An autonomous layer-changing climbing four-wheel vehicle and a warehouse system

Abstract

The application provides an autonomous layer-changing climbing four-way vehicle and a warehouse system, and relates to the technical field of warehouse systems.The autonomous layer-changing climbing four-way vehicle comprises a supporting mechanism, a four-way walking mechanism and a climbing mechanism, the four-way walking mechanism and the climbing mechanism are arranged on the supporting mechanism, the four-way walking mechanism comprises a walking driving assembly and a walking executing assembly connected with the walking driving assembly, the walking executing assembly can move along the transverse direction and the longitudinal direction under the driving of the walking driving assembly; the climbing mechanism comprises a folding and unfolding driving assembly, a folding and unfolding assembly connected with the folding and unfolding driving assembly and a climbing executing assembly connected with the walking driving assembly, when the folding and unfolding driving assembly drives the folding and unfolding assembly to move to an unfolded state, the climbing executing assembly is extended and can move along the vertical direction under the driving of the walking driving assembly; the application can not only realize autonomous layer changing, ensure the goods conveying effect, improve the goods conveying efficiency, but also can save the warehouse space, improve the space utilization rate and reduce the operation and maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of warehousing system technology, specifically to an autonomous layer-changing climbing four-way vehicle and warehousing system. Background Technology

[0002] In modern intelligent warehousing systems, four-way vehicles, as core handling equipment, are widely used in high-density racking storage scenarios due to their ability to move flexibly in both the horizontal and vertical directions, enabling efficient storage, retrieval, and transfer of goods. However, the movement range of existing four-way vehicles is usually limited to the aisles of the same horizontal rack level. When it is necessary to transfer goods between different rack levels, a separately installed hoist (such as an elevator hoist or chain hoist) must be used as the transfer tool. Specifically, the four-way vehicle must first transport the goods to the hoist's docking area, and the hoist will then drive the four-way vehicle and the goods to complete the vertical inter-level lifting and lowering, after which the four-way vehicle will transfer the goods to the designated location on the target level.

[0003] This model, which relies on elevators for layer changing, has significant technical drawbacks: Firstly, elevators occupy specific aisle space in the racking system, limiting the flexibility of racking layout. Especially in high-density warehousing scenarios, the aisles occupied by elevators reduce the number of effective storage locations, lowering the utilization rate of storage space. Secondly, the layer changing process relies on the coordinated operation of four-way trolleys and elevators, increasing the complexity of equipment control and making layer changing inefficient due to issues such as waiting time and positioning deviations, thus affecting the overall inventory turnover speed of the warehousing system. Furthermore, the additional elevators increase the initial investment cost, installation and commissioning difficulty, and subsequent maintenance workload of the warehousing system, further limiting the widespread application of four-way trolleys in small-to-medium-sized warehousing scenarios or space-constrained environments.

[0004] Therefore, there is an urgent need for a four-way vehicle structure that can break free from dependence on the hoist and autonomously complete the inter-layer transfer, in order to solve the problems of space occupation, low efficiency and high cost in the existing technology. Summary of the Invention

[0005] The purpose of this invention is to provide an autonomous, layer-changing, climbing four-way vehicle and warehousing system to solve the aforementioned technical problems in the prior art; the preferred technical solutions among the many technical solutions provided by this invention can produce many technical effects, as detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention provides an autonomous floor-changing climbing four-way vehicle, comprising a support mechanism, a four-way traveling mechanism, and a climbing mechanism. Both the four-way traveling mechanism and the climbing mechanism are mounted on the support mechanism. The four-way traveling mechanism includes a traveling drive component and a traveling execution component. The traveling execution component is tractively connected to the traveling drive component and can move laterally and longitudinally under the drive of the traveling drive component. The climbing mechanism includes a retraction drive component, a retraction component, and a climbing execution component. The retraction drive component is connected to the retraction component, and the climbing execution component is mounted on the retraction component and tractively connected to the traveling drive component. When the retraction drive component moves the retraction component to an extended state, the climbing execution component extends and can move vertically under the drive of the traveling drive component.

[0008] Preferably, the retraction and extension assembly includes a lifting assembly and a lifting transmission assembly, wherein: the lifting assembly includes a rocker arm and a lifting slider, the output end of the retraction and extension drive assembly is connected to the first end of the rocker arm, the second end of the rocker arm is rotatably connected to the lifting slider, and the lifting slider is connected to the climbing execution assembly through the lifting transmission assembly.

[0009] Preferably, the lifting transmission assembly includes a first telescopic rod and a second telescopic rod that are rotatably connected. The lifting slider is provided with a first guide hole in the vertical direction, and the support mechanism is provided with a second guide hole in the vertical direction. The end of the first telescopic rod furthest from the second telescopic rod is designated as a first hinge end, which is rotatably connected to the lifting slider and movably disposed within the first guide hole. The end where the first and second telescopic rods connect is designated as a second hinge end, which is movably disposed within the second guide hole. When the first hinge end moves to the lower position of the first guide hole and the second hinge end moves to the upper position of the second guide hole, the climbing execution assembly is in a retracted state. When the first hinge end moves to the upper position of the first guide hole and the second hinge end moves to the lower position of the second guide hole, the climbing execution assembly is in an extended state.

[0010] Preferably, the lifting assembly includes two rocker arms, and the retraction assembly includes two lifting transmission assemblies. The two rocker arms are symmetrically arranged longitudinally on the lifting slider and are connected to the climbing execution assembly through the corresponding lifting transmission assemblies.

[0011] Preferably, the retraction drive assembly has two output ends that operate synchronously, the two output ends are symmetrically arranged along the transverse side of the support mechanism, and both output ends are drively connected to the retraction assembly.

[0012] Preferably, the climbing actuator includes a climbing gear, and a rack adapted to the climbing gear is arranged vertically on the shelf; when the climbing gear extends, it can mesh with the rack.

[0013] Preferably, the walking drive assembly includes a walking power assembly, a first transmission assembly, a second transmission assembly, and a third transmission assembly, and the walking execution assembly includes a lateral walking assembly and a longitudinal walking assembly, wherein: the walking power assembly is connected to the lateral walking assembly through the first transmission assembly; the walking power assembly is connected to the longitudinal walking assembly through the second transmission assembly; and the walking power assembly is connected to the climbing execution assembly through the third transmission assembly.

[0014] Preferably, the autonomous layer-changing climbing four-way vehicle further includes an electronic control mechanism, and the walking drive component and the retraction drive component are both electrically connected to the electronic control mechanism.

[0015] The present invention provides a warehousing system, including any of the aforementioned autonomous layer-changing climbing four-way vehicles.

[0016] Preferably, the storage system includes shelves and a flip-up track, wherein: the shelves include multiple shelves arranged in a vertical direction, and the flip-up track is provided on each shelf via a sub-channel; the flip-up track includes a flip-up drive component and a track body, the flip-up drive component is pulsatorically connected to the track body, and the flip-up drive component can drive the track body to flip upward to make way for the autonomous layer-changing climbing four-way vehicle.

[0017] The autonomous layer-changing climbing four-way vehicle and warehousing system provided by this invention have at least the following beneficial effects:

[0018] I. Achieve autonomous layer changing, eliminating dependence on hoists:

[0019] By integrating a climbing mechanism into the support structure, and using a retraction drive component to extend the retraction component, the climbing execution component extends and engages with the walking drive component, enabling the four-way vehicle to move vertically and autonomously complete the layer-changing operation between different shelf levels. This eliminates the need for additional lifting equipment, completely solving the dependence on lifting mechanisms in traditional four-way vehicle layer-changing systems and simplifying the equipment configuration of the warehousing system.

[0020] II. Saves warehouse space and improves space utilization:

[0021] Since there is no need to set up a dedicated elevator aisle, the rack layout can be more compact and reasonable. The aisle space originally occupied by the elevator can be converted into effective storage space, which significantly improves the utilization rate of storage space. It is especially suitable for dense storage scenarios or space-constrained storage environments, bringing higher storage capacity to the storage system.

[0022] III. Improve layer-changing efficiency and accelerate cargo turnover:

[0023] The autonomous layer-changing process eliminates the need for coordinated waiting, docking, and positioning between the four-way vehicle and the lifting machine. The layer-changing action can be completed directly between the layers of the rack sub-aisles, significantly shortening the layer-changing time and improving the efficiency of inter-layer cargo transfer.

[0024] IV. Reduce system costs and simplify operation and maintenance management:

[0025] This eliminates the need for purchasing, installing, commissioning, and maintaining the hoist, reducing the initial investment and operating costs of the warehousing system. Simultaneously, the reduced number of devices simplifies the overall structure of the warehousing system, significantly decreasing the workload of operation and maintenance, and further improving the operational economy and reliability of the warehousing system.

[0026] V. Enhance equipment adaptability and expand application scenarios:

[0027] This autonomous layer-changing structure does not alter the original lateral and longitudinal movement functions of the four-way vehicle. While retaining its original advantages in flexible transfer, it adds vertical climbing capability, enabling it to adapt to more diverse warehouse layouts and operational needs. Whether in small-to-medium-sized warehouse scenarios, space-constrained indoor warehouses, or complex warehouse operations requiring frequent layer changes, this four-way vehicle can efficiently adapt, effectively expanding its application scope. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the four-way vehicle of the present invention;

[0030] Figure 2 This is a schematic diagram of the four-way walking mechanism and climbing mechanism of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the extension / retraction drive component and the extension / retraction component of the present invention;

[0032] Figure 4 This is a partially enlarged view of the retraction component and the climbing execution component of the present invention;

[0033] Figure 5 This is a schematic diagram illustrating the principle of the positional state changes of the retraction component and the climbing execution component of this invention;

[0034] Figure 6 This is a schematic diagram of the layer-changing process of the warehousing system of the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of the reversible track of the present invention.

[0036] Figure Labels

[0037] 1. Support mechanism; 11. Second guide hole; 2. Four-way walking mechanism; 21. Walking drive assembly; 211. Walking power assembly; 212. First transmission assembly; 213. Second transmission assembly; 214. Third transmission assembly; 22. Walking execution assembly; 221. Lateral walking assembly; 222. Longitudinal walking assembly; 3. Climbing mechanism; 31. Retraction drive assembly; 311. Retraction power assembly; 312. Drive gearbox; 313. Retraction drive shaft; 314. Driven gearbox; 32. Retraction assembly; 321. Rocker arm; 322. Lifting slider; 3221. First guide hole; 323. First telescopic rod; 324. Second telescopic rod; 33. Climbing execution assembly; 331. Climbing gear; 4. Electrical control mechanism; 5. Shelf; 51. Column; 52. Rack; 6. Reversible track; 61. Reversible drive assembly; 62. Track body. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0039] Example 1:

[0040] This invention provides an autonomous, four-way climbing vehicle for changing levels, with reference to... Figures 1 to 7 As shown, the autonomous layer-changing climbing four-way vehicle includes a support mechanism 1, a four-way walking mechanism 2, and a climbing mechanism 3.

[0041] The four-way walking mechanism 2 is mounted on the support mechanism 1. The four-way walking mechanism 2 includes a walking drive component 21 and a walking execution component 22. The walking drive component 21 provides walking power, and the walking execution component 22 performs walking actions. The walking execution component 22 is connected to the walking drive component 21 and can move laterally and longitudinally under the drive of the walking drive component 21. Specifically, the four-way walking mechanism 2 can move in the forward, backward, left and right directions.

[0042] The climbing mechanism 3 is mounted on the support mechanism 1. The climbing mechanism 3 includes a retraction drive component 31, a retraction component 32, and a climbing execution component 33. The retraction drive component 31 is connected to the retraction component 32 and can drive the retraction component 32 to move to a retracted state and an extended state. The climbing execution component 33 is mounted on the retraction component 32 and moves synchronously with the retraction component 32. The climbing execution component 33 is connected to the walking drive component 21 and can provide climbing power to the climbing execution component 33.

[0043] When transporting goods, the retractable component 32 moves to the retracted state under the drive of the retractable drive component 31, the climbing execution component 33 retracts, and the walking execution component 22 carries the goods and moves to the target position under the drive of the walking drive component 21. When a layer change is required, the retractable drive component 31 drives the retractable component 32 to move to the extended state. At this time, the climbing execution component 33 extends and moves up and down in the vertical direction under the drive of the walking drive component 21, thereby completing the layer change.

[0044] This invention integrates the four-way walking mechanism 2 and the climbing mechanism 3 into the support mechanism 1. On the one hand, it can realize the transportation of goods between different shelves. Not only is the transportation effect significant, but the four-way vehicle can also change layers autonomously, resulting in high transportation efficiency. On the other hand, it eliminates the need to set up elevators and lifting channels on the shelves, saving storage space and improving space utilization. At the same time, by eliminating the elevator, it can effectively reduce investment and maintenance costs, simplify equipment, and improve operational economy and reliability.

[0045] Example 2:

[0046] Example 2 is based on Example 1:

[0047] like Figures 1 to 7 As shown, the retraction assembly 32 includes a lifting assembly and a lifting transmission assembly.

[0048] The lifting assembly includes a rocker arm 321 and a lifting slider 322. The retraction drive assembly 31 is an electric drive assembly, including a motor and a reducer. Its output end is connected to the first end of the rocker arm 321, and the second end of the rocker arm 321 is rotatably connected to the lifting slider 322. The rocker arm 321 and the lifting slider 322 cooperate with each other to form a crank-slider mechanism, which can effectively convert the rotational motion of the output end of the retraction drive assembly 31 into the lifting motion of the lifting slider 322.

[0049] The lifting slider 322 is connected to the climbing execution component 33 through the lifting transmission component. The lifting transmission component converts the lifting and lowering action of the lifting slider 322 into the extension and retraction action of the climbing execution component 33.

[0050] As an optional implementation, the lifting transmission assembly includes a first telescopic rod 323 and a second telescopic rod 324 that are rotatably connected. A first guide hole 3221 is provided on the lifting slider 322 in the vertical direction. A second guide hole 11 is provided in the vertical direction. The end of the first telescopic rod 323 away from the second telescopic rod 324 is set as a first hinge end. The first hinge end is rotatably disposed in the first guide hole 3221 and can also move up and down along the first guide hole 3221. The end where the first telescopic rod 323 and the second telescopic rod 324 are connected is the second hinge end. The second hinge end is movably disposed in the second guide hole 11 in the vertical direction.

[0051] like Figure 5 As shown, during the downward movement of the lifting slider 322:

[0052] When the first hinge end moves to the lower position of the first guide hole 3221 and the second hinge end moves to the upper position of the second guide hole 11, the climbing execution component 33 is in the retracted state and the state is stable.

[0053] When the first hinge end moves to the upper position of the first guide hole 3221 and the second hinge end moves to the lower position of the second guide hole 11, the climbing execution component 33 is in the extended state and the state is stable.

[0054] Specifically, during the transition from the stable retracted state to the stable extended state, there are two intermediate transition states:

[0055] When the first hinge end moves to the upper position of the first guide hole 3221 and the second hinge end moves to the upper position of the second guide hole 11, the climbing execution component 33 is in a critical retraction state.

[0056] When the first hinge end moves to the lower position of the first guide hole 3221 and the second hinge end moves to the lower position of the second guide hole 11, the climbing execution component 33 is in a critical extension state.

[0057] The first telescopic rod 323 and the second telescopic rod 324 cooperate with each other to form a linkage transmission structure, which can effectively convert the lifting and lowering action of the lifting slider 322 into the extension and retraction action of the climbing execution component 33.

[0058] In practical applications, the lifting transmission assembly can also be replaced by other telescopic assemblies, such as hydraulic telescopic assemblies, pneumatic telescopic assemblies, etc.

[0059] As an optional implementation, one of the lifting components includes a lifting slider 322 and two rocker arms 321, and a retraction component 32 includes two lifting transmission components. The two corresponding rocker arms 321 on the same lifting slider 322 are symmetrically arranged in the longitudinal direction and are connected to the climbing execution component 33 through the corresponding lifting transmission components.

[0060] The retraction drive assembly 31 drives its two corresponding rocker arms 321 to rotate synchronously through the two lifting transmission assemblies, thereby driving the lifting slider 322 to rise and fall from both sides. In actual application, the two rocker arms 321 corresponding to the same lifting slider 322 can rotate synchronously in the same direction or synchronously in opposite directions.

[0061] As an optional implementation, the retraction drive assembly 31 is provided with two output ends that operate synchronously. The two output ends are symmetrically arranged along the transverse direction of the support mechanism 1, and both output ends are connected to the retraction assembly 32. In this way, one retraction drive assembly 31 drives two retraction assemblies 32 to extend and retract synchronously.

[0062] The combination of longitudinal and lateral symmetrical layouts ensures that the support force on both sides of the four-way vehicle is consistent during climbing, avoiding the risk of vehicle tilting or rollover caused by insufficient power or delayed action on one side, and improving the safety and stability of the vertical climbing process.

[0063] Specifically, the retraction drive assembly 31 includes a retraction power assembly 311, a drive gearbox 312, a retraction transmission shaft 313, and a driven gearbox 314. The retraction power assembly 311 is an electric power assembly, including a motor and a reducer, which is connected to the drive gearbox 312. The drive gearbox 312 has two first output ends and one second output end. The two first output ends are the two output ends mentioned above that are synchronized. The first output ends are connected to the corresponding rocker arm 321. The second output end is connected to the driven gearbox 314 through the retraction transmission shaft 313. The retraction transmission shaft 313 is arranged laterally. The driven gearbox 314 has two third output ends, which are connected to the corresponding rocker arm 321. The two retraction assemblies 32 located on the left and right sides of the retraction transmission shaft 313 move synchronously under the cooperative action of the drive gearbox 312 and the driven gearbox 314.

[0064] As an optional implementation, the climbing execution component 33 includes a climbing gear 331.

[0065] A rack 52 is vertically positioned on the shelf 5 corresponding to the climbing gear 331, and the rack 52 is adapted to the climbing gear 331.

[0066] When changing layers, the climbing gear 331 extends and meshes with the corresponding rack 52. Then, driven by the walking drive component 21, the climbing gear 331 rotates along the rack 52 to achieve lifting and lowering.

[0067] The vertical climbing mechanism employs a gear and rack system, which offers several advantages. First, it provides high and stable transmission efficiency, with no risk of slippage in the meshing transmission between the gears and rack. This efficiently converts the power of the driving components into vertical climbing force, ensuring a uniform and controllable climbing speed. Second, it boasts strong load-bearing capacity, with a large contact area in the meshing structure that effectively distributes the load generated by the weight of the cargo and the vehicle itself, making it suitable for heavy-duty scenarios and expanding the applicability of the four-way vehicle. Furthermore, it offers high positioning accuracy, with precise gear and rack tooth pitch, enabling accurate positioning during the climbing process. This facilitates precise docking between the four-way vehicle and the target shelf, ensuring accurate cargo storage and retrieval.

[0068] As an optional implementation, the walking drive component 21 includes a walking power component 211, a first transmission component 212, a second transmission component 213 and a third transmission component 214, and the walking execution component 22 includes a lateral walking component 221 and a longitudinal walking component 222.

[0069] The walking power assembly 211 includes a walking motor.

[0070] The lateral travel assembly 221 includes a lateral travel wheel located on the front or rear side of the support mechanism 1. The first transmission assembly 212 includes a comprehensive gearbox, which is provided with multiple lateral output ends, and the lateral output ends are connected to the corresponding lateral travel wheels.

[0071] The longitudinal travel assembly 222 includes two sets of longitudinal travel wheels located on the left and right sides of the support mechanism 1. The second transmission assembly 213 includes two linkage shafts. The integrated gearbox is provided with two longitudinal output ends in the left and right direction. The longitudinal output ends are connected to the corresponding longitudinal travel wheels through the corresponding linkage shafts.

[0072] The number of each of the walking power component 211, the lateral walking component 221 and the longitudinal walking component 222 is set to two, and they are arranged symmetrically in the front-back direction.

[0073] The third transmission component 214 is configured as a chain drive component, which is located near the end of the linkage shaft. The linkage shaft is connected to the corresponding climbing gear 331 through the chain drive component. In actual application, the third transmission component 214 can also be a gear drive component, belt drive component, etc.

[0074] As an optional implementation, the autonomous layer-changing climbing four-way vehicle also includes an electronic control mechanism 4, and the walking drive assembly 21 and the retraction drive assembly 31 are all electrically connected to the electronic control mechanism 4.

[0075] The electronic control mechanism 4 is used for the automated control of the walking drive assembly 21 and the retraction drive assembly 31.

[0076] Example 3

[0077] Example 3 is based on Example 2:

[0078] This invention provides a warehousing system, such as Figures 1 to 7 As shown, the warehousing system includes the autonomous layer-changing climbing four-way vehicle.

[0079] The warehousing system employing the aforementioned autonomous layer-changing, four-way lifting vehicle offers several advantages. First, it optimizes the warehouse layout, eliminating the need for elevator aisles and allowing for a denser racking arrangement, thus improving space utilization. It also reduces the number of auxiliary equipment such as elevators, simplifying the overall structure of the warehousing system. Second, it enhances operational efficiency. The autonomous layer-changing capability of the four-way vehicle eliminates the need for transfers between layers, shortening the cargo turnover cycle. This is particularly suitable for warehousing scenarios requiring frequent layer changes, significantly improving the overall operational efficiency of the warehousing system. Finally, it reduces overall system costs: eliminating the purchase, installation, and maintenance costs of elevators, reducing the risk of system downtime due to elevator malfunctions, and lowering long-term operating costs and maintenance complexity.

[0080] As an optional implementation, the storage system includes a shelf 5 and a flip-up track 6. The shelf 5 includes multiple shelves arranged in a vertical direction. Each shelf in the shelf 5 has a sub-channel with a flip-up track 6. The flip-up track 6 includes a flip-up drive component 61 and a track body 62. The flip-up drive component 61 is an electric drive component that is connected to the track body 62. The flip-up drive component 61 can drive the track body 62 to flip upward to make way for the autonomous layer-changing climbing four-way vehicle.

[0081] During the layer change, the autonomous layer change climbing four-way vehicle moves to the shelf sub-channel, and the flip drive component 61 drives the track body 62 to flip upward, thereby providing sufficient clearance for the vertical climbing action of the four-way vehicle, avoiding interference between the track and the four-way vehicle, and ensuring that the layer change action is completed smoothly.

[0082] When not in a layer-changing state, the track body 62 remains horizontal and can serve as a support track for the four-way vehicle to travel, ensuring that the normal transfer function of the four-way vehicle within the same layer is not affected, and achieving functional compatibility between "travel track" and "layer-changing and yielding".

[0083] In the description of this application, it should be understood that the terms "upper", "lower", "inner", "outer", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0084] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" or "several" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0085] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0086] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An autonomous four-way climbing vehicle with independent floor changing capabilities, characterized in that: It includes a support mechanism, a four-way traveling mechanism, and a climbing mechanism, wherein the four-way traveling mechanism and the climbing mechanism are both mounted on the support mechanism, wherein: The four-way walking mechanism includes a walking drive component and a walking execution component. The walking execution component is connected to the walking drive component and can move laterally and longitudinally under the drive of the walking drive component. The climbing mechanism includes a retraction drive assembly, a retraction assembly, and a climbing execution assembly. The retraction drive assembly is connected to the retraction assembly, the climbing execution assembly is disposed on the retraction assembly, and the climbing execution assembly is throttlely connected to the walking drive assembly. When the retraction drive component moves the retraction component to the extended state, the climbing execution component extends and can move vertically under the drive of the walking drive component. The retraction and extension assembly includes a lifting assembly and a lifting transmission assembly, wherein: the lifting assembly includes a rocker arm and a lifting slider; the output end of the retraction and extension drive assembly is connected to the first end of the rocker arm; the second end of the rocker arm is rotatably connected to the lifting slider; and the lifting slider is connected to the climbing execution assembly through the lifting transmission assembly. The lifting transmission assembly includes a first telescopic rod and a second telescopic rod that are rotatably connected. The lifting slider has a first guide hole in the vertical direction, and the support mechanism has a second guide hole in the vertical direction. The end of the first telescopic rod furthest from the second telescopic rod is designated as a first hinge end, which is rotatably connected to the lifting slider and movably disposed within the first guide hole. The end connecting the first and second telescopic rods is designated as a second hinge end, which is movably disposed within the second guide hole. When the first hinge end moves to the lower position of the first guide hole and the second hinge end moves to the upper position of the second guide hole, the climbing execution assembly is in a retracted state. When the first hinge end moves to the upper position of the first guide hole and the second hinge end moves to the lower position of the second guide hole, the climbing execution assembly is in an extended state.

2. The autonomous layer-changing, climbing, four-way vehicle according to claim 1, characterized in that, The lifting assembly includes two rocker arms, and the retraction assembly includes two lifting transmission assemblies. The two rocker arms are symmetrically arranged longitudinally on the lifting slider and are connected to the climbing execution assembly through the corresponding lifting transmission assemblies.

3. The autonomous four-way climbing vehicle according to any one of claims 1 to 2, characterized in that, The retraction and extension drive assembly is provided with two output ends that operate synchronously. The two output ends are symmetrically arranged along the transverse direction of the support mechanism, and both output ends are drively connected to the retraction and extension assembly.

4. The autonomous layer-changing, climbing, four-way vehicle according to claim 1, characterized in that, The climbing actuator includes a climbing gear, and a rack adapted to the climbing gear is provided on the shelf in the vertical direction; When the climbing gear extends, it can mesh with the rack.

5. The autonomous layer-changing, climbing four-way vehicle according to claim 1, characterized in that, The walking drive assembly includes a walking power assembly, a first transmission assembly, a second transmission assembly, and a third transmission assembly; the walking execution assembly includes a lateral walking assembly and a longitudinal walking assembly, wherein: The walking power component is connected to the lateral walking component through the first transmission component; The walking power component is connected to the longitudinal walking component via the second transmission component; The walking power component is connected to the climbing execution component via a third transmission component.

6. The autonomous floor-changing, climbing, four-way vehicle according to claim 1, characterized in that, The autonomous layer-changing climbing four-way vehicle also includes an electronic control mechanism, and the walking drive component and the folding drive component are both electrically connected to the electronic control mechanism.

7. A warehousing system, characterized in that, The autonomous four-way climbing vehicle according to any one of claims 1 to 6.

8. The warehousing system according to claim 7, characterized in that, The warehousing system includes shelves and tilting rails, wherein: The shelf includes multiple shelves arranged in a vertical direction, and the sub-aisles of the shelf are provided with the flip-up rails on each shelf. The reversible track includes a reversible drive assembly and a track body. The reversible drive assembly is connected to the track body in a transmission manner. The reversible drive assembly can drive the track body to flip upwards to make way for the autonomous layer-changing climbing four-way vehicle that is changing layers.

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