Cross-floor transportation device and cross-floor transportation method

Abstract

The invention relates to a cross-floor transportation device and a cross-floor transportation method.The cross-floor transportation device comprises a plurality of conveying rails, a transfer rail, a self-driven carrier and a lifting mechanism, the conveying rails are arranged on different floors, and each conveying rail is provided with a first connecting end; the transfer track is provided with a second connecting end, and the second connecting end can be spliced with the first connecting end, so that a continuous track is formed between the conveying track and the transfer track; the self-driven carrier is used for loading materials and can walk along the conveying track, the transfer track and a continuous track formed between the conveying track and the transfer track; and the power output end of the lifting mechanism is in driving connection with the transfer track and used for driving the transfer track to do lifting motion, so that the transfer track and the conveying tracks on different floors can form a continuous track, the steps of material cross-floor conveying operation are reduced, the labor cost is reduced, and the conveying efficiency and the industrial production efficiency are improved.

Description

Inter-floor transport equipment and inter-floor transport methods Technical Field

[0001] This application relates to the field of operational transportation technology, and in particular to a cross-floor transportation device and method. Background Technology

[0002] Self-driven vehicle conveyor systems are commonly used in industrial production. Through the built-in drive components, the vehicle can move along the track by itself and is specifically used for loading and transporting materials.

[0003] In actual production, cross-floor material transport has become a routine operation due to the needs of factory layout and process division. However, the cross-floor transport of existing self-driven carrier conveyor systems has significant limitations: materials need to be unloaded from the self-driven carriers on the current floor track by manual labor or robotic arms, transferred to the target floor by manual labor or conveyor belt, and then transferred back to the self-driven carriers on the target floor track.

[0004] This transfer model requires multiple material transfers, which not only reduces transportation efficiency but also increases operational steps and labor costs, seriously affecting industrial production efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a cross-floor transport device and a cross-floor transport method to improve the efficiency of cross-floor transport of materials.

[0006] This application provides a cross-floor transportation device, including a conveying track, a transfer track, a self-driven vehicle, and a lifting mechanism. Multiple conveying tracks are arranged on different floors, and each conveying track has a first connecting end. Each transfer track has a second connecting end, which can be connected to the first connecting end to form a continuous track between the conveying track and the transfer track. The self-driven vehicle is used to load materials and can travel along the conveying track, the transfer track, and the continuous track formed between the conveying track and the transfer track. The power output end of the lifting mechanism is driven by the transfer track to drive its lifting movement, enabling the transfer track to form a continuous track with the conveying tracks on different floors.

[0007] In one embodiment, the lifting mechanism includes a sheave, a traction cable wound around the circumference of the sheave, and a drive motor for driving the sheave to rotate about its own axis; one end of the traction cable is connected to the sheave and the other end is connected to the transfer track; or, one end of the traction cable is connected to the transfer track and the other end is connected to a counterweight.

[0008] In one embodiment, it further includes a vertical guide rail and a crossbeam, the vertical guide rail being vertically slidably engaged with the crossbeam, the crossbeam having one or more of the transfer rails, and the traction cable being connected to the crossbeam.

[0009] In one embodiment, one end of the traction cable is connected to the transfer track, and the other end is connected to a counterweight, which slides vertically with the vertical guide rail.

[0010] In one embodiment, the second connecting end is provided as one; or, the second connecting end is provided as multiple, the multiple second connecting ends are provided at different positions on the transfer track, and the self-driving vehicle is capable of moving between any two second connecting ends.

[0011] In one embodiment, the transfer track is a straight track, and both ends of the transfer track are configured as the second connecting ends.

[0012] In one embodiment, a limiting component is installed on the second connecting end. The limiting component includes a blocking member and a driving source. The driving source is installed on the second connecting end. The blocking member has a locked state and an unlocked state. The driving source is used to drive the blocking member to switch between the locked state and the unlocked state. In the locked state, the blocking member can prevent the self-driven vehicle on the transfer track from falling out of the second connecting end. In the unlocked state, the blocking member can allow the self-driven vehicle on the transfer track to move out of the second connecting end and can allow external self-driven vehicles to enter the transfer track from the second connecting end.

[0013] In one embodiment, the transport track that needs to be spliced ​​with the transfer track is defined as the target track; each transport track is equipped with a trigger, and the transfer track is equipped with a sensor. The inter-floor transport device also includes a controller. The lifting mechanism and the sensor are electrically connected to the controller. The controller is used to control the lifting mechanism to drive the transfer track to stop lifting when the sensor on the transfer track is triggered by the trigger on the target track; or, each transport track is equipped with two vertically distributed triggers, the upper trigger being the first trigger and the lower trigger being the second trigger. The sensor on the cloth is a first sensor located at the top and a second sensor located at the bottom. The controller can control the lifting mechanism to drive the transfer track to decelerate when the first sensor is triggered by the second trigger on the target track, and can also control the lifting mechanism to stop the transfer track from rising or falling when the first sensor is triggered by the first trigger on the target track. The second sensor can control the lifting mechanism to drive the transfer track to decelerate when triggered by the first trigger on the target track, and can also control the lifting mechanism to stop the transfer track from rising or falling when triggered by the second trigger on the target track.

[0014] In one embodiment, the sensor is a photoelectric sensor, which has a transmitting end for emitting light signals and a receiving end for receiving light signals; the transmitting end and the receiving end are arranged opposite to each other, and the photoelectric sensor is triggered when the light signal is blocked by the triggering element; or, the transmitting end and the receiving end are arranged in the same direction, and the photoelectric sensor is triggered when the light signal is emitted from the transmitting end, reflected by the triggering element, and then received by the receiving end.

[0015] In one embodiment, the system further includes a controller and a pull-cord encoder. Both the lifting mechanism and the pull-cord encoder are electrically connected to the controller. The pull-cord of the pull-cord encoder is connected to the transfer track. The controller can control the lifting mechanism to stop when the transfer track is raised or lowered to the point of being connected with the conveying track by the displacement of the pull-cord.

[0016] This application also provides a method for cross-floor transportation, which uses the cross-floor transportation device described above to transfer a self-driven vehicle across floors. The cross-floor transportation method includes the following steps:

[0017] S10: Obtain transportation task instructions;

[0018] If the inter-floor transport device is already in the process of executing a task, the acquired transport task instruction will be deleted, and the currently executing task will continue.

[0019] Otherwise, proceed to step S11;

[0020] S11: Obtain the current floor information of the transfer track;

[0021] If the current floor of the transfer track is the same as the starting floor of the transportation task, proceed to step S12;

[0022] Otherwise, the transfer track is driven to rise and fall to the starting floor of the transportation task by the lifting mechanism, so that the transfer track is connected to the conveyor track in the starting floor;

[0023] S12: Determine whether all the self-propelled vehicles to be transferred have entered the transfer track;

[0024] If so, the transfer track is driven to rise and fall to the target floor of the transportation task through the lifting mechanism, so that the transfer track is connected to the conveyor track of the target floor;

[0025] Otherwise, wait for the self-propelled vehicle to be transferred to enter the transfer track;

[0026] S13: The self-propelled vehicle in the transfer track moves to the conveyor track of the target floor;

[0027] S14: Determine whether all the self-driven vehicles to be transferred have entered the conveyor track of the target floor;

[0028] If so, delete the task instruction and end the current task execution state;

[0029] Otherwise, wait for the self-propelled vehicle to be transferred to enter the transport track of the target floor.

[0030] Compared with existing technologies, the cross-floor transport device and method provided in this application are equipped with a transfer track for receiving and temporarily storing self-driven vehicles to be transferred. A lifting mechanism drives the transfer track to move between different floors. After the transfer track reaches the target floor, the self-driven vehicle can autonomously move from the transfer track to the transport track on the target floor to complete the cross-floor transport. When the self-driven vehicle is loaded with materials, cross-floor transport of materials is achieved; when the self-driven vehicle is empty, cross-floor scheduling of the vehicle is achieved. This cross-floor transport device and method reduce the number of steps involved in cross-floor transport of materials, lower labor costs, and improve transport efficiency and industrial production efficiency. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 is a perspective view of a cross-floor transport device according to an embodiment of this application;

[0033] Figure 2 is a magnified view of part A in Figure 1;

[0034] Figure 3 is a perspective view of a cross-floor transport device according to an embodiment of this application after the protective plate has been removed;

[0035] Figure 4 is a magnified view of part B in Figure 3;

[0036] Figure 5 is a three-dimensional fracture view of a multi-story cross-floor transport device according to an embodiment of this application;

[0037] Figure 6 is a magnified view of part C in Figure 5;

[0038] Figure 7 is a magnified view of part D in Figure 5;

[0039] Figure 8 is a perspective view of the connection between the crossbeam and two transfer tracks according to an embodiment of this application;

[0040] Figure 9 is a magnified view of a portion of point E in Figure 8;

[0041] Figure 10 is a side sectional view of a limiting component in a locked state according to an embodiment of this application;

[0042] Figure 11 is a side sectional view of a limiting component in an embodiment of this application when it is in the unlocked state;

[0043] Figure 12 is a three-dimensional exploded view of the conveying track and the transfer track in the spliced ​​state according to an embodiment of this application;

[0044] Figure 13 is a magnified view of part F in Figure 12;

[0045] Figure 14 is a schematic diagram of the structure of a sensor in an embodiment of this application when it is triggered by a triggering element;

[0046] Figure 15 is a schematic diagram of the structure of a sensor triggered by a triggering element according to another embodiment of this application.

[0047] Reference numerals: 100, frame; 101, guard plate; 200, conveying track; 201, first connecting end; 202, trigger element; 202a, first trigger element; 202b, second trigger element; 300, transfer track; 301, second connecting end; 302, limiting component; 3021, blocking component; 3022, drive source; 303, sensor; 303a, first sensor; 303b, second sensor; 3031, transmitting end; 3032, receiving end; 400, self-driving vehicle; 500, lifting mechanism; 501, cable pulley; 502, traction cable; 503, drive motor; 504, counterweight; 505, vertical guide rail; 506, crossbeam; 600, rope encoder. Detailed Implementation

[0048] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0049] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," "side," "top," "bottom," and similar expressions used in this application's specification are merely for describing various exemplary structural parts and elements of this application. However, their use herein is for illustrative purposes only and is determined based on the exemplary orientations shown in the accompanying drawings, and does not represent the only possible implementation. Since the embodiments disclosed in this application can be arranged in different orientations, these terms indicating orientation are for illustrative purposes only and should not be considered as limitations. For example, "upper" and "lower" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0050] 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" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] It should be noted that "axial arrangement" means that the overall arrangement direction is along the axial direction, including but not limited to axial extension, and may be at an angle to the axial direction.

[0053] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0054] Referring to Figures 1 to 7, this application provides a cross-floor transportation device, including a conveying track 200, a transfer track 300, a self-driven vehicle 400, and a lifting mechanism 500. Multiple conveying tracks 200 are provided and arranged on different floors. Each conveying track 200 has a first connecting end 201, and each transfer track 300 has a second connecting end 301. The second connecting end 301 can be spliced ​​with the first connecting end 201 to form a continuous track between the conveying track 200 and the transfer track 300. The self-driven vehicle 400 is used to load materials and can travel along the conveying track 200, the transfer track 300, and the continuous track formed between the conveying track 200 and the transfer track 300. The power output end of the lifting mechanism 500 is driven by the transfer track 300 to drive the transfer track 300 to move up and down, so that the transfer track 300 can form a continuous track with the conveying tracks 200 on different floors.

[0055] It is understood that inter-floor transport of materials refers to transferring materials from one floor to another; that is, it can be transferring materials from a lower floor to a higher floor or vice versa. In this application, the direct target of inter-floor transport is the self-propelled vehicle 400 used for loading materials. Referring to Figures 2 and 4, the self-propelled vehicle 400 in this application travels in a suspended state on the conveyor track 200 or transfer track 300, with the main body of the self-propelled vehicle 400 and the loaded materials located below the track. When the self-propelled vehicle 400 is loaded with materials, the inter-floor transport of materials is achieved through the inter-floor transfer of the self-propelled vehicle 400, eliminating the need for unloading and reloading of materials from the self-propelled vehicle 400, reducing material transfer steps, and improving material transfer efficiency. When the self-propelled vehicle 400 is not loaded with materials, the inter-floor transport of the self-propelled vehicle 400 enables the scheduling of the vehicle between different floors, thereby meeting the transportation requirements of complex logistics systems. Unless otherwise specified in the following description of this application, the self-propelled vehicle 400 is loaded with materials, and the purpose of transporting materials across floors is achieved through the cross-floor transfer of the self-propelled vehicle 400.

[0056] Furthermore, the term "floor" here does not specifically refer to the floors of solid buildings such as houses and factories, but also includes floors with multi-layered structural frames such as material storage cabinets and material storage racks. This application does not limit this. Although the conveyor track 200 is not explicitly shown as fixed in Figures 1 and 3, it is understood that the conveyor track 200 needs to be fixedly installed on its respective floor in actual application. This application does not limit the specific fixing method.

[0057] For ease of explanation, the cross-floor transportation process is defined as the cross-floor transportation device performing a cross-floor transportation task. The transportation task refers to transferring the self-propelled vehicle 400 to be transferred from the starting floor to the target floor, where the starting floor and the target floor are different floors.

[0058] In this application, under normal conditions, the self-propelled vehicle 400 to be transferred travels on the conveyor rail 200 on the starting floor, meeting logistics transportation needs. When cross-floor transportation is required, the lifting mechanism 500 drives and adjusts the transfer rail 300 to the starting floor, while controlling the height position of the transfer rail 300 so that it connects with the conveyor rail 200 on the starting floor. At this time, the self-propelled vehicle 400 on the conveyor rail 200 on the starting floor can travel from the conveyor rail 200 to the transfer rail 300. After the self-propelled vehicle 400 to be transferred travels onto the transfer rail 300, the lifting mechanism 500 drives and adjusts the transfer rail 300 to the target floor, while controlling the height position of the transfer rail 300 so that it connects with the conveyor rail 200 on the target floor. At this time, the self-propelled vehicle 400 on the transfer rail 300 can travel from the transfer rail 300 to the conveyor rail 200 on the target floor, completing the cross-floor transportation task.

[0059] It is worth mentioning that the transfer track 300 can carry multiple self-propelled vehicles 400, each of which can come from different floors and can also be transferred to different floors, thus meeting the needs of complex logistics systems.

[0060] It should be noted that the transfer track 300 and the conveying track 200 are spliced ​​together to form a continuous track. This can mean that the transfer track 300 and the conveying track 200 are connected by a structure, or that the transfer track 300 and the conveying track 200 are in opposite positions. As long as the self-driven vehicle 400 can travel from the conveying track 200 to the transfer track 300, or from the transfer track 300 to the conveying track 200, it is acceptable.

[0061] For example, magnetic or snap-fit ​​components can be installed on the first connecting end 201 of the conveying track 200 and the second connecting end 301 of the transfer track 300. During the lifting and lowering movement of the transfer track 300 driven by the lifting mechanism 500, the magnetic attraction of the magnetic components or the snap-fit ​​of the snap-fit ​​can connect the second connecting end 301 of the transfer track 300 to the first connecting end 201 of the conveying track 200. Alternatively, under the driving action of the lifting mechanism 500, the transfer track 300 can overcome the magnetic attraction of the magnetic components or the snap-fit ​​of the snap-fit ​​and disengage from the conveying track 200.

[0062] For example, the lifting mechanism 500 drives the transfer track 300 to move up and down, and precisely controls the height of the transfer track 300 so that it is flush with the conveying track 200. This allows the self-driven vehicle 400 to travel from the transfer track 300 to the conveying track 200 or vice versa. After the transfer track 300 and the conveying track 200 are flush, the second connecting end 301 of the transfer track 300 and the first connecting end 201 of the conveying track 200 can be in abutting state or spaced apart. The gap between the first connecting end 201 and the second connecting end 301 should not affect the movement of the self-driven vehicle 400.

[0063] This application does not specify the specific splicing method of the transfer track 300 and the conveying track 200.

[0064] Referring to Figure 4, in some embodiments of this application, the lifting mechanism 500 includes a sheave 501, a traction cable 502, and a drive motor 503. The traction cable 502 is wound around the sheave 501 circumferentially, with one end connected to the sheave 501 and the other end connected to the transfer track 300. The drive motor 503 drives the sheave 501 to rotate around its own axis. The drive motor 503 drives the sheave 501 to rotate, causing the traction cable 502 to tighten or loosen, thereby raising or lowering the transfer track 300. Understandably, when the drive motor 503 drives the pulley 501 to rotate in the opposite direction to the traction cable 502 wound around the pulley 501, the traction cable 502 relaxes, and the transfer track 300 moves downward under its own weight; when the drive motor 503 drives the pulley 501 to rotate in the same direction as the traction cable 502 wound around the pulley 501, the traction cable 502 tightens, and the transfer track 300 moves upward under the traction of the traction cable 502.

[0065] Additionally, referring to Figures 1 and 2, the inter-floor transport device also includes a frame 100, providing an installation platform for the lifting mechanism 500. A protective plate 101 is installed around the frame 100 to protect the transfer rail 300 and the lifting mechanism 500. It should be noted that the frame 100 should be designed to avoid interfering with the lifting operation of the transfer rail 300. In this application, the transport rails 200 of each floor can extend into the frame 100 for connection with the transfer rail 300.

[0066] In some embodiments, the sheave 501 and drive motor 503 of the lifting mechanism 500 are mounted on the top of the frame 100. In other embodiments, the sheave 501 and drive motor 503 of the lifting mechanism 500 are mounted on the bottom of the frame 100, and a fixed pulley (not shown) is mounted on the top of the frame 100. One end of the traction cable 502 is connected to the sheave 501, and the other end is first wound upwards around the fixed pulley and then connected to the transfer track 300. In this way, the sheave 501 and drive motor 503 located at the bottom of the frame 100 are easier to inspect and maintain.

[0067] Referring to Figures 5, 6, and 7, in some other embodiments of this application, the lifting mechanism 500 includes a sheave 501, a traction cable 502, and a drive motor 503. The traction cable 502 is wound around the sheave 501 in the circumferential direction, and one end of the traction cable 502 is connected to the transfer rail 300, while the other end is connected to a counterweight 504. The drive motor 503 is used to drive the sheave 501 to rotate around its own axis, thereby improving the stability and safety of the transfer rail 300 during the lifting process.

[0068] It is understandable that the higher the floor height of the transfer track 300, the higher the stability requirements during transfer. For example, referring to Figures 1 and 3, when the transfer track 300 transfers between two floors, the performance gain of the counterweight 504 in the lifting mechanism 500 is low, therefore, the counterweight 504 is unnecessary. Referring to Figure 5, when the transfer track 300 transfers between three or more floors, the counterweight 504 significantly improves the stability and safety of the lifting mechanism 500 driving the transfer track 300 up and down. Figure 5 illustrates a multi-story inter-floor transport device in a broken configuration.

[0069] Of course, in actual working conditions, a suitable lifting mechanism 500 can be selected according to production needs, such as a lifting cylinder or a lifting screw, which will not be elaborated in this application.

[0070] Referring again to Figures 1 to 7, in some embodiments of this application, the inter-floor transport device further includes a vertical guide rail 505 and a horizontal beam 506. The vertical guide rail 505 and the horizontal beam 506 are vertically slidably engaged, and the traction cable 502 is connected to the horizontal beam 506. This further improves the stability of the transfer track 300 during the lifting process. It should be noted that the horizontal beam 506 is provided with a guide part for sliding engagement with the vertical guide rail 505 and a rope hanging part for connecting to the traction cable 502, while the transfer track 300 only needs to be provided with a connecting part for connecting to the horizontal beam 506, reducing the structural modification of the transfer track 300. Furthermore, multiple connecting parts can be provided between the horizontal beam 506 and the transfer track 300 to improve the connection strength and stability between the horizontal beam 506 and the transfer track 300. The vertical guide rail 505 can be connected to the frame 100 to improve the stability of the vertical guide rail 505.

[0071] In addition, based on actual operating conditions such as logistics output, one or more transfer tracks 300 are provided on the crossbeam 506 to improve the transfer capacity of the cross-floor transport device. It can be understood that when multiple transfer tracks 300 are provided on the crossbeam 506, multiple conveyor tracks 200 are also provided on each floor, so that each transfer track 300 can be connected with the conveyor track 200 to realize the transfer of the self-driven vehicle 400.

[0072] Referring to Figure 8, in this embodiment, the crossbeam 506 is in the shape of an "I" and two transfer tracks 300 are installed on the crossbeam 506. Each transfer track 300 has two connection points with the crossbeam 506.

[0073] Referring again to Figure 7, in some embodiments of this application, when the lifting mechanism 500 is configured with a counterweight 504, that is, one end of the traction cable 502 is connected to the transfer rail 300 and the other end is connected to the counterweight 504, the counterweight 504 slides vertically with the vertical guide rail 505, providing a guiding and stabilizing effect for the lifting and lowering movement of the counterweight 504. The counterweight 504 and the crossbeam 506 can be slidably guided by the same vertical guide rail 505, or multiple vertical guide rails 505 can be set to slidably guide the counterweight 504 and the crossbeam 506 respectively; this application does not limit this.

[0074] In some embodiments of this application, the second connecting end 301 is provided as a single unit, meaning that the self-driving vehicle 400 passes through the second connecting end 301 when entering and exiting the transfer track 300. In other words, the self-driving vehicle 400 passes through the second connecting end 301 when traveling from the conveying track 200 to the transfer track 300, or vice versa. Such a transfer track 300 is suitable for simple logistics transportation systems. Specifically, if there are multiple self-driving vehicles 400 on the transfer track 300, when it is necessary to transfer the self-driving vehicles 400 on the transfer track 300 to the conveying track 200, the self-driving vehicles 400 closer to the second connecting end 301 need to travel onto the conveying track 200 first, and the self-driving vehicles 400 farther from the second connecting end 301 then travel onto the conveying track 200.

[0075] Referring to Figure 8, in some other embodiments of this application, multiple second connecting ends 301 are provided, and these multiple second connecting ends 301 are located at different positions on the transfer track 300. The self-driving vehicle 400 can move between any two second connecting ends 301. Such a transfer track 300 can be used in more complex logistics systems. Specifically, there are multiple second connecting ends 301 in the transfer track 300. The self-driving vehicle 400 can travel on the transfer track 300 to adjust its position, thereby adjusting the order in which it travels from the transfer track 300 to the conveying track 200. Furthermore, the self-driving vehicle 400 can also travel from different second connecting ends 301 to different conveying tracks 200, meeting the conveying needs of complex logistics transportation systems.

[0076] In some preferred embodiments of this application, the transfer track 300 has two second connecting ends 301. One of the second connecting ends 301 can serve as the inlet end, meaning the self-driven vehicle 400 on the conveying track 200 travels from the inlet end onto the transfer track 300. The other second connecting end 301 can serve as the outlet end, meaning the self-driven vehicle 400 on the transfer track 300 travels from the outlet end onto the conveying track 200. In this way, the self-driven vehicle 400 does not need to perform a reverse travel action on the transfer track 300, making the movement control of the self-driven vehicle 400 simpler.

[0077] Understandably, the inlet and outlet are not fixed. During transfer, the self-driven vehicle 400 on the conveyor track 200 can enter the transfer track 300 from the inlet and exit the transfer track 300 from the outlet. Alternatively, the self-driven vehicle 400 on the conveyor track 200 can enter the transfer track 300 from the outlet and exit the transfer track 300 from the inlet.

[0078] More preferably, the transfer track 300 is a straight track, and both ends of the transfer track 300 are configured as second connecting ends 301. It is understood that the travel speed of the self-propelled vehicle 400 will be significantly reduced at the curves of the track, and it is prone to jamming. The straight transfer track 300 eliminates the curves, improves the travel efficiency of the self-propelled vehicle 400, and reduces the probability of the self-propelled vehicle 400 jamming and stopping.

[0079] Of course, based on factors such as the production environment, as shown in Figures 2 and 3, the transfer track 300 can also be a U-shaped track, so that the inlet and outlet ends of the transfer track 300 are on the same side of the transfer track 300, to meet different production needs.

[0080] Referring to Figures 9, 10, and 11, in some embodiments of this application, a limiting component 302 is installed on the second connecting end 301. The limiting component 302 includes a blocking member 3021 and a driving source 3022, with the driving source 3022 mounted on the second connecting end 301. The blocking member 3021 has a locked state and an unlocked state, and the driving source 3022 is used to drive the blocking member 3021 to switch between the locked and unlocked states. In the locked state, the blocking member 3021 can prevent the self-driven vehicle 400 on the transfer track 300 from falling outward from the second connecting end 301. In the unlocked state, the blocking member 3021 can allow the self-driven vehicle 400 on the transfer track 300 to move outward from the second connecting end 301, and can also allow an external self-driven vehicle 400 to enter the transfer track 300 from the second connecting end 301.

[0081] Understandably, once all the self-propelled vehicles 400 to be transferred have traveled onto the transfer track 300, the blocking component 3021 switches from the unlocked state to the locked state. During the lifting and lowering of the transfer track 300, the blocking component 3021 being in the locked state can prevent the self-propelled vehicles 400 on the transfer track 300 from sliding off the second connecting end 301 and falling, thus avoiding safety accidents.

[0082] In this application, the drive source 3022 is a drive cylinder, and the blocking member 3021 is mounted on the piston rod of the drive cylinder. The drive cylinder drives the blocking member 3021 to move and block the travel path of the self-driven vehicle 400, at which time the blocking member 3021 is in a locked state; correspondingly, the drive cylinder drives the blocking member 3021 to move without blocking the travel path of the self-driven vehicle 400, at which time the blocking member 3021 is in an unlocked state. In practical applications, the drive source 3022 can also use other drive methods to achieve the purpose of switching between the two states of the blocking member 3021, which will not be elaborated in this application.

[0083] In addition, the limiting component 302 can be independently powered (not shown), further improving safety. Specifically, the limiting component 302 has the function of preventing the self-driven vehicle 400 from sliding off the transfer track 300. When the lifting mechanism 500 experiences a power outage or other accident, the transfer track 300 will be suspended in the air for a long time. During this process, the limiting component 302, through its independently powered supply, can ensure that the blocking component 3021 is in a locked state, thus blocking the self-driven vehicle 400 on the transfer track 300.

[0084] Referring to Figures 12 and 13, in this application, each conveying track 200 is equipped with a trigger 202, and each transfer track 300 is equipped with a sensor 303. The sensor 303 is connected to the lifting mechanism 500. The operation mode of the lifting mechanism 500 is switched by triggering the sensor 303 through the trigger 202, thereby achieving precise splicing of the transfer track 300 and the conveying track 200.

[0085] It should be noted that Figure 12 is an exploded view of the conveyor track 200 and the transfer track 300 in the spliced ​​state, to better illustrate the installation status of the sensor 303 and the trigger 202. For a schematic diagram of the sensor 303 being triggered by the trigger 202, please refer to Figures 14 and 15.

[0086] For ease of explanation, the conveyor track 200 that needs to be spliced ​​with the transfer track 300 is defined as the target track. In some embodiments of this application, when the sensor 303 on the transfer track 300 is triggered by the trigger 202 on the target track, the lifting mechanism 500 is controlled to drive the transfer track 300 to stop lifting. During the lifting process of the transfer track 300, the sensor 303 on the transfer track 300 will be triggered by the triggers 202 on all the floors it passes through during the lifting process. The lifting mechanism 500 only drives the transfer track 300 to stop lifting when the sensor 303 is triggered by the trigger 202 on the target track. It will not perform the action of driving the transfer track 300 to stop lifting when the sensor 303 is triggered by the trigger 202 on other conveyor tracks 200.

[0087] For example, the transfer track 300 has three layers: upper, middle and lower. The initial position of the transfer track 300 is at the lower layer. When the cross-floor transport device needs to transfer the self-driven vehicle 400 on the lower layer's transport track 200 to the upper layer, the upper layer's transport track 200 becomes the target track.

[0088] First, the self-driven vehicle 400 on the lower conveyor track 200 moves onto the transfer track 300, and then the lifting mechanism 500 drives the transfer track 300 to rise. When the transfer track 300 passes the middle layer, although the trigger 202 on the middle conveyor track 200 triggers the sensor 303, the sensor 303 does not control the lifting mechanism 500 to stop the transfer track 300 from rising or falling. As the transfer mechanism continues to rise, when the trigger 202 on the upper conveyor track 200 triggers the sensor 303, the lifting mechanism 500 drives the transfer track 300 to stop rising or falling. At this time, the transfer track 300 is connected to the upper conveyor track 200, and the self-driven vehicle 400 on the transfer track 300 moves into the upper conveyor track 200 to complete the transfer.

[0089] It should be noted that during cross-floor transport, the target track is not always the final transport track 200 for the self-driven vehicle 400.

[0090] Taking the aforementioned transfer track 300, which has three layers (upper, middle, and lower), as an example, the initial position of the transfer track 300 is located on the lower layer.

[0091] When the inter-floor transport device needs to transfer the self-driven vehicle 400 on the middle-level transport track 200 to the upper level, the lifting process of the transport track 300 is divided into two stages: the transport track 300 first rises from the lower level to the middle level, and then rises from the middle level to the upper level. In the first stage, the middle-level transport track 200 is the target track. The lifting mechanism 500 drives the transport track 300 to rise from the lower level to the middle level. The trigger 202 on the middle-level transport track 200 triggers the sensor 303, and the lifting mechanism 500 drives the transport track 300 to stop. At this time, the transport track 300 is connected with the middle-level transport track 200. In the second stage, the upper-level transport track 200 is the target track. The lifting mechanism 500 drives the transport track 300 to rise from the middle level to the upper level. The trigger 202 on the upper-level transport track 200 triggers the sensor 303, and the lifting mechanism 500 drives the transport track 300 to stop. At this time, the transport track 300 is connected with the upper-level transport track 200.

[0092] Referring again to Figures 12 and 13, in some other embodiments of this application, each conveying track 200 is equipped with two vertically distributed triggers 202, and the transfer track 300 is equipped with two vertically distributed sensors 303. For ease of explanation, the trigger 202 located above is the first trigger 202a, and the trigger 202 located below is the second trigger 202b; the sensor 303 located above is the first sensor 303a, and the sensor 303 located below is the second sensor 303b.

[0093] The first sensor 303a, when triggered by the second trigger 202b on the target track, controls the lifting mechanism 500 to drive the transfer track 300 to decelerate, and when triggered by the first trigger 202a on the target track, controls the lifting mechanism 500 to drive the transfer track 300 to stop lifting. The second sensor 303b, when triggered by the first trigger 202a on the target track, controls the lifting mechanism 500 to drive the transfer track 300 to decelerate, and when triggered by the second trigger 202b on the target track, controls the lifting mechanism 500 to drive the transfer track 300 to stop lifting.

[0094] Similarly, the first sensor 303a and the second sensor 303b on the transfer track 300 only control the lifting mechanism 500 to drive the transfer track 300 to decelerate or stop when triggered by the trigger 202 on the target track.

[0095] In this embodiment, by setting up two triggers 202 and two sensors 303, the transfer track 300 decelerates and then stops before splicing with the target track, avoiding sudden stops of the transfer track 300, thereby reducing the swaying and falling risk of the self-driven vehicle 400 on the transfer track 300.

[0096] Specifically, when the transfer track 300 moves upward and connects with the target track, the first sensor 303a is first triggered by the second trigger 202b, at which point the lifting mechanism 500 drives the transfer track 300 to decelerate and rise. Then, the first sensor 303a is triggered by the first trigger 202a, and the second sensor 303b is triggered by the second trigger 202b, at which point the lifting mechanism 500 drives the transfer track 300 to stop rising. When the transfer track 300 moves downward and connects with the target track, the second sensor 303b is first triggered by the first trigger 202a, at which point the lifting mechanism 500 drives the transfer track 300 to decelerate and descend. Then, the first sensor 303a is triggered by the first trigger 202a, and the second sensor 303b is triggered by the second trigger 202b, at which point the lifting mechanism 500 drives the transfer track 300 to stop descending.

[0097] It is also worth mentioning that when the first sensor 303a is damaged and the second sensor 303b is normal, or when the first sensor 303a is normal and the second sensor 303b is damaged, the transfer track 300 can still be spliced ​​with the target track, ensuring the reliability of the structure.

[0098] When the first sensor 303a is damaged and the second sensor 303b is normal, and the transfer track 300 moves from bottom to top and splices with the target track, the first sensor 303a will not be triggered by the first trigger 202a or the second trigger 202b. When the second sensor 303b is triggered by the second trigger 202b, the control lifting mechanism 500 drives the transfer track 300 to stop rising.

[0099] When the first sensor 303a is damaged and the second sensor 303b is normal, and the transfer track 300 moves from top to bottom and splices with the target track, the first sensor 303a will not be triggered by the first trigger 202a or the second trigger 202b. The second sensor 303b will be triggered by the first trigger 202a first, controlling the lifting mechanism 500 to drive the transfer track 300 to decelerate and descend, and then triggered by the second trigger 202b, controlling the lifting mechanism 500 to drive the transfer track 300 to stop descending.

[0100] When the first sensor 303a is normal and the second sensor 303b is damaged, and the transfer track 300 moves from bottom to top and splices with the target track, the second sensor 303b will not be triggered by either the first trigger 202a or the second trigger 202b. When the first sensor 303a is triggered by the second trigger 202b first, the lifting mechanism 500 is controlled to drive the transfer track 300 to decelerate and rise. Then, when the first trigger 202a is triggered, the lifting mechanism 500 is controlled to drive the transfer track 300 to stop rising.

[0101] When the first sensor 303a is normal, the second sensor 303b is damaged, and the transfer track 300 moves from top to bottom and splices with the target track, the second sensor 303b will not be triggered by the first trigger 202a or the second trigger 202b, while the first sensor 303a will be triggered by the first trigger 202a, controlling the lifting mechanism 500 to drive the transfer track 300 to stop descending.

[0102] Referring again to Figures 14 and 15, in some embodiments of this application, sensor 303 is a photoelectric sensor, which has a transmitting end 3031 for emitting light signals and a receiving end 3032 for receiving light signals. The transmitting end 3031 and the receiving end 3032 are arranged opposite to each other, and the photoelectric sensor is triggered when the light signal is blocked by the trigger 202. In other embodiments, the transmitting end 3031 and the receiving end 3032 are arranged in the same direction, and the photoelectric sensor is triggered when the light signal is emitted from the transmitting end 3031, reflected by the trigger 202, and then received by the receiving end 3032. This application does not limit the type of photoelectric sensor.

[0103] In this application, the sensor 303 and the trigger 202 adopt a non-contact photoelectric triggering method to avoid the sensor 303 and the trigger interfering with the position positioning of the transfer track 300.

[0104] Of course, in other embodiments, the sensor 303 and the trigger 202 can also use a contact triggering method such as a paddle or a pressure sensor to position the transfer track 300.

[0105] Referring again to Figures 3 to 6, in some embodiments of this application, the inter-floor transport device further includes a controller (not shown) and a pull-cord encoder 600. Both the lifting mechanism 500 and the pull-cord encoder 600 are electrically connected to the controller. The pull cord of the pull-cord encoder 600 is connected to the transfer track 300. The controller can control the lifting mechanism 500 to stop when the transfer track 300 rises and falls to the point of engaging with the conveyor track 200, based on the displacement of the pull cord. In this embodiment, the pull-cord encoder 600 can be installed on the top of the frame 100. The pull cord of the pull-cord encoder 600 is connected to the crossbeam 506. The pull-cord encoder 600, also known as a pull-cord displacement sensor, is used to accurately measure the rising and falling distance of the transfer track 300 and control the lifting mechanism 500 to stop after the transfer track 300 rises and falls to the target distance. In this application, a pull-cord encoder 600 of appropriate specifications can be selected based on the measurement accuracy requirements; this application does not impose any limitations.

[0106] In some preferred embodiments of this application, the inter-floor transport device is equipped with a photoelectric sensor and a rope encoder 600, which can provide a dual guarantee for accurately controlling the stopping of the lifting mechanism 500.

[0107] This application also provides a method for cross-floor transportation, employing the cross-floor transportation device as described in any of the above embodiments to transfer a self-driven vehicle 400 across floors. The cross-floor transportation method includes the following steps:

[0108] S10: Obtain a transport task instruction; if the cross-floor transport device is already in the task execution state, delete the obtained transport task instruction and continue executing the currently executing task; otherwise, proceed to step S11.

[0109] S11: Obtain the floor information of the current location of the transfer track 300; if the current floor of the transfer track 300 is consistent with the starting floor of the transportation task, proceed to step S12; otherwise, drive the transfer track 300 to rise and fall to the starting floor of the transportation task through the lifting mechanism 500, so that the transfer track 300 is connected to the conveying track 200 in the starting floor.

[0110] S12: Determine whether all the self-driven vehicles 400 to be transferred have entered the transfer track 300; if so, drive the transfer track 300 to rise and fall to the target floor of the transportation task through the lifting mechanism 500, so that the transfer track 300 is connected to the conveying track 200 of the target floor; otherwise, wait for the self-driven vehicles 400 to be transferred to enter the transfer track 300.

[0111] S13: The self-driven vehicle 400 in the transfer track 300 travels to the conveyor track 200 of the target floor.

[0112] S14: Determine whether all the self-propelled vehicles 400 to be transferred have entered the conveyor track 200 of the target floor. If yes, delete the task instruction and end the current task execution state; otherwise, wait for the self-propelled vehicles 400 to be transferred to enter the conveyor track 200 of the target floor.

[0113] In step S12, identification technology can be used to determine whether all self-propelled vehicles 400 requiring transfer have entered the transfer track 300, while preventing transfer errors caused by self-propelled vehicles 400 that do not require transfer entering the transfer track 300. Specifically, an RFID module (or electronic tag) is installed on each self-propelled vehicle 400. The RFID module (not shown) records the material information loaded on the self-propelled vehicle 400. An identification probe (not shown) for identifying the RFID module is installed on the transfer track 300. When the identification probe detects that all self-propelled vehicles 400 carrying the materials required for the transfer task have entered the transfer track 300, the lifting mechanism 500 is then controlled to drive the transfer track 300 to rise and fall to the target floor of the transportation task.

[0114] In addition, when the cross-floor transport device schedules the self-driven vehicle 400 for no-load operation, the RFID module records the information of the self-driven vehicle 400, at which time the self-driven vehicle 400 serves as the transfer object for cross-floor transport.

[0115] Understandably, the self-driven vehicle 400, lifting mechanism 500, limit component 302, sensor 303, rope encoder 600, RFID module and identification probe in the cross-floor transportation device are all controlled by a general controller (not shown), which improves the automation level of cross-floor transportation.

[0116] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0117] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A cross-floor transport device, characterized in that, include: A conveying track (200), wherein multiple conveying tracks (200) are provided and arranged on different floors, each conveying track (200) having a first connecting end (201); a transfer track (300), wherein the transfer track (300) has a second connecting end (301), the second connecting end (301) being able to be spliced ​​with the first connecting end (201) to form a continuous track between the conveying track (200) and the transfer track (300); A self-driving vehicle (400) for loading materials, the self-driving vehicle (400) being able to travel along the conveying track (200), the transfer track (300), and the continuous track formed between the conveying track (200) and the transfer track (300); and a lifting mechanism (500), the power output end of the lifting mechanism (500) being drivenly connected to the transfer track (300) for driving the transfer track (300) to move up and down, so that the transfer track (300) can form a continuous track with the conveying track (200) on different floors.

2. The inter-floor transport device according to claim 1, characterized in that, The lifting mechanism (500) includes a sheave (501), a traction cable (502) wound around the circumference of the sheave (501), and a drive motor (503) for driving the sheave (501) to rotate around its own axis; one end of the traction cable (502) is connected to the sheave (501), and the other end is connected to the transfer track (300); or, one end of the traction cable (502) is connected to the transfer track (300), and the other end is connected to a counterweight (504).

3. The inter-floor transport device according to claim 2, characterized in that, It also includes a vertical guide rail (505) and a crossbeam (506), the vertical guide rail (505) and the crossbeam (506) being vertically slidably engaged, the crossbeam (506) being provided with one or more of the transfer rails (300), and the traction cable (502) being connected to the crossbeam (506).

4. The inter-floor transport device according to claim 3, characterized in that, One end of the traction cable (502) is connected to the transfer track (300), and the other end is connected to a counterweight (504). The counterweight (504) slides vertically with the vertical guide rail (505).

5. The inter-floor transport device according to claim 1, characterized in that, The second connecting end (301) is set to one; or, the second connecting end (301) is set to multiple, the multiple second connecting ends (301) are set at different positions on the transfer track (300), and the self-driving vehicle (400) is able to move between any two second connecting ends (301).

6. The inter-floor transport device according to claim 5, characterized in that, The transfer track (300) is a straight track, and both ends of the transfer track (300) are set as the second connecting end (301).

7. The inter-floor transport device according to claim 1, characterized in that, A limiting component (302) is installed on the second connecting end (301). The limiting component (302) includes a blocking member (3021) and a driving source (3022). The driving source (3022) is installed on the second connecting end (301). The blocking member (3021) has a locked state and an unlocked state. The driving source (3022) is used to drive the blocking member (3021) to switch between the locked state and the unlocked state. In the locked state, the blocking member (3021) can prevent the self-driven vehicle (400) on the transfer track (300) from falling outward from the second connection end (301); in the unlocked state, the blocking member (3021) can allow the self-driven vehicle (400) on the transfer track (300) to move outward from the second connection end (301), and can allow the external self-driven vehicle (400) to enter the transfer track (300) from the second connection end (301).

8. The inter-floor transport device according to claim 1, characterized in that, The conveying track (200) that needs to be spliced ​​with the transfer track (300) is defined as the target track; each of the conveying tracks (200) is equipped with a trigger (202), and the transfer track (300) is equipped with a sensor (303). The inter-floor transport device also includes a controller. The lifting mechanism (500) and the sensor (303) are electrically connected to the controller. The controller is used to control the lifting mechanism (500) to drive the transfer track (300) to stop lifting when the sensor (303) on the transfer track (300) is triggered by the trigger (202) on the target track; or, each of the conveying tracks (200) is equipped with two vertically distributed triggers (202), the upper trigger (202) is the first trigger (202a), and the lower trigger (202) is the second trigger (202b). The transfer track (300) is equipped with two vertically distributed sensors (303). The sensor (303) located above is the first sensor (303a), and the sensor (303) located below is the second sensor (303b). The controller can control the lifting mechanism (500) to drive the transfer track (300) to decelerate when the first sensor (303a) is triggered by the second trigger (202b) on the target track, and can also control the lifting mechanism (500) to drive the transfer track (300) to stop lifting when the first sensor (303a) is triggered by the first trigger (202a) on the target track. The second sensor (303b) can control the lifting mechanism (500) to drive the transfer track (300) to decelerate when triggered by the first trigger (202a) on the target track, and can also control the lifting mechanism (500) to drive the transfer track (300) to stop lifting when triggered by the second trigger (202b) on the target track.

9. The inter-floor transport device according to claim 1, characterized in that, It also includes a controller and a pull rope encoder (600). The lifting mechanism (500) and the pull rope encoder (600) are both electrically connected to the controller. The pull rope of the pull rope encoder (600) is connected to the transfer track (300). The controller can control the lifting mechanism (500) to stop when the transfer track (300) is raised or lowered by the displacement of the pull rope to be spliced ​​with the conveying track (200).

10. A method for cross-floor transportation, characterized in that, The method of transporting a self-driven vehicle (400) across floors using the cross-floor transport device as described in any one of claims 1 to 9 includes the following steps: S10: Obtaining a transport task instruction; if the cross-floor transport device is already in the task execution state, deleting the obtained transport task instruction and continuing to execute the currently executing task; otherwise, proceeding to step S11; S11: Obtaining the floor information of the current location of the transfer track (300); if the current floor of the transfer track (300) is consistent with the starting floor of the transport task, proceeding to step S12; otherwise, driving the transfer track (300) to rise and fall to the starting floor of the transport task through the lifting mechanism (500), so that the transfer track (300) is connected to the conveying track (200) in the starting floor; S12: Determining the vehicle to be transferred S13: The self-driving vehicles (400) are driven to move up and down to the target floor of the transport task by means of the lifting mechanism (500), so that the transfer track (300) is connected to the transport track (200) of the target floor; otherwise, wait for the self-driving vehicles (400) to be transferred to enter the transfer track (300); S14: Determine whether the self-driving vehicles (400) to be transferred have all entered the transport track (200) of the target floor; if yes, delete the task instruction and end the current task execution state; otherwise, wait for the self-driving vehicles (400) to be transferred to enter the transport track (200) of the target floor.

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