Warehousing system and cargo handling device

Abstract

A roadway is formed between every two adjacent goods shelves, walking rails are arranged at the positions, at the same height, of the adjacent goods shelves, the goods carrying device comprises a mother vehicle, a first walking mechanism is arranged on the side portion, in the extending direction of the roadway, of a vehicle body of the mother vehicle, and the vehicle body is further provided with a lifting belt mechanism; the lifting belt mechanism is connected with a cargo carrying table, a cargo taking and placing mechanism is arranged on the cargo carrying table, and the first walking mechanism is used for moving in a roadway along the walking track so as to drive the cargo carrying table to move to a target position to take and place cargoes; a space used for containing a cargo carrying table is formed in the middle of a vehicle body of the mother vehicle, the mother vehicle can lift the cargo carrying table into the space through the lifting belt mechanism, so that the cargo carrying plane of the cargo carrying table is not lower than the plane where the walking rails are located, and the storage system is high in goods shelf utilization rate.

Description

Technical Field

[0001] The present invention relates to the field of warehousing technology, and in particular to a warehousing system and a cargo handling device. Background Art

[0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The current cargo handling device based on the shelf includes a mother car, which is connected to the cargo platform by a lifting belt. The mother car and the cargo platform are arranged in the aisle between adjacent shelves. The mother car can move along the extension direction of the aisle of the shelf, and the cargo platform is provided with a picking and releasing mechanism to realize picking and releasing of goods. When working, the cargo platform is always located under the mother car, and is lifted and lowered by the action of the lifting belt to reach the cargo positions on different layers. In order to improve the efficiency of cargo transfer, multiple cargo handling devices are arranged at different layers of the shelf. When this method is adopted, since the cargo platform is always working under the mother car, the cargo position on the shelf layer where the mother car is located cannot pick up and release goods, resulting in a waste of upper storage space, and the overall height space occupied by the cargo handling device is relatively large. When arranging the cargo positions, in addition to considering the height occupied by the stored goods, the height of the cargo handling device must also be considered, which further leads to the ineffective utilization of the storage space and reduces the utilization rate of the shelf. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a storage system and a cargo handling device to improve the utilization rate of shelf cargo spaces.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] In a first aspect, an embodiment of the present invention provides a storage system, comprising:

[0007] Multiple shelves, with lanes formed between adjacent shelves, and walking tracks set at the same height of adjacent shelves;

[0008] The cargo handling device comprises a mother vehicle, a first walking mechanism is arranged on the side of the body of the mother vehicle along the extension direction of the lane, the body is also provided with a lifting belt mechanism, the lifting belt mechanism is connected to the cargo platform, a cargo picking and placing mechanism is arranged on the cargo platform, the first walking mechanism is used to move along the walking track in the lane to drive the cargo platform to move to the target position to pick up and place the cargo;

[0009] A space for accommodating a cargo platform is provided in the middle of the body of the mother vehicle, and the mother vehicle can lift the cargo platform into the space through the lifting belt mechanism so that the cargo plane of the cargo platform is not lower than the plane where the walking track is located.

[0010] Optionally, the body of the mother vehicle includes a first body and a second body, a space matching the cargo platform and used to accommodate the cargo platform is formed between the first body and the second body, the first body and the second body are both provided with a first walking mechanism, the first body is connected to one side of the cargo platform through a first lifting belt mechanism, and the second body is connected to the other side of the cargo platform through a second lifting belt mechanism.

[0011] Optionally, a cargo handling device is provided in at least one lane, and correspondingly, a lane-changing track is provided between adjacent lanes, the lane-changing track is connected to the ends on the same side of the running tracks of the adjacent lanes, and the lane-changing track is a curved track.

[0012] Optionally, the first lifting belt mechanism includes a first winch wheel rotatably connected to the outer end portion of the first vehicle body, the first winch wheel is connected to a first lifting drive mechanism installed on the first vehicle body, a first lifting belt is wound around the first winch wheel, the first lifting belt passes over a guide wheel arranged at the top of the inner end of the first vehicle body and then extends downward, and a movable end thereof is connected to the cargo platform.

[0013] Optionally, the first lifting drive mechanism adopts a first rotating drive member located inside the first hoisting wheel, and the first rotating drive member is connected to the first hoisting wheel through a first transmission mechanism.

[0014] Optionally, the second lifting belt mechanism includes a second winch wheel located at the outer end of the second car body, the second winch wheel is connected to a second lifting drive mechanism installed on the second car body, a second lifting belt is wound around the second winch wheel, the second lifting belt passes around the guide wheel arranged at the top of the inner end of the second car body and then extends downward, and its movable end is connected to the cargo platform.

[0015] Optionally, the second lifting mechanism adopts a second rotating driving member located inside the second hoisting wheel, and the second rotating driving member is connected to the second hoisting wheel through a second transmission mechanism.

[0016] Optionally, the first vehicle body is equipped with at least two first lifting belt mechanisms and / or the second vehicle body is equipped with at least two second lifting belt mechanisms.

[0017] Optionally, a lifting mechanism is provided on the side of the body of the mother vehicle perpendicular to the extension direction of the tunnel, and the lifting mechanism is connected to the second walking mechanism through a lifting plate. The lifting mechanism is used to drive the second walking mechanism to descend when the cargo handling device changes lanes, so that the second walking mechanism can walk along the lane changing track connected between the walking tracks of adjacent lanes, and the walking direction of the second walking mechanism is perpendicular to the walking direction of the first walking mechanism.

[0018] Optionally, a connecting channel connecting two adjacent lanes is provided on the shelf, and lane-changing tracks are fixed on the shelves on both sides of the connecting channel and the lane-changing tracks are connected to the travel tracks of the adjacent lanes.

[0019] Optionally, the cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a bidirectional telescopic mechanism installed on both sides of the cargo platform, the telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating drive member, and the rotating drive member is connected to the shift fork;

[0020] or;

[0021] The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed on both sides of the cargo platform, and the two-way telescopic mechanism is connected to the clamping plate;

[0022] or;

[0023] The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed in the middle or on both sides of the cargo platform, and the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly.

[0024] Optionally, at least two pushing members are provided on two edges of the cargo platform parallel to the extension direction of the shelf, and the pushing members are connected to the telescopic components, and the telescopic components can drive the pushing members to move so that the pushing members abut against the shelf.

[0025] Optionally, a plurality of the cargo handling devices are arranged in the same lane, and the plurality of cargo handling devices are located at different heights of the lane shelves, and the mother vehicle cooperates with the corresponding walking tracks fixed on the shelves through the walking mechanism.

[0026] In a second aspect, an embodiment of the present invention provides a cargo handling device, including a mother vehicle, the mother vehicle including a first vehicle body and a second vehicle body, a space matching a cargo platform and used to accommodate the cargo platform is formed between the first vehicle body and the second vehicle body, the first vehicle body and the second vehicle body are both provided with a first walking mechanism, the first vehicle body is connected to one side of the cargo platform via a first lifting belt mechanism, the second vehicle body is connected to the other side of the cargo platform via a second lifting belt mechanism, and a cargo picking and placing mechanism is provided on the cargo platform;

[0027] The mother vehicle can lift the cargo platform into the space through the first lifting belt mechanism and the second lifting belt mechanism, so that the cargo plane of the cargo platform is not lower than the plane of the walking track matched with the first walking mechanism.

[0028] The beneficial effects of the present invention are as follows:

[0029] In the warehousing system of the present invention, a space for accommodating a cargo platform is provided in the middle part of the body of the mother vehicle. The mother vehicle can lift the cargo platform into the space through the lifting belt mechanism, so that the cargo plane of the cargo platform is not lower than the plane where the walking track is located, thereby realizing the picking and placing of goods at the shelf storage location on the layer where the mother vehicle is located. At the same time, compared with the scenario where the cargo platform can only work under the body of the mother vehicle, the overall height space occupied by the cargo handling device provided by the present invention is reduced, and there is no need to consider the height of the cargo handling device when setting the shelf storage location, thereby further improving the utilization rate of the storage space. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0031] Figure 1 It is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0032] Figure 2 This is a front view of the overall structure of Example 1 of the present invention;

[0033] Figure 3 The structure of the cargo handling device of embodiment 1 of the present invention is shown in FIG. Figure 1 ;

[0034] Figure 4 The structure of the cargo handling device of embodiment 1 of the present invention is shown in FIG. Figure 2 ;

[0035] Figure 5 This is a schematic diagram of the coordination between the mother vehicle and the running track of the shelf in Embodiment 1 of the present invention;

[0036] Figure 6 is a structural schematic diagram of a cargo handling device according to embodiment 2 of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of the mother vehicle according to Embodiment 2 of the present invention;

[0038] Among them, 1. cargo platform, 2. cargo pick-up and release mechanism, 3. shelf, 4. travel track, 5. first vehicle body, 6. second vehicle body, 7. lane change track, 8. push plate, 9. vehicle body, 10. lifting belt, 11. first wheel, 12. first transmission mechanism, 13. travel drive motor, 14. transmission shaft, 15. lifting plate, 16. lifting mechanism, 17. second wheel, 18. second transmission mechanism, 19. reversing mechanism, 20. tension wheel;

[0039] 5-1. First housing, 5-2. First winch wheel, 5-3. First winch wheel shaft, 5-4. First transmission mechanism, 5-5. First lifting drive motor, 5-6. First lifting belt, 5-7. First guide wheel, 5-8. First guide wheel shaft, 5-9. First travel wheel, 5-10. First travel wheel shaft, 5-11. Travel drive motor;

[0040] 6-1. Second outer shell, 6-2. Second winch wheel, 6-3. Second winch wheel shaft, 6-4. Second lifting belt, 6-5. Second walking wheel. DETAILED DESCRIPTION

[0041] Example 1

[0042] The present embodiment provides a storage system, including multiple rows of shelves, with lanes formed between adjacent shelves. The shelves on both sides of the lane are provided with walking tracks at the same height, and the walking tracks cooperate with a cargo handling device. The cargo handling device can travel along the walking tracks. The walking tracks are arranged along the extension direction of the lane. The cargo handling device includes a mother vehicle, a cargo platform 1 and a picking and placing mechanism 2. The mother vehicle is connected to the cargo platform 1 through a lifting belt mechanism, and can drive the cargo platform 1 to rise and fall. A first walking mechanism is provided on the side of the mother vehicle arranged along the extension direction of the lane. The first walking mechanism cooperates with the walking tracks 4 arranged on the shelf 3, and the mother vehicle can travel along the extension direction of the shelf 3.

[0043] The body of the mother vehicle is provided with a space that matches the cargo platform and is used to accommodate the cargo platform 1. In this embodiment, the body of the mother vehicle is divided into two parts, namely, a first vehicle body 5 and a second vehicle body 6. The first vehicle body 5 and the second vehicle body 6 are both provided with a first walking mechanism, and the first walking mechanism cooperates with the walking track 4 provided with the shelf 3. A space that matches the cargo platform 1 and can accommodate the cargo platform 1 is provided between the first vehicle body 5 and the second vehicle body 6. The first vehicle body 5 is connected to one side of the cargo platform 1 through a first lifting belt mechanism, and the second vehicle body 6 is connected to the other side of the cargo platform 1 through a second lifting belt mechanism. The first lifting belt mechanism and the second lifting belt mechanism can drive the cargo platform 1 to rise to the space between the first vehicle body 5 and the second vehicle body 6, and make the cargo plane of the cargo platform 1 not lower than the top plane where the walking track 4 is located. Thereby, the picking and placing mechanism on the cargo platform 1 can pick and place the cargo at the cargo position corresponding to the layer where the mother vehicle is located.

[0044] Furthermore, in order to ensure the stability of the cargo platform 1 when lifting and lowering, at least two first lifting belt structures are provided and / or at least two second lifting belt structures are provided.

[0045] The first vehicle body 5 and the second vehicle body 6 have the same structure.

[0046] Specifically, the first vehicle body 5 includes a first outer shell 5 - 1 , the first outer shell 5 - 1 has a space inside, and the first vehicle body is installed with a first lifting belt mechanism, which is connected to one side of the cargo platform 1 .

[0047] Furthermore, in order to ensure the stability of lifting the cargo platform 1, the first vehicle body 5-1 is provided with at least two first lifting belt mechanisms. Preferably, two first lifting belt mechanisms are provided, and the two first lifting belt mechanisms are respectively located on both sides of the first vehicle body 5.

[0048] The first lifting belt mechanism includes a first winch wheel 5-2, and the two first winch wheels 5-2 are connected to a first winch wheel shaft 5-3. The first winch wheel shaft 5-3 is rotatably connected to the first outer shell 5-1. In this embodiment, the two first winch wheels 5-2 are located at the outer part of the space inside the first outer shell 5-1, that is, the two first winch wheels 5-2 are arranged at the outer end of the first vehicle body 5.

[0049] The two first hoisting wheels 5-2 achieve synchronous rotation through the first hoisting wheel shaft 5-3.

[0050] The first hoisting wheel shaft 5-3 is connected to the first lifting drive mechanism through the first transmission mechanism 5-4. In this embodiment, the first lifting drive mechanism is arranged on the inner side of the first hoisting wheel 5-2 on one side. The first lifting drive member adopts the first lifting drive motor 5-5 or other equipment that can output rotational motion. The output shaft of the first lifting drive motor 5-5 is connected to the first hoisting wheel shaft 5-3 through the first transmission mechanism 5-4, and then realizes the connection with the first hoisting wheel 5-2, thereby realizing the transmission of power to the first hoisting wheel 5-2.

[0051] The first transmission mechanism 5 - 4 adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0052] The first lifting belt 5-6 is wound around the first winch wheel 5-2. Preferably, the first lifting belt 5-6 is a flat belt. The first lifting belt 5-6 passes around the first guide wheel 5-7 and then passes through the first shell 5-1 and extends downward. The movable end is connected to one side of the cargo platform 1.

[0053] In this embodiment, the two first guide wheels 5-7 are connected by a first guide wheel shaft 5-8, and the first guide wheel shaft 5-8 is rotatably connected to the first outer shell 5-1. The first guide wheel shaft 5-8 and the two first guide wheels 5-7 are arranged at the top of the inner end part of the internal space of the first outer shell 5-1. This arrangement makes it easy to lift the cargo platform 1 to the space between the first vehicle body 5 and the second vehicle body 6.

[0054] A travel drive member is provided on the inner side of the first winch wheel 5 - 2 on the other side. The travel drive member is connected to the first travel mechanism to drive the first travel mechanism to work.

[0055] In this embodiment, the running mechanism connected to the first vehicle body 5 is two first running wheels 5-9 respectively located on both sides of the first outer shell 5-1. The two first running wheels 5-9 are connected by a first running wheel axle 5-10, and the first running wheel axle 5-10 is rotationally connected to the first outer shell 5-1.

[0056] The travel drive component adopts a travel drive motor 5-11. It can be understood that the travel drive component can also adopt other devices that can output rotational motion.

[0057] The output shaft of the travel drive motor 5-11 is connected to the first travel wheel shaft 5-10 through the third transmission mechanism. The third transmission mechanism adopts a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism or other mechanisms capable of transmitting rotational motion, and preferably a belt transmission mechanism is adopted.

[0058] The travel drive motor 5 - 11 can drive the first travel wheel shaft 5 - 10 to rotate through the third transmission mechanism, and then drive the two first travel wheels 5 - 9 to rotate, thereby realizing the travel of the first vehicle body 5 along the travel track 4 .

[0059] The structure of the second car body 6 is the same as that of the first car body 5, including a second shell 6-1, on which a walking mechanism and a second lifting belt mechanism are installed. Two second lifting belt mechanisms are also provided, which are respectively arranged on both sides of the second car body 6. The second lifting belt mechanism includes a second winch wheel 6-2. The second winch wheels 6-2 of the two second lifting belt mechanisms are connected by a second winch wheel shaft 6-3. The second winch wheel shaft 6-3 is rotatably connected to the second shell 6-1. The second winch wheel shaft 6-3 and the second winch wheel 6-2 are arranged at the outer end of the inner space of the second shell, that is, at the outer end of the second car body 6. A second lifting belt 6-4 is wound around the second winch wheel 6-2. Preferably, the second lifting belt 6-4 is a flat belt. The second lifting belt 6-4 extends downward after bypassing the second guide wheel. After passing through the second shell 6-1, its movable end is connected to the other side of the cargo platform.

[0060] The second guide wheels of the two second lifting belt mechanisms are connected via a second guide wheel shaft, which is rotationally connected to the second shell 6-1. The two second guide wheels and the second guide wheel shaft therebetween are located at the top of the inner end portion of the inner space of the second shell.

[0061] A second lifting drive mechanism is provided on the inner side of the second guide wheel on one side, and the second lifting drive mechanism is connected to the second winch wheel shaft through a second transmission mechanism. The second lifting drive mechanism adopts a second lifting drive motor. It can be understood that the second lifting drive mechanism can also adopt other devices that can output rotational motion. The output shaft of the second lifting drive motor is connected to the second winch wheel shaft through the second transmission mechanism, driving the second winch wheel shaft to rotate, thereby realizing the synchronous rotation of the two second winch wheels 6-2.

[0062] The second transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0063] A travel drive mechanism is provided on the inner side of the second hoisting wheel 6-2 on the other side, and the travel drive mechanism is connected to the first travel mechanism of the second vehicle body to drive the travel mechanism to work.

[0064] The walking mechanism of the second vehicle body 6 includes two second walking wheels 6-5 respectively located on both sides of the second outer shell 6-1, and the two second walking wheels 6-5 are connected by a second walking wheel axle. The walking drive mechanism adopts a walking drive motor or other equipment that can output rotational motion. The walking drive motor is connected to the second walking wheel axle between the two second walking wheels 6-5 through a fourth transmission mechanism, driving the second walking wheel axle to rotate, thereby driving the two second walking wheels 6-5 to rotate synchronously.

[0065] In this embodiment, the fourth transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably a belt transmission mechanism is adopted.

[0066] A cargo pick-up and release mechanism 2 is installed on the cargo platform. The cargo pick-up and release mechanism adopts a telescopic cargo pick-up and release mechanism, including a two-way telescopic mechanism arranged on both sides of the cargo platform 1, the telescopic direction of the two-way telescopic mechanism is perpendicular to the walking direction of the first vehicle body and the second vehicle body, the two-way telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating drive member, the rotating drive member adopts a steering gear, the axis of the steering gear is parallel to the telescopic direction of the two-way telescopic mechanism, the output shaft of the steering gear is connected to a fork perpendicular to the fork, the steering gear can drive the fork to rotate in a plane perpendicular to the fork, the fork rotates to the space between the two two-way telescopic mechanisms, and cargo can be picked up and released. The above-mentioned two-way telescopic mechanism and the fork, the structural connection method of the fork can adopt the telescopic mechanism, fork and fork structure and connection method disclosed in patent application CN117585346A, and its further technical details are not described in detail here.

[0067] In another embodiment, the bidirectional telescopic mechanism on both sides of the cargo platform is connected to the clamping plate. At the same time, the bidirectional telescopic mechanism on both sides of the cargo platform are connected to the telescopic components installed on the cargo platform. The telescopic components adopt cylinders or linear motors or screw transmission mechanisms, etc. The telescopic direction of the telescopic components is perpendicular to the telescopic direction of the bidirectional telescopic mechanism to drive the two clamping plates to move toward or away from each other.

[0068] In the third embodiment, the cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism arranged in the middle or on both sides of the cargo platform, and the two-way telescopic mechanism is connected to the suction cup assembly or the hook claw assembly, and the suction cup assembly or the hook claw assembly is used to realize cargo picking and placing.

[0069] In the cargo handling device of this embodiment, the cargo platform 1 can be lifted to the space between the first vehicle body 5 and the second vehicle body 6 by the action of the first lifting belt mechanism and the second lifting belt mechanism, thereby realizing the picking and placing of goods at the shelf cargo space on the layer where the mother vehicle is located. It can be applied to the situation where there are multiple cargo handling devices distributed up and down in the aisle, thereby improving the utilization rate of the cargo space.

[0070] Furthermore, at least two pushing members are provided on the two edges of the cargo platform 1 parallel to the extension direction of the shelf. Preferably, two pushing members are provided on the two edges, and the two pushing members are respectively arranged at the two ends of the edge of the cargo platform 1. The pushing members are pushing plates 8, and each pushing plate 8 is connected to the telescopic mechanism installed on the cargo platform 1. The telescopic mechanism can be an existing telescopic mechanism, such as a gear rack telescopic mechanism or a cylinder or linear motor and other devices that can output linear motion. After the cargo platform reaches the target cargo position, the pushing plate extends out and abuts against the shelf, thereby ensuring the stability of the cargo platform 1 when picking up and placing goods.

[0071] The cargo handling device is arranged inside the lane formed by adjacent shelves, and the first walking mechanism of the first vehicle body 5 and the second vehicle body 6 cooperates with the walking track 4 fixed on the shelf 3 and arranged along the extension direction of the lane, and the first vehicle body 5 and the second vehicle body 6 can travel along the walking track through the walking mechanism.

[0072] In this embodiment, at least one lane is provided with the cargo handling device, and accordingly, a curved lane-changing track 7 is provided between the ends of the running tracks 4 of adjacent lanes on the same side, so that the cargo handling device can move from one lane to another adjacent lane.

[0073] Furthermore, a plurality of cargo handling devices are provided in the lane, and the plurality of cargo handling devices are located at different heights of the shelves. The bottom height of the loading platform of the upper cargo handling device is higher than the maximum height of the lower cargo handling device in the loading state, and no motion interference will occur, thereby further improving the cargo transfer efficiency. Accordingly, a plurality of lane change rails 7 are also provided, which are respectively connected to the walking rails at different heights.

[0074] Example 2

[0075] This embodiment provides a warehousing system, which is different from the first embodiment in that the structure of the cargo handling device is different and the arrangement of the lane change track is different.

[0076] The body 9 of the mother vehicle of the cargo handling device is an integral structure, which is provided with a accommodating cavity, which forms a space matching the cargo platform 1 and used to accommodate the cargo platform 1, and a lifting belt mechanism is provided at the four corners of the top of the body 9. The lifting belt mechanism includes a lifting drive motor fixed to the top of the body, the lifting drive motor is connected to the winch wheel, and the winch wheel is wrapped with a lifting belt 10. The lifting belt 10 passes around the guide wheel rotatably connected to the top of the body and then extends downward and is connected to the cargo platform 1.

[0077] The lifting drive motor can drive the cargo platform 1 to be lifted and accommodated in the accommodating cavity through the lifting belt so that the cargo loading plane of the cargo platform 1 is not lower than the top plane of the walking track.

[0078] The first walking mechanism is provided at the bottom ends of the two oppositely arranged side parts of the vehicle body 9, that is, the first walking mechanism is provided at the bottom ends of the two side parts of the vehicle body 9 arranged along the extension direction of the lane, and the first walking mechanism includes a plurality of first wheels 11. In this embodiment, two first wheels 11 are provided, and the two first wheels 11 are respectively arranged on both sides of the bottom ends of the side parts of the vehicle body 6, and the two first wheels 11 are rotatably connected to the vehicle body 9 through axles, and the axles of the two first wheels 11 are connected through a first transmission mechanism 12, so that the two first wheels 11 rotate synchronously. In this embodiment, the first transmission mechanism 12 adopts a belt transmission mechanism or a chain transmission mechanism, and preferably adopts a belt transmission mechanism, including a driving pulley, and a plurality of driven pulleys and a transmission belt wound between the driving pulley and the driven pulley, the axles of the two first wheels 11 are connected to the driven pulleys of the belt transmission mechanism, and the driving pulley of the belt transmission mechanism is located at the top of the vehicle body and is connected to the travel drive motor 13 arranged on the top of the vehicle body.

[0079] The corresponding driven pulleys of the first transmission mechanisms 12 on both sides are connected via a transmission shaft 14 , so that the two first transmission mechanisms 12 can move synchronously, and further the first traveling mechanisms on both sides share a traveling drive motor 13 .

[0080] The other two sides of the vehicle body which are relatively arranged perpendicular to the extension direction of the laneway are provided with lifting components, and the lifting components adopt lifting plates 15, and the lifting plates 15 are connected to the lifting mechanism installed on the vehicle body. In this embodiment, the lifting mechanism adopts a screw lifting mechanism 16 or a cam lifting mechanism. The existing lifting mechanism can be used, and its specific structure will not be described in detail here.

[0081] The lifting plate 16 is provided with a slider, and the slider is slidably connected to a guide rail provided on the vehicle body 9, thereby realizing a sliding connection between the lifting plate 16 and the vehicle body 9, and ensuring the stability of the lifting and lowering of the lifting plate 16.

[0082] A second walking mechanism is installed on the lifting plate 16, and the walking direction of the second walking mechanism is perpendicular to the walking direction of the first walking mechanism. The second walking mechanism includes multiple second wheels 17, one of the second wheels 17 is a driving wheel, and the other second wheels 17 are driven wheels. In this embodiment, two second wheels 17 are provided, one of the second wheels 17 is a driving wheel, and the other second wheel 17 is a driven wheel.

[0083] The second wheels 17 are all rotatably connected to the lifting plate 15 via a wheel axle, wherein the second wheel as the driving wheel is connected to a reversing mechanism 19 via a second transmission mechanism 18 , and the reversing mechanism 19 is connected to the wheel axle of one of the first wheels 11 .

[0084] In this embodiment, the second transmission mechanism 18 adopts a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism, one of the driven pulleys of the belt transmission mechanism is connected to the axle of the second wheel 17, and the other driven pulleys are rotatably connected to the vehicle body, and the driving pulley is connected to the output shaft of the reversing mechanism 19 installed on the vehicle body 9, and the input shaft of the reversing mechanism is the axle of the first wheel.

[0085] In this embodiment, the reversing mechanism 19 adopts a bevel gear transmission box installed at the bottom of the vehicle body, which can realize 90° reversing transmission of power.

[0086] The lifting plate 15 is also provided with a tensioning wheel 20, which contacts the transmission belt of the second transmission mechanism 18, so that when the lifting plate 15 drives the second wheel 17 to rise and fall, the transmission belt of the second transmission mechanism 18 can be kept in a tensioned state to ensure smooth transmission of power.

[0087] In the shelf using the cargo handling device of this embodiment, a plurality of connecting channels are provided between adjacent lanes, and the plurality of connecting channels connect the adjacent lanes. The connecting channels are arranged inside the shelf, and lane-changing tracks are arranged on both sides of the connecting channels. The lane-changing tracks are fixedly connected to the shelf, and the lane-changing tracks are vertically connected to the walking tracks of the adjacent lanes to realize lane-changing of the cargo handling device. The lane-changing tracks are used to cooperate with the second walking mechanism. When the mother vehicle moves to the position corresponding to the lane-changing tracks through the first walking mechanism and the walking tracks, the lifting mechanism drives the lifting plate to descend, so that the second wheel cooperates with the lane-changing tracks and the first wheel disengages from the walking tracks. At this time, the second walking mechanism can drive the cargo handling device to move to the adjacent lane to realize lane changing.

[0088] In the storage system of this embodiment, the lane changing track is set inside the shelf and does not occupy the space outside the shelf, thereby reducing the volume of the entire storage system. In addition, the cargo handling device can change lanes through the lane changing track closest to its current position, thereby improving the efficiency of the lane changing work.

[0089] The rest of the structure of this embodiment is the same as that of Embodiment 1 and will not be described again here.

[0090] Example 3

[0091] The present embodiment provides a cargo handling device, including a mother vehicle, a cargo platform 1 and a cargo picking and placing mechanism 2. The mother vehicle is connected to the cargo platform 1 through a lifting belt mechanism, and can drive the cargo platform 1 to be raised and lowered. The mother vehicle is provided with a walking mechanism, and the walking mechanism cooperates with a walking track 4 provided on the shelf 3. The mother vehicle can move along the extension direction of the shelf 3.

[0092] The body of the mother vehicle is provided with a space that matches the cargo platform and is used to accommodate the cargo platform 1. In this embodiment, the body of the mother vehicle is divided into two parts, namely, a first vehicle body 5 and a second vehicle body 6. Both the first vehicle body 5 and the second vehicle body 6 are provided with a walking mechanism, and the walking mechanism cooperates with the walking track 4 provided with the shelf 3. A space that matches the cargo platform 1 and can accommodate the cargo platform 1 is provided between the first vehicle body 5 and the second vehicle body 6. The first vehicle body 5 is connected to one side of the cargo platform 1 through a first lifting belt mechanism, and the second vehicle body 6 is connected to the other side of the cargo platform 1 through a second lifting belt mechanism. The first lifting belt mechanism and the second lifting belt mechanism can drive the cargo platform 1 to rise to the space between the first vehicle body 5 and the second vehicle body 6, and make the cargo plane of the cargo platform 1 not lower than the top plane where the walking track 4 is located. Thereby, the picking and placing mechanism on the cargo platform 1 can pick and place the cargo at the cargo position corresponding to the layer where the mother vehicle is located.

[0093] At least two first lifting belt structures are provided and / or at least two second lifting belt structures are provided, and the first vehicle body 5 and the second vehicle body 6 have the same structure.

[0094] Specifically, the first vehicle body 5 includes a first outer shell 5 - 1 , the first outer shell 5 - 1 has a space inside, and the first vehicle body is installed with a first lifting belt mechanism, which is connected to one side of the cargo platform 1 .

[0095] The first vehicle body 5 - 1 is provided with at least two first lifting belt mechanisms. Preferably, two first lifting belt mechanisms are provided. The two first lifting belt mechanisms are respectively located on both sides of the first vehicle body 5 .

[0096] The first lifting belt mechanism includes a first winch wheel 5-2, and the two first winch wheels 5-2 are connected to a first winch wheel shaft 5-3. The first winch wheel shaft 5-3 is rotatably connected to the first outer shell 5-1. In this embodiment, the two first winch wheels 5-2 are located at the outer part of the space inside the first outer shell 5-1, that is, the two first winch wheels 5-2 are arranged at the outer end of the first vehicle body 5.

[0097] The two first hoisting wheels 5-2 achieve synchronous rotation through the first hoisting wheel shaft 5-3.

[0098] The first hoisting wheel shaft 5-3 is connected to the first lifting drive mechanism through the first transmission mechanism 5-4. In this embodiment, the first lifting drive mechanism is arranged on the inner side of the first hoisting wheel 5-2 on one side. The first lifting drive member adopts the first lifting drive motor 5-5 or other equipment that can output rotational motion. The output shaft of the first lifting drive motor 5-5 is connected to the first hoisting wheel shaft 5-3 through the first transmission mechanism 5-4, and then realizes the connection with the first hoisting wheel 5-2, thereby realizing the transmission of power to the first hoisting wheel 5-2.

[0099] The first transmission mechanism 5 - 4 adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0100] The first lifting belt 5-6 is wound around the first winch wheel 5-2. Preferably, the first lifting belt 5-6 is a flat belt. The first lifting belt 5-6 passes around the first guide wheel 5-7 and then passes through the first shell 5-1 and extends downward. The movable end is connected to one side of the cargo platform 1.

[0101] In this embodiment, the two first guide wheels 5-7 are connected by a first guide wheel shaft 5-8, and the first guide wheel shaft 5-8 is rotatably connected to the first outer shell 5-1. The first guide wheel shaft 5-8 and the two first guide wheels 5-7 are arranged at the top of the inner end part of the internal space of the first outer shell 5-1. This arrangement makes it easy to lift the cargo platform 1 to the space between the first vehicle body 5 and the second vehicle body 6.

[0102] A travel drive member is provided on the inner side of the first winch wheel 5 - 2 on the other side, and the travel drive member is connected to the travel mechanism to drive the travel mechanism to work.

[0103] In this embodiment, the running mechanism connected to the first vehicle body 5 is two first running wheels 5-9 respectively located on both sides of the first outer shell 5-1. The two first running wheels 5-9 are connected by a first running wheel axle 5-10, and the first running wheel axle 5-10 is rotationally connected to the first outer shell 5-1.

[0104] The travel drive component adopts a travel drive motor 5-11. It can be understood that the travel drive component can also adopt other devices that can output rotational motion.

[0105] The output shaft of the travel drive motor 5-11 is connected to the first travel wheel shaft 5-10 through the third transmission mechanism. The third transmission mechanism adopts a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism or other mechanisms capable of transmitting rotational motion, and preferably a belt transmission mechanism is adopted.

[0106] The travel drive motor 5 - 11 can drive the first travel wheel shaft 5 - 10 to rotate through the third transmission mechanism, and then drive the two first travel wheels 5 - 9 to rotate, thereby realizing the travel of the first vehicle body 5 along the travel track 4 .

[0107] The structure of the second car body 6 is the same as that of the first car body 5, including a second shell 6-1, on which a walking mechanism and a second lifting belt mechanism are installed. Two second lifting belt mechanisms are also provided, which are respectively arranged on both sides of the second car body 6. The second lifting belt mechanism includes a second winch wheel 6-2. The second winch wheels 6-2 of the two second lifting belt mechanisms are connected by a second winch wheel shaft 6-3. The second winch wheel shaft 6-3 is rotatably connected to the second shell 6-1. The second winch wheel shaft 6-3 and the second winch wheel 6-2 are arranged at the outer end of the inner space of the second shell, that is, at the outer end of the second car body 6. A second lifting belt 6-4 is wound around the second winch wheel 6-2. Preferably, the second lifting belt 6-4 is a flat belt. The second lifting belt 6-4 extends downward after bypassing the second guide wheel. After passing through the second shell 6-1, its movable end is connected to the other side of the cargo platform.

[0108] The second guide wheels of the two second lifting belt mechanisms are connected via a second guide wheel shaft, which is rotationally connected to the second shell 6-1. The two second guide wheels and the second guide wheel shaft therebetween are located at the top of the inner end portion of the inner space of the second shell.

[0109] A second lifting drive mechanism is provided on the inner side of the second guide wheel on one side, and the second lifting drive mechanism is connected to the second winch wheel shaft through a second transmission mechanism. The second lifting drive mechanism adopts a second lifting drive motor. It can be understood that the second lifting drive mechanism can also adopt other devices that can output rotational motion. The output shaft of the second lifting drive motor is connected to the second winch wheel shaft through the second transmission mechanism, driving the second winch wheel shaft to rotate, thereby realizing the synchronous rotation of the two second winch wheels 6-2.

[0110] The second transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0111] A travel drive mechanism is provided on the inner side of the second hoisting wheel 6-2 on the other side, and the travel drive mechanism is connected to the travel mechanism of the second vehicle body to drive the travel mechanism to work.

[0112] The walking mechanism of the second vehicle body 6 includes two second walking wheels 6-5 respectively located on both sides of the second outer shell 6-1, and the two second walking wheels 6-5 are connected by a second walking wheel axle. The walking drive mechanism adopts a walking drive motor or other equipment that can output rotational motion. The walking drive motor is connected to the second walking wheel axle between the two second walking wheels 6-5 through a fourth transmission mechanism, driving the second walking wheel axle to rotate, thereby driving the two second walking wheels 6-5 to rotate synchronously.

[0113] In this embodiment, the fourth transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably a belt transmission mechanism is adopted.

[0114] A cargo pick-up and release mechanism 2 is installed on the cargo platform. The cargo pick-up and release mechanism adopts a telescopic cargo pick-up and release mechanism, including a two-way telescopic mechanism arranged on both sides of the cargo platform 1, the telescopic direction of the two-way telescopic mechanism is perpendicular to the walking direction of the first vehicle body and the second vehicle body, the two-way telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating drive member, the rotating drive member adopts a steering gear, the axis of the steering gear is parallel to the telescopic direction of the two-way telescopic mechanism, the output shaft of the steering gear is connected to a fork perpendicular to the fork, the steering gear can drive the fork to rotate in a plane perpendicular to the fork, the fork rotates to the space between the two two-way telescopic mechanisms, and cargo can be picked up and released. The above-mentioned two-way telescopic mechanism and the fork, the structural connection method of the fork can adopt the telescopic mechanism, fork and fork structure and connection method disclosed in patent application CN117585346A, and its further technical details are not described in detail here.

[0115] In another embodiment, the bidirectional telescopic mechanism is connected to a plate fork, and the plate fork is used to pick up and place goods.

[0116] In the third embodiment, the bidirectional telescopic mechanism is connected to the fork, and a telescopic driving member perpendicular to the fork is provided at the end of the fork. The telescopic driving member adopts a device such as a cylinder that can output linear motion. The telescopic driving member is connected to the vacuum suction cup, and the vacuum suction cup is used to absorb and fix the goods to realize picking and releasing of goods.

[0117] In the cargo handling device of this embodiment, the cargo platform 1 can be lifted to the space between the first vehicle body 5 and the second vehicle body 6 by the action of the first lifting belt mechanism and the second lifting belt mechanism, thereby realizing the picking and placing of goods at the shelf cargo space on the layer where the mother vehicle is located. It can be applied to the situation where there are multiple cargo handling devices distributed up and down in the aisle, thereby improving the utilization rate of the cargo space.

[0118] Furthermore, at least two pushing members are provided on the two edges of the cargo platform 1 parallel to the extension direction of the shelf. Preferably, two pushing members are provided on the two edges, and the two pushing members are respectively arranged at the two ends of the edge of the cargo platform 1. The pushing members are pushing plates 8, and each pushing plate 8 is connected to the telescopic mechanism installed on the cargo platform 1. The telescopic mechanism can be an existing telescopic mechanism, such as a gear rack telescopic mechanism or a cylinder or linear motor and other devices that can output linear motion. After the cargo platform reaches the target cargo position, the pushing plate extends out and abuts against the shelf, thereby ensuring the stability of the cargo platform 1 when picking up and placing goods.

[0119] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A storage system, characterized in that: include: Multiple shelves, with lanes formed between adjacent shelves, and walking tracks set at the same height of adjacent shelves; The cargo handling device comprises a mother vehicle, a first walking mechanism is arranged on the side of the body of the mother vehicle along the extension direction of the lane, the body is also provided with a lifting belt mechanism, the lifting belt mechanism is connected to the cargo platform, a cargo picking and placing mechanism is arranged on the cargo platform, the first walking mechanism is used to move horizontally along the walking track in the lane to drive the cargo platform to move to the target position to pick up and place the cargo; A space for accommodating a cargo platform is provided in the middle of the body of the mother vehicle, and the mother vehicle can lift the cargo platform into the space through the lifting belt mechanism so that the cargo plane of the cargo platform is not lower than the plane where the walking track is located.

2. A storage system as claimed in claim 1, characterized in that: The body of the mother vehicle includes a first body and a second body, a space matching the cargo platform and used to accommodate the cargo platform is formed between the first body and the second body, the first body and the second body are both provided with a first walking mechanism, the first body is connected to one side of the cargo platform through a first lifting belt mechanism, and the second body is connected to the other side of the cargo platform through a second lifting belt mechanism.

3. A storage system as claimed in claim 2, characterized in that: A cargo handling device is arranged in at least one lane. Correspondingly, a lane-changing track is arranged between adjacent lanes. The lane-changing track is connected to the ends on the same side of the running tracks of the adjacent lanes. The lane-changing track is a curved track.

4. A storage system as claimed in claim 2, characterized in that: The first lifting belt mechanism includes a first winch wheel rotatably connected to the outer end portion of the first vehicle body, the first winch wheel is connected to a first lifting drive mechanism installed on the first vehicle body, a first lifting belt is wound around the first winch wheel, the first lifting belt passes over a guide wheel arranged on the top of the inner end of the first vehicle body and then extends downward, and its movable end is connected to the cargo platform.

5. A storage system as claimed in claim 4, characterized in that: The first lifting drive mechanism adopts a first rotating drive member located inside the first hoisting wheel, and the first rotating drive member is connected to the first hoisting wheel through a first transmission mechanism.

6. A storage system as claimed in claim 2, characterized in that: The second lifting belt mechanism includes a second winch wheel located at the outer end portion of the second vehicle body, the second winch wheel is connected to a second lifting drive mechanism installed on the second vehicle body, a second lifting belt is wound around the second winch wheel, the second lifting belt passes over a guide wheel arranged at the top of the inner end of the second vehicle body and then extends downward, and its movable end is connected to the cargo platform.

7. A storage system according to claim 6, characterized in that: The second lifting mechanism adopts a second rotating driving member located inside the second hoisting wheel, and the second rotating driving member is connected to the second hoisting wheel through a second transmission mechanism.

8. A storage system as claimed in claim 2, characterized in that: The first vehicle body is equipped with at least two first lifting belt mechanisms and / or the second vehicle body is equipped with at least two second lifting belt mechanisms.

9. A storage system as claimed in claim 1, characterized in that: The body of the mother vehicle is provided with a lifting mechanism along the side perpendicular to the extension direction of the lane, and the lifting mechanism is connected to the second walking mechanism through a lifting plate. The lifting mechanism is used to drive the second walking mechanism to descend when the cargo handling device changes lanes, so that the second walking mechanism can travel along the lane changing track connected between the walking tracks of adjacent lanes, and the walking direction of the second walking mechanism is perpendicular to the walking direction of the first walking mechanism.

10. A storage system according to claim 9, characterized in that: The shelves are provided with a connecting passage connecting two adjacent lanes, and lane-changing tracks are fixed on the shelves at both sides of the connecting passage, and the lane-changing tracks are connected to the travel tracks of the adjacent lanes.

11. A storage system according to claim 1, characterized in that: The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a bidirectional telescopic mechanism installed on both sides of the cargo platform, the telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating driving member, and the rotating driving member is connected to the shift fork; or; The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed on both sides of the cargo platform, and the two-way telescopic mechanism is connected to the clamping plate; or; The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism installed in the middle or on both sides of the cargo platform, and the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly.

12. A storage system according to claim 1, characterized in that: At least two pushing members are provided on two edges of the cargo platform parallel to the extension direction of the shelf. The pushing members are connected to the telescopic components. The telescopic components can drive the pushing members to move so that the pushing members abut against the shelf.

13. The storage system according to claim 1, characterized in that: A plurality of the cargo handling devices are arranged in the same lane, and the plurality of cargo handling devices are located at different heights of the shelves. The mother vehicle cooperates with the corresponding walking tracks fixed on the shelves through the walking mechanism.

14. A cargo handling device, comprising a mother vehicle, characterized in that: The mother vehicle comprises a first vehicle body and a second vehicle body, a space matching the cargo platform and used to accommodate the cargo platform is formed between the first vehicle body and the second vehicle body, the first vehicle body and the second vehicle body are both provided with a first walking mechanism, the first vehicle body is connected to one side of the cargo platform via a first lifting belt mechanism, the second vehicle body is connected to the other side of the cargo platform via a second lifting belt mechanism, and a cargo picking and placing mechanism is provided on the cargo platform; The mother vehicle can lift the cargo platform into the space through the first lifting belt mechanism and the second lifting belt mechanism, so that the cargo plane of the cargo platform is not lower than the plane of the walking track matched with the first walking mechanism.

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