Functional structure of intelligent transfer vehicle

Abstract

The invention discloses a functional structure of an intelligent transfer vehicle. The functional structure comprises a flexible double-arm cargo clamp, a cache disc, a transfer vehicle electric cabinet, a walking motor, a lifting motor, a material detection mechanism, a code scanning mechanism and the like. The flexible double-arm goods clamp can grab materials of various sizes. The cache disc can temporarily store the grabbed materials; the transfer vehicle electric cabinet is used for providing necessary power support for electrical components configured for the intelligent transfer vehicle; the walking motor can drive the intelligent transfer vehicle to advance or retreat; the lifting motor can provide power for lifting of the flexible double-arm goods clamp, and it is ensured that the flexible double-arm goods clamp can store materials into the temporary storage disc or take the materials out of the temporary storage disc. The material detection mechanism can detect the storage state of goods shelf materials, and guarantee is provided for safe and accurate storage and taking of the materials. The code scanning mechanism can scan two-dimensional codes and bar code labels pasted on the goods shelf to assist the intelligent transfer vehicle in positioning and can also scan two-dimensional codes and bar code labels pasted on the surfaces of materials to obtain material information, and it is guaranteed that the grabbed materials are correct. The system is high in automation degree, easy to operate and long in service life, the low error rate is guaranteed, meanwhile, the material storing and taking efficiency can be improved, storage space occupation is reduced, and the automatic storage cost can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of warehousing and logistics equipment, and in particular to the functional structure of an intelligent transfer vehicle. Background Art

[0002] A transfer vehicle usually refers to a handling equipment with a specific transfer function. It is widely used in scenarios where materials need to be transferred. It can quickly and stably reach the designated location according to the requirements of the task, complete tasks such as picking up, unloading, and transportation, and achieve full automatic operation without the need for manual operation.

[0003] While existing transfer vehicles can perform material handling tasks, such as relocating goods and performing simple loading and unloading operations, their intelligence is still in its infancy. They typically rely on pre-set fixed paths or simple judgment commands to complete their tasks, and lack the ability to adapt to different tasks. Therefore, when faced with complex and changing material storage and retrieval needs, such as the need to simultaneously ship materials from different locations and sizes, or to flexibly adjust operational strategies in a dynamically changing warehouse environment, existing transfer vehicles often fail to meet the requirements for efficient, precise, and flexible operations. Summary of the Invention

[0004] The purpose of the present invention is to provide a functional structure of an intelligent transfer vehicle to solve the problem of poor flexibility in the storage and retrieval of materials of various sizes and types.

[0005] To solve the above problems, the present invention is achieved through the following technical solutions:

[0006] The functional structure of an intelligent transfer vehicle includes: an intelligent transfer vehicle base; ground rails laid on the left and right sides of the intelligent transfer vehicle; a walking power belt; a ceiling rail installed on the lower surface of the top cantilever beam of the three-dimensional shelf; a busbar protective cover installed on the inner side of the shelf column, and a busbar installed inside the same; a rear walking wheel for guiding the intelligent transfer vehicle to move along the extension direction of the ground rail; a walking power fixed seat; a front walking wheel for guiding the intelligent transfer vehicle to move along the extension direction of the ground rail; a walking synchronous belt pulley; a walking motor; a walking synchronous belt tensioning block; a flexible double-arm cargo clamp that can move up and down or rotate in space; a code scanning mechanism that can scan labels containing QR codes and bar codes; a cargo platform frame; a slewing mechanism; a lifting synchronous belt driving wheel; a lifting power shaft; a lifting motor; a lifting synchronous belt; a lifting column; a top synchronous belt steering wheel; a lifting archway top fixing plate; a lifting connector; a clamping mechanism; a climbing ladder pedal; a climbing ladder handrail; a collector arm; an upper beam side guide wheel; a cache tray; a transfer vehicle electrical cabinet; and a material detection mechanism.

[0007] Furthermore, the walking synchronous pulley is covered with a walking power belt and is connected to the walking motor through a transmission shaft. The rotation of the walking synchronous pulley will drive the rear walking wheel, the front walking wheel and the upper beam side guide wheel to rotate, thereby realizing the forward or backward movement of the intelligent transfer vehicle.

[0008] Furthermore, the rotating mechanism is installed in the central area of the cargo platform frame, and the flexible double-arm cargo clamp is installed on the upper surface of the rotating mechanism. The rotating mechanism can rotate continuously 270 degrees to drive the flexible double-arm cargo clamp to take out or store materials from the shelves on both sides of the transfer vehicle.

[0009] Furthermore, the lower end of the lifting connector is connected to the cargo platform frame, the upper end is connected to the head end of the lifting synchronous belt, the end of the lifting synchronous belt is connected to the lifting synchronous belt driving wheel, and the lifting motor is connected to the lifting synchronous belt driving wheel through the lifting power shaft.

[0010] Furthermore, the upper crossbeam side guide wheels are installed on the upper surface of the fixed plate at the top of the lifting archway, and the two upper crossbeam side guide wheels are separated by a ceiling rail.

[0011] Furthermore, the cache disks are installed between four lifting columns and are evenly arranged at certain intervals in the vertical direction.

[0012] A functional structure of an intelligent transfer vehicle is characterized in that the process flow includes material taking and material storage:

[0013] In the material picking process, the intelligent transfer vehicle stops at the discharge port or target storage location. The material detection mechanism first detects the target location to ensure the presence of the material. The code scanning mechanism reads the QR code or barcode information posted on the surface of the material. Only when the analysis result matches the current task will the flexible double-arm cargo clamp grab the material. After that, the flexible double-arm cargo clamp is driven by the lifting motor to lift and store the materials in the buffer tray of the intelligent transfer vehicle in order from low to high.

[0014] In the material storage link, the travel motor drives the travel synchronous pulley, which drives the upper beam side guide wheel to rotate on the inner surface of the ceiling rail and the front travel wheel and the rear travel wheel to rotate on the ground rail. The intelligent transfer vehicle can move horizontally to the target storage position. At this time, the flexible double-arm cargo clamp takes out the material from the cache tray, and then the lifting motor drives the flexible double-arm cargo clamp to adjust the height. Only when the material detection mechanism confirms that the target position is empty, the flexible double-arm cargo clamp can store the material in the correct storage position.

[0015] Furthermore, in the material-retrieving process, a clamping mechanism is installed inside the flexible double-arm cargo clamp, which can drive the cargo fork to tighten, making it easier to grab materials within a certain size range.

[0016] Furthermore, the material taking link or material storage link will also perform path planning, which specifically includes the following steps:

[0017] 1. Analyze the operation task, obtain multiple storage locations where the operation needs to be performed, and generate the operation location;

[0018] 2. Add the current location and the end point of the operation to the operation orientation point, calculate the distance between any two points in all the operation orientation points, and generate a distance matrix;

[0019] 3. Initialize intelligent algorithm parameters and set algorithm iteration termination conditions;

[0020] 4. Run the algorithm to obtain the optimal walking path within the iteration result;

[0021] Furthermore, the material detection mechanism can monitor the material storage status. During the material picking process of the flexible double-arm fork, if the material detection mechanism detects that the target position is vacant, the intelligent transfer vehicle will stop operating and issue an alarm; during the material storage process of the flexible double-arm fork, if the material detection mechanism detects that the target position is occupied, the intelligent transfer vehicle will also stop operating and issue an alarm.

[0022] Furthermore, the code scanning mechanism can parse the QR code and barcode information posted on the shelves, and at the same time, combined with the lifting motor data, the height of the current storage location can be stored in the database. If the measured height differs from the factory standard height by more than a threshold, a reminder message will be sent to the warehouse manager to facilitate timely detection of shelf deformation, ground subsidence and other problems, thereby improving the targeted maintenance of the three-dimensional warehouse.

[0023] The present invention has the following beneficial effects:

[0024] 1. This invention uses a barcode scanning mechanism to scan box labels to obtain material logistics information (including material form). Based on the material information, it automatically plans routes and selects appropriate inbound and outbound strategies. This not only improves material transportation efficiency but also effectively reduces energy consumption and wear of mechanical equipment, saving maintenance costs.

[0025] 2. Due to the laying of overhead rails and ground rails, the load-carrying speed of the present invention is faster than that of a trackless transfer vehicle, and the transportation efficiency is high;

[0026] 3. The present invention is equipped with multiple types of sensors, which can not only improve the accuracy of warehousing operations, but also detect the height changes of warehouse shelves, making it easier to find problems in a timely manner and carry out targeted maintenance;

[0027] 4. The present invention does not require visual equipment, can overcome the shortcomings of complex visual systems and the need for regular maintenance and calibration, can save the cost of visual cameras, and has low production costs; since there is no need for image analysis, the grasping time will be shortened compared to adding a visual system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of the functional structure of an intelligent transfer vehicle proposed in the present invention;

[0029] Figure 2-Figure 4 This is a schematic diagram of the three-dimensional structure of the intelligent transfer vehicle proposed in the present invention;

[0030] Figure 5 This is a schematic diagram of the material warehousing process of the functional structure of an intelligent transfer vehicle proposed in the present invention;

[0031] Figure 6 This is a schematic diagram of the material outbound process of the functional structure of an intelligent transfer vehicle proposed in the present invention;

[0032] The reference numerals are as follows:

[0033] 1. Intelligent transfer vehicle base; 2. Flexible double-arm cargo clamp; 3. Climbing ladder pedal; 4. Climbing ladder handrail; 5. Collector arm; 6. Upper beam side guide wheel; 7. Buffer tray; 8. Transfer vehicle electrical cabinet; 9. Material detection mechanism; 11. Ground rail; 12. Travel power belt; 13. Overhead rail; 14. Busbar protective cover; 15. Top beam; 16. Shelf column; 111. Rear travel wheel; 112. Travel power fixed seat; 113. Front travel wheel; 121 , walking synchronous belt pulley; 122, walking motor; 123, walking synchronous belt tensioning block; 211, code scanning mechanism; 212, cargo platform frame; 213, slewing mechanism; 221, lifting synchronous belt driving wheel; 222, lifting power shaft; 223, lifting motor; 224, lifting synchronous belt; 225, lifting column; 226, top synchronous belt steering wheel; 227, lifting archway top fixing plate; 228, lifting connector; 229, clamping mechanism. DETAILED DESCRIPTION

[0034] The present invention is further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent actual material dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0035] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting.

[0036] See attached Figure 1 To the attached Figure 4In this embodiment, a functional structure of an intelligent transfer vehicle comprises an intelligent transfer vehicle base (1), a flexible double-arm cargo clamp (2), a climbing ladder pedal (3), a climbing ladder handrail (4), a collector arm (5), an upper beam side guide wheel (6), a cache disk (7), a transfer vehicle electrical cabinet (8) and a material detection mechanism (9); two ground rails (11) are laid on the ground, respectively located on the left and right sides of the intelligent transfer vehicle, and both ends of the ground rails (11) are installed with walking synchronous belt tensioning blocks (123) in the extension direction; a walking power belt (12) is laid parallel between the two ground rails (11), and its two ends are fixed by walking synchronous belt tensioning blocks (123); a ceiling rail (13) is installed at the lower end of the top beam (15) of the three-dimensional shelf; a sliding contact The wire protection cover (14) is fixed to the inner side of the shelf column (16), and a sliding contact line is installed inside the wire protection cover; the front walking wheel (113) and the rear walking wheel (111) are respectively installed at the front and rear ends of the intelligent transfer vehicle base (1), and are used to guide the intelligent transfer vehicle to move along the extension direction of the ground rail (11); the walking power fixing seat (112) is fixed to the intelligent transfer vehicle base (1) by bolts, and a walking synchronous belt pulley (121) and a walking motor (122) are installed on the upper surface of the walking power fixing seat (112); the walking motor (122) is connected to the walking synchronous belt pulley (121) through a transmission shaft, and the walking synchronous belt pulley (121) is wound with a walking power belt (12); the loading platform frame (212) is fixed to the intelligent transfer vehicle base (1), A slewing mechanism (213) is installed at the center of the lifting platform, and a lifting connector (228) is fixed on the top of the lifting platform; the flexible double-arm cargo clamp (2) is installed on the upper surface of the slewing mechanism (213) and can be rotated in the horizontal plane through the slewing mechanism (213). A clamping mechanism (229) and a material detection mechanism (9) are installed inside the flexible double-arm cargo clamp (2). The code scanning mechanism (211) is located in the gap between the bottom of the flexible double-arm cargo clamp (2) and the loading platform frame (212), and supports the recognition of labels containing QR codes and bar codes; the top fixed plate (227) of the lifting archway is installed on the top of the lifting column (225), and a top synchronous belt steering wheel (226) is installed at each end of its upper surface. Two upper beam side guide wheels (6) are fixed in the center area, and the ceiling rail (13) is clamped between the two upper beams. The lifting synchronous belt driving wheel (221) is installed on the upper surface of the intelligent transfer vehicle base (1) just below the climbing ladder pedal (3), and is connected to the lifting motor (223) through the lifting power shaft (222); one end of the lifting synchronous belt (224) passes around the lifting synchronous belt driving wheel (221) and is fixed in the lifting column (225), and the other end is laid upward along the lifting column (225). When it reaches the top of the lifting column (225), it changes direction through the top synchronous belt steering wheel (226) and continues to be laid downward along the lifting column (225). The end thereof is connected to the lifting connector (228); the collector arm (5) is fixed to the top of the lifting column (225) and can receive the electric energy provided by the sliding bus bar and send it to the transfer vehicle electric cabinet (8) through the cable;A plurality of cache trays (7) are fixed on the inner side of the lifting column (225) at a certain height interval from low to high.

[0037] Example 1: warehousing stage;

[0038] Please refer to the attached for the warehousing process. Figure 5 When the WMS system issues a congestion signal for the discharge roller line, the intelligent transfer vehicle runs to the discharge port, and the material detection mechanism (9) detects in real time whether the material exists. If the material does not exist, the intelligent transfer vehicle stops and waits. When the first material arrives, the code scanning mechanism (211) scans the QR code or barcode posted on the surface of the material, and proceeds after confirming that the material is correct. After the material has completely entered the flexible double-arm cargo clamp (2), the slewing mechanism (213) drives the flexible double-arm cargo clamp (2) to rotate 90 degrees in the horizontal plane. At the same time, the lifting motor (223) drives the lifting synchronously through the lifting power shaft (222). The driving wheel (221) rotates forward to recycle the lifting synchronous belt (224); one end of the lifting connector (228) is connected to the flexible double-arm cargo clamp (2), and the other end is connected to the lifting synchronous belt (224). The flexible double-arm cargo clamp (2) is lifted to the location of the target cache disk (7) along with the recovery of the lifting synchronous belt (224), and the material is stored therein; thereafter, the lifting motor (223) is reversed to release the lifting synchronous belt (224), and the flexible double-arm cargo clamp (2) descends and returns to the discharge port; the above process is repeated until the storage conditions are met, and the intelligent transfer vehicle will perform path planning for this storage task;

[0039] After obtaining the optimal operation path, the slewing mechanism (213) drives the flexible double-arm cargo clamp (2) to rotate. At the same time, the lifting motor (223) rotates, driving the flexible double-arm cargo clamp (2) to take out the material from the target cache disk (7) and move it to the height of the target storage position. While the flexible double-arm cargo clamp (2) moves, the walking motor (122) drives the walking synchronous pulley (121) through the transmission shaft. The walking synchronous pulley (121) cooperates with the walking power belt (12) to drive the upper beam side guide wheel (6) to rotate on the ceiling rail (13), and the front walking wheel (113) and the rear walking wheel (111) to rotate on the ground rail (11). The intelligent transfer vehicle can finally move to the first target storage location in the aisle of the three-dimensional warehouse, and the code scanning mechanism (211) will identify the QR code or barcode label posted on the shelf to ensure that the flexible double-arm cargo clamp (2) has reached the correct position; the material detection mechanism (9) detects in real time whether the storage location materials exist. If the storage location is occupied, the intelligent transfer vehicle stops the operation and alarms; if the storage location is vacant, the flexible double-arm cargo clamp (2) will store the material in the storage location, completing the warehousing operation of the first material; repeat the above process until all the materials that meet the warehousing conditions are stored in the shelf storage location, and the intelligent transfer vehicle completes the operation task and resets.

[0040] Example 2: Outbound link;

[0041] Please refer to the attached for the outbound process. Figure 6, the WMS system sends a pickup location instruction to the intelligent transfer vehicle, and the intelligent transfer vehicle obtains the optimal operation path based on the path planning algorithm and moves to the first operation point; the code scanning mechanism (211) will identify the QR code or barcode label posted on the shelf to ensure that the flexible double-arm cargo clamp (2) has arrived at the correct position; the material detection mechanism (9) detects in real time whether the storage material exists. If the material does not exist, the intelligent transfer vehicle stops working and alarms; if the material exists, the flexible double-arm cargo clamp (2) will grab the material; after the material has completely entered the flexible double-arm cargo clamp (2), the slewing mechanism (213) drives the flexible double-arm cargo clamp (2) to rotate 90 degrees in the horizontal plane; at the same time, the lifting motor (223) drives the lifting synchronous belt driving wheel (221) to rotate through the lifting power shaft (222), and recycles or releases the lifting synchronous belt (224); one end of the lifting connector (228) is connected to the flexible double-arm cargo clamp (2), and the other end is connected to the lifting synchronous belt (224). The flexible double-arm cargo clamp (2) will move to the height of the target cache disk (7) as the lifting synchronous belt (224) is recycled or released, and the material is stored therein; while the flexible double-arm cargo clamp (2) moves, The walking motor (122) drives the walking synchronous belt pulley (121) through the transmission shaft. The walking synchronous belt pulley (121) cooperates with the walking power belt (12) to drive the upper beam side guide wheel (6) to rotate on the ceiling rail (13), the front walking wheel (113) and the rear walking wheel (111) to rotate on the ground rail (11), and finally the intelligent transfer vehicle can move to the next operation point in the lane of the three-dimensional warehouse; repeat the above process until the material at the last operation point is taken out; at this time, the lifting motor (223) drives the lifting synchronous belt active wheel (221) again, driving the flexible double-arm cargo clamp (2) to move to the target cache disk (7) to take out the material, and descend to the height of the discharge port; the slewing mechanism (213) drives the flexible double-arm cargo clamp (2) to rotate and adjust the direction of the flexible double-arm cargo clamp (2); while the flexible double-arm cargo clamp (2) moves, the walking motor (122) drives the walking synchronous belt active wheel (221) through the transmission shaft The pulley (121) and the walking synchronous pulley (121) cooperate with the walking power belt (12) to drive the upper beam side guide wheel (6) to rotate on the ceiling rail (13), the front walking wheel (113) and the rear walking wheel (111) to rotate on the ground rail (11), and finally the intelligent transfer vehicle moves to the discharge port, completing the first material outbound operation; at this time, the rotary mechanism (213) drives the flexible double-arm cargo clamp (2) to rotate 90 degrees in the horizontal plane; at the same time, the lifting motor (223) drives the lifting synchronous belt active wheel (221) to rotate forward, lifts the flexible double-arm cargo clamp (2) to the position of the target cache disk (7), and takes out the material; thereafter, the rotary mechanism (213) drives the flexible double-arm cargo clamp (2) to rotate 90 degrees in the opposite direction, the lifting motor (223) reverses, releases the lifting synchronous belt (224), and the flexible double-arm cargo clamp (2) descends and returns to the discharge port, completing the second material outbound operation;Repeat the above process until all materials that meet the outgoing conditions are delivered to the outgoing port, and the intelligent transfer vehicle completes its task and resets.

[0042] In the description of the present invention, it should be understood that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", "first", "second", etc. quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0043] The terms "first" and "after" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Therefore, a feature specified with "first" or "after" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed" and "disposed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] Those skilled in the art will readily appreciate that other variations or modifications may be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A functional structure of an intelligent transfer vehicle, characterized in that: include: Intelligent transfer vehicle base (1); ground rails (11), laid on the left and right sides of the intelligent transfer vehicle; walking power belt (12); overhead rails (13), installed on the lower surface of the top beam (15) of the three-dimensional shelf; a busbar protective cover (14), installed on the inner side of the shelf column (16), with a busbar installed inside; rear walking wheels (111), used to guide the intelligent transfer vehicle to move along the extension direction of the ground rails (11); walking power fixed seat (112); front walking wheels (113), used to guide the intelligent transfer vehicle to move along the extension direction of the ground rails (11); walking synchronous pulleys (121); walking motors (122); walking synchronous belt tensioning blocks (123); flexible double-arm cargo clamps (2), It can move up and down or rotate in space; a code scanning mechanism (211) that can scan labels containing QR codes and bar codes; a cargo platform frame (212); a slewing mechanism (213); a lifting synchronous belt driving wheel (221); a lifting power shaft (222); a lifting motor (223); a lifting synchronous belt (224); a lifting column (225); a top synchronous belt steering wheel (226); a lifting archway top fixing plate (227); a lifting connector (228); a clamping mechanism (229); a climbing ladder pedal (3); a climbing ladder handrail (4); a collector arm (5); an upper crossbeam side guide wheel (6); a cache tray (7); a transfer vehicle electrical cabinet (8); and a material detection mechanism (9).

2. The functional structure of the intelligent transfer vehicle according to claim 1 is characterized in that: The traveling synchronous pulley (121) is covered with a traveling power belt (12) and is connected to a traveling motor (122) via a transmission shaft. The rotation of the traveling synchronous pulley (121) drives the rear traveling wheel (111), the front traveling wheel (113) and the upper crossbeam side guide wheel (6) to rotate, thereby enabling the intelligent transfer vehicle to move forward or backward.

3. The functional structure of the intelligent transfer vehicle according to claim 1 is characterized in that: The slewing mechanism (213) is installed in the central area of the cargo platform frame (212), and the flexible double-arm cargo clamp (2) is installed on the upper surface of the slewing mechanism (213). The slewing mechanism (213) can continuously rotate 270 degrees to drive the flexible double-arm cargo clamp (2) to take out or store materials from the shelves on both sides of the intelligent transfer vehicle.

4. The functional structure of the intelligent transfer vehicle according to claim 1 is characterized in that: The lower end of the lifting connector (226) is connected to the cargo platform frame (212), and the upper end is connected to the head end of the lifting synchronous belt (224). The end of the lifting synchronous belt (224) is connected to the lifting synchronous belt driving wheel (221). The lifting motor (223) is connected to the lifting synchronous belt driving wheel (221) through the lifting power shaft (222).

5. The functional structure of the intelligent transfer vehicle according to claim 1 is characterized in that: The upper crossbeam side guide wheels (6) are mounted on the upper surface of the top fixing plate (227) of the lifting archway, and the two upper crossbeam side guide wheels (6) are separated by a ceiling rail (13).

6. A functional structure of an intelligent transfer vehicle, characterized in that: The cache trays (7) are installed between four lifting columns (225) and are evenly arranged at certain intervals in the vertical direction.

7. A functional structure of an intelligent transfer vehicle, characterized in that: The process flow includes material taking and material storage: In the material picking process, the intelligent transfer vehicle stops at the discharge port or the target storage location, and the material detection mechanism (9) first detects the target location to ensure the existence of the material. The code scanning mechanism (9) reads the QR code or barcode information posted on the surface of the material. Only when the analysis result matches the current operation task, the flexible double-arm cargo clamp (2) will grab the material; thereafter, the flexible double-arm cargo clamp (2) is driven by the lifting motor (223) to lift the material and store the material in the intelligent transfer vehicle cache disk (7) in descending order. In the material storage process, the travel motor (122 ) drives the walking synchronous pulley (121), which drives the upper beam side guide wheel (6) to rotate on the inner surface of the ceiling rail (13), the front walking wheel (113) and the rear walking wheel (111) to rotate on the ground rail (11), and the intelligent transfer vehicle can move horizontally to the target storage position. At this time, the flexible double-arm cargo clamp (2) takes out the material from the cache tray (7), and then drives the lifting motor (223) to adjust the height of the flexible double-arm cargo clamp (2); only when the material detection mechanism (9) confirms that the target position is empty, the flexible double-arm cargo clamp (2) can store the material in the correct storage position.

8. The process flow of the intelligent transfer vehicle according to claim 7 is characterized in that: In the material picking process, a clamping mechanism (229) is installed inside the flexible double-arm cargo clamp (2), which can drive the cargo fork to tighten, making it easier to grab materials within a certain size range.

9. The process flow of the intelligent transfer vehicle according to claim 7 is characterized in that: The material taking or storage stage will also perform path planning, which specifically includes the following steps: (1) Analyze the operation task, obtain multiple storage locations where the operation needs to be performed, and generate the operation location; (2) Add the current position and the end point of the operation to the operation orientation point, calculate the distance between any two points in all the operation orientation points, and generate a distance matrix; (3) Initialize the intelligent algorithm parameters and set the algorithm iteration termination conditions; (4) Run the algorithm to obtain the optimal walking path within the iterative results.

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