Unmanned material transportation and storage system and material storage method

Abstract

The invention discloses an unmanned material transportation and storage system and method. The system comprises a material storage warehouse and a child-mother distribution vehicle. A first track with a first power supply module and a storage area are arranged in the warehouse, and a second track with a second power supply module and a material shelf are arranged in the storage area; the child-mother distribution vehicle is composed of a mother vehicle and a child vehicle, the mother vehicle can run on the first track and take electricity, and the child vehicle can be borne by the mother vehicle or independently run on the second track and the material frame and take electricity; the secondary vehicle can enable the material platform to be accurately in butt joint with a placing area of the material frame through the lifting and translation mechanism so as to complete storing and taking; through cooperation of the child vehicle and the mother vehicle and a rail power supply network, long-distance efficient transportation of materials and refined flexible storage and taking of a goods shelf area are achieved, the problems that a traditional AGV is short in endurance, and flexibility and efficiency are difficult to consider at the same time are solved, and the automation level and operation efficiency of warehouse logistics are further improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent warehousing and unmanned logistics trolley, in particular to an unmanned material transportation and storage system and a material storage method. BACKGROUND

[0002] With the deepening of modern intelligent manufacturing and the growth of e-commerce, the automation, intelligence, flexibility and efficiency of the warehousing system are put forward with unprecedented high requirements in modern manufacturing and logistics industry; the traditional manual warehousing management mode has been difficult to adapt to the fast-paced, small-batch and multi-batch modern production and logistics rhythm due to its low efficiency, high error rate and rising labor cost and other disadvantages. Therefore, the intelligent warehousing solution taking the automatic guided vehicle, autonomous mobile robot and automatic three-dimensional warehouse as the core emerges as the times require and becomes the mainstream direction of the industry development; The existing unmanned logistics transportation trolley adopts a vehicle-mounted storage battery such as a lithium battery as a power source. Limited by the energy density of the battery, the vehicle needs to frequently interrupt the transportation task, go to the designated charging station for long-time charging, and the actual single transportation weight is limited due to the large capacity and large weight of the battery, which cannot improve the transportation efficiency; meanwhile, the requirements of long-distance, high-speed and heavy-load transportation between the main roads of the warehouse and across the regions and short-distance, low-speed and accurate access in the dense storage area of the goods shelves conflict, so that the existing single vehicle type AGV / AMR is difficult to meet both requirements. The large and heavy AGV is extremely difficult to turn and turn in the narrow goods shelf channel, and the maneuverability is poor; although the small and flexible AMR can shuttle freely between the goods shelves, the carrying capacity is limited; Therefore, based on the problems existing in the prior art, a kind of unmanned logistics system and corresponding logistics method are designed, which integrates efficient long-distance transportation and flexible fine access capacity, realizes high endurance, high reliability, good flexibility and scalability. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide an unmanned material transportation and storage system and a material storage method to solve the problems existing in the prior art.

[0004] The above technical purpose of the present application is realized by the following technical scheme: an unmanned material transportation and storage system, comprising: a material storage warehouse and at least one sub-mother distribution vehicle for conveying materials; The material storage warehouse is provided with: a plurality of storage areas for storing materials and a plurality of first tracks penetrating through the plurality of storage areas for the sub-mother distribution vehicle to move; the first track is embedded with a first power supply module for supplying power to the sub-mother distribution vehicle; the first power supply module is detachably connected with the sub-mother distribution vehicle; The storage area is provided with: a plurality of storage areas for storing different types or same types of materials and a second track for moving the child car of the mother-child distribution car through the plurality of storage areas; the second track is in communication with the first track corresponding to the storage area; The second track is provided with a second power supply module for supplying power to the child car of the mother-child distribution car; the second power supply module is detachably connected with the child car of the mother-child distribution car.

[0005] Optionally, the mother-child distribution car comprises: a child car and a mother car. The mother car is provided with a containing area for accommodating the child car, and the child car can be accommodated in the containing area and kept relatively stationary with the mother car. The mother car is provided with a first power connection module for connecting to the first power supply module and a first power transfer module for supplying power to the child car; the first power connection module is electrically connected with the first power supply module. The child car is provided with a second power connection module for connecting to the second power supply module and a second power transfer module for connecting to the first power transfer module; the second power connection module is electrically connected with the second power supply module; the first power transfer module is electrically connected with the second power transfer module. When the child car is on the mother car and is driven by the mother car as a whole, the first power transfer module is electrically connected with the second power transfer module to enable the mother car to supply power to the child car.

[0006] Optionally, the mother car comprises: a first car body, a first moving module for driving the first car body to move, a first power supply module for providing power, and a first control module. The first power supply module is electrically connected with the first power transfer module and the first power connection module, respectively. The first moving module is detachably arranged at the bottom of the first car body and abuts against the first track; the first control module is detachably connected with the first car body and is electrically connected with the first power supply module, the first power transfer module, the first power connection module, and the first moving module, respectively. The containing area is located at the top of the first car body; a plurality of guide rails are arranged on the top of the first car body, and the plurality of guide rails are located in the containing area.

[0007] Optionally, the child car comprises: a second car body, a second power supply module for providing power, a second moving module for driving the second car body to move, a material platform for supporting transported materials, a first lifting module for lifting the material platform, a first translation module for driving the material platform to move, and a second control module. The second power module is electrically connected with the second alternating current module and the second power connection module, respectively; The second control module is electrically connected with the second alternating current module, the second power connection module, the second moving module, the first lifting module and the first translation module; The second moving module is arranged at the bottom of the second vehicle body; when the child vehicle and the parent vehicle are in the merging state, the second moving module abuts against the guide rail on the parent vehicle; when the child vehicle and the parent vehicle are in the separating state, the second moving module abuts against the second rail; The first translation module is detachably connected with the top of the second vehicle body; one end of the first lifting module is detachably connected with the first translation module, and the other end is detachably connected with the material platform.

[0008] Optionally, the first alternating current module comprises a first mounting seat and a power supply member for providing power supply; The first mounting seat is detachably connected with the first vehicle body; the power supply member is detachably connected with the first mounting seat, and the power supply member is used for receiving power from the first power module on the parent vehicle; the power supply member is provided with a three-phase port for providing a power supply interface; The second alternating current module comprises a second mounting seat, a first power receiving arm for receiving power and a first driving member for driving the first power receiving arm to move up and down; The second mounting seat is detachably connected with the second vehicle body; the first driving member is detachably connected with the second mounting seat; one end of the first power receiving arm is fixedly connected with the output end of the first driving member, and the other end is provided with a three-phase terminal point matched with the three-phase port; the first power receiving arm is electrically connected with the second power module; when the three-phase terminal point abuts against the three-phase port, the first power module of the parent vehicle supplies power to the second power module of the child vehicle.

[0009] Optionally, the second power supply module comprises a plurality of supporting frames and a three-phase power supply line for receiving external power supply; The plurality of supporting frames are equidistantly arranged beside the second rail; the three-phase power supply line is arranged on the plurality of supporting frames; The second power connection module comprises a third mounting seat, a second power receiving arm for receiving power and a second driving member for driving the second power receiving arm to move up and down; The third mounting seat is detachably connected with the second vehicle body; the second driving member is detachably connected with the third mounting seat; one end of the second power receiving arm is fixedly connected with the output end of the second driving member; the other end of the second power receiving arm is provided with a three-phase power connection wheel; the three-phase power connection wheel can be connected with the three-phase power supply line; When the three-phase clamping wheel is in clamping connection with the three-phase power supply line, the three-phase power supply line supplies power to the second power module of the sub vehicle.

[0010] Optionally, the storage area is provided with at least one material rack for storing materials. A material placement area for storing materials is arranged on the top of the material rack. A connecting rail for moving the first translation module to the material rack is arranged on the material rack.

[0011] Optionally, the first power supply module comprises a power distribution line; the power distribution line is arranged on one side of the first rail for connecting to an external power supply; The first power supply module comprises a fourth mounting seat and a clamping piece; the fourth mounting seat is detachably connected to the bottom of the first vehicle body; the clamping piece is detachably connected to the fourth mounting seat; one end of the clamping piece is electrically connected to the first power supply module, and the other end is clamped on the power distribution line and electrically connected to the power distribution line; when the clamping piece is in clamping connection with the power distribution line, the power distribution line supplies power to the first power supply module.

[0012] Optionally, the second vehicle body is further provided with a limiting module for limiting and locking the materials on the logistics platform; The limiting module comprises a limiting rack and a third driving member for moving the limiting rack; The third driving member is detachably connected to the second vehicle body; the limiting rack is fixedly connected to the output end of the third driving member.

[0013] A method for transporting and storing materials without human intervention based on the above-mentioned material transportation and storage system without human intervention, comprising: Step S1, the warehouse system obtains a material transportation task, the transportation task comprising the type, quantity, target warehouse area and target storage area information of the target material; Step S2, based on the transportation task, the materials are placed on the mother-child distribution vehicle by an external feeding machine or manually; Step S3, based on the transportation task, a first moving path from the current position to the target warehouse area is planned for the mother-child distribution vehicle, and the mother vehicle carrying the sub vehicle moves along the first rail to the target warehouse area; during the movement, the mother vehicle obtains electric energy through the connection of the first clamping module and the first power supply module, and supplies power to the sub vehicle through the first clamping module; at this time, the sub vehicle and the mother vehicle are in a merged state; Step S4, when the child-mother distribution vehicle reaches the target storage area, control the child vehicle to separate from the mother vehicle, and plan a second moving path for the child vehicle from the position of the mother vehicle to the target storage area; the child vehicle moves to the target storage area along the second track; in the moving process, the child vehicle obtains electric energy through the connection of the second power connection module and the second power supply module; Step S5, after the child vehicle reaches the target storage area, the material storage and retrieval operation is performed, the position of the material platform is adjusted through the first lifting module and the first translation module to align with the material placement area on the material shelf, and then the material is placed on the material shelf to complete the material storage and retrieval; Step S6, after completing the material storage and retrieval operation, control the child vehicle to return to the containing area of the mother vehicle along the second moving path, and re-merge with the mother vehicle, disconnect the second power connection module and the second power supply module, and the mother vehicle supplies power to the child vehicle again through the first power transfer module; Step S7, control the child-mother distribution vehicle to continue moving according to the transportation task, so that the mother vehicle carrying the child vehicle returns to the starting point of the task or goes to the next task point along the first moving path.

[0014] In summary, the present application has the following beneficial effects: 1. The system creates a mobile power supply network covering the entire area by setting the first power supply module and the second power supply module beside the first track and the second track respectively, and creatively builds a mobile power supply network in the material storage warehouse. When the mother vehicle drives on the main road, it can take power from the first power supply module in real time through the first power connection module; when the child vehicle separates for operation in the storage area, it can take power from the second power supply module in real time through the second power connection module. This mode of charging while driving or charging while operating completely solves the problem of frequent visits to fixed charging stations due to battery power depletion in traditional AGVs. This enables the child-mother distribution vehicle to achieve almost unlimited endurance, meeting the demand for 24-hour uninterrupted operation, and further improving the overall equipment utilization rate and material flow efficiency of the system.

[0015] 2. The system adopts a cooperative working mode in which the mother vehicle is responsible for trunk transportation and the child vehicle is responsible for end storage. The mother vehicle can be designed as a high-speed and heavy-load form relying on the first track, focusing on cross-regional and long-distance material rapid transfer, and taking advantage of the stability and efficiency of track transportation. The child vehicle is small and flexible, and can enter narrow and dense shelf channels, and complete precise storage and retrieval operations on the shelf through its unique lifting and translation mechanism. This specialized division of labor enables the mother vehicle and the child vehicle to work in their most suitable scenarios, achieving optimal overall system performance, and solving the technical contradiction between high speed and heavy load and flexibility and precision that cannot be met by a single vehicle type.

[0016] 3. An intelligent, multi-level energy supply system was designed. Specifically, when the sub-car is on the mother car, it is powered by the mother car through the connection of the first and second AC modules. When the sub-car separates and enters the storage area, it automatically switches to drawing power from the second power supply module through the second jump-start module. This seamless power supply mechanism ensures that the sub-car can obtain a stable energy supply in any working state, without relying on a single and limited-capacity onboard battery. This not only optimizes energy management but also reduces the requirements for the sub-car's own battery capacity and weight, further enhancing its flexibility and operating time. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall system structure of the present invention; Figure 2 This is a schematic diagram of the method flow of the present invention; Figure 3 This is a front view structural schematic diagram of the mother-daughter delivery vehicle of the present invention; Figure 4 This is a side view structural schematic diagram of the mother-daughter delivery vehicle of the present invention; Figure 5 This is a bottom view structural schematic diagram of the mother-daughter delivery vehicle of the present invention; Figure 6 This is a schematic diagram of the specific structure of the material rack of the present invention; Figure 7 This is a schematic diagram of the specific structure of the vehicle jump-starting device of the present invention; Figure 8 yes Figure 4 A schematic diagram of the specific structure of part A; Figure 9 yes Figure 5 A schematic diagram of the specific structure of part B.

[0018] In the figure: 1, material storage warehouse; 11, storage area; 12, storage area; 13, material shelf; 131, material placement area; 132, connecting rail; 2, mother and child distribution vehicle; 21, child vehicle; 211, second vehicle body; 212, material platform; 213, first lifting module; 214, second control module; 215, first translation module; 216, second moving module; 22, mother vehicle; 221, first vehicle body; 222, first moving module; 223, first control module; 23, containing area; 231, guide rail; 24, first power connection module; 25, second power connection module; 251, third mounting seat; 252, second power connection arm; 253, second driving part; 254, three-phase power connection wheel; 26, first power exchange module; 261, first mounting seat; 262, power supply part; 263, three-phase port; 27, second power exchange module; 271, second mounting seat; 272, first power connection arm; 273, first driving part; 274, three-phase end point; 3, first rail; 4, second rail; 5, first power supply module; 51, power distribution line; 6, second power supply module; 61, support frame; 62, three-phase power supply line; 7, limiting module; 71, limiting frame; 72, third driving part; 8, first docking module; 9, second docking module. DETAILED DESCRIPTION

[0019] In order to make the objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Several embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms, and is not limited to the embodiments described herein.

[0020] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances. The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features.

[0021] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions are only for illustrative purposes, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0022] The present application will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] The present application provides an unmanned material transportation and storage system, as shown in the drawings, comprising: a material storage warehouse 1 and at least one child-mother distribution vehicle 2 for transporting materials; Figure 1 The material storage warehouse 1 is provided with: a plurality of storage areas 11 for storing materials and a plurality of first tracks 3 penetrating through the plurality of storage areas 11 for the child-mother distribution vehicle 2 to move; The first track 3 is provided with a first power supply module 5 for supplying power to the child-mother distribution vehicle 2; the first power supply module 5 can be detachably connected with the child-mother distribution vehicle 2; The storage area 11 is provided with: a plurality of storage areas 12 for storing different types or same types of materials and a plurality of second tracks 4 penetrating through the plurality of storage areas 12 for the child vehicle 21 of the child-mother distribution vehicle 2 to move; the second track 4 is in communication with the first track 3 corresponding to the storage area 11; The second track 4 is provided with a second power supply module 6 for supplying power to the child vehicle 21 of the child-mother distribution vehicle 2; the second power supply module 6 can be detachably connected with the child vehicle 21 of the child-mother distribution vehicle 2.

[0024] Specifically, the material storage warehouse 1100 is the operating environment of the entire system. Its internal space is planned as a plurality of storage areas 11, such as raw material area, semi-finished product area, finished product area, etc., for classified storage of materials; penetrating through all the storage areas 11 is the first track 3 as the main road of the system; the first track 3 is a steel rail or high-strength alloy rail buried in the ground, providing precise guidance for the vehicle; on one side or above the first track 3, a first power supply module 5 is buried or erected; As shown in Figure 1As shown, the scene is a part of a storage area 11 of a material storage warehouse 1; a plurality of second tracks 4 are arranged in each storage area 12, and the second tracks 4 are communicated with the first track 3 leading to the storage area 11 through switches or direct docking, so that the sub-cars 21 on the mother-daughter distribution vehicle 2 can directly transport materials to the material shelves 13 of the corresponding storage area 11.

[0025] Further, the mother-daughter distribution vehicle 2 comprises a sub-car 21 and a mother-car 22; The mother-car 22 is provided with a containing area 23 for containing the sub-car 21, and the sub-car 21 can be contained in the containing area 23 and kept relatively stationary with the mother-car 22; The mother-car 22 is provided with a first power connection module 24 for connecting to the first power supply module 5 and a first power exchange module 26 for supplying power to the sub-car 21; the first power connection module 24 can be electrically connected with the first power supply module 5; The sub-car 21 is provided with a second power connection module 25 for connecting to the second power supply module 6 and a second power exchange module 27 for connecting to the first power exchange module 26; the second power connection module 25 can be electrically connected with the second power supply module 6; the first power exchange module 26 can be electrically connected with the second power exchange module 27; When the sub-car 21 is on the mother-car 22 and is driven by the mother-car 22 as a whole, the first power exchange module 26 is electrically connected with the second power exchange module 27, so that the mother-car 22 supplies power to the sub-car 21.

[0026] Further, the mother-car 22 comprises a first vehicle body 221, a first moving module 222 for driving the first vehicle body 221 to move, a first power supply module for providing power, and a first control module 223; The first power supply module is electrically connected with the first power exchange module 26 and the first power connection module 24 respectively; The first moving module 222 is detachably arranged at the bottom of the first vehicle body 221 and abuts against the first track 3; the first control module 223 is detachably connected with the first vehicle body 221 and is electrically connected with the first power supply module, the first power exchange module 26, the first power connection module 24 and the first moving module 222 respectively; The containing area 23 is located at the top of the first vehicle body 221; a plurality of guide rails 231 are arranged on the top of the first vehicle body 221, and the plurality of guide rails 231 are located in the containing area 23.

[0027] Further, the sub vehicle 21 comprises a second vehicle body 211, a second power supply module for providing power, a second moving module 216 for moving the second vehicle body 211, a material platform 212 for supporting transported materials, a first lifting module 213 for lifting the material platform 212, a first translation module 215 for moving the material platform 212, and a second control module 214; The second power supply module is electrically connected with the second power receiving module 27 and the second power connecting module 25 respectively. The second control module 214 is electrically connected with the second power receiving module 27, the second power connecting module 25, the second moving module 216, the first lifting module 213, and the first translation module 215. The second moving module 216 is arranged at the bottom of the second vehicle body 211; when the sub vehicle 21 and the mother vehicle 22 are in the merging state, the second moving module 216 is in abutment with the guide rail 231 on the mother vehicle 22; when the sub vehicle 21 and the mother vehicle 22 are in the separated state, the second moving module 216 is in abutment with the second rail 4. The first translation module 215 is detachably connected with the top of the second vehicle body 211; one end of the first lifting module 213 is detachably connected with the first translation module 215, and the other end is detachably connected with the material platform 212.

[0028] Further, the first power receiving module 26 comprises a first mounting seat 261 and a power supply part 262 for providing power supply. The first mounting seat 261 is detachably connected with the first vehicle body 221; the power supply part 262 is detachably connected with the first mounting seat 261, the power supply part 262 is used for receiving power from the first power supply module on the mother vehicle 22, and a three-phase port 263 for providing a power supply interface is arranged on the power supply part 262. The second power receiving module 27 comprises a second mounting seat 271, a first power receiving arm 272 for receiving power, and a first driving part 273 for moving the first power receiving arm 272 up and down. The second mounting seat 271 is detachably connected with the second vehicle body 211; the first driving part 273 is detachably connected with the second mounting seat 271; one end of the first power receiving arm 272 is fixedly connected with the output end of the first driving part 273, and the other end is provided with a three-phase end point 274 matched with the three-phase port 263; the first power receiving arm 272 is electrically connected with the second power supply module; when the three-phase end point is in abutment with the three-phase port 263, the first power supply module of the mother vehicle 22 supplies power to the second power supply module of the sub vehicle 21.

[0029] Further, the second power supply module 6 comprises a plurality of support frames 61 and a three-phase power supply line 62 for receiving power from outside; The plurality of support frames 61 are equidistantly arranged beside the second track 4; and the three-phase power supply line 62 is arranged on the plurality of support frames 61; The second power receiving module 25 comprises a third mounting seat 251, a second power receiving arm 252 for receiving power, and a second driving member 253 for driving the second power receiving arm 252 to move up and down; The third mounting seat 251 is detachably connected with the second vehicle body 211; the second driving member 253 is detachably connected with the third mounting seat 251; one end of the second power receiving arm 252 is fixedly connected with an output end of the second driving member 253; the other end of the second power receiving arm 252 is provided with a three-phase power receiving wheel 254; and the three-phase power receiving wheel 254 can be engaged with the three-phase power supply line 62; When the three-phase power receiving wheel 254 is engaged with the three-phase power supply line 62, the three-phase power supply line 62 supplies power to the second power supply module of the sub vehicle 21.

[0030] Specifically, the parent-child distribution vehicle 2 is an execution unit of the system, which is composed of a parent vehicle 22 and a sub vehicle 21; In embodiment one, as shown in Figures 3-5 The specific structure of the parent vehicle 22 comprises a first vehicle body 221 as the framework of the parent vehicle 22, which is made of an aluminum alloy frame and has high strength and stability; a first moving module 222 is detachably arranged at the bottom of the first vehicle body 221, which comprises a driving wheel, a driven wheel and a guide wheel, the wheel rims of which abut against the track surface and side surface of the first track 3 to ensure that the parent vehicle 22 can accurately move along the track, and the driving wheel is driven by a servo motor; A first power supply module is a small-capacity UPS battery pack, which mainly serves as a backup power supply for the electric control of the parent vehicle, and is powered by the first power supply module 5; in the normal working state of the parent vehicle 22, the first power supply module 5 can directly provide power for each power-consuming component of the parent vehicle 22; a first control module 223 is detachably installed in the electrical control box of the first vehicle body 221, the core of which is an industrial PLC or an embedded industrial computer, which internally runs path planning, navigation, communication and fault diagnosis programs, and is electrically connected with the first power supply module, the first power receiving module 24, the first power changing module 26 and the motor driver of the first moving module 222 through a cable; On the first vehicle body 221, there is a containing area 23 on the top of the first vehicle body 221, which is a flat area with a slight edge around it, used to carry the sub-vehicle 21; inside the containing area 23, there are guide rails 231 fixedly installed on the containing area 23, usually two parallel V-shaped rails or I-shaped rails, which cooperate with the second moving module 216 of the sub-vehicle 21 to provide accurate guidance and positioning when the sub-vehicle 21 drives onto or drives away from the mother vehicle 22, and to constrain the relative position of the sub-vehicle 21 during combined transportation.

[0031] In embodiment two, as shown in Figures 3-5 The specific structure of the sub-vehicle 21 includes: a second vehicle body 211 as the skeleton of the sub-vehicle 21, which is designed to be lightweight, such as carbon fiber or aluminum alloy material; a second moving module 216 arranged at the bottom of the second vehicle body 211; this module also includes drive wheels and guide wheels, the materials and structures of which can cooperate well with the guide rails 231 of the mother vehicle 22 when on the mother vehicle 22, and can cooperate well with the second track 4 and the connecting rail 132 when driving independently; a second power module, which is a relatively small capacity UPS battery pack, placed inside or next to the electrical cabinet of the sub-vehicle, mainly used to provide backup power in emergency situations, and when the sub-vehicle 21 is working normally, the modules required for the whole sub-vehicle 21 can be powered directly by the second power module 6 or the mother vehicle 22; a material platform 212 arranged on the second vehicle body 211 for directly supporting the transported materials, which can be provided with non-slip pads or positioning pins on its surface; A first lifting module 213 is used to lift the material platform 212 to achieve the effect of lifting the materials, which is connected to the first translation module 215 at one end, and can use a scissor lifting mechanism, a lead screw lifting mechanism or a synchronous belt lifting mechanism driven by a servo motor to vertically lift the material platform 212; A first translation module 215 is detachably connected to the top of the second vehicle body 211, which is a supporting table with a linear module or a synchronous belt sliding table, and in this embodiment, a supporting table with a linear module is selected, which is driven by a servo motor to move the first lifting module 213 and the material platform 212 in the horizontal direction to adjust their transverse position relative to the material rack 13, and itself can be moved as a whole to the material rack 13 according to the built-in driving member, and the connecting rail 132 on the material rack 13 provides guidance and bearing for the first translation module 215, thereby realizing the transportation of the materials on the material platform 212 to the material rack 13, and placing the materials on the material platform 212 on the material rack 13; A second control module 214 is installed in the electrical control box of the second vehicle body 211221, which has a microprocessor as its core, responsible for controlling all actions of the sub-vehicle 21 such as movement, lifting, translation, power connection, and communicating with the mother vehicle 22 and the central control system; In embodiment four, as shown inFigure 8 As shown, the power supply connection between the child car 21 and the parent car 22 is realized through the following modules: The first power supply module 26 includes a first mounting seat 261 fixed on the first car body 221 by bolts; a power supply part 262 is mounted on the first mounting seat 261, the power supply part 262 has a copper conductive sheet inside and is connected in circuit with the first power supply module and the first power supply module 24 of the parent car 22 through a cable; the bottom of the power supply part 262 has three independent three-phase ports 263 made of wear-resistant copper alloy exposed outside; The second power supply module 27 includes a second mounting seat 271 fixed on the second car body 211 by bolts; a first driving part 273, such as a servo electric cylinder, is mounted on the second mounting seat, the first driving part 273 has a first power supply arm 272 fixed on the output end, the first power supply arm 272 is made of insulating material and has a wire embedded inside, the end of the first power supply arm 272 is provided with three three-phase end points 274 made of spring needles or wear-resistant copper alloy at the position corresponding to the three-phase ports 263, the three-phase end points 274 are connected with the second power supply module of the child car 21 through a cable; in other embodiments, in order to further protect personal and property safety, an insulating protective cover can be provided at the connection between the three-phase ports 263 and the three-phase end points 274 to avoid the occurrence of electric shock; In the specific implementation process, when the child car 21 is completely driven into the containing area 23 of the parent car 22 and accurately positioned, the second control module 214 of the child car 21 issues an instruction, the first driving part 273 drives the first power supply arm 272 to move downward, so that the three-phase end points 274 are in close physical contact with the three-phase ports 263 and form an electrical connection, at this time, the parent car 22 can charge or directly supply power to the child car 21; when the child car 21 and the parent car 22 are about to separate, the first power supply arm 272 is lifted to disconnect; In the fifth embodiment, as shown, Figure 7 As shown, the power supply of the child car 21 when running independently in the storage area 11 is realized through the following modules: The second power supply module 6 is composed of a support frame 61 and a three-phase power supply line 62 arranged thereon; The second power supply module 25 includes a third mounting seat 251 fixed on the second car body 211221 by bolts; a second driving part 253, such as a servo electric cylinder, is mounted on the third mounting seat 251, the output end of the second driving part 253 is fixed with a second power supply arm 252, a three-phase wire winding wheel 254 made of copper alloy with good conductivity is mounted on the end of the second power supply arm 252 through an insulating bearing, the three-phase wire winding wheel 254 is connected with the wire in the power supply arm through a carbon brush, and the wire is connected with the second power supply module of the child car 21; In the implementation process, when the child vehicle 21 needs to separate from the parent vehicle 22 and independently operate, the second control module 214 controls the second driving member 253 to act, lifts the second power connection arm 252, and makes the three-phase line clamping wheel 254 clamped on the continuously powered three-phase power supply line 62 with a certain pressure. With the movement of the child vehicle 21, the line clamping wheel rolls on the power supply line and continuously takes power; when the child vehicle 21 returns to the parent vehicle 22, the power connection arm is retracted, and the connection with the overhead line is disconnected; Further, at least one material rack 13 for storing materials is arranged in the storage area 12. The top of the material rack 13 is provided with a material placing area 131 for storing materials. The material rack 13 is provided with a connecting rail 132 for moving the first translation module 215 to the material rack 13.

[0032] Specifically, the material rack 13 is provided with a connecting rail 132, which provides a guide rail for the first translation module 215 when the first translation module 215 moves the material flow platform, and realizes accurate logistics transportation. In other embodiments, the material rack 13 is provided with an RFID tag near one end of the second rail 4, and the child vehicle 21 is provided with an encoder or an RFID tag reader at the corresponding position, which is used to read whether it is the target material rack 13 of this task, and further ensures the accuracy of material transportation.

[0033] Further, the first power supply module 5 includes a power distribution line 51; the power distribution line 51 is arranged on one side of the first rail 3, and is used to connect to an external power supply; The first power connection module 24 includes a fourth mounting seat and a power connection member; the fourth mounting seat is detachably connected with the bottom of the first vehicle body 221; the power connection member is detachably connected with the fourth mounting seat; one end of the power connection member is electrically connected with the first power supply module, and the other end is clamped on the power distribution line 51 and electrically connected with the power distribution line 51; when the power connection member is clamped on the power distribution line 51, the power distribution line 51 supplies power to the first power supply module.

[0034] In this embodiment, the first power supply module 5 is specifically a bare and continuously powered power distribution line 51, such as a copper bar or a rigid contact line, which is connected with the total power supply of the warehouse and is used to provide 380V three-phase alternating current.

[0035] In embodiment six, the parent vehicle 22 passes through the main road power supply by cooperating with the following modules: The first power supply module 5 is a power distribution line 51 buried beside the track; the first power pickup module 24 comprises a fourth mounting seat fixed on the bottom of the first vehicle body 221 by bolts, and a power pickup component mounted on the fourth mounting seat, the power pickup component being a pantograph or a trolley shoe with a carbon slide plate, and the power pickup component being electrically connected with the first power supply module and the first power receiving module 26 through a cable; As shown in Figure 5 and Figure 9 In the specific implementation process, the power pickup component of the mother vehicle 22 is in sliding contact with the power distribution line 51 during driving or standby, so as to continuously obtain electric energy from the main power grid.

[0036] Further, the second vehicle body 211 is further provided with a limiting module 7 for limiting and locking the materials on the material platform; The limiting module 7 comprises a limiting frame 71 and a third driving member 72 for driving the limiting frame 71 to move; The third driving member 72 is detachably connected with the second vehicle body 211, and the limiting frame 71 is fixedly connected with the output end of the third driving member 72.

[0037] In other embodiments, the limiting module 7 can be additionally provided on the second vehicle body 211, which comprises a third driving member 72 such as a small air cylinder or an electric push rod, and a limiting frame 71 fixed with the output end of the push rod; after the materials are placed on the material platform 212, the second control module 214 controls the third driving member 72 to act, and pushes the limiting frame 71 to descend, so as to block the materials from the end, preventing the materials from moving or falling during transportation and lifting.

[0038] Optionally, at least one first docking module 8 is arranged on the child vehicle 21, and at least one second docking module 9 corresponding to the first docking module 8 is further arranged on the mother vehicle 22, the first docking module 8 and the second docking module 9 can be clamped to further ensure the stability when the child vehicle 21 and the mother vehicle 22 are combined.

[0039] Specifically, the first docking module 8 comprises a first clamping wheel and a driving member such as a servo motor for driving the first clamping wheel to move up and down, and the second docking module 9 comprises a concave member; When the child vehicle 21 and the mother vehicle 22 are combined, the driving member drives the first clamping wheel to descend, and then the first clamping wheel is clamped to the recess of the concave member, so as to be further limited and locked, and the stability is ensured.

[0040] A method for transporting and storing materials without human intervention based on the above-mentioned material transportation and storage system without human intervention, comprising: Step S1, the warehouse system obtains a material transportation task, and the transportation task comprises the type, quantity, target warehouse area 11 and target storage area 12 information of the target material; Step S2, based on the transportation task, placing the material on the child-mother distribution vehicle 2 by an external feeding machine or manually; Step S3, based on the transportation task, planning a first moving path for the child-mother distribution vehicle 2 from the current position to the target storage area 11, and controlling the mother vehicle 22 to carry the child vehicle 21 to move along the first track 3 to the target storage area 11; during the movement, the mother vehicle 22 obtains electric energy through the connection of the first power-on module 24 and the first power supply module 5, and supplies power to the child vehicle 21 through the first power-off module 26, at this time the child vehicle 21 and the mother vehicle 22 are in a merged state; Step S4, when the child-mother distribution vehicle 2 reaches the target storage area 11, control the child vehicle 21 to separate from the mother vehicle 22, and plan a second moving path for the child vehicle 21 from the position of the mother vehicle 22 to the target storage area 12; the child vehicle 21 moves along the second track 4 to the target storage area 12; during the movement, the child vehicle 21 obtains electric energy through the connection of the second power-on module 25 and the second power supply module 6; Step S5, after the child vehicle 21 reaches the target storage area 12, the material storage and retrieval operation is performed, the position of the material platform 212 is adjusted by the first lifting module 213 and the first translation module 215 to align with the material placement area 131 on the material rack 13, and then the material is placed on the material rack 13 to complete the material storage and retrieval; Step S6, after completing the material storage and retrieval operation, control the child vehicle 21 to return to the containing area 23 of the mother vehicle 22 along the second moving path, and re-merge with the mother vehicle 22, disconnect the second power-on module 25 and the second power supply module 6, and the mother vehicle 22 supplies power to the child vehicle 21 through the first power-off module 26 again; Step S7, control the child-mother distribution vehicle 2 to continue moving according to the transportation task, so that the mother vehicle 22 carries the child vehicle 21 to return to the starting point of the task or go to the next task point.

[0041] In the specific implementation process, in combination with the above-mentioned unmanned logistics transportation and storage system, an automatic material transportation and storage task is performed, and the material is aluminum rod raw material for production and processing. The specific implementation process is as follows: The central control system receives the material task instruction, the system is generally a warehouse system, directly controls the transportation system, analyzes the task specific information, and assigns any idle child-mother distribution vehicle 2 to drive to the feeding area, and then the aluminum rod is transported to the material platform 212 of the child-mother distribution vehicle 2 by manual or external feeding machine, thereby completing the aluminum rod feeding step; The system plans a first moving path for the parent-child distribution vehicle 2 from the current position, i.e., the loading area, to the target storage area 11. The first control module 223 of the parent vehicle 22 receives the path planning information, i.e., the first moving path. The parent vehicle 22, carrying the child vehicle 21, travels at high speed along the first track 3 to the target storage area 11. On the way, the parent vehicle 22 continuously takes power from the power distribution line 51 of the first power supply module 5 through the first power pickup module 24 and supplies power to the second power supply module of the child vehicle 21 through the docked first power exchange module 26 and second power exchange module 27; After reaching the designated docking point of the target storage area 11, the parent vehicle 22 stops, and the second control module 214 of the child vehicle 21 controls the second power pickup module 25 to actuate the three-phase power pickup wheel 254 to lift up and dock onto the three-phase power supply line 62 of the second power supply module 6, starting to obtain the required power for operation and work from the overhead line. After confirming the successful power pickup, the second control module 214 of the child vehicle 21 controls the second power exchange module 27 to disconnect the electrical connection with the parent vehicle 22. Subsequently, the child vehicle 21 starts the second moving module 216 to drive out of the containing area 23 on the top of the parent vehicle 22, smoothly transitions to the second track 4 inside the storage area 11 through the turnout, and completes the physical separation from the parent vehicle 22; After the child vehicle 21 separates from the parent vehicle 22, it moves towards the target material rack 13 according to the planned second moving path. When the child vehicle 21 reaches the side of the target material rack 13, the second control module 214 controls the first lifting module 213 to lift the material platform 212 to a certain height, facilitating the subsequent transfer of the aluminum rod on the material platform 212. Subsequently, the first translation module 215 drives the lifted material platform 212 to move onto the material rack 13 through the connecting track 132 on the material rack 13. When the first translation module 215 completely moves onto the material rack 13, the first lifting module 213 slowly lowers the material platform 212, as shown in Figure 7 The size of the material platform 212 is slightly smaller than the limiting size of the storage space support surface on the material rack 13 for limiting the placement of materials, allowing the material platform to slowly move out of the material placement area 131. The size of the aluminum rod is slightly larger than the limiting size of the storage space support surface on the material rack 13 for limiting the placement of materials, allowing the aluminum rod to be placed on the storage space support surface of the material rack 13, and the aluminum rod is completely placed on the material rack 13 while being completely separated from the material platform 212; When the storage of the aluminum rod is completed, the second control module 214 controls the first lifting module 213 to reset the material platform 212 to the initial position on the first translation module 215, and then the first translation module 215 is retracted onto the child vehicle 21, completing the complete steps of material placement; The sub vehicle 21 drives away from the material rack 13 along the original path and returns to the docking point where the parent vehicle 22 is located; when approaching the parent vehicle 22, the sub vehicle 21 accurately drives into the accommodation area 23 of the parent vehicle 22 and is positioned through the guide rail 231; after the positioning is completed, the second control module 214 controls the second power pickup module 27 to automatically dock with the first power pickup module 26 of the parent vehicle 22, so as to restore the power supply by the parent vehicle 22; after confirming that the power supply by the parent vehicle 22 is completed, the second control module 214 controls the second power pickup module 25 to be withdrawn, so as to disconnect the connection with the three-phase power supply line 62; The system then updates the inventory information, and the parent-child distribution vehicle 2 enters a standby state and is ready to perform the next task; in other embodiments, the material outbound task is also the same, and details are not repeated here.

[0042] The material transportation and storage system and the material storage method, the system creates a mobile power supply network covering the whole area in the material storage warehouse 1 by setting the first power supply module 5 and the second power supply module 6 beside the first track 3 and the second track 4 respectively, when the mother car 22 drives on the trunk road, the first power supply module 5 can be powered in real time through the first power connection module 24; when the child car 21 works separately in the storage area 11, the second power supply module 6 can be powered in real time through the second power connection module 25; this mode of charging during driving or working solves the problem that the traditional AGV needs to interrupt the task and frequently go to the fixed charging station due to the battery power consumption; this makes the child-mother distribution car 2 can realize almost unlimited endurance, meet the needs of 24 hours uninterrupted operation, the overall equipment utilization rate and the material flow efficiency of the system are further improved; the system adopts the cooperative working mode that the mother car 22 is responsible for trunk transportation and the child car 21 is responsible for end access; the mother car 22 can be designed as high speed and heavy load mode relying on the first track 3, and focuses on cross-regional and long-distance material rapid transfer, and plays the advantages of stable and efficient track transportation; the child car 21 is small and flexible, can enter narrow and dense shelf channels, and can complete accurate storage and access work on the shelf through its unique lifting and translation mechanism; this professional division of labor makes the mother car 22 and the child car 21 work in their most suitable scenes, the system comprehensive performance reaches the optimum, and the technical contradiction that a single vehicle type cannot balance high speed and heavy load and flexible and fine is solved; an intelligent multi-level energy supply system is designed; specifically, when the child car 21 is on the mother car 22, the child car 21 is powered by the mother car 22 through the docking of the first power transfer module 26 and the second power transfer module 27; when the child car 21 separates into the storage area 11, it is automatically switched to take power from the second power supply module 6 through the second power connection module 25; this seamless switching power supply mechanism ensures that the child car 21 can obtain stable energy supply in any working state without relying on a single and limited on-board battery; not only optimizes energy management, but also reduces the requirements for battery capacity and weight of the child car 21, further enhances the flexibility and working time of the child car 21.

[0043] The above is only the preferred embodiment of the present application, the protection scope of the present application is not limited to the above-mentioned embodiments, any technical scheme belonging to the idea of the present application is also within the protection scope of the present application. It should be noted that for ordinary skilled in the art, some improvements and decorations without departing from the principle of the present application, these improvements and decorations should also be considered as the protection scope of the present application.

Claims

1. An unmanned material transport and storage system, characterized in that, include: A material storage warehouse and at least one mother-daughter delivery vehicle for transporting materials; The material storage warehouse is equipped with: several storage areas for storing materials and several first tracks running through the several storage areas for the mother-daughter delivery vehicle to move; a first power supply module for supplying power to the mother-daughter delivery vehicle is embedded in the first track; the first power supply module can be detachably connected to the mother-daughter delivery vehicle. The storage area is provided with: several storage areas for storing different or the same types of materials and a second track that runs through the several storage areas for the movement of the child vehicles of the mother and child delivery vehicles; the second track is connected to the first track corresponding to the storage area. A second power supply module for supplying power to the child vehicle of the mother-child delivery vehicle is provided at the second track; The second power supply module can be detachably connected to the child vehicle of the mother-child delivery vehicle.

2. The unmanned material transportation and storage system according to claim 1, characterized in that, The mother-daughter delivery vehicle includes: a daughter vehicle and a mother vehicle; The mother car is provided with a receiving area for accommodating the daughter car, and the daughter car can be accommodated in the receiving area and remain relatively stationary with respect to the mother car; The mother vehicle is equipped with a first jump-start module for receiving power from the first power supply module and a first AC module for supplying power to the daughter vehicle; the first jump-start module can be electrically connected to the first power supply module. The vehicle is equipped with a second jump-start module for receiving power from the second power supply module and a second AC module for receiving power from the first AC module; the second jump-start module can be electrically connected to the second power supply module; the first AC module can be electrically connected to the second AC module. When the child vehicle is on the mother vehicle and is being driven by the mother vehicle as a whole, the first AC module and the second AC module are electrically connected so that the mother vehicle supplies power to the child vehicle.

3. The unmanned material transportation and storage system according to claim 2, characterized in that, The mother vehicle includes: a first vehicle body, a first moving module for moving the first vehicle body, a first power supply module for providing power, and a first control module. The first power module is electrically connected to both the first AC power module and the first jump-start module. The first mobile module is detachably mounted on the bottom of the first vehicle body and abuts against the first track; the first control module is detachably connected to the first vehicle body and is electrically connected to the first power module, the first AC power module, the first jump-start module and the first mobile module respectively. The receiving area is located on the top of the first vehicle body; a plurality of guide rails are provided on the top of the first vehicle body, and the plurality of guide rails are located within the receiving area.

4. The unmanned material transportation and storage system according to claim 3, characterized in that, The sub-vehicle includes: a second vehicle body, a second power supply module for providing power, a second moving module for moving the second vehicle body, a material platform for supporting transported materials, a first lifting module for lifting the material platform, a first translation module for moving the material platform, and a second control module. The second power module is electrically connected to the second AC power module and the second jump-start module, respectively; The second control module is electrically connected to the second AC module, the second jump-start module, the second moving module, the first lifting module, and the first translation module; The second moving module is disposed at the bottom of the second vehicle body; when the subcar and the mother car are combined, the second moving module abuts against the guide rail on the mother car; when the subcar and the mother car are separated, the second moving module abuts against the second rail. The first translation module is detachably connected to the top of the second vehicle body; one end of the first lifting module is detachably connected to the first translation module, and the other end is detachably connected to the material platform.

5. The unmanned material transportation and storage system according to claim 4, characterized in that, The first power module includes: a first mounting base and a power supply component for providing power; The first mounting base is detachably connected to the first vehicle body; the power supply component is detachably connected to the first mounting base, the power supply component is used to receive power from the first power module on the mother vehicle, and the power supply component is provided with a three-phase port for providing a power supply interface; The second power module includes: a second mounting base, a first power receiving arm for receiving power, and a first driving member for driving the first power receiving arm to move up and down; The second mounting base is detachably connected to the second vehicle body; the first drive unit is detachably connected to the second mounting base; one end of the first power receiving arm is fixedly connected to the output end of the first drive unit, and the other end is provided with a three-phase terminal adapted to the three-phase port; the first power receiving arm is electrically connected to the second power module; when the three-phase terminal is in contact with the three-phase port, the first power module of the mother vehicle supplies power to the second power module of the daughter vehicle.

6. The unmanned material transportation and storage system according to claim 4, characterized in that, The second power supply module includes: several support frames and a three-phase power supply line for receiving power from the outside; Several of the aforementioned support frames are equidistantly arranged beside the second track; the three-phase power supply line is erected on several of the aforementioned support frames; The second jump-start module includes: a third mounting base, a second jump-start arm for receiving power, and a second drive unit for driving the second jump-start arm to move up and down; The third mounting base is detachably connected to the second vehicle body; the second drive component is detachably connected to the third mounting base; one end of the second power receiving arm is fixedly connected to the output end of the second drive component; the other end of the second power receiving arm is provided with a three-phase connection wheel; the three-phase connection wheel can connect to the three-phase power supply line. When the three-phase jumper wheel is connected to the three-phase power supply line, the three-phase power supply line supplies power to the second power module of the vehicle.

7. The unmanned material transportation and storage system according to claim 1, characterized in that, The storage area is equipped with at least one material rack for storing materials; The top of the material rack is provided with a material placement area for storing materials; The material rack is provided with a connecting rail for moving the first translation module onto the material rack.

8. The unmanned material transportation and storage system according to claim 3, characterized in that, The first power supply module includes a power distribution line; the power distribution line is disposed on one side of the first track and is used to connect to an external power source; The first jump-start module includes a fourth mounting base and a jump-start component; the fourth mounting base is detachably connected to the bottom of the first vehicle body; the jump-start component is detachably connected to the fourth mounting base; one end of the jump-start component can be electrically connected to the first power module, and the other end can be connected to the power distribution line; when the jump-start component is connected to the power distribution line, the power distribution line supplies power to the first power module.

9. The unmanned material transportation and storage system according to claim 4, characterized in that, The second vehicle body is also equipped with a limit module for limiting and locking the materials on the logistics platform; The limiting module includes: a limiting frame and a third driving component for moving the limiting frame; The third drive component is detachably connected to the second vehicle body; the limiting frame is fixedly connected to the output end of the third drive component.

10. A method for unmanned material transportation and storage based on an unmanned material transportation and storage system according to any one of claims 1-9, characterized in that, include: Step S1: The warehousing system obtains material transportation tasks, which include the type and quantity of the target material, the target warehousing area, and the target storage area information. Step S2: Based on the transportation task, place the materials onto the mother-daughter delivery vehicle using an external loading machine or manually. Step S3: Based on the transportation task, plan a first moving path from the current location to the target storage area for the mother and child delivery vehicles, and control the mother vehicle to carry the child vehicle to move along the first track to the target storage area; during the movement, the mother vehicle obtains power through the connection of the first jump-start module and the first power supply module, and supplies power to the child vehicle through the first AC module. At this time, the child vehicle and the mother vehicle are in a merged state. Step S4: When the mother and child delivery vehicles arrive at the target storage area, control the separation of the child vehicle from the mother vehicle and plan a second movement path for the child vehicle from the location of the mother vehicle to the target storage area; the child vehicle moves along the second track to the target storage area; during the movement, the child vehicle obtains power through the connection between the second jump-start module and the second power supply module; Step S5: After the trolley arrives at the target storage area, the material storage and retrieval operation is performed. The position of the material platform is adjusted by the first lifting module and the first translation module to align it with the material placement area on the material rack, and then the material is placed on the material rack to complete the material retrieval and placement. Step S6: After completing the material storage and retrieval operation, control the subcar to return to the receiving area of ​​the mother car along the second moving path and merge with the mother car again. Disconnect the connection between the second jump-start module and the second power supply module, and the mother car will re-power the subcar through the first AC module. Step S7: Control the mother and child delivery vehicles to continue moving according to the transportation task, so that the mother vehicle carrying the child vehicle returns to the task starting point or goes to the next task point along the first moving path.

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