coefficient greater than 2 meets the requirements.

5. The cube shuttle gear sizing method of claim 1, 2, or 3, wherein: The stereoscopic warehouse comprises shelves and a track system, the track system comprises a main track, the main track comprises two side walls, one of the side walls is provided with a rack, the gear is engaged with the rack, and the supporting wheels are in contact with at least one of the side walls.

6. The stereoscopic warehouse shuttle gear selection method of claim 5, wherein: The supporting wheels are located between the gear and the vehicle body, the inner end of the supporting wheels is provided with a limiting flange, and the outer diameter of the limiting flange is greater than the distance between the two side walls.

7. The stereoscopic warehouse shuttle gear selection method of claim 5, wherein: Two guide wheels are arranged at two ends of the vehicle body and are distributed on two sides of the gear, or four guide wheels are arranged at two ends of the vehicle body and are distributed on two sides of the gear, and the guide wheels on the same side are distributed in an up-down manner; the track system further comprises guide tracks matched with the guide wheels.

8. The stereoscopic warehouse shuttle gear selection method of claim 7, wherein: The guide tracks are arranged on the vertical part, the turning part and the horizontal part of the main track, and the guide tracks of the vertical part and the turning part are located on the outer side of the main track.

9. The stereoscopic warehouse shuttle gear selection method of claim 8, wherein: For the shuttle vehicle of the stereoscopic warehouse, two guide tracks are arranged in the turning part to guide two guide wheels on the same side distributed in an up-down manner into the vertical part.

10. The cube shuttle gear sizing method of claim 1, wherein: A controller and an encoder connected with the controller are installed on the vehicle body, the encoder is used for recording the rotating angle of the rotating shaft, the controller is used for obtaining the corresponding rotating angle according to the rack tooth number between two points on the main track of the stereoscopic warehouse, and the controller controls the driving mechanism to stop when the rotating angle recorded by the encoder is equal to the rotating angle obtained by the controller.

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