Automatic guided vehicle, goods shelf, warehousing system and control method

Abstract

The invention provides an automatic guided vehicle, a goods shelf, a warehousing system and a control method. The automatic guided vehicle comprises a vehicle frame, a first roller, a second roller and a lifting matching piece. The first roller is arranged on the frame and drives the frame to move in the first direction. The second roller is arranged on the frame and drives the frame to move in the second direction. The second direction is perpendicular to the first direction in the horizontal plane. And at least one of the first roller and the second roller is movable in the vertical direction. The lifting matching piece is arranged on the frame and can stretch out or retreat in the first direction relative to the frame. The lifting station comprises a lifting mechanism arranged in the vertical direction, and when the lifting matching piece stretches out relative to the vehicle frame in the first direction, the lifting matching piece is matched with the lifting mechanism so as to drive the vehicle frame to move in the vertical direction. According to the embodiment, six-direction movement can be conducted in the goods shelf, the structure is simple, the space utilization rate is increased, and the equipment failure rate is reduced.

Description

Technical Field

[0001] The present invention generally relates to the field of intelligent warehousing technology, and in particular to automated guided vehicles, shelves, warehousing systems and control methods. Background Art

[0002] In the field of smart warehousing, automated guided vehicles (AGVs) are primarily used to transfer goods within a single shelf level, entering and exiting the warehouse. In some smart warehousing systems, AGVs are restricted to moving within a single shelf level. When goods need to be moved to a different shelf level, they are primarily moved vertically by manual operation or by using dispatching devices installed on the side of the shelf.

[0003] In addition, some intelligent warehousing systems reserve empty spaces at specific locations on the shelves and install lifting mechanisms. When an AGV needs to move vertically to another shelf, the lifting mechanism is used to drive the AGV to move vertically. However, the lifting mechanism is complex, occupies a large space, and is inefficient. For example, when one AGV occupies the lifting mechanism, other AGVs that need to move vertically to other shelves must wait for the lifting mechanism to reset, seriously affecting the overall operating efficiency of the intelligent warehousing system.

[0004] On the other hand, in existing intelligent warehousing systems, warehousing and warehousing often require the coordination of multiple equipment such as manual / unmanned forklifts, automatic guided vehicles, conveyor lines, etc., which places high demands on the coordinated operation of the system, is inefficient, has low equipment utilization, and is prone to failure.

[0005] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Summary of the Invention

[0006] In view of one or more deficiencies in the prior art, the present invention provides an automated guided vehicle for performing six-directional movement in a shelf, wherein the shelf includes a lifting station; the automated guided vehicle comprises:

[0007] Frame;

[0008] a first roller, the first roller being disposed on the frame and driving the frame to move along a first direction;

[0009] a second roller, the second roller being disposed on the frame and driving the frame to move in a second direction; the second direction being perpendicular to the first direction in a horizontal plane; and at least one of the first roller or the second roller being movable in a vertical direction;

[0010] a lifting fitting, the lifting fitting being disposed on the vehicle frame and being capable of extending or retracting relative to the vehicle frame along the first direction;

[0011] Wherein, the lifting station includes a lifting mechanism arranged along the vertical direction. When the lifting fitting is extended relative to the frame along the first direction, the lifting fitting cooperates with the lifting mechanism to drive the frame to move along the vertical direction.

[0012] According to one aspect of the present invention, the lifting fittings are provided on both sides of the frame along the first direction; the lifting mechanisms are provided on both sides of the lifting station along the first direction, and the positions of the lifting mechanisms correspond to the lifting fittings; when the lifting fittings are extended along the first direction, they abut and engage with the lifting mechanisms on both sides.

[0013] According to one aspect of the present invention, the lifting fitting includes a sprocket, and the lifting mechanism includes a chain; when the lifting fitting extends along the first direction, the sprocket engages with the chain, and the chain is driven to move, driving the automatic guided vehicle to move in the vertical direction; and / or the sprocket is driven to rotate, driving the automatic guided vehicle to move in the vertical direction.

[0014] According to one aspect of the present invention, the automatic guided vehicle further comprises:

[0015] A lifting frame, the lifting frame being located above the vehicle frame;

[0016] a power mechanism, the power mechanism being in transmission connection with the lifting frame and configured to drive the lifting frame to move in a vertical direction;

[0017] The lifting frame is in transmission connection with the lifting fitting member, and when the lifting fitting member extends relative to the vehicle frame along the first direction, the lifting frame approaches the vehicle frame.

[0018] According to one aspect of the present invention, the power mechanism comprises:

[0019] a driving source, the driving source being disposed in the vehicle frame;

[0020] a first transmission member, the first transmission member being in transmission connection with the driving source;

[0021] A crank, wherein the crank is fixedly connected to the first transmission member; the lifting frame includes a first guide rail, and the pin shaft of the crank moves along the first guide rail to drive the lifting frame to move in a vertical direction relative to the frame.

[0022] According to one aspect of the present invention, the vertical position of the lifting frame includes:

[0023] an upper position, wherein when the lifting frame is in the upper position, the vertical distance between the lifting frame and the vehicle frame is the largest, so as to lift the cargo;

[0024] In the upper-middle position, the lifting frame is located below the cargo support in the shelf and is used for traveling in the cargo aisle in a non-loaded state;

[0025] In the middle-lower position, when the lifting frame is in the middle-lower position, the automatic guided vehicle moves in the direction of the lane, and the lifting fitting is retracted;

[0026] The lifting frame is in the lower position, and the vertical distance between the lifting frame and the vehicle frame is the smallest, and the lifting fitting is extended.

[0027] According to one aspect of the present invention, a first guide member is provided between the lifting frame and the vehicle frame, and the first guide member is configured to limit the lifting frame to move in a vertical direction relative to the vehicle frame.

[0028] According to one aspect of the present invention, the automatic guided vehicle further comprises:

[0029] a second transmission member, the second transmission member being in transmission connection with the driving source or the first transmission member;

[0030] The second transmission member is in transmission connection with both the first roller and the lifting fitting member; the lifting fitting member includes a sprocket, and the second transmission member is configured to drive the first roller and the sprocket to rotate.

[0031] According to one aspect of the present invention, the second transmission member comprises:

[0032] a plurality of synchronous pulleys, at least one of which is in transmission connection with the driving source or the first transmission member;

[0033] a synchronous toothed belt, wherein the synchronous toothed belt is engaged with the plurality of synchronous pulleys and the synchronous toothed belt is tensioned;

[0034] Wherein, the first roller and the sprocket are both configured to be coaxially arranged with at least one of the plurality of synchronous pulleys.

[0035] According to one aspect of the present invention, the lifting fitting further comprises:

[0036] a movable plate, the movable plate being movably connected relative to the vehicle frame along the first direction; the sprocket being arranged on the movable plate;

[0037] A connecting rod is hinged to the movable plate and is configured to enable the movable plate to extend from the vehicle frame along the first direction when the lifting frame is in the lower position.

[0038] According to one aspect of the present invention, the lifting fitting further comprises an elastic member, the connecting rod is connected to the frame via the elastic member, and the elastic member is configured to generate elastic force to restrict the movable plate from extending from the frame along the first direction.

[0039] According to one aspect of the present invention, the shelf includes tracks extending along the first direction and the second direction, and the first roller and the second roller are configured to drive the frame to move along the tracks.

[0040] According to one aspect of the present invention, when the lifting fitting extends relative to the vehicle frame, the second roller is configured to move along the first direction to avoid the track.

[0041] According to one aspect of the present invention, the power mechanism further comprises:

[0042] A third transmission member is in transmission connection with the second roller and is configured to drive the second roller to move along the first direction.

[0043] According to one aspect of the present invention, the frame comprises:

[0044] First frame;

[0045] a second frame, the second frame being arranged on both sides of the first frame along the first direction, and the second roller being arranged on a side of the second frame away from the first frame;

[0046] Wherein, the rotating shaft of the second roller is spline-connected to the third transmission member; a second guide member is provided between the first frame and the second frame, and the second guide member is configured to limit the second frame and the second roller to move along the first direction relative to the first frame.

[0047] According to one aspect of the present invention, the present invention further relates to a shelf for cooperating with the aforementioned automated guided vehicle to enable the automated guided vehicle to perform six-directional movement within the shelf; the shelf comprises:

[0048] A column, wherein the column is arranged in a vertical direction;

[0049] A track, the track being fixedly connected to the column and arranged along a horizontal plane; the automatic guided vehicle moves along the track;

[0050] A cargo support, fixedly connected to the column and located above the track, for supporting cargo;

[0051] A lifting station is provided along the column and is configured to cooperate with the lifting fitting in the automatic guided vehicle to drive the vehicle frame to move in a vertical direction.

[0052] According to one aspect of the present invention, the shelf includes a plurality of rails and a plurality of cargo racks; the rails located in the same horizontal plane constitute a cargo layer, the shelf includes a plurality of cargo layers, and each cargo layer includes a plurality of cargo racks located in the same horizontal plane.

[0053] According to one aspect of the present invention, the track comprises:

[0054] a first track extending along the first direction and cooperating with the first roller in the automated guided vehicle;

[0055] A second track extends along the second direction and cooperates with the second roller in the automatic guided vehicle.

[0056] According to one aspect of the present invention, the present invention also relates to a warehousing system, comprising:

[0057] Shelves as mentioned above;

[0058] at least one automated guided vehicle as described above;

[0059] The automatic guided vehicle cooperates with the shelf and performs six-directional movement in the shelf.

[0060] According to one aspect of the present invention, the storage system further comprises:

[0061] The loading and unloading station is close to the facade of at least one side edge of the shelf, and the automatic guided vehicle is configured to transport goods to the loading and unloading station or obtain goods from the loading and unloading station.

[0062] According to one aspect of the present invention, the present invention also relates to a control method for controlling the aforementioned automated guided vehicle to move in a vertical direction, comprising:

[0063] Control the movement of the automatic guided vehicle to the lifting position of the shelf;

[0064] Control the lifting and lowering parts in the automatic guided vehicle to extend from the vehicle frame and cooperate with the lifting station;

[0065] Control the retraction of the second roller in the automatic guided vehicle;

[0066] The lifting fitting and / or the lifting station drive the vehicle frame to move in the vertical direction.

[0067] Compared with the prior art, an embodiment of the present invention provides an automated guided vehicle, wherein the lifting fittings can cooperate with the lifting stations in the shelf to enable the automated guided vehicle to perform six-directional movement within the shelf. In addition, the lifting stations are arranged on the shelf, and no additional lifting equipment is required. The structure is simple, which is conducive to improving space utilization and reducing equipment failure rate. At the same time, it is conducive to increasing the degree of freedom in arranging shelves, optimizing the spatial distribution within the warehouse, and reducing the equipment cost and system complexity of the storage system. The use of automated guided vehicles and lifting stations on the shelves can achieve six-directional movement, which is conducive to reducing the number of equipment used in the process of entering and exiting the warehouse, and reducing the difficulty of coordination and failure rate.

[0068] An embodiment of the present invention further includes a shelf for cooperating with the aforementioned automatic guided vehicle, so that the automatic guided vehicle can perform six-directional movement within the shelf.

[0069] An embodiment of the present invention further includes a warehousing system comprising the aforementioned shelf and at least one aforementioned automatic guided vehicle.

[0070] An embodiment of the present invention further includes a control method for controlling the aforementioned automatic guided vehicle to move in a vertical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0072] Figure 1 is a schematic structural diagram of an automatic guided vehicle in some embodiments of the present invention;

[0073] Figure 2 is a schematic diagram of the cooperation between the lifting fitting and the lifting mechanism in some embodiments of the present invention;

[0074] Figure 3 is a schematic diagram of a power mechanism driving a lifting frame to move in some embodiments of the present invention;

[0075] Figure 4 is a schematic diagram of the crank position when the lifting frame is in different positions in some embodiments of the present invention;

[0076] Figure 5 is a schematic diagram of a vehicle frame and a lifting frame in some embodiments of the present invention;

[0077] Figure 6A and Figure 6B is a schematic diagram of the transmission relationship of the second transmission member in some embodiments of the present invention;

[0078] Figure 7 is a schematic structural diagram of a lifting fitting in some embodiments of the present invention;

[0079] Figure 8 is a schematic diagram of the transmission relationship of the third transmission member in some embodiments of the present invention;

[0080] Figure 9 is a schematic diagram of the structure of a shelf in some embodiments of the present invention;

[0081] Figure 10 is a schematic diagram of a storage system in some embodiments of the present invention;

[0082] Figure 11 1 is a flow chart of a control method for controlling an automatic guided vehicle to move in a vertical direction in some embodiments of the present invention. DETAILED DESCRIPTION

[0083] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0084] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present invention and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features referred to. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly or specifically defined.

[0085] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction 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.

[0086] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may also include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0087] The invention below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the invention of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0088] The following describes embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0089] Figure 1 The structure of an automatic guided vehicle 100 according to some embodiments of the present invention is shown. Figure 2 The figure shows the mutual cooperation between the lifting fitting 140 and the lifting station 210 in some embodiments of the present invention. Figure 9 ) to move in six directions. The shelf 200 includes a lifting station 210. Figure 1 and Figure 2 The structure of the automated guided vehicle 100 and its cooperation with the shelf 200 will be described.

[0090] See also Figure 1 The automatic guided vehicle 100 includes a vehicle frame 110 , a first roller 120 , a second roller 130 and a lifting fitting 140 .

[0091] The frame 110 includes, for example, a frame made of a rigid material, preferably in a substantially rectangular parallelepiped shape. In some embodiments, the frame 110 includes two relatively movable layers to facilitate the AGV 100 to change direction in a horizontal plane. The specific structure will be described in subsequent embodiments.

[0092] The first roller 120 is disposed on the frame 110 and can drive the frame 110 to move in a first direction. The second roller 130 is disposed on the frame 110 and can drive the frame 110 to move in a second direction. The first direction and the second direction are perpendicular to each other in a horizontal plane.

[0093] like Figure 1 As shown, in some embodiments, the frame 110 is generally rectangular in shape, with first wheels 120 and second wheels 130 disposed on mutually perpendicular sides of the rectangular parallelepiped. Multiple first wheels 120 are symmetrically disposed on either side of the frame 110, while multiple second wheels 130 are symmetrically disposed on either side of the frame 110 in the other direction, thereby improving the stability of the automated guided vehicle 100 during movement.

[0094] At least one of the first roller 120 or the second roller 130 can move in the vertical direction. For example, the first roller 120 is fixed relative to the frame 110, and the second roller 130 can move in the vertical direction so that the rim of the second roller 130 is higher or lower than the rim of the first roller 120. When the automated guided vehicle 100 is controlled to move in a first direction, the rim of the second roller 130 is higher than the rim of the first roller 120, the rim of the first roller 120 contacts the load-bearing surface or track, and the first roller 120 drives the frame 110 to move in the first direction. When the automated guided vehicle 100 is controlled to move in a second direction, the rim of the second roller 130 is lower than the rim of the first roller 120. Supported by the second roller 130, the first roller 120 is suspended in the air, the rim of the second roller 130 contacts the load-bearing surface or track, and the second roller 130 drives the frame 110 to move in the second direction. In other embodiments, it may also be configured that the second roller 130 is fixed relative to the frame 110 and the first roller 120 is movable in the vertical direction.

[0095] The lifting member 140 is disposed on the vehicle frame 110 and can extend or retract relative to the vehicle frame 110 in a first direction. Specifically, for example, the vehicle frame 110 has an extension hole, and the lifting member 140 can be controlled to extend from the extension hole to the outside of the vehicle frame 110 or retract into the interior of the vehicle frame 110. The extension and retraction of the lifting member 140 can be driven by the same drive source that drives the AGV 100, or by an independent drive source.

[0096] See also Figure 2 The lifting station 210 in the shelf 200 includes a lifting mechanism 211 arranged in the vertical direction. When the lifting fitting 140 is extended relative to the frame 110, the lifting fitting 140 can cooperate with the lifting mechanism 210 to drive the frame 110 to move in the vertical direction. For example, when the automated guided vehicle 100 is controlled to move in the vertical direction, such as when the automated guided vehicle 100 is controlled to move to different cargo levels of the shelf 200, the automated guided vehicle 100 is controlled to move to the lifting station 210, and the lifting fitting 140 is extended from the frame 110 to cooperate with the lifting mechanism 211. The lifting fitting 140 and the lifting mechanism 211 cooperate with each other, and the lifting fitting 140 can drive the frame 110 to move in the vertical direction, or the lifting mechanism 211 can drive the frame 110 to move in the vertical direction, which will be described in detail in the subsequent embodiments.

[0097] When the automated guided vehicle 100 moves along a horizontal plane, for example, when the automated guided vehicle 100 moves on the same cargo layer, the lifting fitting 140 can retract into the interior of the frame 110, reducing the risk of interference between the automated guided vehicle 100 and the shelf 200 during movement.

[0098] In this embodiment, the lifting fitting 140 and the lifting mechanism 211 cooperate with each other to drive the automated guided vehicle 100 to move in the vertical direction, thereby achieving six-directional movement of the automated guided vehicle 100 within the shelf 200. This allows the automated guided vehicle 100 to carry goods and move between different storage levels within the shelf 200, expanding the coverage area of ​​the automated guided vehicle 100 and improving the efficiency of the warehousing system. In this embodiment, an additional lifting mechanism is required, and the lifting station 210 occupies less space on the shelf 200 for storing goods, which helps improve space utilization, reduce equipment failure rates, and reduce the impact of the lifting mechanism's position on the shelf, facilitating the implementation of split racks and optimizing the shelf layout within the warehouse.

[0099] According to a preferred embodiment of the present invention, see Figure 2, lifting fittings 140 are provided on both sides of the vehicle frame 110 along the first direction, and lifting mechanisms 211 are provided on both sides of the lifting station 210 along the first direction, and the positions of the lifting structures 211 correspond to the positions of the lifting fittings 140. When the lifting fittings 140 extend relative to the vehicle frame 110 along the first direction, the lifting fittings 140 abut and engage with the lifting mechanisms 211.

[0100] In this embodiment, the lifting fitting 140 is limited in the first direction by the lifting mechanisms 211 on both sides, and the bonding strength between the lifting fitting 140 and the lifting mechanism 211 is improved through the force of mutual abutment and engagement, thereby reducing the risk of the automatic guided vehicle 100 tilting or falling when moving in the vertical direction, which is beneficial to improving the stability of the warehousing system and production safety.

[0101] For details, see Figure 2 In a preferred embodiment of the present invention, the lifting member 140 includes a sprocket 141, and the lifting mechanism 211 includes a chain 212. After the lifting member 140 extends from the vehicle frame 110 in the first direction, the sprocket 141 and the chain 212 engage, and the teeth of the sprocket 141 engage with the chain 212, further improving the coupling strength between the sprocket 141 and the chain 212.

[0102] In some embodiments, the chain 212 is driven to move, driving the automatic guided vehicle 100 to move in the vertical direction. For example, the lifting mechanism 211 includes a drive motor to drive the chain 212 to rotate. Preferably, the lifting station 210 passes through the shelf 200 in the vertical direction, and the chain 212 covers the entire range of the lifting station 210 in the vertical direction. When the sprocket 141 and the chain 212 abut and engage, the chain 212 is driven to rotate and drive the automatic guided vehicle 100 to move to the target cargo layer. Preferably, the automatic guided vehicle 100 can rise from the ground to the top layer of the shelf 200, and there is no need to lay tracks on the ground, which is conducive to simplifying the internal structure of the warehouse, reducing the cost of the storage system, and facilitating the separate setting of the shelf 200 to improve the utilization rate of warehouse space.

[0103] In other embodiments, the sprocket 141 is driven to rotate, driving the AGV 100 in a vertical direction. For example, the lifting member 140 includes a drive motor that drives the sprocket 141 to rotate. When the sprocket 141 and the chain 212 abut and engage, the sprocket 141 rotates in the direction of the chain 212, driving the AGV 100 to the target storage level.

[0104] In some embodiments, the sprocket 141 and the chain 212 may also be connected to a power source and driven together to drive the automatic guided vehicle 100 to move in the vertical direction.

[0105] In this embodiment, the sprocket 141 and chain 212 cooperate to drive the AGV 100 in a vertical direction, resulting in a simple structure, stable connection, small footprint, low failure rate, and easy maintenance. Furthermore, the sprocket 141 and chain 212 cooperate to simultaneously support the vertical movement of multiple AGVs 100 during the occupancy period of the lifting station 210, preventing interference between multiple AGVs 100 and cargo, thereby improving the efficiency of three-dimensional transportation.

[0106] See also Figure 1 and Figure 3 According to a preferred embodiment of the present invention, the automated guided vehicle 100 further includes a lifting frame 150 and a power mechanism 160. The lifting frame 150 is located above the vehicle frame 110 and can move vertically relative to the vehicle frame 110. The lifting frame 150 can be used to carry cargo. For example, the lifting frame 150 includes a pallet, which can lift or place cargo when the lifting frame 150 moves vertically relative to the vehicle frame 110.

[0107] The power mechanism 160 is in transmission connection with the lifting frame 150, and the power mechanism 160 drives the lifting frame 150 to move in a vertical direction. In this embodiment, the lifting frame 150 is in transmission connection with the lifting fitting 140; for example, the lifting fitting 140 and the lifting frame 150 move in conjunction. When the lifting fitting 140 extends in a first direction relative to the vehicle frame 110, the lifting frame 150 moves closer to the vehicle frame 110. In some embodiments, the lifting fitting 140 and the lifting frame 150 can be configured such that when the lifting fitting 140 extends in the first direction relative to the vehicle frame 110, the lifting frame 150 is synchronously driven to move closer to the vehicle frame 110. Furthermore, when the lifting frame 150 approaches or moves away from the vehicle frame 110, the lifting fitting 140 remains retracted to a position within the vehicle frame 110, thereby reducing the risk of the lifting fitting 140 and the shelf 200 reflecting off each other when the automated guided vehicle 100 moves in a horizontal plane.

[0108] In this embodiment, when the automatic guided vehicle 100 moves in the vertical direction, lowering the lifting frame 150 is beneficial to improving the structural stability of the automatic guided vehicle 100, reducing the risk of interference and collision, and can reduce the space occupied by the automatic guided vehicle 100 on the lifting station 210, thereby improving the efficiency of the automatic guided vehicle 100 in the vertical direction.

[0109] See also Figure 3 According to a preferred embodiment of the present invention, the power mechanism 160 includes a driving source 161 , a first transmission member 162 and a crank 163 .

[0110] The driving source 161 is disposed inside the vehicle frame 110. The driving source 161 includes, for example, an electric motor. Furthermore, in some embodiments, the driving source 161 may also include a reduction gearbox and other structures connected to the electric motor to adjust the output of the electric motor and improve the stability of the electric motor.

[0111] The first transmission member 162 is in transmission connection with the driving source 161, for example, the first transmission member 162 is connected to the output shaft of the motor. The crank 163 is fixedly connected to the first transmission member 162 and can be driven by the driving source 161 to move. Figure 3 and Figure 4 The lifting frame 150 includes a first guide rail 151. For example, a through groove or a recessed groove is provided on the structure of the lifting frame 150. The pin of the crank 163 moves along the first guide rail 151. For example, the pin of the crank 163 is embedded in the first guide rail 151. When the crank 163 rotates, the pin of the crank 163 drives the lifting frame 150 to move, so that the lifting frame 150 moves in a vertical direction relative to the frame 110. In some embodiments, the power mechanism 160 includes two cranks 163. The rotation directions of the two cranks 163 are as follows: Figure 3 As shown by the arc arrow in the figure, this can be achieved by adjusting the transmission method.

[0112] For example Figure 4 As shown in , in some embodiments of the present invention, the positions of the lifting frame 150 relative to the vehicle frame 110 in the vertical direction include an upper position, an upper-middle position, a lower-middle position, and a lower position.

[0113] See also Figure 4 When the lifting frame 150 is in the upper position, the vertical distance between the lifting frame 150 and the frame 110 is at its maximum, and the lifting frame 150 is raised upward, allowing it to lift cargo. When the lifting frame 150 is in the upper-middle position, the lifting frame 150 is located below the cargo rack in the shelf 200. Cargo is placed on the cargo rack, and the automated guided vehicle 100 moves underneath the cargo without affecting it. This allows the automated guided vehicle 100 to move along the cargo aisle when not carrying cargo. When the lifting frame 150 is in the lower-middle position, the lifting fitting 140 retracts, allowing the automated guided vehicle 100 to move within the aisle. When the lifting frame 150 is in the lower position, the vertical distance between the lifting frame 150 and the frame 110 is at its minimum, the lifting frame 150 is close to the frame 110, and the lifting fitting 140 extends. Preferably, when the lifting fitting 140 extends from the frame 110, the lifting frame 150 is in the lower position. The cargo aisle is a passageway located below a shelf in a cargo area for the AGV 100 to move. There may be cargo stored above the AGV 100, so when the AGV 100 moves along the aisle, it is not carrying cargo. The laneway is a passageway located below a shelf in a cargo area for the AGV 100 to move. The AGV 100 can move along the laneway to reach different cargo areas.

[0114] See also Figure 5 In some embodiments, a first guide member 170 is disposed between the lift 150 and the frame 110. The first guide member 170 can limit the vertical movement of the lift 150 relative to the frame 110. In some embodiments, the first guide member 170 includes, for example, a guide groove and a guide rod. The use of the first guide member 170 helps improve the structural stability of the automated guided vehicle 100 and reduces the risk of the lift 150 tipping or bending when the lift 150 is in the upper position.

[0115] According to a preferred embodiment of the present invention, Figure 6A As shown, the automatic guided vehicle 100 further includes a second transmission member 180 .

[0116] The second transmission member 180 is in transmission connection with the drive source 161 or the first transmission member 162. Furthermore, the drive source 161 can output power through the second transmission member 180. In this embodiment, the second transmission member 161 is in transmission connection with both the first roller 120 and the lifting member 140. Specifically, the lifting member 140 includes a sprocket 141, and the second transmission member 180 can drive the first roller 120 and the sprocket 141 to rotate.

[0117] In this embodiment, the second transmission member 180 is used to integrate the drive systems of the first roller 120 and the sprocket 141. This reduces the number of power sources within the AGV 100, simplifies the transmission structure, and facilitates a reduction in the size and weight of the AGV 100. Furthermore, the second transmission member 180 facilitates modularization of the various systems within the AGV 100, facilitating repair and maintenance of the AGV 100 and reducing repair costs.

[0118] Figure 6A and Figure 6B FIG1 shows the transmission relationship of the second transmission member 180 according to some embodiments of the present invention. Figure 6A and Figure 6B The second transmission member 180 includes a plurality of synchronous pulleys 181 and a synchronous toothed belt 182 . At least one of the plurality of synchronous pulleys 181 is in transmission connection with the driving source 161 or the first transmission member 162 .

[0119] A synchronous toothed belt 182 meshes with multiple synchronous pulleys 181 and is tensioned. The multiple synchronous pulleys 181 and the synchronous toothed belt 182 cooperate to achieve high-precision synchronous transmission, improve control accuracy, and reduce the risk of structural misalignment and deformation in the automated guided vehicle 100. The first roller 120 and the sprocket 141 are both coaxially arranged with at least one of the multiple synchronous pulleys 181. When the synchronous pulley 181 rotates, it can drive the first roller 120 and the sprocket 141 to rotate synchronously. Alternatively, in some embodiments, the first roller 120 includes a driven pulley that can be rotatably connected to the synchronous pulley 181 but does not rotate with it, providing a certain degree of freedom of movement and reducing the risk of excessive stress within the second transmission member 180.

[0120] For details, see Figure 6A In some embodiments, the driving source 161 includes, for example, an electric motor. The second transmission member 180 is connected to the electric motor via a rotating shaft. Furthermore, the second transmission member 180 further includes a gear 183, which is fixedly connected to the rotating shaft. Driven by the electric motor, the gear 183 rotates. Figure 6B , the gear 183 is coaxially fixedly connected to a synchronous pulley 181, and the synchronous toothed belt 182 is used to drive the multiple synchronous pulleys 181 to rotate, thereby driving the first roller 120 and the sprocket 141 to rotate. In some embodiments, as Figure 6A As shown, the automatic guided vehicle 100 is provided with a set of second transmission members 180 on both sides of the first roller 120, and the two sets of second transmission members 180 are connected by a rigid shaft to achieve synchronous movement.

[0121] For example Figure 6B As shown, the second transmission member 180 includes two gears 183, the two gears 183 include a driving gear and a driven gear, wherein the driving gear in the gear 183 is fixedly connected to the rotating shaft and meshes with the driven gear in the gear 183 to drive Figure 6B The synchronous pulley 181 on the middle right side rotates. Figure 6B The first roller 120 coaxially arranged on the right side of the synchronous pulley 181 can be a driven wheel to avoid Figure 6B The synchronous pulley 181 shown on the left side of the middle portion rotates in the opposite direction to the first roller 120 coaxially arranged therewith.

[0122] Figure 6A and Figure 6B This only represents one embodiment of the second transmission member 180 in the present invention. In different embodiments of the present invention, the second transmission member 180 may also include a variety of different transmission methods such as sprockets, chains, gear sets, gear boxes, etc. to achieve synchronous driving of the first roller 120 and the sprocket 141, so as to simplify the internal drive and transmission structure of the automatic guided vehicle 100, which will not be repeated here.

[0123] Figure 7 FIG shows the structure of the lifting fitting 140 according to a preferred embodiment of the present invention. Figure 7 According to a preferred embodiment of the present invention, the lifting member 140 further includes a movable plate 142 and a connecting rod 143. The movable plate 142 is movably connected relative to the vehicle frame 110 in a first direction, and the sprocket 141 is disposed on the movable plate 142. When the movable plate 142 moves relative to the vehicle frame 110 in the first direction, the sprocket 141 extends from or retracts into the vehicle frame 110.

[0124] The connecting rod 143 is hinged to the movable plate 142, and the connecting rod 143 is configured to cause the movable plate 142 to extend from the vehicle frame 110 along the first direction when the lifting frame 150 is in the lower position. In this embodiment, the lifting frame 150 and the movable plate 142 are linked by the connecting rod 143. Figure 7 As shown in FIG, the connecting rod 143 rotates in the horizontal direction. Under the action of the rigid connecting rod 143, the movable plates 142 on both sides extend out from the vehicle frame 110.

[0125] According to a preferred embodiment of the present invention, the connecting rod 143 may cooperate with the lifting frame 150 through a gear and a rack, for example Figure 7 The rack shown in the figure is fixedly connected to the lifting frame 150, and a gear meshing with the rack is provided on the connecting rod 143. When the lifting frame 150 approaches the vehicle frame 110 and lowers, the rack and gear act to move the connecting rod 143 upward, pushing the movable plates 142 on both sides out of the vehicle frame 110. Furthermore, the movable plates 142 are provided with guide rails 144 extending in a first direction. A limit member is provided on the vehicle frame 110, and the limit member cooperates with the guide rails 144 to limit the movement of the movable plates 142 in the first direction.

[0126] In different embodiments of the present invention, the lifting fitting 140 may also include other structures for enabling the lifting fitting 140 to be controlled to extend or retract from the frame 110, such as a lead screw, a rack, a gear set, etc., which will not be described in detail here.

[0127] See also Figure 7 According to a preferred embodiment of the present invention, the lifting fitting 140 further includes an elastic member 145, such as a coil spring. The connecting rod 143 and the frame 110 are elastically connected via the elastic member 145. Furthermore, the elastic member 145 in this embodiment generates elastic force to limit the movable plate 142 from extending from the frame 110 along the first direction. Figure 7As shown, the elastic member 145 can be pre-tightened, pulling the connecting rod 143 to position the movable plate 142 within the frame 110. When the force of the gear and rack exceeds the elastic force of the elastic member 145, the connecting rod 143 rotates, causing the movable plate 142 to extend from the frame 110. The provision of the elastic member 145 in this embodiment allows the movable plate 142 to remain within the frame 110 when the automated guided vehicle 100 moves horizontally, reducing the risk of structural interference and collision damage.

[0128] According to a preferred embodiment of the present invention, the shelf 200 includes a rail 220 extending in a first direction and a second direction (see Figure 9 Preferably, the tracks 220 are double tracks arranged in parallel in both the first and second directions. The first roller 120 and the second roller 130 cooperate with the tracks 220 extending in the first direction and the tracks 220 extending in the second direction, respectively, to drive the frame 110 to move along the tracks 220.

[0129] In some embodiments, when the lifting fitting 140 is extended relative to the vehicle frame 110, that is, when the automated guided vehicle 100 moves in the vertical direction, the second roller 130 moves along the first direction to avoid the track in other cargo layers, thereby reducing the risk of structural interference. For example, the automated guided vehicle 100 includes second rollers 130 disposed on opposite sides. When the automated guided vehicle 100 is controlled to move in the vertical direction, the second rollers 130 on both sides approach each other to avoid the track 220 in the direction of movement (upward or downward). Accordingly, after the automated guided vehicle 100 moves to the target cargo layer, the second roller 130 moves along the first direction until it mates with the track 220 in the target cargo layer.

[0130] See also Figure 8 According to a preferred embodiment of the present invention, the power mechanism 160 further includes a third transmission member 164. The third transmission member 164 is in transmission connection with the second roller 130 and can drive the second roller 130 to move along the first direction, so that the second rollers 130 move closer to each other along the first direction to avoid the track 220, or move away from each other along the first direction to match the position of the track 220.

[0131] For details, see Figure 8 The frame 110 includes a first frame 111 and a second frame 112. The second frame 112 is disposed on both sides of the first frame 111 along a first direction. The second roller 130 is disposed on a side of the second frame 112 away from the first frame 111. The second frame 112 and the first frame 111 are spaced apart from each other. Specifically, the first frame 111 can be substantially rectangular, and the second frame 112 can be flat and disposed on both sides of the first frame 111 along the first direction.

[0132] The rotating shaft of the second roller 130 is spline-connected to the third transmission member 164. For example, the third transmission member 164 is in transmission connection with the driving source 161. The third transmission member 164 includes a spline shaft and a spline sleeve nested together. The driving source 161 drives the spline shaft and the spline sleeve to increase or decrease in length in the first direction, thereby driving the second roller 130 to move in the first direction.

[0133] A second guide member 113 is disposed between the first frame 111 and the second frame 112. The second guide member 113 can limit the movement of the second frame 112 and the second roller 130 in a first direction relative to the first frame 111. Furthermore, according to a preferred embodiment of the present invention, an electric cylinder 114 can be disposed between the first frame 111 and the second frame 112. The electric cylinder 114 can control the second frame 112 to move closer to or further away from the first frame 111. For example, when controlling the raising and lowering of the automated guided vehicle 100, the second frame 112 is controlled to move closer to the first frame 111, and the second frame 112 drives the second roller 130 to retract. This can avoid the tracks between different cargo levels and reduce the risk of structural interference.

[0134] According to a preferred embodiment of the present invention, the second frame 112 can be configured to move vertically relative to the first frame 111. The first roller 120 is disposed on the first frame 111, and the second roller 130 is disposed on the second frame 112. Driving the second frame 112 to move vertically relative to the first frame 111 can change the relative heights of the first roller 120 and the second roller 130, thereby enabling the automated guided vehicle 100 to change direction within a horizontal plane.

[0135] See also Figure 9 An embodiment of the present invention further includes a shelf 200 for cooperating with the automatic guided vehicle 100 described in the aforementioned embodiment, so that the automatic guided vehicle 100 can perform six-directional movement in the shelf 200.

[0136] See also Figure 9The rack 200 includes columns 230, rails 220, cargo supports 240, and a lifting station 210. The columns 230 are arranged vertically, and preferably, multiple columns 230 are evenly arranged in a two-dimensional array. The rails 220 are fixedly connected to the columns 230 and arranged along a horizontal plane, allowing the automated guided vehicle 100 to move along the rails 220. Preferably, the rails 220 extend in a first direction and a second direction perpendicular to each other, allowing the automated guided vehicle 100 to move in four directions within the horizontal plane. The cargo supports 240 are fixedly connected to the columns 230 and located above the rails 220, and can be used to support cargo. In some embodiments, the cargo is attached to the cargo supports 240 at both ends. For cargo of varying sizes, pallets can be placed on the cargo supports 240. The lifting station 210 is arranged along the columns 230 and can cooperate with the lifting fittings 140 in the automated guided vehicle 100 to drive the frame 110 to move vertically. The structure of the lifting station 210 is shown in the above embodiments and Figure 2 In some embodiments, the shelf 200 may include multiple lifting stations 210. In this embodiment, the lifting stations 210 occupy a relatively small space. Setting up multiple lifting stations 210 can improve the efficiency of the warehouse in and out while having a relatively small impact on the warehouse storage space. In addition, in this embodiment, the automatic guided vehicle 100 and the lifting station 210 cooperate with each other, for example Figure 9 As shown in the figure, the AGV 100 can move from the ground to directly below the lifting station 210 and then move along the lifting station 210 to the corresponding cargo level to complete the warehousing. Alternatively, when leaving the warehouse, the AGV 100 can retrieve the cargo from the corresponding cargo level and then move along the lifting station 210 to the ground. When entering and leaving the warehouse, there is no need to set up a conveyor belt or use other AGVs to transfer cargo. This not only simplifies the equipment in the warehouse system, but also helps simplify the warehouse system's scheduling system, reduce equipment conflicts, improve warehousing efficiency, and reduce failure rates.

[0137] According to a preferred embodiment of the present invention, the shelf 200 includes multiple rails 220 and multiple cargo racks 240. The rails 220 located in the same horizontal plane constitute a cargo layer. The shelf 200 includes multiple cargo layers, and each cargo layer includes multiple cargo racks 240 located in the same horizontal plane. Specifically, the cargo racks 240 may include angle irons extending in a first direction, or may include multiple support blocks discretely disposed on the columns 230. A cargo layer includes multiple cargo locations, each of which can be used to place one unit of cargo. Multiple cargo locations are evenly distributed within the cargo layer.

[0138] In a preferred embodiment of the present invention, a cargo space layer may include aisles and lanes, wherein the automated guided vehicle 100 moves between the aisles and lanes so that the automated guided vehicle 100 can cover as many cargo spaces as possible and avoid interfering with the goods placed in the cargo spaces.

[0139] According to a specific embodiment of the present invention, the track 220 includes a first track ( Figure 9 Not shown) and the second track ( Figure 9 (not shown in the figure). The first track extends along a first direction and can cooperate with the first roller 120 in the automatic guided vehicle 100. The second track extends along a second direction and can cooperate with the second roller 130 in the automatic guided vehicle 100.

[0140] like Figure 10 As shown, the embodiment of the present invention further includes a storage system 10. The storage system 10 includes a shelf 200 as shown in the above embodiment and at least one automatic guided vehicle (AGV) as described in the above embodiment. Figure 10 (not shown in the figure). The automated guided vehicle can cooperate with the shelf 200 to perform six-directional movement within the shelf 200. Preferably, the warehousing system 10 includes multiple automated guided vehicles, and the multiple automated guided vehicles are independently controlled. For example, the warehousing system 10 also includes a control module that communicates with each automated guided vehicle and independently controls each automated guided vehicle to perform a corresponding task. Furthermore, in an embodiment in which the lifting station 210 is used to drive the automated guided vehicle to move in a vertical direction, the control module can also be configured to control the start or stop of the lifting mechanism.

[0141] According to some embodiments of the present invention, the warehousing system 10 further includes an inbound and outbound station. The inbound and outbound station is located near a facade on at least one side edge of the shelf 200. An automated guided vehicle can move goods to the inbound and outbound station, or the inbound and outbound station can retrieve goods. For example, the track 220 extends to the inbound and outbound station. The inbound and outbound station can be coordinated with a manual or automated sorting system. In some embodiments, the inbound and outbound station can be located near a facade on multiple edges of the shelf 200 to improve inbound and outbound efficiency.

[0142] Figure 11 The control method 400 for controlling the automatic guided vehicle 100 as described in the above embodiment to move in the vertical direction according to some embodiments of the present invention is shown. Figure 11 The control method 400 will be described.

[0143] In step S401, an automated guided vehicle (AGV) is controlled to move to a lifting station on a shelf. The lifting station can be located at the edge or inside the shelf and connected to the AGV's movement channel, allowing the AGV to move to the lifting station within a single shelf level. Furthermore, if the shelf includes multiple lifting stations, the stations can be prioritized based on their occupancy, with vacant lifting stations being preferentially selected.

[0144] In step S402, the lifting fitting in the AGV is controlled to extend from the vehicle frame and engage with the lifting station, for example, the lifting fitting is controlled to extend from the vehicle frame and abut and engage with the lifting mechanism.

[0145] In step S403, the second roller in the AGV is controlled to retract so that when the AGV moves between cargo layers at different heights, the second roller can retract to avoid the tracks of other cargo layers, thereby reducing the risk of structural interference.

[0146] In step S404, the lifting fitting and / or the lifting station are controlled to drive the vehicle frame to move in the vertical direction, so as to enable the automatic guided vehicle to move in six directions within the shelf.

[0147] Finally, it should be noted that the above descriptions are merely embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. 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 present invention.

Claims

1. An automated guided vehicle for six-way movement within a shelf, the shelf including a lifting station; the automated guided vehicle comprising: Frame; a first roller, the first roller being disposed on the frame and driving the frame to move along a first direction; a second roller, the second roller being disposed on the frame and driving the frame to move in a second direction; the second direction being perpendicular to the first direction in a horizontal plane; and at least one of the first roller or the second roller being movable in a vertical direction; a lifting fitting, the lifting fitting being disposed on the vehicle frame and being capable of extending or retracting relative to the vehicle frame along the first direction; Wherein, the lifting station includes a lifting mechanism arranged along the vertical direction. When the lifting fitting is extended relative to the frame along the first direction, the lifting fitting cooperates with the lifting mechanism to drive the frame to move along the vertical direction.

2. The automatic guided vehicle according to claim 1, wherein the lifting fittings are provided on both sides of the frame along the first direction; the lifting mechanism is provided on both sides of the lifting station along the first direction, and the position of the lifting mechanism corresponds to the lifting fittings; when the lifting fittings are extended along the first direction, they abut and engage with the lifting mechanisms on both sides.

3. The automatic guided vehicle according to claim 2, wherein the lifting fitting comprises a sprocket, and the lifting mechanism comprises a chain; when the lifting fitting extends along the first direction, the sprocket engages with the chain, and the chain is driven to move, driving the automatic guided vehicle to move in a vertical direction; and / or the sprocket is driven to rotate, driving the automatic guided vehicle to move in a vertical direction.

4. The automated guided vehicle according to claim 1, wherein the automated guided vehicle further comprises: A lifting frame, the lifting frame being located above the vehicle frame; a power mechanism, the power mechanism being in transmission connection with the lifting frame and configured to drive the lifting frame to move in a vertical direction; The lifting frame is in transmission connection with the lifting fitting member, and when the lifting fitting member extends relative to the vehicle frame along the first direction, the lifting frame approaches the vehicle frame.

5. The automated guided vehicle according to claim 4, wherein the power mechanism comprises: a driving source, the driving source being disposed in the vehicle frame; a first transmission member, the first transmission member being in transmission connection with the driving source; A crank, wherein the crank is fixedly connected to the first transmission member; the lifting frame includes a first guide rail, and the pin shaft of the crank moves along the first guide rail to drive the lifting frame to move in a vertical direction relative to the frame.

6. The automated guided vehicle according to claim 5, wherein the vertical position of the lifting frame comprises: an upper position, wherein when the lifting frame is in the upper position, the vertical distance between the lifting frame and the vehicle frame is the largest, so as to lift the cargo; In the upper-middle position, the lifting frame is located below the cargo support in the shelf and is used for traveling in the cargo aisle in a non-loaded state; In the middle-lower position, when the lifting frame is in the middle-lower position, the automatic guided vehicle moves in the direction of the lane, and the lifting fitting is retracted; The lifting frame is in the lower position, and the vertical distance between the lifting frame and the vehicle frame is the smallest, and the lifting fitting is extended.

7. The automatic guided vehicle according to claim 4, wherein a first guide member is provided between the lifting frame and the vehicle frame, the first guide member being configured to limit the lifting frame to move in a vertical direction relative to the vehicle frame.

8. The automated guided vehicle according to any one of claims 4 to 7, wherein the automated guided vehicle further comprises: a second transmission member, the second transmission member being in transmission connection with the driving source or the first transmission member; The second transmission member is in transmission connection with both the first roller and the lifting fitting member; the lifting fitting member includes a sprocket, and the second transmission member is configured to drive the first roller and the sprocket to rotate.

9. The automated guided vehicle according to claim 8, wherein the second transmission member comprises: a plurality of synchronous pulleys, at least one of which is in transmission connection with the driving source or the first transmission member; a synchronous toothed belt, the synchronous toothed belt being engaged with the plurality of synchronous pulleys and the synchronous toothed belt being tensioned; Wherein, the first roller and the sprocket are both configured to be coaxially arranged with at least one of the plurality of synchronous pulleys.

10. The automated guided vehicle according to claim 9, wherein the lifting fitting further comprises: a movable plate, the movable plate being movably connected relative to the vehicle frame along the first direction; The sprocket is arranged on the movable plate; A connecting rod is hinged to the movable plate and is configured to enable the movable plate to extend from the vehicle frame along the first direction when the lifting frame is in the lower position.

11. The automated guided vehicle according to claim 10, wherein the lifting fitting further comprises an elastic member, the connecting rod is connected to the frame via the elastic member, and the elastic member is configured to generate elastic force to restrict the movable plate from extending from the frame along the first direction.

12. The automated guided vehicle according to any one of claims 4 to 7, wherein the shelf comprises tracks extending along the first direction and the second direction, and the first roller and the second roller are configured to drive the frame to move along the tracks. 13 . The automated guided vehicle of claim 12 , wherein when the lifting engagement member is extended relative to the vehicle frame, the second roller is configured to move in the first direction to avoid the track.

14. The automated guided vehicle according to claim 13, wherein the power mechanism further comprises: A third transmission member is in transmission connection with the second roller and is configured to drive the second roller to move along the first direction.

15. The automated guided vehicle according to claim 14, wherein the vehicle frame comprises: First frame; a second frame, the second frame being arranged on both sides of the first frame along the first direction, and the second roller being arranged on a side of the second frame away from the first frame; Wherein, the rotating shaft of the second roller is spline-connected to the third transmission member; a second guide member is provided between the first frame and the second frame, and the second guide member is configured to limit the second frame and the second roller to move along the first direction relative to the first frame.

16. A shelf, adapted to cooperate with an automated guided vehicle according to any one of claims 1 to 15, so that the automated guided vehicle can move in six directions within the shelf; the shelf comprising: A column, wherein the column is arranged in a vertical direction; A track, the track being fixedly connected to the column and arranged along a horizontal plane; the automatic guided vehicle moves along the track; A cargo support, fixedly connected to the column and located above the track, for supporting cargo; A lifting station is provided along the column and is configured to cooperate with the lifting fitting in the automatic guided vehicle to drive the vehicle frame to move in a vertical direction.

17. The shelf according to claim 16, wherein the shelf comprises a plurality of the rails and a plurality of the cargo racks; the rails located in the same horizontal plane constitute a cargo layer, the shelf comprises a plurality of the cargo layers, and each of the cargo layers comprises a plurality of the cargo racks located in the same horizontal plane.

18. The rack of claim 16, wherein the rails comprise: a first track extending along the first direction and cooperating with the first roller in the automated guided vehicle; A second track extends along the second direction and cooperates with the second roller in the automatic guided vehicle.

19. A warehousing system comprising: The shelf according to any one of claims 16 to 18; At least one automated guided vehicle according to any one of claims 1 to 15; The automatic guided vehicle cooperates with the shelf and performs six-directional movement in the shelf.

20. The storage system according to claim 19, wherein the storage system further comprises: The loading and unloading station is close to the facade of at least one side edge of the shelf, and the automatic guided vehicle is configured to transport goods to the loading and unloading station or obtain goods from the loading and unloading station.

21. A method for controlling the vertical movement of an automated guided vehicle according to any one of claims 1 to 15, comprising: Control the movement of the automatic guided vehicle to the lifting position of the shelf; Control the lifting fitting in the automatic guided vehicle to extend from the vehicle frame and cooperate with the lifting station; control the retraction of the second roller in the automatic guided vehicle; The lifting fitting and / or the lifting station drive the vehicle frame to move in the vertical direction.

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