Automatic stereoscopic warehouse with split type stacking machine

Abstract

The automatic stereoscopic warehouse comprises a goods shelf area, the goods shelf area is provided with a plurality of single-row goods shelves arranged in parallel, a roadway is arranged between every two adjacent single-row goods shelves, the stacking machine is arranged on one side of the goods shelf area and comprises a movable frame, and the moving direction of the movable frame is perpendicular to the roadway. A lifting table capable of moving up and down is arranged on the movable frame, a separable transfer AGV is arranged on the lifting table, an AGV dispatching area and a conveying line body are arranged on the side, away from the goods shelf area, of the stacking machine, the single-row goods shelf is provided with multiple layers in the height direction, each layer is provided with multiple storage positions in the length direction, and longitudinal guide rails are arranged on the sides, close to the roadway, of the layers of the single-row goods shelf in the length direction. And a plurality of rotatable hanging wheels are arranged on the two sides of the transfer AGV, the hanging wheels abut against the longitudinal guide rails to roll, and the problems that a traditional stereoscopic warehouse is small in storage area proportion, the number of stacking machines is large, and cost is high are solved.

Description

Technical Field

[0001] The present invention relates to the field of automated stereoscopic warehouses, in particular to an automated stereoscopic warehouse with a split-type stacker. Background Art

[0002] Automated high-bay warehouses are emerging high-end equipment in logistics and warehousing in recent years. They usually include multi-layer shelves and use automated stacking cranes to replace manual picking and placing of goods, thereby improving the standardization and safety of logistics and warehousing, and improving the efficiency of picking and placing goods.

[0003] The layout of existing large-scale automated high-bay warehouses generally features multiple aisles distributed across the racking area, with a stacker crane deployed in each aisle. Connecting buffer lines are located at the aisle entrances and exits outside the racking area. An automated assembly line is installed at the warehouse entrance, with a forklift workspace located between the automated assembly line and the buffer lines. Multiple forklifts forklifts load goods from the buffer lines onto the automated assembly line for outbound delivery, while the reverse is true for inbound delivery. Because forklifts require clearance to prevent interference between forklifts, the forklift area occupies a large area, hindering warehouse miniaturization. Given the limited total area, the shelving area must be compressed, resulting in reduced storage space. Furthermore, each stacker crane incorporates an integrated linear travel mechanism, vertical lifting mechanism, and fork-handling mechanism. Placing a stacker crane in each aisle significantly increases costs, making it unsuitable for applications with low outbound and inbound traffic, such as school sports equipment warehouses. Summary of the Invention

[0004] The present invention provides an automated high-bay warehouse with a split-type stacker, which solves the problems of a small storage area in a traditional high-bay warehouse, a large number of stackers and high costs.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: an automated high-bay warehouse with a split stacker, comprising a shelf area, wherein the shelf area is provided with a plurality of single-row shelves arranged in parallel, and aisles are provided between adjacent single-row shelves. A stacker is provided on one side of the shelf area, and the stacker comprises a movable mobile frame, the moving direction of the mobile frame being arranged perpendicular to the aisle, the mobile frame being provided with a lifting platform that can move up and down, and a detachable transfer AGV being provided on the lifting platform. An AGV dispatching area and a conveyor line are provided on the side of the stacker away from the shelf area; The single-row shelves are equipped with multiple layers in the height direction, and each layer is equipped with multiple storage locations in the length direction. The side of each layer of the single-row shelves close to the aisle is equipped with a longitudinal guide rail along the length direction. Multiple rotatable lifting wheels are provided on both sides of the transfer AGV, and the lifting wheels roll against the longitudinal guide rail.

[0006] In a preferred solution, an annular groove is provided on the outer edge of the lifting wheel, a rotatable running wheel is provided under each lifting wheel on the transfer AGV, and a passing space for the longitudinal guide rail to pass through is provided between the running wheel and the lifting wheel.

[0007] In the preferred solution, the running wheels on both sides of the transfer AGV are arranged on the inner side of the lifting wheel, and a transition auxiliary wheel is provided between the lifting wheels at both ends of the transfer AGV. The transition auxiliary wheel and the lifting wheel at one end of the transfer AGV are respectively located on both sides of the running wheel, and the upper end of the running wheel is against the lower edge of the longitudinal guide rail.

[0008] In the preferred solution, the lifting platform is also provided with a plurality of sinking grooves, each of which is provided with a liftable wedge-shaped top block. The wedge-shaped top block descends so that the lower end of the outer shell of the transfer AGV contacts the upper end surface of the lifting platform, and the wedge-shaped top block rises so that the upper end surface of the wedge-shaped top block is flush with the upper end surface of the lifting platform.

[0009] In the preferred solution, a first lower link and a second lower link are respectively provided at both ends of the transfer AGV, each walking wheel is provided at both ends of the first lower link and the second lower link, a synchronous belt mechanism is provided between the first lower link and the second lower link, and a first upper link and a second upper link are further provided above the first lower link and the second lower link at both ends of the transfer AGV, each lifting wheel is provided at both ends of the first upper link and the second upper link, and a gear transmission mechanism is provided between the first lower link and the first upper link and between the second lower link and the second upper link.

[0010] In the preferred solution, multiple rotatable lower and upper shafts are provided on both sides of the transfer AGV, the upper shaft is connected to the lifting wheel, and the lower shaft is connected to the walking wheel. A gear transmission mechanism is provided between the lower shaft and the upper shaft on the same side, and the shaft end of each lower shaft is connected to the AGV walking motor.

[0011] In the preferred solution, a guide rail adjustment structure is further provided between the longitudinal guide rail and the single-row shelf. The guide rail adjustment structure includes a thickened plate connected to the single-row shelf. A plurality of studs are provided on the thickened plate. A plurality of L-shaped side connecting blocks are provided along the length direction of the longitudinal guide rail. The L-shaped side connecting blocks are provided with through holes with a diameter larger than the studs. Lock nuts are provided on both sides of the L-shaped side connecting blocks on the studs. A fixed block is also provided below the L-shaped side connecting block on the single-row shelf. A plurality of threaded tightening bolts are provided on the fixed block. The upper ends of the tightening bolts rest against the L-shaped side connecting blocks.

[0012] In a preferred solution, the stacker includes a guide rail, which is arranged perpendicular to the lane, and one or more slidingly connected moving frames are provided on the guide rail, and the moving frames are provided with columns, and the lifting platform is slidably connected to the columns.

[0013] In the preferred solution, a rotatable first sprocket is provided at each of the upper and lower ends of the column, and a first chain connected end to end is provided between the two first sprockets, the first sprocket is engaged with the first chain, and the lifting platform is also provided with a frame frame sleeved on the outer side of the column, a chain clamp is provided on the inner wall of the frame, the chain clamp is connected to the first chain, and a lifting motor is also provided on the column, which drives the first sprocket to rotate.

[0014] In the preferred solution, a sinking cavity is provided in the center of the transfer AGV, and a fork-picking device is also provided on the transfer AGV. The fork-picking device includes a base, which is provided in the sinking cavity. Two parallel retractable fork plates are provided on the base, and a liftable top plate is provided on the fork.

[0015] The beneficial effects of the present invention are as follows: the stacker adopts a split layout and is equipped with an independently movable AGV transfer vehicle. There is no need for a forklift to assist in dispatching goods. The area of ​​the vertical warehouse can be maximized to give priority to the shelf area, thereby increasing the storage space of the vertical warehouse; guide rails that penetrate into the aisle are integrated and installed on each layer of the shelf, and the lifting mechanism of the stacker does not need to enter the aisle, and a single lifting mechanism can assist multiple AGV transfer vehicles to enter different height layers of the same aisle, greatly improving the picking and placing efficiency of a single aisle; the number of stackers is small, and the overall cost is greatly reduced. The stacker is outside, which is more convenient for maintenance; the AGV transfer vehicle is light in weight, moves fast, and is equipped with two sets of walking wheel systems. It can move quickly in the aisle and on the ground, with high operating efficiency and low cost; the AGV transfer vehicle can be equipped with a single-sided fork-picking mechanism, and the AGV transfer vehicle can change the forking direction when it falls on the ground, which simplifies the structure of the forking mechanism, reduces the cost, and meets the lightweight design of the AGV transfer vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

[0017] Figure 1 The three-dimensional warehouse layout of the present invention Figure 1 .

[0018] Figure 2 The three-dimensional warehouse layout of the present invention Figure 2 .

[0019] Figure 3 It is a schematic diagram of the longitudinal guide rail arrangement.

[0020] Figure 4 This is an enlarged view of the docking between the longitudinal guide rail and the transfer AGV.

[0021] Figure 5 This is a schematic diagram of the walking mechanism of the all-wheel linkage transfer AGV.

[0022] Figure 6 This is a top view of the all-wheel linkage transfer AGV walking mechanism.

[0023] Figure 7 This is a schematic diagram of the walking mechanism of a single-side wheel linkage transfer AGV.

[0024] Figure 8 This is a diagram of the transition docking state change of the transfer AGV.

[0025] Figure 9 It is a top view of the stacker crane lifting mechanism.

[0026] Figure 10 It is a side view of the stacker crane lifting mechanism.

[0027] Figure 11 It is a schematic diagram of the guide rail adjustment structure.

[0028] Figure 12 It is a schematic diagram of the end of the fork-taking device.

[0029] Figure 13 It is a schematic diagram of a cross section of a fork-taking device.

[0030] Figure 14 2. It is a schematic diagram of the second cross section of the fork-taking device.

[0031] Figure 15 2. It is a schematic diagram of the third cross section of the fork-taking device.

[0032] Figure 16 It is a schematic diagram of the lifting drive of the wedge-shaped top block.

[0033] Figure 17 It is a state change diagram of the side jacking mechanism.

[0034] Figure 18 It is a schematic diagram of the top plate driving mechanism.

[0035] Figure 19 This is the top plate lifting structure diagram.

[0036] Figure 20 This is a traditional three-dimensional warehouse layout diagram.

[0037] In the figure: shelf area 1; single-row shelf 101; longitudinal guide rail 102; guide rail adjustment structure 103; thickening plate 104; stud 105; fixing block 106; L-shaped side connecting block 107; lock nut 108; tightening bolt 109; stacker 2; guide rail 201; mobile frame 202; column 203; lifting platform 204; frame 205; first sprocket 206; first chain 207; chain clamp 208; stacker transverse movement motor 209; second sprocket 210; second Chain 211; linear guide 212; lifting motor 213; clamping slider 214; sink 215; transfer AGV 3; lifting wheel 301; walking wheel 302; first lower connecting rod 303; second lower connecting rod 304; first upper connecting rod 305; second upper connecting rod 306; synchronous belt mechanism 307; gear transmission mechanism 308; sinking cavity 309; lower rotating shaft 310; upper rotating shaft 311; AGV walking motor 312; transition auxiliary wheel 313; fork-taking device 4; base Base 401; fork plate 402; middle sliding plate 403; fixed base 404; first driving gear 405; first rack 406; third sprocket 407; third chain 408; fourth sprocket 409; fourth chain 410; fork motor 411; transmission rod 412; transmission line 5; transverse line 501; lane 6; AGV dispatching area 7; sinking area 701; ramp 702; first side lifting mechanism 8; first transverse frame 801; second transverse frame 802; second Rack 803; second drive gear 804; slope portion 805; second side lifting mechanism 9; transmission shaft 10; wedge block lifting motor 11; wedge-shaped lifting block 12; pallet lifting motor 13; linkage shaft 14; top plate 15; pushing screw 1501; sliding wedge block 1502; adjusting screw hole 1503; lifting wedge block 1504; guide wedge surface 1505; limiting groove 1506; limiting latch 1507; base frame 16; limiting baffle 1601; cargo pallet 17. DETAILED DESCRIPTION

[0038] like Figure 1-17 In the embodiment, an automated high-bay warehouse with a split stacker includes a shelf area 1, wherein the shelf area 1 is provided with a plurality of single-row shelves 101 arranged in parallel, and an aisle 6 is provided between adjacent single-row shelves 101. A stacker 2 is provided on one side of the shelf area 1, and a detachable transfer AGV 3 is provided on the stacker 2. An AGV dispatching area 7 and a conveyor line 5 are provided on the side of the stacker 2 away from the shelf area 1.

[0039] The stacker 2 adopts a split structure and is equipped with a freely movable transfer AGV 3. The transfer AGV 3 can leave the lifting mechanism of the stacker 2 and move freely to the AGV scheduling area 7 to transport goods. The transfer AGV 3 can also enter the lane 6 to directly pick up and place goods in the storage position.

[0040] And as Figure 20In traditional automated warehouses, forklift access requires a large area, squeezing out space originally reserved for shelves. Stackers are large, numerous, and heavy, with slow acceleration and deceleration, impacting both warehousing and delivery times.

[0041] In the preferred solution, the single-row shelves 101 are provided with multiple layers in the height direction, and each layer is provided with multiple storage positions in the length direction. A longitudinal guide rail 102 is provided along the length direction on one side of each layer of the single-row shelves 101 close to the alley 6, and multiple rotatable lifting wheels 301 are provided on both sides of the transfer AGV3, and the lifting wheels 301 are against the longitudinal guide rail 102.

[0042] The transfer AGV 3 is equipped with conventional systems, including a visual recognition or laser navigation system, a battery energy storage system, and a control system. A longitudinal guide rail 102 is installed in the space of aisle 6. The transfer AGV 3 can detach from the stacker 2 and move along the longitudinal guide rail 102 in aisle 6 to retrieve goods. After retrieving goods, the stacker 2 transfers the transfer AGV 3 to the AGV dispatch area 7. The transfer AGV 3 moves to a location near the conveyor line 5 to place the goods. To store goods, the transfer AGV 3 picks up goods from the conveyor line 5, moves them to the stacker 2, and then enters the corresponding storage location in aisle 6 to store the goods.

[0043] In the preferred solution, an annular groove is provided on the outer edge of the lifting wheel 301, and a rotatable running wheel 302 is provided under each lifting wheel 301 on the transfer AGV3, and a passing space for the longitudinal guide rail 102 to pass through is provided between the running wheel 302 and the lifting wheel 301.

[0044] The groove surface of the lifting wheel 301 is sprayed with a friction coating, and the walking wheel 302 can be a rotating wheel with a rubber surface. The walking wheel 302 is close to the bottom of the longitudinal guide rail 102 and just rests against the bottom of the longitudinal guide rail 102, which can limit the up and down jumping of the transfer AGV3 and prevent the longitudinal guide rail 102 from falling out of the groove of the lifting wheel 301.

[0045] In the preferred solution, the stacker 2 includes a guide rail 201, which is arranged perpendicular to the alley 6. One or more slidingly connected mobile frames 202 are provided on the guide rail 201, and a column 203 is provided on the mobile frame 202. The column 203 is provided with a lifting platform 204 that can move up and down. The lifting platform 204 is used to support the transfer AGV3. The walking wheels 302 on both sides of the transfer AGV3 are arranged on the inner side of the lifting wheel 301. A transition auxiliary wheel 313 is also provided between the lifting wheels 301 at both ends of the transfer AGV3. The transition auxiliary wheel 313 and the lifting wheel 301 at one end of the transfer AGV3 are respectively located on both sides of the walking wheel 302, and the upper end of the walking wheel 302 rests on the lower edge of the longitudinal guide rail 102.

[0046] A sunken area 701 is provided on the ground, and the guide rail 201 is provided in the sunken area 701 so that the movable rack 202 can meet the lowest storage position height when it is lowered to the lowest position.

[0047] A ramp 702 is provided on the ground to facilitate the docking of the transfer AGV 3 and the stacker 2.

[0048] A pair of guide rails 201 can be installed on the ground and the ceiling, and the upper and lower ends of the movable frame 202 are connected thereto.

[0049] The mobile frame 202 is provided with a stacker transverse motor 209, and a second sprocket 210 is provided at the shaft end of the stacker transverse motor 209. A second chain 211 can be installed on the ground or the ceiling. The second sprocket 210 is engaged with the second chain 211, and the stacker transverse motor 209 drives the mobile frame 202 to move.

[0050] A V-shaped groove is provided on the lifting platform 204 for positioning the walking wheels 302 to prevent the transfer AGV 3 from slipping on the lifting platform 204 .

[0051] The number of mobile racks 202 is specifically determined based on the number of single-row shelves 101 and the cargo storage and retrieval cycle time. For warehouses where cargo is frequently taken in and out, multiple mobile racks 202 can be set on a single guide rail 201. A single mobile rack 202 is responsible for the cargo transfer of several rows of single-row shelves 101, and the total number of transfer AGVs 3 can be greater than the number of mobile racks 202. When picking up cargo, each transfer AGV 3 chooses to take the nearest mobile rack 202 to reach the storage position at the corresponding floor height of the corresponding aisle 6.

[0052] like Figure 10 In the direction of movement of the transfer AGV 3, the connecting wheels 301 are located closer to the two ends. When the transfer AGV 3 moves from the lifting platform 204 into the lane 6, the front running wheels 302 of the transfer AGV 3 approach but have not yet left the edge of the lifting platform 204. The connecting wheels 301 have begun to overlap the longitudinal guide rails 102, allowing the transfer AGV 3 to smoothly transition from the stacker 2 to the longitudinal guide rails 102. Subsequently, the transfer AGV 3 continues to move forward until the transition auxiliary wheels 313 are hooked on the longitudinal guide rails 102. When the transfer AGV 3 begins to leave the lifting platform 204, at least the two upper wheels and one lower wheel are sandwiched between the longitudinal guide rails 102, and the center of gravity gradually shifts to the longitudinal guide rails 102. Therefore, after the running wheels 302 leave the lifting platform 204, a stable transition can be completed.

[0053] like Figure 7-8In the preferred solution, a first lower link 303 and a second lower link 304 are respectively provided at both ends of the transfer AGV3, each walking wheel 302 is provided at both ends of the first lower link 303 and the second lower link 304, a synchronous belt mechanism 307 is provided between the first lower link 303 and the second lower link 304, and a first upper link 305 and a second upper link 306 are further provided above the first lower link 303 and the second lower link 304 at both ends of the transfer AGV3, each hanging wheel 301 is provided at both ends of the first upper link 305 and the second upper link 306, and a gear transmission mechanism 308 is provided between the first lower link 303 and the first upper link 305 and between the second lower link 304 and the second upper link 306.

[0054] The gear transmission mechanism 308 includes four external meshing spur gears of equal diameter to achieve equal and opposite rotation of the hanging wheel 301 and the traveling wheel 302 . When rubbing against the longitudinal guide rail 102 , the driving forces are in the same direction.

[0055] The distance between the contact point between the hanging wheel 301 and the longitudinal guide rail 102 is equal to the distance between the contact point between the traveling wheel 302 and the longitudinal guide rail 102 .

[0056] The synchronous belt mechanism 307 and the gear transmission mechanism 308 enable the four connecting rods to rotate synchronously, thereby achieving synchronous rotation of each hanging wheel 301 and each traveling wheel 302.

[0057] Whether moving on the ground and the lifting platform 204 or moving on the longitudinal guide rail 102, the same motor can be used to drive the transfer AGV3 to move.

[0058] The transfer AGV3 of this mobile structure has a simple structure, low cost, and is driven by a single motor, but has no steering function. The fork mechanism is required to be able to fork in both directions to meet the single-row shelves 101 on both sides. The conveyor line 5 needs to have a transverse line 501. After the transfer AGV3 comes down from the stacker 2, it needs to fork the goods to the transverse line 501.

[0059] like Figure 9 In the preferred solution, multiple rotatable lower shafts 310 and upper shafts 311 are provided on both sides of the transfer AGV 3. The upper shaft 311 is connected to the lifting wheel 301, and the lower shaft 310 is connected to the walking wheel 302. A gear transmission mechanism 308 is provided between the lower shaft 310 and the upper shaft 311 on the same side, and the shaft end of each lower shaft 310 is connected to the AGV walking motor 312.

[0060] If space is limited, the AGV travel motor 312 can drive the lower rotating shaft 310 to rotate through a synchronous belt mechanism.

[0061] In this structure, a reduction motor is provided on each side of the transfer AGV 3 to drive the transfer AGV 3 to move, and at least one hanging wheel 301 and at least one walking wheel 302 on the same side can rotate synchronously.

[0062] When both wheels rotate synchronously in the same direction, the transfer AGV 3 moves in a straight line. When the wheels rotate differentially, the transfer AGV 3 can turn. When the wheels rotate in opposite directions, the transfer AGV 3 can turn around in place. Therefore, in the corresponding warehouse layout, there is no need to move the line 501 horizontally; the cargo fork can be placed directly on the conveyor line 5. Furthermore, a one-way fork-entry device 4 is sufficient. When picking up cargo from the single-row shelf 101 being tested, the fork is first turned on the ground and then loaded onto the lifting platform 204.

[0063] In the preferred embodiment, a rotatable first sprocket 206 is provided at the upper and lower ends of the column 203, and a first chain 207 connected end to end is provided between the two first sprockets 206. The first sprocket 206 is engaged with the first chain 207. The lifting platform 204 is also provided with a frame 205 that is sleeved on the outside of the column 203. The inner wall of the frame 205 is provided with a chain clamp 208, and the chain clamp 208 is connected to the first chain 207. A lifting motor 213 is also provided on the column 203, and the lifting motor 213 drives the first sprocket 206 to rotate.

[0064] The column 203 is a hollow structure, and the lifting motor 213 is installed in the inner cavity of the column 203.

[0065] A clamping slide block 214 is provided on the inner wall of the frame 205 , and a linear guide rail 212 is provided on the outer wall of the column 203 . The clamping slide block 214 is slidably connected to the linear guide rail 212 .

[0066] In the preferred solution, a guide rail adjustment structure 103 is further provided between the longitudinal guide rail 102 and the single-row shelf 101. The guide rail adjustment structure 103 includes a thickened plate 104 connected to the single-row shelf 101. The thickened plate 104 is provided with a plurality of studs 105. The longitudinal guide rail 102 is provided with a plurality of L-shaped side connecting blocks 107 along the length direction. The L-shaped side connecting blocks 107 are provided with through holes with a diameter larger than the studs 105. Lock nuts 108 are provided on both sides of the L-shaped side connecting blocks 107 on the studs 105. A fixing block 106 is further provided below the L-shaped side connecting block 107 on the single-row shelf 101. The fixing block 106 is provided with a plurality of threaded tightening bolts 109, and the upper ends of the tightening bolts 109 rest against the L-shaped side connecting block 107.

[0067] The through hole of the L-shaped side connecting block 107 is larger than the stud 105, and a rubber gasket can be installed between the lock nut 108 and the L-shaped side connecting block 107. Adjusting the clamped lock nut 108 and the tightening bolt 109 can change the upper and lower positions of the longitudinal guide rail 102 and the distance between the two longitudinal guide rails 102 in the lane 6, and can also fine-tune the inclination angle of the longitudinal guide rail 102.

[0068] In the preferred solution, a sinking cavity 309 is provided in the center of the transfer AGV3, and a fork-picking device 4 is also provided on the transfer AGV3. The fork-picking device 4 includes a base 401. The base 401 is provided in the sinking cavity 309. Two parallel retractable fork plates 402 are provided on the base 401, and a liftable top plate 15 is provided on the fork plate 402.

[0069] In the preferred solution, two parallel fixed seats 404 are provided on the base 401, and each fixed seat 404 is provided with a rotatable first driving gear 405, and an intermediate sliding plate 403 is provided which is slidably connected to the fixed seat 404, the fork plate 402 is slidably sleeved on the intermediate sliding plate 403, and a first rack 406 is provided on the intermediate sliding plate 403, and the first driving gear 405 is meshed with the first rack 406, and the front and rear ends of the intermediate sliding plate 403 are respectively provided with a rotatable third sprocket 407 and a fourth sprocket 409, and a third chain 408 and a fourth chain 410 are also provided. One end of the third chain 408 is connected to the intermediate sliding plate 403, passes around the third sprocket 407 from the front end, and the other end of the third chain 408 is connected to the fixed seat 404, one end of the fourth chain 410 is connected to the fixed seat 404, and the fourth sprocket 409 is wrapped around the fourth sprocket 409 from the rear end, and the other end of the fourth sprocket 409 is linked to the fork plate 402.

[0070] The fork plate 402 and the middle sliding plate 403, and the middle sliding plate 403 and the fixed seat 404 are connected by a guide rail slider device, and the fork plate 402 is sleeved on the outside of the middle sliding plate 403. Through the above structure, the fork plate 402 can move twice as much as the middle sliding plate 403.

[0071] The fork-in direction is the front end, and the fork-out direction is the rear end.

[0072] The first driving gear 405 can be engaged with the first rack 406 through two pinions to increase the fork length.

[0073] A transmission rod 412 is provided between the two fixing seats 404 . Both ends of the transmission rod 412 are respectively connected to the first driving gear 405 in each fixing seat 404 . A forking motor 411 is provided at one end of the transmission rod 412 .

[0074] A rectangular base frame 16 is set on the two fork plates 402, and a slidable sliding wedge 1502 is provided in the base frame 16. A lifting wedge 1504 is provided on the sliding wedge 1502, and the upper end of the lifting wedge 1504 is connected to the top plate 15. The sliding wedge 1502 and the lifting wedge 1504 are provided with matching guide wedge surfaces 1505. One end of the lifting wedge 1504 is against the inner wall of the limit baffle 1601 of the base frame 16, and an adjusting screw hole 1503 is provided in the inner sea of ​​the sliding wedge 1502. A threaded pushing screw 1501 is provided in the adjusting screw hole 1503, and one end of the pushing screw 1501 is rotatably connected to the side wall of the base frame 16.

[0075] A linkage shaft 14 is provided between the two pushing screws 1501, and a bevel gear transmission mechanism is provided at both ends of the linkage shaft 14. A pallet lifting motor 13 is provided at the end of one of the pushing screws 1501. The pallet lifting motor 13 synchronously drives the two pushing screws 1501 to rotate through the linkage shaft 14, and the pushing screws 1501 rotate and push the sliding wedge 1502 to translate. Due to the extrusion of the guide wedge surface 1505, the lifting wedge 1504 moves upward and lifts the top plate 15, and the top plate 15 lifts the pallet cargo pallet 17 to make it leave the shelf.

[0076] In order to prevent the lifting wedge block 1504 from falling out, a limiting groove 1506 is provided on the lifting wedge block 1504 , and a limiting pin 1507 is provided on the side wall of the base frame 16 and inserted into the limiting groove 1506 .

[0077] like Figure 18-19 There are also multiple troughs 215 on the lifting platform 204, and each trough 215 is equipped with a liftable wedge-shaped top block 12. The wedge-shaped top block 12 descends so that the lower end of the shell of the transfer AGV3 contacts the upper end surface of the lifting platform 204, and the wedge-shaped top block 12 rises so that the upper end surface of the wedge-shaped top block 12 is flush with the upper end surface of the lifting platform 204.

[0078] The lower end of the lifting platform 204 is also provided with a first side jacking mechanism 8 and a second side jacking mechanism 9, and a transmission shaft 10 is provided between the first side jacking mechanism 8 and the second side jacking mechanism 9. The first side jacking mechanism 8 and the second side jacking mechanism 9 both include a first transverse moving frame 801 and a second transverse moving frame 802 that can be moved independently. The first transverse moving frame 801 and the second transverse moving frame 802 are both provided with a slope portion 805 at one end close to the outer side, and a wedge surface is provided at the lower end of the wedge-shaped top block 12. Each slope portion 805 contacts the wedge surface of each wedge top block 12. The first transverse moving frame 801 and the second transverse moving frame 802 are both provided with a second rack 803 at one end close to each other. The two second racks 803 are arranged opposite to each other, and a second driving gear 804 is provided between them. The second driving gear 804 is sleeved on the transmission shaft 10, and a wedge block lifting motor 11 is provided at the end of the transmission shaft 10.

[0079] The wedge block lifting motor 11 is a reduction motor, which is fixed to the lower end surface of the lifting platform 204. The transmission shaft 10 is installed on the lower end surface of the lifting platform 204 through a bearing seat. The first transverse moving frame 801 and the second transverse moving frame 802 are both installed on the bottom surface of the lifting platform 204 through their respective guide rail slider devices.

[0080] Four wedge-shaped top blocks 12 can be arranged directly below the four running wheels 302 of the transfer AGV 3.

[0081] When the transfer AGV3 needs to leave the lifting platform 204, the wedge block lifting motor 11 drives the transmission shaft 10 to rotate, and the second driving gears 804 at both ends of the transmission shaft 10 drive the first transverse frame 801 and the second transverse frame 802 to move toward or away from each other, so that the slope portion 805 squeezes the wedge surface of the wedge top block 12, and each wedge top block 12 is synchronously raised to be flush with the upper end surface of the lifting platform 204.

[0082] When the transfer AGV3 needs to be stably docked on the lifting platform 204, each wedge-shaped top block 12 descends, the running wheel 302 is embedded in the frame 205 and finally suspended in the air and separated from the wedge-shaped top block 12, and the outer shell of the transfer AGV3 contacts the upper end surface of the lifting platform 204. The friction force formed by the self-weight of the transfer AGV3 and the clamping effect of the sinking groove 215 on the running wheel 302 prevent the transfer AGV3 from moving laterally relative to the lifting platform 204 and detaching.

[0083] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An automated high-bay warehouse with a split stacker, characterized by: The invention comprises a shelf area (1), wherein the shelf area (1) is provided with a plurality of single-row shelves (101) arranged in parallel, and a lane (6) is provided between adjacent single-row shelves (101); a stacker (2) is provided on one side of the shelf area (1); the stacker (2) comprises a movable mobile frame (202); the moving direction of the mobile frame (202) is arranged perpendicular to the lane (6); a lifting platform (204) that can move up and down is provided on the mobile frame (202); a detachable transfer AGV (3) is provided on the lifting platform (204); an AGV dispatching area (7) and a conveyor line (5) are provided on the side of the stacker (2) away from the shelf area (1); The single-row shelf (101) is provided with multiple layers in the height direction, and each layer is provided with multiple storage locations in the length direction. A longitudinal guide rail (102) is provided on one side of each layer of the single-row shelf (101) close to the lane (6) along the length direction. A plurality of rotatable lifting wheels (301) are provided on both sides of the transfer AGV (3), and the lifting wheels (301) roll against the longitudinal guide rail (102).

2. The automated high-bay warehouse with a split stacker according to claim 1, characterized in that: An annular groove is provided on the outer edge of the hanging wheel (301), and a rotatable running wheel (302) is provided below each hanging wheel (301) on the transfer AGV (3), and a passage space for the longitudinal guide rail (102) to pass through is provided between the running wheel (302) and the hanging wheel (301).

3. The automated high-bay warehouse with a split stacker according to claim 2, characterized in that: The running wheels (302) on both sides of the transfer AGV (3) are arranged on the inner side of the hanging wheel (301), and a transition auxiliary wheel (313) is further provided between the hanging wheels (301) at both ends of the transfer AGV (3). The transition auxiliary wheel (313) and the hanging wheel (301) at one end of the transfer AGV (3) are respectively located on both sides of the running wheel (302), and the upper end of the running wheel (302) abuts against the lower edge of the longitudinal guide rail (102).

4. The automated high-bay warehouse with a split stacker according to claim 3 is characterized by: The lifting platform (204) is further provided with a plurality of troughs (215), each of which is provided with a liftable wedge-shaped top block (12). The wedge-shaped top block (12) is lowered so that the lower end of the shell of the transfer AGV (3) contacts the upper end surface of the lifting platform (204), and the wedge-shaped top block (12) is raised so that the upper end surface of the wedge-shaped top block (12) is flush with the upper end surface of the lifting platform (204).

5. The automated high-bay warehouse with a split stacker according to claim 3 is characterized by: A first lower link (303) and a second lower link (304) are respectively provided at both ends of the transfer AGV (3), each walking wheel (302) is provided at both ends of the first lower link (303) and the second lower link (304), a synchronous belt mechanism (307) is provided between the first lower link (303) and the second lower link (304), a first upper link (305) and a second upper link (306) are further provided above the first lower link (303) and the second lower link (304) at both ends of the transfer AGV (3), each hanging wheel (301) is provided at both ends of the first upper link (305) and the second upper link (306), and a gear transmission mechanism (308) is provided between the first lower link (303) and the first upper link (305) and between the second lower link (304) and the second upper link (306).

6. The automated high-bay warehouse with a split stacker according to claim 3 is characterized by: A plurality of rotatable lower rotating shafts (310) and upper rotating shafts (311) are provided on both sides of the transfer AGV (3), the upper rotating shafts (311) are sleeved with the hanging wheels (301), and the lower rotating shafts (310) are sleeved with the walking wheels (302). A gear transmission mechanism (308) is provided between the lower rotating shafts (310) and the upper rotating shafts (311) on the same side, and the shaft ends of the lower rotating shafts (310) are connected to the AGV walking motors (312).

7. The automated high-bay warehouse with a split stacker according to claim 3 is characterized by: A guide rail adjustment structure (103) is further provided between the longitudinal guide rail (102) and the single-row shelf (101). The guide rail adjustment structure (103) comprises a thickened plate (104) connected to the single-row shelf (101). The thickened plate (104) is provided with a plurality of studs (105). The longitudinal guide rail (102) is provided with a plurality of L-shaped side connection blocks (107) along the length direction. The L-shaped side connection blocks (107) are provided with through holes having a diameter larger than that of the studs (105). Lock nuts (108) are provided on both sides of the L-shaped side connection blocks (107) on the studs (105). A fixing block (106) is further provided below the L-shaped side connection block (107) on the single-row shelf (101). The fixing block (106) is provided with a plurality of threaded tightening bolts (109). The upper ends of the tightening bolts (109) abut against the L-shaped side connection block (107).

8. The automated high-bay warehouse with a split stacker according to claim 1 is characterized by: The stacker (2) comprises a guide rail (201) arranged perpendicularly to the lane (6); one or more slidingly connected moving frames (202) are provided on the guide rail (201); a column (203) is provided on the moving frame (202); and a lifting platform (204) is slidably connected to the column (203).

9. The automated high-bay warehouse with a split stacker according to claim 8, characterized in that: A rotatable first sprocket (206) is provided at each of the upper and lower ends of the column (203), and a first chain (207) connected end to end is provided between the two first sprockets (206). The first sprocket (206) is engaged with the first chain (207). The lifting platform (204) is further provided with a frame (205) sleeved on the outer side of the column (203). A chain clamp (208) is provided on the inner wall of the frame (205). The chain clamp (208) is connected to the first chain (207). A lifting motor (213) is further provided on the column (203). The lifting motor (213) drives the first sprocket (206) to rotate.

10. The automated high-bay warehouse with a split stacker according to claim 1, characterized in that: A sinking cavity (309) is provided in the center of the transfer AGV (3). A fork-picking device (4) is also provided on the transfer AGV (3). The fork-picking device (4) includes a base (401). The base (401) is provided in the sinking cavity (309). Two retractable fork plates (402) arranged in parallel are provided on the base (401). A liftable top plate (15) is provided on the fork plates (402).

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