Primary-secondary shuttle vehicle equipment suitable for intensive intelligent stereoscopic warehouse logistics system

Abstract

The invention discloses a child-mother shuttle vehicle device suitable for an intensive intelligent stereoscopic warehouse logistics system. The child-mother shuttle vehicle device comprises a shuttle mother vehicle and a shuttle child vehicle. According to the structure of the shuttle mother vehicle, a mother vehicle walking mechanism, two sets of mother vehicle chain conveyors and a son vehicle guide rail set are arranged on a mother vehicle body. The shuttle sub-vehicle is structurally characterized in that a sub-vehicle walking mechanism and two groups of sub-vehicle chain conveyors are arranged on a sub-vehicle body; a jacking mechanism used for changing the height of the chain type conveyor of the corresponding sub-vehicle is arranged on the shuttle sub-vehicle; when the storage roadway is replaced by the shuttle child vehicle, the child vehicle guide rail group climbs to the shuttle mother vehicle; before goods are stored and taken by the shuttle sub-vehicle, two groups of sub-vehicle chain conveyors on the shuttle sub-vehicle firstly descend to a specified height; when goods positions of the shuttle child vehicle and the shuttle mother vehicle are switched, the two sets of child vehicle chain type conveyors and the two sets of mother vehicle chain type conveyors are in conveying butt joint; the cargo warehouse-in and warehouse-out efficiency is greatly improved, and meanwhile the dispatching difficulty is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of automated three-dimensional warehousing technology, and in particular to a mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system. Background Art

[0002] The intensive intelligent three-dimensional warehouse logistics system uses the shuttle car and shuttle mother car to realize the rapid storage, retrieval and transportation of goods in the intensive three-dimensional warehouse. The storage and retrieval of goods is more flexible, which can greatly improve the utilization rate of storage space and operating efficiency, meet customers' requirements for high-density storage and high-efficiency storage and retrieval of goods, and gradually gain wide application in the automated three-dimensional warehousing industry.

[0003] The shuttle car is the core equipment in the intensive intelligent three-dimensional warehouse logistics system. Among them, the shuttle car is responsible for transporting the storage aisles, and the shuttle mother car is responsible for transporting the horizontal transfer aisles. After picking up the goods, the shuttle car moves to the entrance of the corresponding storage aisle, and then moves to the shuttle mother car through the car guide group on the shuttle mother car waiting at the entrance. There are two ways at this time. One way is that the shuttle car gets off through the car guide group and leaves the goods on the shuttle mother car, and the shuttle mother car transports the goods; the other way is that the shuttle mother car transports the shuttle car and the goods to the designated location together. At this time, the goods can be directly output through the mother car chain conveyor on the shuttle mother car, or the shuttle car can get on and off the shuttle mother car with the goods, and then the shuttle car will transport the goods to the final designated location. The shuttle car that has completed the delivery must also be carried by the shuttle mother car to the entrance of the storage aisle where the shuttle car works.

[0004] The shuttle car in the above-mentioned mother-and-child shuttle car adopts the form of track changing + jacking to realize the storage and retrieval of goods. This method will greatly lose efficiency and is not conducive to the overall high-efficiency scheduling strategy. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a mother-and-child shuttle vehicle device which has high efficiency in loading and unloading goods and reduces scheduling difficulty and is suitable for a dense intelligent stereoscopic warehouse logistics system.

[0006] Currently, the shuttle carts in a shuttle system use a track-switching and jacking system to access goods. This method significantly reduces efficiency and is not conducive to an overall efficient scheduling strategy. To address this issue, this solution proposes a shuttle cart with its own chain conveyor. The shuttle cart can dock with the shuttle mother cart to remove goods by connecting the mother cart chain to the shuttle mother cart chain, eliminating the need for the loaded shuttle cart to climb onto the shuttle mother cart. This method can greatly improve storage and retrieval efficiency and significantly reduce the difficulty of scheduling.

[0007] The technical solution adopted by the present invention is: the mother-and-child shuttle vehicle equipment suitable for the intensive intelligent three-dimensional warehouse logistics system includes: a shuttle mother vehicle and a shuttle child vehicle; the number of the shuttle mother vehicles and the number of the shuttle child vehicles are arranged according to actual needs.

[0008] The lanes for shuttle vehicles in the stereo garage are storage lanes, and the lanes for shuttle vehicles are lateral transfer lanes. The intersection of each storage lane and the lateral transfer lane is the lane entrance of the corresponding storage lane.

[0009] Among them, the structure of the shuttle mother car includes: a mother car body, on which is provided a mother car walking mechanism that enables the shuttle mother car to move on the horizontal transfer lane of the three-dimensional warehouse; on the mother car body is provided a sub-car guide rail group for the shuttle sub-car to move; on the mother car body are provided two groups of mother car chain conveyors.

[0010] The shuttle bus is equipped with an integrated bus controller, which controls the bus's travel mechanism and chain conveyor. A programmable logic controller (PLC) is integrated throughout the entire intensive intelligent warehouse logistics system, connecting the bus's integrated controller and the PLC. The PLC is programmed to transmit commands to the bus's integrated controller, which then transmits these commands to the corresponding bus's travel mechanism and chain conveyor, ensuring the bus operates according to pre-set requirements.

[0011] The shuttle bus can be powered by an electric arm and a busbar, or by a battery pack installed on the shuttle bus.

[0012] Among them, the structure of the shuttle car includes: a car body, on which is provided a car walking mechanism that enables the shuttle car to move in the storage lanes and car guide rail groups of the three-dimensional warehouse; two groups of car chain conveyors are provided on the car body; and a lifting mechanism for changing the height of the corresponding car chain conveyor is provided between each group of car chain conveyors and the car body.

[0013] The shuttle is equipped with an integrated controller that controls the shuttle's travel mechanism and chain conveyor. The controller is connected to the PLC, enabling signal transmission. The PLC is programmed with commands that the controller sends to the shuttle's travel mechanism and chain conveyor, ensuring the shuttle operates according to pre-set requirements.

[0014] The shuttle vehicles can be powered by an electric arm and busbars, or by batteries installed on the shuttle vehicles. This solution prefers batteries. To facilitate recharging of each shuttle vehicle, the three-dimensional warehouse is equipped with several charging points for the shuttle vehicle's battery packs. The number of charging points is selected based on actual needs. During breaks in work, the shuttle vehicles can travel to the charging points to recharge the battery packs.

[0015] When the shuttle car switches the cargo position with the corresponding shuttle mother car, the shuttle car uses the lifting mechanism to lift the two sets of car chain conveyors to the docking height with the two sets of mother car chain conveyors on the corresponding shuttle mother car, so that the two sets of car chain conveyors are docked with the two sets of mother car chain conveyors for transportation, thereby transporting the cargo on the shuttle car from the shuttle car to the corresponding shuttle mother car or transporting the cargo on the shuttle mother car from the corresponding shuttle mother car to the shuttle car; Before the shuttle car stores goods in the three-dimensional warehouse or takes goods out of the three-dimensional warehouse, the two groups of chain conveyors on the shuttle car are first lowered to a specified height; When the shuttle car changes the storage lane, it climbs onto the corresponding shuttle mother car through the car guide group on the corresponding shuttle mother car, and the corresponding shuttle mother car carries the shuttle car to the lane entrance of the designated storage lane.

[0016] Furthermore, the aforementioned mother-and-child shuttle vehicle applicable to a dense intelligent stereoscopic warehouse, wherein the structure of the mother vehicle chain conveyor comprises: a mother vehicle sprocket set and a mother vehicle chain wound around the mother vehicle sprocket set; The sprocket assembly of the trolley comprises: a first end sprocket, a second end sprocket, at least one driving sprocket, at least one intermediate transition sprocket, and at least one tensioning sprocket; A carrier mounting frame is fixedly provided on the carrier body, and the first end sprocket, the second end sprocket, each drive sprocket, each intermediate transition sprocket, and each tensioning sprocket are supported and provided on the carrier mounting frame; each drive sprocket is driven by a corresponding side reduction motor installed on the carrier body; The first end sprocket is located at the left end of the carrier mounting frame, the second end sprocket is located at the right end of the carrier mounting frame, and each drive sprocket, each intermediate transition sprocket, and each tensioning sprocket are located in the space between the first end sprocket and the second end sprocket; The height of the first end sprocket is consistent with the height of the second end sprocket, and each driving sprocket, each intermediate transition sprocket, and each tensioning sprocket are lower than the first end sprocket; The area where the mother car chain is located between the top of the first end sprocket and the top of the second end sprocket is the conveying area of ​​the mother car chain conveyor. A mother car lifting frame is also provided on the top of the mother car mounting frame for lifting the mother car chain in the conveying area of ​​the mother car chain conveyor.

[0017] Furthermore, the aforementioned mother-and-child shuttle car suitable for intensive intelligent high-bay warehouses, wherein the number of the driving sprocket, the intermediate transition sprocket, and the tensioning sprocket are all one; the mother car chain goes around the top of the first end sprocket through the left part of the first end sprocket and then goes out from the bottom of the first end sprocket, then goes around the left part of the driving sprocket through the bottom of the driving sprocket and then goes out from the right part of the driving sprocket, then goes around the left part of the intermediate transition sprocket through the top of the intermediate transition sprocket and then goes out from the right part of the intermediate transition sprocket, then goes around the left part of the tensioning sprocket through the bottom of the tensioning sprocket and then goes out from the right part of the tensioning sprocket, then goes around the bottom of the second end sprocket from the right part of the second end sprocket and then goes out from the top of the second end sprocket to the top of the first end sprocket, forming a closed loop.

[0018] Furthermore, the aforementioned mother-and-child shuttle car suitable for intensive intelligent high-bay warehouses, wherein the mother car chain is a double-row chain; the mother car lifting frame has two upwardly protruding first lifting bars, and each first sleeve on the mother car chain in the conveying area of ​​the mother car chain conveyor is placed on the corresponding first lifting bar.

[0019] Furthermore, the aforementioned mother-and-child shuttle vehicle applicable to a dense intelligent stereoscopic warehouse, wherein the mother vehicle body comprises: a bottom body, a front vertical connection portion, a front body, a rear vertical connection portion, and a rear body; The rear end of the front body is connected to the front end of the bottom body through a front vertical connecting portion, and the front body is higher than the bottom body; The front end of the rear body is connected to the rear end of the bottom body through a rear vertical connecting portion, and the rear body is at the same height as the front body; The bottom body, the front vertical connecting portion, the front body, the rear vertical connecting portion, and the rear body are integrally formed to form an integrated mother vehicle body; The two sets of chain conveyors for the mother car are: the first mother car chain conveyor and the second mother car chain conveyor; the mounting frame of the first mother car chain conveyor is installed on the bottom body, and the side reduction motors of the first mother car chain conveyor are installed on the front body; the mounting frame of the second mother car chain conveyor is installed on the bottom body, and the side reduction motors of the second mother car chain conveyor are installed on the rear body; The guide rail assembly of the sub-carriage is installed on the bottom car body and is located in the area between the first mother car chain conveyor and the second mother car chain conveyor; The mother vehicle running mechanism is installed on the front vehicle body and the rear vehicle body.

[0020] The integrated shuttle body design and the layout of its components not only reduce the shuttle bus's weight by 30%, achieving lightweighting, but also maximizes its usable space, making it more compact and reducing its footprint. The shuttle bus itself can also be lowered, making it shorter, down to a minimum of 200mm. Furthermore, the integrated shuttle body design offers greater structural strength than a shuttle body constructed from multiple profiles welded or bolted together.

[0021] Furthermore, the aforementioned mother-and-child shuttle vehicle suitable for dense intelligent high-bay warehouses is provided with a plurality of first photoelectric calibration points on the body of the mother vehicle at the first mother vehicle chain conveyor, and the first photoelectric calibration points are evenly spaced along the conveying direction of the first mother vehicle chain conveyor; A plurality of second photoelectric calibration points are provided on the body of the second mother car chain conveyor, and the second photoelectric calibration points are evenly spaced along the conveying direction of the second mother car chain conveyor; Each first photoelectric calibration point, each second photoelectric calibration point, and each side reduction motor on the two sets of chain conveyors are all connected to the PLC via the integrated controller. The first and second photoelectric calibration points detect the position of cargo located on both sets of chain conveyors and feed the detected position signals back to the PLC. The PLC then processes the position signals and continuously adjusts the output speeds of the side reduction motors on the two sets of chain conveyors to ensure that the speed difference between the two sets of chain conveyors remains within a controllable range. When the speed difference between the two sets of chain conveyors remains within a controllable range, the speeds of the two sets of chain conveyors are synchronized by default. This allows for real-time monitoring and correction, ensuring that the two sets of chain conveyors consistently and synchronously transport cargo in a specific direction.

[0022] Furthermore, the aforementioned shuttle car applicable to the dense intelligent stereoscopic warehouse, the structure of the car chain conveyor includes: a car sprocket set and a car chain wound on the car sprocket set; The sub-vehicle sprocket assembly includes: a left end sprocket and a right end sprocket; A sub-carriage mounting frame is fixedly provided on the sub-carriage body, and the left end sprocket and the right end sprocket are both supported and provided on the sub-carriage mounting frame; The height of the left end sprocket is consistent with that of the right end sprocket, and the area where the sub-carriage chain is located between the top of the left end sprocket and the top of the right end sprocket is the conveying area of ​​the sub-carriage chain conveyor. A sub-carriage lifting frame for lifting the sub-carriage chain in the conveying area of ​​the sub-carriage chain conveyor is also provided on the top of the sub-carriage mounting frame; The sub-car chain is wound from the top of the left end sprocket, passes through the left part of the left end sprocket, and then is wound out from the bottom of the left end sprocket, passes through the right part of the right end sprocket, and then is wound out from the top of the right end sprocket to the top of the left end sprocket, forming a closed loop; The left end sprockets of the two groups of sub-car chain conveyors are driven by a common left reduction motor, and the right end sprockets of the two groups of sub-car chain conveyors are driven by a common right reduction motor; at this time, the two groups of sub-car chain conveyors are dual-driven.

[0023] The two ends of the left mounting beam for installing the left reduction motor are respectively fixed on the vehicle mounting frames of the two groups of vehicle chain conveyors, and the two ends of the right mounting beam for installing the right reduction motor are respectively fixed on the vehicle mounting frames of the two groups of vehicle chain conveyors.

[0024] The two shuttle chain conveyors are dual-drive, and can also be quad-drive. Specifically, the left end sprocket is driven by a first reduction motor, and the right end sprocket is driven by a second reduction motor. The use of multiple drives can reduce the drive installation space within the area, making the shuttle more compact.

[0025] Furthermore, the aforementioned mother-and-child shuttle car suitable for dense intelligent high-bay warehouses, the car chain is a double-row chain; the car lifting frame has two upwardly protruding second lifting bars, and each second sleeve on the car chain in the conveying area of ​​the car chain conveyor is placed on the corresponding second lifting bar.

[0026] The beneficial effects of the present invention are as follows: ① When the shuttle car and the shuttle mother car are docking goods, the docking is achieved through the transport of the car chain and the mother car chain, which greatly improves the efficiency of goods in and out of the warehouse, and also greatly reduces the difficulty of scheduling; ② The integrated mother car body design not only makes the shuttle mother car structural strength higher, but also can reduce the weight of the shuttle mother car by 30%, thereby achieving the purpose of lightweighting; in addition, combined with the layout arrangement of each component and the design of the mother car chain conveyor structure, the utilization space can be maximized, and the shuttle mother car can be made more compact and shorter, with the shortest being 200mm, which greatly reduces the space occupied by the shuttle mother car; ③ By The sprocket positions and drive layouts of each component of the mother car chain conveyor can not only make the turning radius of the head part smaller and the goods pass more smoothly, but also make the mother car chain conveyor more compact and occupy less space, and can achieve higher speed transmission in a small installation space; ④ The PLC can control the side reduction motors according to the feedback signals collected by the first photoelectric calibration points and the second photoelectric calibration points, and continuously correct the output speed of the side reduction motors, so that the conveying speed difference of the two groups of mother car chain conveyors is always controlled within the controllable range, ensuring that the two groups of mother car chain conveyors can always synchronously transport the goods thereon in a certain direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the mother-and-child shuttle vehicle suitable for a dense intelligent three-dimensional warehouse as described in the present invention.

[0028] Figure 2 It is a structural diagram of the shuttle mother car.

[0029] Figure 3 yes Figure 2 Schematic diagram of the structure viewed from above.

[0030] Figure 4 yes Figure 3 Schematic diagram of the structure in the AA section direction.

[0031] Figure 5 yes Figure 4 Schematic diagram of the structure of the middle shuttle mother car.

[0032] Figure 6 yes Figure 5 Schematic diagram of the locally enlarged structure of part B.

[0033] Figure 7 It is a structural diagram of the shuttle car.

[0034] Figure 8 yes Figure 7 Schematic diagram of the structure from the left view direction.

[0035] Figure 9 It is a structural diagram between the trolley chain and the trolley lifting frame.

[0036] Figure 10 This is a schematic diagram of the working status of the shuttle car and the shuttle mother car in the three-dimensional warehouse.

[0037] Figure 11 yes Figure 10 Schematic diagram of the locally enlarged structure of part C.

[0038] Figure 12 yes Figure 10 Schematic diagram of the locally enlarged structure of part D.

[0039] Figure 13 yes Figure 10 Schematic diagram of the working status of the shuttle vehicle in the high-bay warehouse from a top-down view.

[0040] in: 100, lateral transfer lane; 200, storage lane; 300, lane entrance; 400, cargo handling; 500, pallet; 600, stereo garage; 700, shuttle carrier; 800, shuttle carrier; 1. Carriage body; 11. Bottom car body; 12. Front vertical connection; 13. Front car body; 14. Rear vertical connection; 15. Rear car body; 16. Carriage running mechanism; 17. Carriage guide rail assembly; 2. Carriage chain conveyor; 201. First carriage chain conveyor; 202. Second carriage chain conveyor; 21. First end sprocket; 22. Drive sprocket; 23. Intermediate transition sprocket; 24. Tensioning sprocket; 25. Second end sprocket; 26. Carriage chain; 261. First sleeve; 27. Carriage mounting frame; 28. Carriage lifting frame; 281. First lifting bar; 31. First photoelectric calibration point; 32. Second photoelectric calibration point; 33. First detection board; 34. Second detection board; 4. Side reduction motor; 5. Car body; 51. Car travel mechanism; 6. Lifting mechanism; 7. Guide structure; 8. Carriage chain conveyor; 81. Left end sprocket; 82. Right end sprocket; 83. Carriage chain; 831. Second sleeve; 84. Carriage mounting frame; 85. Left mounting beam; 86. Right mounting beam; 87. Carriage lifting frame; 871. Second lifting bar; 91. Left reduction motor; 92. Right reduction motor. DETAILED DESCRIPTION

[0041] The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings and preferred embodiments. However, the exemplary embodiments may be embodied in various forms and should not be construed as being limited to the embodiments described herein. Rather, these embodiments are provided to make this disclosure thorough and complete and to enable those skilled in the art to fully understand the scope of this disclosure.

[0042] In the absence of conflict, the various embodiments of the present disclosure and the various features therein may be combined with each other.

[0043] At present, the intensive intelligent three-dimensional warehouse logistics system mainly includes: three-dimensional parking garage 600, storage and production line cargo docking port, delivery and return docking port, mother-and-child car layer exchange elevator, several shuttle cars 800, several shuttle cars 700 and other major equipment, such as Figure 10 and Figure 13 A partial view of a stereoscopic parking garage 600 is shown. The stereoscopic parking garage 600 is a dense storage shelf structure.

[0044] Among them, there is a corresponding logistics system at the incoming and production line cargo docking port and the shipping and return docking port, both of which are on the first floor of the stereo garage 600. Goods can be brought to the incoming and production line cargo docking port through the logistics system at the incoming and production line cargo docking port and wait for the mother-and-child shuttle vehicle to cooperate in transporting them to the designated storage unit stored in the stereo garage 600. The goods taken out from the designated storage unit by the mother-and-child shuttle vehicle are output to the outside through the logistics system at the shipping and return docking port. The mother-and-child shuttle vehicle layer exchange elevator can send the mother-and-child shuttle vehicle on any floor of the stereo garage 600 to the height of the required replacement floor. Each floor of the multi-story parking garage 600 has laneways. These laneways include a transverse transfer lane 100 for shuttle vehicles 700 and a storage lane 200 for shuttle vehicles 800. Each storage lane 200 is perpendicular to the transverse transfer lane 100, and the intersection of each storage lane 200 and the transverse transfer lane 100 forms the lane entrance 300 of the corresponding storage lane 100. The shuttle vehicles 700 travel in the transverse transfer lane 100 on their respective floors, while the shuttle vehicles 800 travel in a storage lane 200 on their respective floors. When a shuttle car 800 moves to the lane entrance 300 of the storage lane 200 where the shuttle car 800 is located, and a shuttle mother car 700 on the same floor also moves to the lane entrance 300, the shuttle car 800 can climb onto the shuttle mother car 700 at the lane entrance 300 and be taken to the designated location by the shuttle mother car 700.

[0045] In addition, for the convenience of description, the packaged cargo parcels that need to be stored, single cargo, and the cargo 400 with a pallet 500 at the bottom, which need to be transported by the mother-and-child shuttle, are collectively referred to as cargo.

[0046] This embodiment improves and optimizes the structure of the parent-child shuttle in an existing dense intelligent three-dimensional warehouse logistics system to improve the efficiency of goods in and out of the warehouse and reduce the difficulty of scheduling. The rest of the structure remains unchanged. Example 1

[0047] The mother-and-child shuttle vehicles suitable for dense intelligent high-bay warehouses described in this embodiment include: a shuttle mother vehicle 700 and a shuttle child vehicle 800. In this embodiment, there is no requirement on the number of the shuttle mother vehicle 700 and the shuttle child vehicle 800. The number of the shuttle mother vehicle 700 and the shuttle child vehicle 800 is selected based on comprehensive factors such as the size of the actual high-bay warehouse 600 and the scheduling strategy.

[0048] The structure of the shuttle mother car 700 described in this embodiment is consistent with the original shuttle mother car structure and has not been adjusted. Only the structure of the shuttle sub-carriage 800 has been improved and optimized.

[0049] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 10 and Figure 13 As shown, the structure of the shuttle mother vehicle 700 described in this embodiment includes a mother vehicle body 1, on which is mounted a mother vehicle travel mechanism 16 that enables the shuttle mother vehicle 700 to travel along the travel lanes of the three-dimensional warehouse 600. The travel lanes for the shuttle mother vehicle 700 are the aforementioned lateral transfer lanes 100. In this embodiment, the mother vehicle body 1 is equipped with a shuttle car guide rail assembly 17 for the shuttle car 800 to travel. In this embodiment, the mother vehicle body 1 is also equipped with two sets of mother vehicle chain conveyors 2.

[0050] The specific structure of the shuttle car 800 in this embodiment is as follows: it includes a car body 5, on which a car travel mechanism 51 is provided, which enables the shuttle car 800 to travel on the travel lanes of the three-dimensional warehouse 600 and the car guide rail group 17 of the shuttle mother car 700. The travel lane for the shuttle car 800 is the storage lane 200 mentioned above. The structure of this part of the shuttle car 800 is the same as the original shuttle car structure, as shown in FIG. Figure 1 、 Figure 7 and Figure 8 As shown, the shuttle car 800 described in this embodiment is different from the original shuttle car in that, based on the above structure, this embodiment is provided with two groups of car chain conveyors 8 on the car body 5; and a lifting mechanism 6 for changing the height of the corresponding car chain conveyor 8 is provided between each group of car chain conveyors 8 and the car body 5.

[0051] The existing shuttle carriage also has a lifting mechanism, and the existing lifting mechanism of the existing shuttle carriage can be used here. The lifting mechanism 6 can be a hydraulic cylinder drive, a screw pair transmission, an eccentric wheel drive, or other structures, as long as it can flexibly adjust the height of the shuttle chain conveyor 8 relative to the shuttle body 5. The hydraulic cylinder drive, screw pair transmission, eccentric wheel drive and other structures are common mechanical structures and will not be detailed here.

[0052] In order to allow the sub-trolley chain conveyor 8 to rise or fall more stably, a guide structure 7 is set between the left part of the sub-trolley chain conveyor 8 and the sub-trolley body 5 and between the right part of the sub-trolley chain conveyor 8 and the sub-trolley body 5 to guide the sub-trolley chain conveyor 8 to rise or fall smoothly.

[0053] Considering the compactness and miniaturization of the shuttle car structure, the guide structure 7 here adopts a telescopic rod structure, which can be a multi-stage telescopic rod structure, with the two ends of the telescopic rod respectively fixed to the shuttle car chain conveyor 8 and the shuttle car body 5. At this time, the telescopic rod structure will extend as the shuttle car chain conveyor 8 rises, and will also shorten as the shuttle car chain conveyor 8 falls, and it takes up little space.

[0054] like Figure 7 、 Figure 8 and Figure 9 As shown, the structure of the sub-carriage chain conveyor 8 in this embodiment includes: a sub-carriage sprocket set and a sub-carriage chain 83 wound around the sub-carriage sprocket set.

[0055] Among them, the sub-trolley sprocket group includes: a left end sprocket 81 and a right end sprocket 82; a sub-trolley mounting frame 84 is fixedly set on the sub-trolley body 5, and the left end sprocket 81 and the right end sprocket 82 are both supported on the sub-trolley mounting frame 84, and the support method can be that the sprocket axle is supported by a bearing group.

[0056] The height of the left end sprocket 81 is consistent with the height of the right end sprocket 82. The area where the sub-trolley chain 83 is located between the top of the left end sprocket 81 and the top of the right end sprocket 82 is the conveying area of ​​the sub-trolley chain conveyor 8. A sub-trolley lifting frame 87 is also provided on the top of the sub-trolley mounting frame 84 for lifting the sub-trolley chain 83 in the conveying area of ​​the sub-trolley chain conveyor 8.

[0057] The specific winding method of the sub-carriage chain 83 around the sub-carriage sprocket group is: the sub-carriage chain 83 is wound from the top of the left end sprocket 81, passes through the left part of the left end sprocket 81, and then is wound out from the bottom of the left end sprocket 81, passes through the right part of the right end sprocket 82, and then is wound out from the top of the right end sprocket 82 to the top of the left end sprocket 81, forming a closed loop.

[0058] There are two possible driving schemes for the two groups of sub-car chain conveyors 8.

[0059] like Figure 1 and Figure 8 As shown, the first solution is: the left end sprockets 81 of the two groups of sub-car chain conveyors 8 are driven by a common left reduction motor 91, and the right end sprockets of the two groups of sub-car chain conveyors 8 are driven by a common right reduction motor 92; The two ends of the left mounting beam 85 on which the left reduction motor 91 is mounted are respectively fixed to the carriage mounting frames 84 of the two sets of carriage chain conveyors 8, and the two ends of the right mounting beam 86 on which the right reduction motor 92 is mounted are respectively fixed to the carriage mounting frames 84 of the two sets of carriage chain conveyors 8. In this case, the two sets of carriage chain conveyors 8 have two reduction motors.

[0060] The second solution is: the left end sprocket 81 is driven by the first reduction motor, and the right end sprocket 82 is driven by the second reduction motor. At this time, the two groups of sub-car chain conveyors 8 correspond to four reduction motors.

[0061] More preferably: Figure 9As shown, the trolley chain 83 is a double-row chain; the trolley support frame 87 has two upwardly protruding second support bars 871. Each second sleeve 831 on the trolley chain 83 in the conveying area of ​​the trolley chain conveyor 8 rests on the corresponding second support bar 871. At this point, theoretically, only the second sleeve 831 of the trolley chain 83 in the conveying area of ​​the trolley chain conveyor 8 is in contact with the second support bar 871, while the rest of the chain is not in contact with the trolley support frame 87. In this case, the trolley support frame 87 serves both to support the trolley chain 83 and to guide the movement path of the trolley chain 83.

[0062] This embodiment is described by taking a storage lane 200 on a certain floor of a stereoscopic parking garage 600, and a shuttle car 800 working on the storage lane 200 as an example. When the goods stored in the storage lane 200 need to be shipped, the shuttle car 700 walks along the horizontal transfer lane 100 to the lane entrance 300 of the storage lane 200 to wait, and the shuttle car 800 walks along the storage lane 200 to the storage unit where the goods are stored, and after carrying the goods, walks to the lane entrance 300 of the storage lane 200. The two groups of child car chain conveyors 8 are synchronously raised by the lifting mechanism 6 to the same height as the two groups of mother car chain conveyors 2 on the shuttle car 800, as shown in FIG. Figure 12 As shown, at this time, the mother car chain conveyor 2 and the child car chain conveyor 8 can be transported and docked, so that the two groups of child car chain conveyors 8 are synchronously transported in the direction of the two groups of mother car chain conveyors 2, and the two groups of mother car chain conveyors 2 are also synchronously transported in the same direction, and the goods on the shuttle car 800 are transported to the shuttle mother car 700. At this time, the shuttle car 800 is lowered to the specified height through the jacking mechanism 6 and continues to execute the next command, and the shuttle mother car 700 passes through the horizontal transfer lane 100 and the mother-child car layer exchange elevator to the delivery and return connection port. After outputting the goods, it can return to the horizontal transfer lane 100 of the required layer through the mother-child layer exchange elevator and continue to execute the next command.

[0063] When the goods at the incoming warehouse and production line cargo connection port need to be delivered to a certain storage unit on a certain floor, the shuttle car 800 on the storage lane 200 where the storage unit is located moves to the lane entrance 300 of the storage lane 200 to wait, and the shuttle mother car 700 at the incoming warehouse and production line cargo connection port carries the goods and arrives at the floor where the storage unit is located through the mother-child car layer exchange elevator, moves through the horizontal transfer lane 100 of the floor to wait for the lane entrance 300 where the shuttle car 800 is located, and the two groups of car chain conveyors 8 are synchronously raised by the lifting mechanism 6. Until the two groups of mother car chain conveyors 2 on the shuttle mother car 700 are at the same height, at this time, the mother car chain conveyor 2 and the sub-car chain conveyor 2 can be transported and docked, so that the two groups of mother car chain conveyors 2 are synchronously transported in the direction of the two groups of sub-car chain conveyors 8, and the two groups of sub-car chain conveyors 8 are also synchronously transported in the same direction, and the goods on the shuttle mother car 700 are transported to the shuttle sub-carriage 800. Then, the shuttle sub-carriage 800 is lowered to the specified height through the jacking mechanism 6 to carry out the cargo release operation, and the shuttle mother car 700 continues to execute the next command.

[0064] Based on efficiency, multiple shuttle vehicles 800 and multiple shuttle vehicles 700 can work simultaneously on a single layer.

[0065] To simplify scheduling, the shuttle mother vehicles 700 can be divided into several shuttle mother vehicles for inbound storage and several shuttle mother vehicles for outbound storage, based on their usage functions. The inbound shuttle mother vehicles are dedicated to transporting goods to the corresponding shuttle sub-vehicles 800 for inbound storage, while the outbound shuttle mother vehicles are dedicated to receiving goods delivered from the corresponding shuttle sub-vehicles 800 for outbound storage.

[0066] In addition, when the shuttle vehicle 800 needs to be dispatched to other storage lanes on the same floor or other storage lanes on different floors, the original dispatching method is the same as that used in the previous example. Figure 10 As shown, at this time, the shuttle car 800 does not need to be raised or lowered for docking. The shuttle car 800 can directly climb to the shuttle mother car 700 at the corresponding lane entrance 300 through the car guide rail group 17. The shuttle mother car 700 carries the shuttle car 800 to the corresponding storage lane to complete the dispatch of the shuttle car 800.

[0067] In this embodiment, after the shuttle car chain conveyor 8 is added to the shuttle car 800, the shuttle car 800 and the shuttle mother car 700 can achieve docking through the car chain conveyor 8 and the mother car chain conveyor 2 when docking goods, without the shuttle car 800 carrying goods and climbing onto the shuttle mother car 700. The shuttle car 800 can be only responsible for the storage and retrieval of goods in the corresponding storage aisle, and the shuttle mother car 700 is only responsible for docking with the designated shuttle car to transfer goods, which greatly improves the efficiency of goods in and out of the warehouse, and also greatly reduces the difficulty of scheduling.

[0068] Example 2 The mother-and-child shuttle vehicles suitable for dense intelligent high-bay warehouses described in this embodiment include: a shuttle mother vehicle 700 and a shuttle child vehicle 800. In this embodiment, there is no requirement on the number of the shuttle mother vehicle 700 and the shuttle child vehicle 800. The number of the shuttle mother vehicle 700 and the shuttle child vehicle 800 is selected based on comprehensive factors such as the size of the actual high-bay warehouse 600 and the scheduling strategy.

[0069] In this embodiment, the structures of the shuttle mother vehicle 700 and the shuttle child vehicle 800 are improved and optimized.

[0070] The structure of the current shuttle bus 700 is as follows: The shuttle bus 700 described in this embodiment comprises a bus body 1, on which is mounted a bus travel mechanism 16 that enables the shuttle bus 700 to travel along the travel lanes of the three-dimensional warehouse 600. The travel lanes for the shuttle bus 700 are the aforementioned lateral transfer lanes 100. In this embodiment, the bus body 1 is equipped with a shuttle guide rail assembly 17 for the shuttle sub-carriage 800. In this embodiment, the bus body 1 is also equipped with two bus chain conveyors 2.

[0071] The current mother-child shuttle has the following defects: 1. The driving sprockets on the two sets of chain conveyors on the shuttle bus are both located at the ends, resulting in a large turning radius of the end steering head, which leads to unstable passage of goods. Second, the two sets of chain conveyors on the shuttle bus share a reduction motor. If the two sets of chain conveyors need to achieve a relatively high conveying speed, it is necessary to increase the reduction motor selection to achieve it. However, the larger the reduction motor selection, the larger the space occupied. This will cause the bus body to be larger, increasing the space occupied by the bus. In addition, the increased single drive after the selection will also make the bus body unstable.

[0072] In order to solve the above problems, the present embodiment changes the structure of the mother car chain conveyor 2 on the shuttle mother car 700.

[0073] like Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the structure of the mother vehicle chain conveyor 2 described in this embodiment includes: a mother vehicle sprocket group and a mother vehicle chain 26 wound around the mother vehicle sprocket group.

[0074] The sprocket assembly of the carrier vehicle in this embodiment includes: a first end sprocket 21 , a second end sprocket 25 , at least one driving sprocket 22 , at least one intermediate transition sprocket 23 , and at least one tensioning sprocket 24 .

[0075] A mother vehicle mounting frame 27 is fixedly provided on the mother vehicle body 1, and the first end sprocket 21, the second end sprocket 25, each driving sprocket 22, each intermediate transition sprocket 23, and each tensioning sprocket 24 are all supported and provided on the mother vehicle mounting frame 27, and the support method can be realized by supporting the sprocket axle through a bearing group.

[0076] Each driving sprocket 22 is driven by a corresponding side reduction motor 4 installed on the mother vehicle body 1 .

[0077] The first end sprocket 21 is located at the left end of the carrier mounting frame 27, the second end sprocket 25 is located at the right end of the carrier mounting frame 27, and each driving sprocket 22, each intermediate transition sprocket 23, and each tensioning sprocket 24 are all located in the space between the first end sprocket 21 and the second end sprocket 25.

[0078] The height of the first end sprocket 21 is consistent with that of the second end sprocket 25 , and each driving sprocket 22 , each intermediate transition sprocket 23 , and each tensioning sprocket 24 are lower than the first end sprocket 21 .

[0079] The driving sprocket 22 is moved from the original end position to the remaining position. At this time, the ends are the first end sprocket 21 and the second end sprocket 25. The first end sprocket 21 and the second end sprocket 25 are smaller than the driving sprocket 22. Therefore, the turning radius of the end steering head is reduced, and the goods pass more smoothly.

[0080] The area where the mother car chain 26 is located between the top of the first end sprocket 21 and the top of the second end sprocket 25 is the conveying area of ​​the mother car chain conveyor 2. A mother car lifting frame 28 is also provided on the top of the mother car mounting frame 27 for lifting the mother car chain 26 in the conveying area of ​​the mother car chain conveyor 2.

[0081] A more preferred solution is: Figure 6 As shown, the trolley chain 26 is a double-row chain; the trolley support frame 28 has two upwardly protruding first support bars 281. Each first sleeve 261 on the trolley chain 26 located in the conveying area of ​​the trolley chain conveyor 2 rests on the corresponding first support bar 281. At this time, on the trolley chain 26 located in the conveying area of ​​the trolley chain conveyor 2, theoretically only the first sleeve 261 is in contact with the first support bar 281, while the rest of the chain is not in contact with the trolley support frame 28. At this time, the trolley support frame 28 can not only support the trolley chain 26, but also guide the movement path of the trolley chain 26.

[0082] A more preferred solution is that the number of the driving sprocket 22, the intermediate transition sprocket 23, and the tensioning sprocket 24 is one, such as Figure 3As shown, at this time, the mother car chain 26 goes around the top of the first end sprocket 21 through the left part of the first end sprocket 21 and then goes out from the bottom of the first end sprocket 21, then goes around the left part of the drive sprocket 22 through the bottom of the drive sprocket 22 and then goes out from the right part of the drive sprocket 22, then goes around the left part of the intermediate transition sprocket 23 through the top of the intermediate transition sprocket 23 and then goes out from the right part of the intermediate transition sprocket 23, then goes around the left part of the tensioning sprocket 24 through the bottom of the tensioning sprocket 24 and then goes out from the right part of the tensioning sprocket 24, then goes around the bottom of the second end sprocket 25 from the bottom of the second end sprocket 25 and then goes out from the top of the second end sprocket 25 to the top of the first end sprocket 21, forming a closed loop.

[0083] A more preferred solution is: Figure 1 、 Figure 4 and Figure 5 As shown, the mother vehicle body 1 includes: a bottom body 11, a front vertical connection portion 12, a front body 13, a rear vertical connection portion 14, and a rear body 15. The rear end of the front body 13 is connected to the front end of the bottom body 11 via the front vertical connection portion 12, and the front body 13 is higher than the bottom body 11; the front end of the rear body 15 is connected to the rear end of the bottom body 11 via the rear vertical connection portion 14, and the rear body 15 is at the same height as the front body 13. The bottom body 11, front vertical connection portion 12, front body 13, rear vertical connection portion 14, and rear body 15 are integrally formed to form an integrated mother vehicle body. Compared with the previous combined mother vehicle body obtained by welding or screwing multiple profiles, the integrated mother vehicle body design can reduce weight by 30%, achieving the purpose of lightweighting. In addition, there is no need to conduct regular inspections of the welds or screw joints. Regular inspections of the welds or screw joints on the mother vehicle body in dense three-dimensional outbound delivery are also very difficult to operate, but the integrated body design does not have this problem.

[0084] like Figure 2 、 Figure 4 and Figure 5 As shown, the two groups of mother car chain conveyors 2 are respectively: the first mother car chain conveyor 201 and the second mother car chain conveyor 202; the mounting frame of the first mother car chain conveyor 201 is installed on the bottom body 11, and the side reduction motors 4 of the first mother car chain conveyor 201 are installed on the front body 13; the mounting frame of the second mother car chain conveyor 202 is installed on the bottom body 11, and the side reduction motors 4 of the second mother car chain conveyor 202 are installed on the rear body 15.

[0085] The sub-car guide rail assembly 17 is installed on the bottom body 11 and is located in the area between the first mother car chain conveyor 201 and the second mother car chain conveyor 202. The sub-car travel mechanism 51 is installed on the front body 13 and the rear body 15.

[0086] When the mother car chain conveyor 2 is equipped with a drive sprocket 22, the shuttle mother car 700 needs to be equipped with two sets of side reduction motors 4. When the mother car chain conveyor 2 is equipped with two drive sprockets 22, the shuttle mother car 700 needs to be equipped with four sets of side reduction motors 4. In actual use, the number of drive sprockets 22 in the mother car chain conveyor 2 can be selected according to the speed requirements. The configuration of multiple sets of side reduction motors 4 can reduce the selection of reduction motors. The smaller the reduction motor selection, the smaller the space occupied, thereby reducing the drive installation space on the shuttle mother car 700, achieving a more compact structure, and the height of the shuttle mother car 700 itself can also be very low. In addition, combined with the integrated mother car body design and the layout of the two sets of mother car chain conveyors 2, the height of the shuttle mother car 700 can be about 200mm.

[0087] The specific structure of the shuttle car 800 in this embodiment is as follows: it includes a car body 5, on which a car travel mechanism 51 is provided, which enables the shuttle car 800 to travel on the travel lanes of the three-dimensional warehouse 600 and the car guide rail group 17 of the shuttle mother car 700. The travel lane for the shuttle car 800 is the storage lane 200 mentioned above. The structure of this part of the shuttle car 800 is the same as the original shuttle car structure, as shown in FIG. Figure 1 、 Figure 7 and Figure 8 As shown, the shuttle car 800 described in this embodiment is different from the original shuttle car in that, based on the above structure, this embodiment is provided with two groups of car chain conveyors 8 on the car body 5; and a lifting mechanism 6 for changing the height of the corresponding car chain conveyor 8 is provided between each group of car chain conveyors 8 and the car body 5.

[0088] In order to allow the sub-trolley chain conveyor 8 to rise or fall more stably, a guide structure 7 is set between the left part of the sub-trolley chain conveyor 8 and the sub-trolley body 5 and between the right part of the sub-trolley chain conveyor 8 and the sub-trolley body 5 to guide the sub-trolley chain conveyor 8 to rise or fall smoothly.

[0089] The above-mentioned shuttle bus for dense intelligent high-bay warehouses has the following main advantages: ① The shuttle bus 800 and the shuttle bus 700 are connected by the shuttle chain 83 and the bus chain 26 when the goods are connected, which greatly improves the efficiency of goods entering and leaving the warehouse, and also greatly reduces the difficulty of scheduling; ② The integrated bus body design not only makes the shuttle bus 700 more structurally strong, but also reduces the weight of the shuttle bus 700 by 30%, achieving the purpose of lightweighting; In addition, the layout arrangement of each component and the design of the bus chain conveyor 2 structure can maximize the utilization space, making the shuttle bus 700 more compact and shorter, with a minimum height of 200 mm, greatly reducing the space occupied by the shuttle bus 700; ③ By arranging the sprocket position and drive of each component of the bus chain conveyor 2, not only can the turning radius of the head part be reduced, and the goods pass more smoothly, but the bus chain conveyor 2 can also be made more compact, occupying less space, and achieving higher speed transmission in a small installation space.

[0090] Example 3 The mother-and-child shuttle vehicles suitable for dense intelligent high-bay warehouses described in this embodiment include: a shuttle mother vehicle 700 and a shuttle child vehicle 800. In this embodiment, there is no requirement on the number of the shuttle mother vehicle 700 and the shuttle child vehicle 800. The number of the shuttle mother vehicle 700 and the shuttle child vehicle 800 is selected based on comprehensive factors such as the size of the actual high-bay warehouse 600 and the scheduling strategy.

[0091] In this embodiment, the structures of the shuttle mother vehicle 700 and the shuttle child vehicle 800 are improved and optimized.

[0092] The structure of the current shuttle bus 700 is as follows: The shuttle bus 700 described in this embodiment comprises a bus body 1, on which is mounted a bus travel mechanism 16 that enables the shuttle bus 700 to travel along the travel lanes of the three-dimensional warehouse 600. The travel lanes for the shuttle bus 700 are the aforementioned lateral transfer lanes 100. In this embodiment, the bus body 1 is equipped with a shuttle guide rail assembly 17 for the shuttle sub-carriage 800. In this embodiment, the bus body 1 is also equipped with two bus chain conveyors 2.

[0093] This embodiment improves the structure of the mother vehicle chain conveyor 2 based on the above structure. Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the structure of the mother vehicle chain conveyor 2 described in this embodiment includes: a mother vehicle sprocket group and a mother vehicle chain 26 wound around the mother vehicle sprocket group.

[0094] The sprocket assembly of the carrier vehicle in this embodiment includes: a first end sprocket 21 , a second end sprocket 25 , at least one driving sprocket 22 , at least one intermediate transition sprocket 23 , and at least one tensioning sprocket 24 .

[0095] A mother vehicle mounting frame 27 is fixedly provided on the mother vehicle body 1, and the first end sprocket 21, the second end sprocket 25, each driving sprocket 22, each intermediate transition sprocket 23, and each tensioning sprocket 24 are all supported and provided on the mother vehicle mounting frame 27, and the support method can be realized by supporting the sprocket axle through a bearing group.

[0096] Each driving sprocket 22 is driven by a corresponding side reduction motor 4 installed on the mother vehicle body 1 .

[0097] The first end sprocket 21 is located at the left end of the carrier mounting frame 27, the second end sprocket 25 is located at the right end of the carrier mounting frame 27, and each driving sprocket 22, each intermediate transition sprocket 23, and each tensioning sprocket 24 are all located in the space between the first end sprocket 21 and the second end sprocket 25.

[0098] The height of the first end sprocket 21 is consistent with that of the second end sprocket 25 , and the heights of the driving sprockets 22 , the intermediate transition sprockets 23 , and the tensioning sprockets 24 are all lower than that of the first end sprocket 21 .

[0099] The area where the mother car chain 26 is located between the top of the first end sprocket 21 and the top of the second end sprocket 25 is the conveying area of ​​the mother car chain conveyor 2. A mother car lifting frame 28 is also provided on the top of the mother car mounting frame 27 for lifting the mother car chain 26 in the conveying area of ​​the mother car chain conveyor 2.

[0100] A more preferred solution is: Figure 6 As shown, the mother car chain 26 is a double-row chain; the mother car lifting frame 28 has two upwardly protruding first lifting bars 281, and each first sleeve 261 on the mother car chain 26 in the conveying area of ​​the mother car chain conveyor 2 is placed on the corresponding first lifting bar 281.

[0101] A more preferred solution is: Figure 1 、 Figure 4 and Figure 5 As shown, the mother vehicle body 1 includes: a bottom body 11, a front vertical connecting portion 12, a front body 13, a rear vertical connecting portion 14, and a rear body 15; the rear end of the front body 13 is connected to the front end of the bottom body 11 through the front vertical connecting portion 12, and the front body 13 is higher than the bottom body 11; the front end of the rear body 15 is connected to the rear end of the bottom body 11 through the rear vertical connecting portion 14, and the rear body 15 is at the same height as the front body 13; the bottom The vehicle body 11, the front vertical connection 12, the front body 13, the rear vertical connection 14, and the rear body 15 are integrally formed to form an integrated mother vehicle body. Compared to conventional composite mother vehicle bodies constructed by welding or bolting multiple sections, this integrated mother vehicle body design can reduce weight by 30%, achieving lightweighting. Furthermore, it eliminates the need for regular inspections of welds or bolted joints, a difficult task in densely packed warehouses. This problem is eliminated with the integrated body design.

[0102] like Figure 2 、 Figure 4 and Figure 5 As shown, the two groups of mother car chain conveyors 2 are respectively: the first mother car chain conveyor 201 and the second mother car chain conveyor 202; the mounting frame of the first mother car chain conveyor 201 is installed on the bottom body 11, and the side reduction motors 4 of the first mother car chain conveyor 201 are installed on the front body 13; the mounting frame of the second mother car chain conveyor 202 is installed on the bottom body 11, and the side reduction motors 4 of the second mother car chain conveyor 202 are installed on the rear body 15.

[0103] The sub-car guide rail assembly 17 is installed on the bottom body 11 and is located in the area between the first mother car chain conveyor 201 and the second mother car chain conveyor 202. The sub-car travel mechanism 51 is installed on the front body 13 and the rear body 15.

[0104] When the mother car chain conveyor 2 is equipped with a drive sprocket 22, the shuttle mother car 700 needs to be equipped with two sets of side reduction motors 4. When the mother car chain conveyor 2 is equipped with two drive sprockets 22, the shuttle mother car 700 needs to be equipped with four sets of side reduction motors 4. In actual use, the number of drive sprockets 22 in the mother car chain conveyor 2 can be selected according to the speed requirements. The configuration of multiple sets of side reduction motors can reduce the selection of reduction motors. The smaller the reduction motor selection, the smaller the space occupied, thereby reducing the drive installation space on the shuttle mother car 700, achieving a more compact structure, and the height of the shuttle mother car 700 itself can also be very low. In addition, combined with the integrated mother car body design and the layout of the two sets of mother car chain conveyors 2, the height of the shuttle mother car 700 can be about 200mm.

[0105] The specific structure of the shuttle car 800 in this embodiment is as follows: it includes a car body 5, on which a car travel mechanism 51 is provided, which enables the shuttle car 800 to travel on the travel lanes of the three-dimensional warehouse 600 and the car guide rail group 17 of the shuttle mother car 700. The travel lane for the shuttle car 800 is the storage lane 200 mentioned above. The structure of this part of the shuttle car 800 is the same as the original shuttle car structure, as shown in FIG. Figure 1 、 Figure 7 and Figure 8 As shown, the shuttle car 800 described in this embodiment is different from the original shuttle car in that, based on the above structure, this embodiment is provided with two groups of car chain conveyors 8 on the car body 5; and a lifting mechanism 6 for changing the height of the corresponding car chain conveyor 8 is provided between each group of car chain conveyors 8 and the car body 5.

[0106] In order to allow the sub-trolley chain conveyor 8 to rise or fall more stably, a guide structure 7 is set between the left part of the sub-trolley chain conveyor 8 and the sub-trolley body 5 and between the right part of the sub-trolley chain conveyor 8 and the sub-trolley body 5 to guide the sub-trolley chain conveyor 8 to rise or fall smoothly.

[0107] The shuttle car 800 and the shuttle mother car 700 are connected by the car chain 83 and the mother car chain 26 when docking goods, which greatly improves the efficiency of goods in and out of the warehouse, and also greatly reduces the difficulty of scheduling. However, since the shuttle mother car 700 uses two sets of mother car chain conveyors 2, the synchronization of the conveying speeds of the two sets of mother car chain conveyors 2 is very important. In actual use, the difference in the conveying speeds of the two sets of mother car chain conveyors 2 can be controlled within a controllable range. In order to be able to detect and correct the conveying speeds of the two sets of mother car chain conveyors 2 in real time, as shown in FIG. Figure 2 As shown, this embodiment employs a multi-point calibration method. Specifically, a plurality of first photoelectric calibration points 31 are provided on the carrier body 13 at the first carrier chain conveyor 201. The first photoelectric calibration points 31 are evenly spaced along the conveying direction of the first carrier chain conveyor 201. Alternatively, a first detection plate 33 may be provided on the carrier body 1, with each first photoelectric calibration point 31 positioned on a corresponding first detection plate 33.

[0108] A plurality of second photoelectric calibration points 32 are provided on the carrier body 1 at the second carrier chain conveyor 202. The second photoelectric calibration points 32 are evenly spaced along the conveying direction of the second carrier chain conveyor 202. A second detection plate 34 may also be provided on the carrier body 1, with each first photoelectric calibration point 31 positioned on a corresponding second detection plate 34.

[0109] Each first photoelectric calibration point 31 , each second photoelectric calibration point 32 , and each side reduction motor 4 on the two sets of mother vehicle chain conveyors 2 are all connected to the PLC for signal communication.

[0110] The positions of the goods located on the two groups of mother car chain conveyors 2 are detected through each first photoelectric calibration point 31 and each second photoelectric calibration point 32, and the detected position signal is fed back to the PLC. The PLC then processes it according to the position signal and continuously corrects the output speed of each side reduction motor 4 on the two groups of mother car chain conveyors 2 to ensure that the conveying speed difference of the two groups of mother car chain conveyors 2 is controlled within a controllable range, and the conveying speed difference between the two is within 0~0.16m / min.

[0111] When the conveying speed difference of the two sets of mother car chain conveyors 2 is controlled within the controllable range, the conveying speed of the two sets of mother car chain conveyors 2 is synchronized by default. Through the above operation, real-time monitoring and real-time correction can be made to ensure that the two sets of mother car chain conveyors 2 can always synchronously convey the goods thereon in a certain direction.

[0112] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. Any modification or equivalent change made according to the technical essence of the present invention shall still fall within the scope of protection required by the present invention.

Claims

1. The mother-and-child shuttle equipment is suitable for intensive intelligent three-dimensional warehouse logistics systems, including: The shuttle mother car and the shuttle sub-car; characterized in that: the structure of the shuttle mother car includes: a mother car body, on which a mother car walking mechanism is provided that enables the shuttle mother car to travel on the horizontal transfer lane of the stereoscopic warehouse; A sub-carriage guide rail group for the shuttle car to travel is provided on the mother car body; Two sets of mother car chain conveyors are arranged on the mother car body; The structure of the shuttle car includes: a car body, on which a car travel mechanism is provided that enables the shuttle car to travel on the storage lanes and car guide rails of the stereoscopic warehouse; Two groups of sub-car chain conveyors are provided on the sub-car body; a lifting mechanism for changing the height of the corresponding sub-car chain conveyor is provided between each group of sub-car chain conveyors and the sub-car body; When the shuttle car switches the cargo position with the corresponding shuttle mother car, the shuttle car uses the lifting mechanism to lift the two sets of car chain conveyors to the docking height with the two sets of mother car chain conveyors on the corresponding shuttle mother car, so that the two sets of car chain conveyors are docked with the two sets of mother car chain conveyors for transportation, thereby transporting the cargo on the shuttle car from the shuttle car to the corresponding shuttle mother car or transporting the cargo on the shuttle mother car from the corresponding shuttle mother car to the shuttle car; Before the shuttle car stores goods in the three-dimensional warehouse or takes goods out of the three-dimensional warehouse, the two groups of chain conveyors on the shuttle car are first lowered to a specified height; When the shuttle car changes the storage lane, it climbs onto the corresponding shuttle mother car through the car guide group on the corresponding shuttle mother car, and the corresponding shuttle mother car carries the shuttle car to the lane entrance of the designated storage lane.

2. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 1 is characterized by: The structure of the mother car chain conveyor includes: a mother car sprocket group and a mother car chain wound on the mother car sprocket group; The sprocket assembly of the trolley comprises: a first end sprocket, a second end sprocket, at least one driving sprocket, at least one intermediate transition sprocket, and at least one tensioning sprocket; A carrier mounting frame is fixedly provided on the carrier body, and the first end sprocket, the second end sprocket, each drive sprocket, each intermediate transition sprocket, and each tensioning sprocket are supported and provided on the carrier mounting frame; each drive sprocket is driven by a corresponding side reduction motor installed on the carrier body; The first end sprocket is located at the left end of the carrier mounting frame, the second end sprocket is located at the right end of the carrier mounting frame, and each drive sprocket, each intermediate transition sprocket, and each tensioning sprocket are located in the space between the first end sprocket and the second end sprocket; The height of the first end sprocket is consistent with the height of the second end sprocket, and each driving sprocket, each intermediate transition sprocket, and each tensioning sprocket are lower than the first end sprocket; The area where the mother car chain is located between the top of the first end sprocket and the top of the second end sprocket is the conveying area of ​​the mother car chain conveyor. A mother car lifting frame is also provided on the top of the mother car mounting frame for lifting the mother car chain in the conveying area of ​​the mother car chain conveyor.

3. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 2 is characterized by: The number of the driving sprocket, the intermediate transition sprocket and the tensioning sprocket is one; The mother car chain goes around the top of the first end sprocket through the left part of the first end sprocket and then goes out from the bottom of the first end sprocket, then goes around from the left part of the drive sprocket through the bottom of the drive sprocket and then goes out from the right part of the drive sprocket, then goes around from the left part of the intermediate transition sprocket through the top of the intermediate transition sprocket and then goes out from the right part of the intermediate transition sprocket, then goes around from the left part of the tensioning sprocket through the bottom of the tensioning sprocket and then goes out from the right part of the tensioning sprocket, then goes around from the bottom of the second end sprocket through the right part of the second end sprocket and then goes out from the top of the second end sprocket to the top of the first end sprocket, forming a closed loop.

4. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 2, characterized in that: The mother car chain is a double-row chain; the mother car lifting frame has two upwardly protruding first lifting bars, and each first sleeve on the mother car chain in the conveying area of ​​the mother car chain conveyor is placed on the corresponding first lifting bar.

5. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 2, 3, or 4, characterized in that: The mother vehicle body includes: a bottom body, a front vertical connecting portion, a front body, a rear vertical connecting portion, and a rear body; The rear end of the front body is connected to the front end of the bottom body through a front vertical connecting portion, and the front body is higher than the bottom body; The front end of the rear body is connected to the rear end of the bottom body through a rear vertical connecting portion, and the rear body is at the same height as the front body; The bottom body, the front vertical connecting portion, the front body, the rear vertical connecting portion, and the rear body are integrally formed to form an integrated mother vehicle body; The two sets of chain conveyors for the mother car are: the first mother car chain conveyor and the second mother car chain conveyor; the mounting frame of the first mother car chain conveyor is installed on the bottom body, and the side reduction motors of the first mother car chain conveyor are installed on the front body; the mounting frame of the second mother car chain conveyor is installed on the bottom body, and the side reduction motors of the second mother car chain conveyor are installed on the rear body; The guide rail assembly of the sub-carriage is installed on the bottom car body and is located in the area between the first mother car chain conveyor and the second mother car chain conveyor; The mother vehicle running mechanism is installed on the front vehicle body and the rear vehicle body.

6. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 5, characterized in that: A plurality of first photoelectric calibration points are provided on the body of the mother car at the first mother car chain conveyor, and the first photoelectric calibration points are evenly spaced along the conveying direction of the first mother car chain conveyor; A plurality of second photoelectric calibration points are provided on the body of the second mother car chain conveyor, and the second photoelectric calibration points are evenly spaced along the conveying direction of the second mother car chain conveyor; Each first photoelectric calibration point, each second photoelectric calibration point, and each side reduction motor on the two sets of mother car chain conveyors are all connected to the PLC to achieve signal communication; The positions of the goods on the two groups of mother car chain conveyors are detected through each first photoelectric calibration point and each second photoelectric calibration point, and the detected position signal is fed back to the PLC. The PLC then processes it according to the position signal and continuously corrects the output speed of each side reduction motor on the two groups of mother car chain conveyors to ensure that the conveying speed difference of the two groups of mother car chain conveyors is controlled within a controllable range.

7. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 1, characterized in that: The structure of the sub-car chain conveyor includes: a sub-car sprocket assembly and a sub-car chain wound on the sub-car sprocket assembly; The sub-vehicle sprocket assembly includes: a left end sprocket and a right end sprocket; The sub-car chain is wound from the top of the left end sprocket, passes through the left part of the left end sprocket, and then is wound out from the bottom of the left end sprocket, passes through the right part of the right end sprocket, and then is wound out from the top of the right end sprocket to the top of the left end sprocket, forming a closed loop; A sub-carriage mounting frame is fixedly provided on the sub-carriage body, and the left end sprocket and the right end sprocket are both supported and provided on the sub-carriage mounting frame; The height of the left end sprocket is consistent with that of the right end sprocket, and the area where the sub-carriage chain is located between the top of the left end sprocket and the top of the right end sprocket is the conveying area of ​​the sub-carriage chain conveyor. A sub-carriage lifting frame for lifting the sub-carriage chain in the conveying area of ​​the sub-carriage chain conveyor is also provided on the top of the sub-carriage mounting frame; The left end sprockets of the two groups of sub-car chain conveyors are driven by a common left reduction motor, and the right end sprockets of the two groups of sub-car chain conveyors are driven by a common right reduction motor; The two ends of the left mounting beam for installing the left reduction motor are respectively fixed on the vehicle mounting frames of the two groups of vehicle chain conveyors, and the two ends of the right mounting beam for installing the right reduction motor are respectively fixed on the vehicle mounting frames of the two groups of vehicle chain conveyors.

8. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 1, characterized in that: The structure of the sub-car chain conveyor includes: a sub-car sprocket assembly and a sub-car chain wound on the sub-car sprocket assembly; The sub-carriage sprocket assembly includes: a left end sprocket and a right end sprocket; a sub-carriage mounting frame is fixedly provided on the sub-carriage body, and the left end sprocket and the right end sprocket are both supported and provided on the sub-carriage mounting frame; The sub-car chain is wound from the top of the left end sprocket, passes through the left part of the left end sprocket, and then is wound out from the bottom of the left end sprocket, passes through the right part of the right end sprocket, and then is wound out from the top of the right end sprocket to the top of the left end sprocket, forming a closed loop; The height of the left end sprocket is consistent with that of the right end sprocket, and the area where the sub-carriage chain is located between the top of the left end sprocket and the top of the right end sprocket is the conveying area of ​​the sub-carriage chain conveyor. A sub-carriage lifting frame for lifting the sub-carriage chain in the conveying area of ​​the sub-carriage chain conveyor is also provided on the top of the sub-carriage mounting frame; The sub-vehicle sprocket assembly includes: a left end sprocket and a right end sprocket; the left end sprocket is driven by a first reduction motor, and the right end sprocket is driven by a second reduction motor.

9. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 7 or 8, characterized in that: The sub-trolley chain is a double-row chain; the sub-trolley lifting frame has two upwardly protruding second lifting bars, and each second sleeve on the sub-trolley chain in the conveying area of ​​the sub-trolley chain conveyor is placed on the corresponding second lifting bar.

10. The mother-and-child shuttle device suitable for a dense intelligent three-dimensional warehouse logistics system according to claim 1, characterized in that: The shuttle car is provided with a power supply battery assembly for supplying power to the shuttle car, and a plurality of charging points for charging the power supply battery assembly on the shuttle car are provided in the stereoscopic warehouse.

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