Crossing roadway operation material box carrying shuttle vehicle stereoscopic warehouse and crossing roadway operation method

Abstract

The application provides a cross-road operation material box carrying shuttle vehicle stereoscopic warehouse and a cross-road operation method. Two adjacent rack main bodies in a first rack row are connected with two adjacent rack main bodies in a second rack row through a cross-road platform unit. The cross-road platform unit comprises two first main tracks arranged oppositely, two second main tracks arranged oppositely, and the first main tracks are perpendicular to the second main tracks. The first sub tracks are connected between two adjacent cross-road platform units arranged along the Y direction, the first sub tracks are fixedly connected to the opposite ends of the first main tracks, and the first main tracks and the first sub tracks form a main channel. The second sub tracks are connected between two adjacent cross-road platform units arranged along the X direction, the second sub tracks are fixedly connected to the opposite ends of the second main tracks, and the second main tracks and the second sub tracks form a sub channel. The shuttle vehicle can switch the running direction in the cross-road platform unit, does not need to rely on the bottom conveying line, and can complete the cross-road operation in the same horizontal layer.

Description

Technical Field

[0001] This invention relates to the field of material box storage and logistics handling equipment technology, and in particular to an automated warehouse with a shuttle car for transporting material boxes across aisles and a method for cross-aisle operations. Background Technology

[0002] The existing multi-level shuttle warehousing system mainly includes three core operational stages: unloading, storage, and sorting. These stages rely on conveyor lines, elevators, and other equipment for connection, resulting in numerous redundant intermediate operations, especially at the interface between sorting and storage, where the problem is more pronounced. When inbound and outbound operations are frequent, the conveyor lines connecting the elevator I / O stations and picking stations often experience hopper accumulation due to excessive elevator workload or blockages due to conveyor line malfunctions. Coupled with excessively long waiting times between service equipment, this significantly increases the overall system's operating time and significantly reduces operational efficiency.

[0003] In existing technologies, multi-level shuttle storage systems typically employ a single-lane operation mode, requiring multiple shuttles per level to correspond to different lanes. This results in high equipment costs, and shuttles cannot operate autonomously across lanes. They must be transferred via a hoist to complete the material handling across lanes, further increasing equipment waiting time and redundant operations. Additionally, the maintenance design of existing systems is relatively simple. When a shuttle malfunctions, all operations in the corresponding lane must be stopped, and the faulty shuttle must be manually transferred to the repair area, leading to low repair efficiency and further impacting the overall system operation progress.

[0004] Therefore, there is an urgent need for an automated warehouse solution that can reduce redundant intermediate operations, avoid conveyor line blockages, shorten equipment waiting time, improve system operating efficiency, and has efficient maintenance capabilities, in order to address the shortcomings of existing technologies.

[0005] To address the industry pain points of low efficiency and poor flexibility in cross-lane operations, shuttle vehicles capable of cross-lane operations have emerged on the market. The core principle is to add two pairs of wheels and corresponding drive systems to a conventional shuttle vehicle, enabling the shuttle vehicle to move in a plane along two mutually perpendicular directions. This gives the shuttle vehicle the ability to transport material boxes across lanes, reducing reliance on the bottom material box conveyor line.

[0006] The applicant has identified at least the following technical problems with the existing technology: The existence of the additional travel direction of the shuttle car introduces new requirements for the main structure of the shuttle car and the track design of the automated warehouse. Structurally, on the one hand, the shuttle car needs to ensure that the wheels traveling in the two directions do not interfere with each other; on the other hand, the shuttle car must not interfere with the track when traveling in the two directions. Specifically, the aisle structure in the automated warehouse includes Y-direction tracks and X-direction tracks. The X-direction track is only located on the side of the automated warehouse. When the shuttle car switches between different Y-direction tracks, it needs to travel into the end of the Y-direction track to switch to the X-direction track to change direction. Furthermore, the shuttle car is prone to collisions with the track, resulting in obstructed directional movement.

[0007] From a control perspective, the additional movement and direction switching require more efficient, precise, and stable positioning methods, posing new challenges to control components and systems. Currently, the structure of cross-lane operation shuttle vehicles on the market varies, but the key points of structural design and control methods are not effectively explained, and the methods for achieving these functions urgently need refinement and improvement.

[0008] In summary, to further standardize the core design points of cross-lane shuttle operations and, based on this, to match a racking system that facilitates guidance, positioning, and lane switching, this invention proposes a cross-lane shuttle material handling automated warehouse and a cross-lane operation method to solve many problems existing in the traditional shuttle's cross-lane function implementation and matching racking system, thereby improving the equipment's operating accuracy. Summary of the Invention

[0009] The purpose of this invention is to provide a cross-lane automated storage and retrieval system (AS / RS) for transporting material boxes via shuttle cars and a method for cross-lane operations, thereby solving the technical problems of complex material box storage and retrieval methods and low operational efficiency in existing AS / RS structures where material boxes are stored and retrieved between different workstations on the same floor but in different lanes. The various technical effects of the preferred solutions provided by this invention are detailed below.

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] The present invention provides a cross-lane operation material box transport shuttle warehouse, including a racking system and a shuttle, wherein the shuttle is used for material box storage and retrieval, and completes material box transfer operation within a single horizontal layer; The racking system includes multiple rack bodies, cross-aisle platform units, a first sub-railway, and a second sub-railway, wherein: Within any horizontal layer of the racking system, two adjacent rack bodies in the first rack row and two adjacent rack bodies in the second rack row are connected by the cross-aisle platform unit, wherein the first rack row and the second rack row are two adjacent rows; The cross-lane platform unit includes two first main tracks arranged opposite to each other and two second main tracks arranged opposite to each other, wherein the first main tracks and the second main tracks are perpendicular to each other. Two adjacent cross-lane platform units arranged along the Y direction are connected by several first sub-tracks. The first sub-tracks are fixedly connected to the opposite ends of the first main track, and the two form the main channel. Two adjacent cross-lane platform units arranged along the X direction are connected by several second sub-tracks. The second sub-tracks are fixedly connected to the opposite ends of the second main track, and the two form a sub-channel. The shuttle can switch its direction of travel in the cross-lane platform unit, thereby traveling along the main channel or the sub-channel.

[0012] Preferably, the first main track has a first guide edge, the first sub-track has a second guide edge, and both the first guide edge and the second guide edge are vertically arranged; When the shuttle travels along the Y direction, the first guide edge or the second guide edge is positioned between a pair of guide wheels on the shuttle to achieve guidance in the Y direction.

[0013] Preferably, a first clearance groove is provided on the opposite two sides of the first main track. The first clearance groove is located at the end of the first main track near the second main track. The first clearance groove is an arc-shaped groove, which is used to make way for the sub-channel traveling wheels of the shuttle car when the shuttle car changes direction. The sub-channel traveling wheels are used for the shuttle car to travel in the X direction.

[0014] Preferably, a positioning hole is provided on one side wall of the first sub-track. The positioning holes are evenly spaced along the length direction of the first sub-track. The straight-line distance between adjacent positioning holes and between the cross-lane platform unit and its nearest positioning hole is L. The distance between the positioning hole and the cross-lane platform unit is nL, where n represents the sequence number of the positioning holes along the direction away from the cross-lane platform unit. A position marker is provided next to the positioning hole to locate the position of the shuttle in the Y direction.

[0015] Preferably, the second main track has a third guide edge, which is inclined from bottom to top along a direction away from the center of the second main track; The second sub-track has a fourth guide edge, which is inclined from bottom to top along a direction away from the center of the second sub-track; When the shuttle is running in the X direction, the two oppositely arranged third guide edges contact the two pairs of opposite guide wheels, or the two oppositely arranged fourth guide edges contact the two pairs of opposite guide wheels, thereby achieving guidance in the X direction.

[0016] Preferably, a third clearance groove is provided on the opposite two sides of the second main track. The third clearance groove is located at the end of the second main track near the first main track. The third clearance groove is an arc-shaped groove, which is used to make way for the main channel traveling wheels of the shuttle car when the shuttle car changes direction. The main channel traveling wheels are used for the shuttle car to travel in the Y direction.

[0017] Preferably, the shuttle vehicle includes a first integrated cabinet, a second integrated cabinet, and a cargo platform located between the two; Both the first and second integrated cabinets are equipped with main channel wheels, sub-channel wheels, and a lifting mechanism, wherein: The lifting mechanism includes a lifting traveling support, a first lifting bearing block, a second lifting bearing block, and a bearing eccentric wheel, wherein: The sub-channel traveling wheels are rotatably connected to the opposite ends of the lifting traveling support; The first lifting support block and the second lifting support block are fixed on the lifting travel bracket, and the bearing eccentric wheel is clamped between the first lifting support block and the second lifting support block; The eccentric wheel is rotatable, and the center of rotation of the eccentric wheel is offset from its center. When the bearing eccentric wheel rotates, the first lifting bearing block and the second lifting bearing block are pushed, and the lifting traveling bracket drives the sub-channel traveling wheel to move up and down in the vertical direction, so that the sub-channel traveling wheel travels along the sub-channel, or the main channel traveling wheel travels along the main channel.

[0018] Preferably, when the shuttle travels along the main channel, the height of its chassis above the main channel is H; When the shuttle travels along the sub-channel, the height of its chassis above the sub-channel is h. In the bearing eccentric wheel, the straight-line distance between its center and its rotation center is e, and the maximum track depth of the main channel and the sub-channel in the vertical direction is t; Then the following conditions are met: h+2e>H>h, Hh>t, h+2e-H>t.

[0019] The present invention also provides a method for cross-lane operation, based on the above-mentioned cross-lane operation material box transport shuttle warehouse, the method comprising: When the shuttle car performs cross-aisle operations at any same horizontal level of the racking system: The shuttle car runs along the main channel it is currently in until it reaches the first target cross-lane platform unit, where the shuttle car switches its running direction. The shuttle car runs along the sub-channel until it reaches the second cross-channel platform unit corresponding to the target main channel, and the shuttle car switches its running direction at the second cross-channel platform unit; The shuttle vehicle runs along the main channel of the target.

[0020] Preferably, during storage and retrieval operations, the shuttle car can achieve pre-positioning of any material bin station through a QR code reader and precise positioning of any material bin station through a reflective detection switch. During the process of the shuttle car switching from storage and retrieval operations to cross-tunnel operations: When the shuttle car passes the material box station adjacent to the cross-lane platform unit, the QR code reader for cross-lane operation pre-positions, causing the shuttle car to slow down in advance. The distance traveled by the shuttle is calculated by the encoder and compared with the distance to the predetermined target cross-lane platform unit. The shuttle decelerates in advance to provide a speed environment for accurate positioning, so that the shuttle can reach the predetermined target cross-lane platform unit.

[0021] The automated warehouse and method for cross-aisle material handling shuttle provided by this invention have the following advantages compared with the prior art: The cross-aisle platform unit, the first sub-track, and the second sub-track of this invention are not located on the warehouse floor (ground track) or the building roof (ceiling track), but are directly supported by the racking system. They are independently laid on each layer (i.e., any same horizontal layer) of the racking system, allowing each layer to form an independent two-dimensional cross-aisle handling network. Shuttles can operate in parallel on each layer without interfering with each other. The first and second main tracks, arranged perpendicularly to each other within the cross-aisle platform unit, create a two-dimensional reversing platform for the shuttle. When the shuttle reaches the cross-aisle platform unit, it can switch its running direction within it, thus smoothly entering the main or sub-aisle. This avoids the mechanical interference and positioning offset problems that may be caused by the shuttle forcibly changing direction on ordinary straight tracks, reduces the difficulty of the reversing process, and improves the stability of the shuttle's cross-aisle operation.

[0022] This invention connects multiple rack bodies in a two-dimensional plane by setting up cross-aisle platform units in any horizontal layer of the racking system. The original physically isolated first rack row and second rack row are directly connected. The shuttle does not need to rely on the bottom conveyor line (such as the ground rail) for cross-aisle scheduling. It can autonomously complete the material box transportation across aisles, that is, across rack bodies, in the same horizontal layer. Attached Figure Description

[0023] 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.

[0024] Figure 1 This is a top view schematic diagram of the overall structure of an automated warehouse for transporting material boxes across lanes, according to the present invention. Figure 2 This is a schematic diagram of the cross-aisle platform unit, the first sub-track, and the second sub-track of the racking system of the present invention, viewed from two oblique directions. Figure 1 From bottom left to top right; Figure 3 yes Figure 2 A magnified view of a section at point A in the middle; Figure 4 ad is a side view of the end structure of the first main track, the second main track, the first sub-track and the second sub-track of the shelving system of the present invention; Figure 5 ac is a side view of the first main track, the second main track, and the first sub-track of the shelving system of the present invention; Figure 6 It is a partial schematic diagram of the shuttle's guide wheel engaging with the first or second guide edge; Figure 7 It is a partial schematic diagram of the shuttle's guide wheel engaging with the third or fourth guide edge; Figure 8 This is a top view schematic diagram of the overall structure of the shuttle vehicle of the present invention; Figure 9 This is a schematic diagram of the oblique two-sided structure of a portion of the transmission structure at the main channel walking wheel of the shuttle vehicle of the present invention; Figure 10 This is a schematic diagram of the oblique two-view structure of the shuttle lifting mechanism and part of the transmission mechanism of the present invention, with the viewing direction being the same as... Figure 9 same; Figure 11 A three-dimensional structural schematic diagram of the shuttle vehicle of this invention; Figure 12 This is a schematic diagram of the structure of the shuttle lifting mechanism supporting the eccentric wheel of the present invention, with the viewing direction being the Y direction; Figure 13 This is a schematic diagram of the working high position of the lifting mechanism of the present invention and its cooperation with the shelf; Figure 14 This is a schematic diagram of the working low position of the lifting mechanism of the present invention and its cooperation with the shelf; Figure 15 This is a schematic diagram of the internal structure of the cargo platform of the present invention.

[0025] In the diagram: 100, Cross-lane platform unit; 110, First main track; 111, First guide edge; 112, First clearance groove; 120, First sub-track; 121, Second guide edge; 122, Positioning hole; 130, Second main track; 131, Third guide edge; 132, Third clearance groove; 140, Second sub-track; 141, Fourth guide edge; 200, Shuttle car; 210, First integrated cabinet; 211, Traveling power unit; 212, Fixed support; 213, Fixed support block; 214, Moving support; 215, Traveling transmission device; 216, First drive shaft; 217, Bearing seat; 218 220. Main channel traveling wheels; 230. Second integrated cabinet; 240. Cargo platform; 241. Lifting mechanism; 242. Lifting traveling bracket; 243. Sub-channel traveling wheels; 244. Sub-channel wheel axle; 245. Sub-channel wheel axle bracket; 246a. Support block assembly; 246b. First lifting bearing block; 247. Second lifting bearing block; 248a. Bearing eccentric wheel; 248a. Guide shaft; 248b. Guide block; 249. Slide rail; 250. Storage and retrieval telescopic arm unit; 260. Second drive shaft; 270. Third drive shaft; 280. Fourth drive shaft; 290. Guide wheel; 300. Hoist. Detailed Implementation

[0026] 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.

[0027] In the description of this invention, it should be understood that the terms "center," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention 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, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] This invention provides a shuttle-based automated warehouse for transporting material boxes across aisles and a method for cross-aisle operations. The shuttle does not need to rely on a bottom conveyor line (such as a ground rail) for cross-aisle scheduling and can autonomously complete the transport of material boxes across aisles, that is, across the main rack body, within the same horizontal level.

[0029] The following is combined Figures 1-15 The technical solution provided by this invention will be described in more detail below.

[0030] Example 1 For the convenience of this section and subsequent explanations, the spatial distribution directions of the automated warehouse are defined as follows: parallel to the first support beam of the shuttle car, and in the same direction as the first main track and the second main track, is the Y direction; parallel to the second main track and the second sub-track of the shuttle car, and in the same direction as the movement of the storage and retrieval telescopic arm unit, is the X direction; and perpendicular to both the X and Y directions, and in the same direction as the movement of the lifting and traveling unit, is the Z direction.

[0031] See Figures 1-7 This embodiment provides an automated storage and retrieval system (AS / RS) for transporting material boxes via shuttle cars, comprising a racking system and shuttle cars 200. The shuttle cars 200 are used for storing and retrieving material boxes, completing the material box transfer operation within a single horizontal level. The racking system includes multiple rack bodies, an aisle-crossing platform unit 100, a first sub-track 120, and a second sub-track 140. Within any horizontal level of the racking system, two adjacent rack bodies in the first rack row and two adjacent rack bodies in the second rack row are connected by the aisle-crossing platform unit 100, wherein the first rack row and the second rack row are adjacent rows. The aisle-crossing platform unit 100 includes two opposing first main tracks. The system includes a first main track 110 and two opposing second main tracks 130, wherein the first main track 110 and the second main track 130 are perpendicular to each other; two adjacent cross-lane platform units arranged along the Y direction are connected by several first sub-tracks 120, which are fixedly connected to the opposite ends of the first main track 110, forming a main passage; two adjacent cross-lane platform units arranged along the X direction are connected by several second sub-tracks 140, which are fixedly connected to the opposite ends of the second main track 130, forming a sub-passage; the shuttle 200 can switch its running direction in the cross-lane platform units, thereby traveling along the main passage or the sub-passage.

[0032] In the vertical direction of the racking system, the track structure formed by the cross-aisle platform unit 100, the first sub-track 120 and the second sub-track 140 is arranged at intervals in the vertical direction and is set up one by one with the different layers of the racking body.

[0033] The cross-aisle platform unit is configured to connect different rack bodies on the same horizontal level, so as to construct a passage path for the shuttle 200 to perform cross-aisle operations between different rack bodies on the same horizontal level.

[0034] In this embodiment, the cross-aisle platform unit 100, the first sub-track 120, and the second sub-track 140 are not set on the warehouse floor (ground track) or the building roof (sky track), but are directly based on the rack body and are independently laid on each layer of the rack system (i.e. any same horizontal layer), so that each layer can form an independent two-dimensional cross-aisle transport network, and the shuttle 200 can operate in parallel on each layer without interfering with each other.

[0035] See Figures 1-3 The first main track 110 and the second main track 130, arranged perpendicularly to each other within the cross-lane platform unit, form a two-dimensional reversing platform for the shuttle 200. When the shuttle 200 travels to this cross-lane platform unit, it can switch its running direction within it, thus smoothly entering the main channel or sub-channel. This avoids the mechanical interference and positioning offset problems that may be caused by the shuttle 200 forcibly changing direction on ordinary straight tracks, reduces the difficulty of the reversing process, and improves the stability of the shuttle 200's cross-lane operation.

[0036] This invention, by setting up cross-aisle platform units in any horizontal layer of the racking system, directly connects multiple rack bodies in the first rack row and the second rack row, which were originally physically isolated, in a two-dimensional plane. The shuttle 200 does not need to rely on the bottom conveyor line (such as the ground rail) for cross-aisle scheduling, and can autonomously complete the material box transportation across aisles, that is, across rack bodies, in the same horizontal layer.

[0037] For details, see attached. Figure 1 As shown in the attached figure, the basic structure of the invention includes a rack system comprised of several cross-aisle platform units at its core, a shuttle 200, and at least two elevators 300 docking at the end of the automated warehouse. The elevators 300 are standard features in automated warehouses and are used to raise and lower the shuttle. The shuttle 200 runs along the main Y-axis track within the automated warehouse, performing the storage and retrieval of material bins. During cross-aisle operations, the shuttle 200 first travels to the cross-aisle platform unit, then switches its direction of travel via its internal mechanism, and runs along the X-axis sub-track within the automated warehouse until it reaches another cross-aisle platform unit located on the target main track. It then switches its direction of travel again and completes the cross-aisle operation.

[0038] Through the above operations, a single shuttle car can transport boxes within a single XOY plane, eliminating the need to deploy a shuttle car on each main track. Furthermore, the elevator 300 is responsible for transporting boxes in the Z direction, working together with the shuttle cars 200 on each level of the automated warehouse to achieve full coverage of the XYZ three-dimensional operating range of the automated warehouse.

[0039] As attached Figure 2As shown in the attached figure, the specific structure of the cross-lane platform unit is further illustrated. The figure includes a first main track 110, a first sub-track 120, a second main track 130, and a second sub-track 140. Each cross-lane platform unit comprises two opposing first main tracks 110 and two opposing second main tracks 130 perpendicular to the first main tracks 110. Any two cross-lane platform units arranged along the X direction are connected by several second sub-tracks 140 to form a sub-channel of the shuttle 200, which is located along the X direction. Any two cross-lane platform units arranged along the Y direction are connected by several first sub-tracks 120 to form a main channel of the shuttle 200, which is located along the Y direction. The remaining track lengths required in the X and Y directions are extended by the second sub-tracks 140 and the first sub-tracks 120, respectively.

[0040] As attached Figure 4 As shown in Figure 1, the cross-sectional shape of each track is further illustrated. The cross-sections of the first main track 110 and the first sub-track 120 include a first guide edge 111 and a second guide edge 121 with identical dimensions, positions, and structures, and the track widths are the same. Similarly, the cross-sections of the second main track 130 and the second sub-track 140 include a third guide edge 131 and a fourth guide edge 141 with identical dimensions, positions, and structures, and the track widths are the same. This identical structure ensures that any combination of the first main track 110 and the first sub-track 120 can construct a complete operating channel for the shuttle 200 along the Y direction, i.e., the main channel; similarly, any combination of the second main track 130 and the second sub-track 140 can construct a complete operating channel for the shuttle 200 in the X direction, i.e., a sub-channel. Specifically, the height of all first guide edges 111, second guide edges 121, third guide edges 131, and fourth guide edges 141 in the Z direction is no greater than t.

[0041] As an optional implementation, see Figure 4 ab, both the first guide edge 111 and the second guide edge 121 are vertically arranged; see also Figure 6 When the shuttle travels along the Y direction, the first guide edge 111 or the second guide edge 121 is positioned between a pair of guide wheels 290 on the shuttle to achieve guidance in the Y direction.

[0042] See Figure 4 cd, the third guide edge 131 is inclined from bottom to top along the direction away from the center of the second main track 130; the fourth guide edge 141 is inclined from bottom to top along the direction away from the center of the second sub-track 140.

[0043] See Figure 7When the shuttle is running in the X direction, the two oppositely arranged third guide edges 131 contact the two pairs of oppositely arranged guide wheels 290, or the two oppositely arranged fourth guide edges 141 contact the two pairs of oppositely arranged guide wheels 290, thereby achieving guidance in the X direction.

[0044] As attached Figure 3 , Figure 6 , Figure 7 and Figure 9 , Figure 10 As shown, the first guide edge 111 and the second guide edge 121 form an angle of 90° with the horizontal plane of the track, while the third guide edge 131 and the fourth guide edge 141 form an angle greater than 90° with the horizontal plane of the track. See also... Figure 6 When the shuttle 200 runs along the Y direction, it is guided by two pairs of guide wheels on the same side clamping the first guide edge 111 or the second guide edge 121 on one side; see also Figure 7 When the shuttle 200 moves along the X direction, it is guided by two pairs of guide wheels on opposite sides contacting a pair of third guide edges 131 or fourth guide edges 141 respectively. Therefore, when the shuttle 200 moves in the Y direction, the guide wheels clamp the left and right sides of the guide edges, resulting in strong guidance and making it suitable for high-speed, long-distance operation. When the shuttle 200 moves in the X direction, the two guide edges are in an "open" state relative to the guide wheels, facilitating the cooperation between the guide wheels and the shuttle, resulting in moderate guidance and lower positioning requirements, making it suitable for medium-speed, short-distance tunnel switching operations.

[0045] Therefore, the shuttle's movement in the main channel is the primary, rapid, and frequent movement, and the guide edge and guide wheel structure of the main channel make the guidance of the main channel more precise; while the shuttle's movement in the sub-channel is secondary, so inclined third guide edge 131 and fourth guide edge 141 and guide wheels arranged on opposite sides are adopted. When the guide wheels enter the sub-channel, the third guide edge 131 and fourth guide edge 141 expand the entry range, reduce the difficulty of reversing and positioning, and make it easier for the guide wheels to cooperate with the guide edge when reversing.

[0046] As attached Figure 4 As shown in the attached diagram, this figure further illustrates some other important features on each track. The first main track 110 has a first clearance groove 112, and the second main track has a third clearance groove 132. Specifically, the first clearance groove 112 is provided on opposite sides of the first main track 110, located at the end of the first main track 110 closer to the second main track 130. The first clearance groove 112 is an arc-shaped groove used to make way for the sub-channel wheels 242 of the shuttle 200 when the shuttle 200 changes direction. The sub-channel wheels 242 are used for the shuttle 200 to travel in the X direction.

[0047] The second main track 130 has a third clearance groove 132 on its opposite sides. The third clearance groove 132 is located at the end of the second main track 130 near the first main track 110. The third clearance groove 132 is an arc-shaped groove, which is used to make way for the main channel traveling wheel 218 of the shuttle car when the shuttle car 200 changes direction. The main channel traveling wheel 218 is used for the shuttle car to travel in the Y direction.

[0048] See Figure 3 , Figure 5 ac、 Figure 13 As shown, when the shuttle 200 is traveling in the X direction, its projection in the YOZ plane must not overlap with the first main track 110. The first clearance groove 112 on the first main track 110 can avoid the sub-channel traveling wheel 242, thus preventing collision.

[0049] See Figure 3 , Figure 14 As shown, when the shuttle 200 is traveling in the Y direction, its projection must not overlap with the second main track 130 in the XOZ plane. The third clearance groove 132 on the second main track 130 can avoid the main channel traveling wheel 218 and prevent collision.

[0050] The aforementioned features effectively ensure that the shuttle 200 will not collide with the guide edge of the track when it passes through the cross-lane platform unit in the X and Y directions without stopping. A positioning hole 122 is provided on one side wall of the first sub-track 120 for positioning the shuttle 200 in the Y direction.

[0051] For details, see Figure 5 b、 Figure 2 The positioning holes 122 are evenly spaced along the length of the first sub-track 120. The straight-line distance between adjacent positioning holes 122 and between the cross-lane platform unit and its nearest positioning hole 122 is L. The distance between the positioning hole 122 and the cross-lane platform unit is nL, where n represents the sequence number of the positioning holes along the direction away from the cross-lane platform unit. A position marker is provided next to the positioning hole to locate the position of the shuttle car in the Y direction.

[0052] See Figure 2 The positioning hole 122 closest to the cross-channel platform unit is numbered 1. Moving away from the cross-channel platform unit, the positioning holes 122 are numbered sequentially as 2, 3, 4, 5…n, where n is a positive integer greater than 0. Therefore, the distance from the target positioning hole 122 to the cross-channel platform unit is nL.

[0053] Each positioning hole 122 is also equipped with a QR code as a location marker to mark the location information of each storage location. When the shuttle 200 travels to a positioning hole 122 near the target workstation and reads the QR code, the control system will cause it to start decelerating to provide a good speed environment for the accurate positioning of the positioning hole 122 of the target workstation, that is, pre-positioning via QR code.

[0054] As attached Figure 8 As shown in the attached figure, the basic structural components of the shuttle 200 include a first integrated cabinet 210, a second integrated cabinet 220, and a cargo platform 230 in the middle of them.

[0055] As attached Figure 9 As shown in the attached figure, the drive structure of the main channel traveling wheels 218 that drive the shuttle 200 to run in the Y direction within the first integrated cabinet 210 is further illustrated. This unit includes a traveling power unit 211 (e.g., a motor), a fixed bracket 212, a fixed support block 213, a movable bracket 214, a traveling transmission device 215, a first transmission shaft 216, and a bearing seat 217. The fixed bracket 212 is mounted on the first integrated cabinet 210 via the fixed support block 213; the traveling power unit 211 is mounted on the movable bracket 214; the movable bracket 214 is then mounted on the fixed bracket 212; the first transmission shaft 216 and the traveling power unit 211 are connected and transmit power via the traveling transmission device 215; a bearing seat 217 is provided on the first transmission shaft 216. The movable bracket 214 can be finely adjusted in height along the Z direction, such as... Figure 9 The device contains an elongated hole along the Z-direction, which causes a change in the center distance between the axial direction of the walking power unit 211 and the first drive shaft 216, providing the preload required by the walking transmission unit 215. The first drive shaft 216 connects to two main channel walking wheels 218 inside the first integrated cabinet, enabling movement in the Y direction. The bearing housing 217 is used to stabilize the first drive shaft 216, preventing it from deflecting excessively.

[0056] The main channel walking wheels adopt a flexible transmission method, which effectively absorbs the vibration caused by uneven load on the four main channel walking wheels during walking.

[0057] As attached Figure 10As shown in the attached figure, the basic structure of the lifting mechanism 240 inside the shuttle 200 is further illustrated. The lifting mechanism 240 is used to drive the sub-channel traveling wheels 242 to rise and fall. Specifically, the lifting mechanism includes a lifting traveling bracket 241, a sub-channel wheel axle 243, a sub-channel wheel axle bracket 244, a support block assembly 245, a first lifting bearing block 246a, a second lifting bearing block 246b, a bearing eccentric wheel 247, a guide shaft 248a, a guide block 248b, and a slide rail 249. One shuttle 200 contains two identical, oppositely arranged lifting mechanisms 240, located inside the first integrated cabinet 210 and the second integrated cabinet 220, respectively. Each lifting mechanism 240 contains a pair of oppositely arranged lifting traveling brackets 241, forming the main frame structure. Several sub-channel wheel axle brackets 244 are installed at both ends of a pair of lifting and traveling brackets 241. Sub-channel wheel axles 243 pass through the sub-channel wheel axle brackets 244, and sub-channel traveling wheels 242 are installed on the sub-channel wheel axles 243, allowing the shuttle 200 to move in the X direction. The pair of lifting and traveling brackets 241 also includes several support block assemblies 245 to improve the rigidity of the lifting and traveling brackets 241 and prevent them from bending and deforming under load.

[0058] As attached Figure 11 As shown, the pair of lifting and traveling supports 241 also include a first lifting support block 246a and a second lifting support block 246b arranged vertically. The support eccentric wheel 247 is located between the first lifting support block 246a and the second lifting support block 246b and is in close contact with the first lifting support block 246a and the second lifting support block 246b. When the support eccentric wheel 247 rotates, the first lifting support block 246a and the second lifting support block 246b are pushed, so that the lifting mechanism 240 can move up and down along the Z direction.

[0059] As attached Figure 11 As shown, each pair of lifting and traveling brackets 241 also includes two pairs of guiding systems composed of guide shafts 248a, guide blocks 248b, and slide rails 249. The guide shafts 248a and guide blocks 248b cooperate to restrict the position of the lifting mechanism 240 while preserving its degree of freedom of movement along the Z direction. One side of the slide rail 249 is mounted on the lifting mechanism 240, and the other side is mounted on the first integrated cabinet 210 or the second integrated cabinet 220. Through the high precision and small clearance of the slide rail 249, the rotation of the lifting mechanism 240 around the Y-axis is restricted, making its lifting process smoother.

[0060] The lifting mechanism integrates the shuttle's function of crossing lanes with its function of traveling along sub-channels into an installation module, and features a stable and reliable drive system. Simultaneously, when the lifting mechanism descends to the lowest position, it naturally tensions the synchronous belt between the third drive shaft and the sub-channel wheel axle, simplifying the drive process.

[0061] As attached Figure 12As shown in the attached figure, the eccentricity e between the rotation center and the shape center of the eccentric wheel 247 is further illustrated. The eccentric wheel 247 can rotate 360° around the rotation center.

[0062] As attached Figure 13 As shown in the attached figure, the positional relationship between the shuttle 200 and the cross-lane platform unit is when the lifting mechanism 240 of the shuttle 200 is in the low position. At this time, in the XOZ plane, there is a height H between the chassis of the shuttle 200 and the horizontal plane of the main channel. Note that at this time, the lifting mechanism 240 is in the low position, not the chassis of the shuttle.

[0063] As attached Figure 14 As shown in the attached figure, when the lifting mechanism 240 of the shuttle 200 is in the high position, the positional relationship between the shuttle 200 and the cross-lane platform unit is shown. At this time, in the XOZ plane, there is a height h from the chassis of the shuttle 200 to the horizontal plane of the sub-channel.

[0064] In the eccentric wheel, the straight-line distance between its center and its rotation center is e, and the maximum track depth of the main channel and sub-channel in the vertical direction is t. The maximum track depth t refers to the maximum height of the first guide edge 111, the second guide edge 121, the third guide edge 131 and the fourth guide edge 141 in the Z direction, which satisfies: h+2e>H>h, Hh>t, h+2e-H>t.

[0065] like Figure 3 , Figure 5 ac and appendix Figure 13 As shown, when the eccentric wheel rotates to the point where its shape center is directly below the center of rotation, the lifting mechanism 240 is in a low position, and the shuttle 200 is traveling in the X direction. Therefore, in the YOZ plane, the projection of the shuttle 200 must not overlap with the first main track 110. The first main track has a first clearance groove 112, which can avoid the sub-channel traveling wheel 242 and prevent collision.

[0066] As attached Figure 3 , Figure 5 ac and Figure 14 As shown, when the eccentric wheel rotates to a position directly above the center of rotation, the lifting mechanism 240 is at a high position, and the shuttle 200 is traveling in the Y direction. Therefore, in the XOZ plane, the projection of the shuttle 200 must not overlap with the second main track 130. The second main track has a third clearance groove 132, which can avoid the main channel traveling wheel 218 and prevent collision.

[0067] As attached Figure 15As shown, two storage and retrieval telescopic arm units 250 that move along the X direction are arranged on both sides of the loading platform. Each unit contains a second drive shaft 260, a third drive shaft 270, and a fourth drive shaft 280 along the Y direction. The two storage and retrieval telescopic arm units 250 can move synchronously along the positive or negative X direction to transport the material box onto the loading platform.

[0068] As attached Figure 11 As shown, the second drive shaft 260 runs through the bottom of the shuttle and is connected to the load-bearing eccentric wheel 247, synchronously driving the two lifting mechanisms 240 inside the first integrated cabinet 210 and the second integrated cabinet 220 to achieve smooth reversal. Due to the large reversal load, the second drive shaft 260 adopts a coupling structure and transmission structure with high rigidity, and the lengths of the second drive shaft 260 are relatively close to ensure synchronous operation of the lifting mechanisms 240.

[0069] As attached Figure 11 As shown, the third drive shaft 270 runs through one side of the bottom of the shuttle car and is connected to the sub-channel walking wheels 242 via a synchronous belt. It synchronously drives the two sub-channel walking wheels 242 on one side of the first integrated cabinet 210 and the second integrated cabinet 220, achieving X-direction driving. Since the third drive shaft 270 and the motor use synchronous belt transmission, and the motor is located near one end of the shaft, the two sections of the third drive shaft 270 are designed to account for synchronous belt deformation and torsional deformation errors of the shaft, using the two lengths shown in the figure to achieve synchronous movement of the sub-channel walking wheels 242.

[0070] As attached Figure 11As shown, the fourth drive shaft 280 is located on one side of the bottom of the shuttle's cargo platform and is connected to the storage and retrieval telescopic arm unit 250 via a chain, enabling the storage and retrieval telescopic arm unit 250 to extend in the X direction. Since the fourth drive shaft 280 and the motor use chain drive, and the chain cannot be excessively tensioned, and the motor is close to one end of the shaft, the two sections of the fourth drive shaft 280 are designed with chain clearance, chain deformation, and torsional deformation errors in mind, using the two lengths shown in the figure to achieve synchronous operation of the storage and retrieval telescopic arm unit 250. The storage and retrieval telescopic arm unit 250 is a mature technology in existing shuttles (its structure will not be described in detail here). Typically, the storage and retrieval telescopic arm unit for storing and retrieving the hopper includes a drive lever, a front cover, a rear cover, a guide mechanism, an intermediate plate, and a guide belt. The guide mechanism is installed on both sides of the intermediate plate, the front cover and the rear cover are jointly installed on one side of the guide mechanism, the guide belt is wrapped around the intermediate plate, and the drive lever is retracted inside the front cover. The drive lever initially moves along the Z-axis, and during operation, it rotates a certain angle around the X-axis to the Y-axis, moving along the X-axis together with the storage and retrieval telescopic arm unit. By contacting the material box, it retrieves and stores the material. The telescopic arm drive unit includes a drive chain, support bars, tension adjustment wheels, a telescopic arm motor, a telescopic arm connecting shaft, a telescopic arm synchronous belt coupling structure, and several bearings. The telescopic arm motor is mounted on the first integrated cabinet on one side and is mounted on the lifting platform via mounting columns. The telescopic arm motor transmits power to the telescopic arm connecting shaft via the drive synchronous belt. The connecting shaft synchronously outputs power to the telescopic arm synchronous belts on both sides, and the movement of the storage and retrieval telescopic arm along the X-axis is achieved through the engagement of the synchronous belt teeth and grooves.

[0071] Alternatively, the telescopic arm unit 250 can use other mature structures on existing shuttles to enable the loading and unloading of the hopper.

[0072] When operating across tunnels, the shuttle 200 first moves to the tunnel platform unit, the lifting mechanism 240 lowers, and the shuttle 200's frame rises, causing the main channel wheels 218 to leave the first main track 110, while the sub-channel wheels 242 contact the second main track 130, completing the reversing process. Then, the shuttle 200 is driven along the second main track 130 and the second sub-track 140 by the drive structure of the sub-channel wheels to the tunnel platform unit 100 of the target tunnel. Finally, the lifting mechanism 240 rises, causing the sub-channel wheels 242 to leave the second main track 130, while the main channel wheels 218 contact the first main track 110, completing the tunnel operation. This process allows for cross-tunnel storage and retrieval of material bins without relying on the bottom conveyor line, but can be achieved directly using the shuttle 200, significantly improving material bin storage efficiency and simplifying the layout of the automated warehouse.

[0073] Furthermore, under the above conditions, the shuttle-type automated warehouse and its operation mode exhibit the following basic time sequence in a single cross-lane, same-level material bin storage and retrieval operation: See [link / reference] Figure 1 Y-direction movement, Y-direction positioning, extension of the storage / retrieval telescopic arm, retrieval of the material box, retraction of the storage / retrieval telescopic arm, XY joint positioning, vehicle body lifting, X-direction movement, XY joint positioning, vehicle body lowering, Y-direction movement.

[0074] In the racking system, the first main rail 110 and the second main rail 130 are installed perpendicularly to each other to form an aisle-crossing platform unit, which serves as the core component of the racking system. The aisle-crossing platform unit defines the width of the X and Y aisles in the racking system, i.e., the span of the wheels matching the movement of the shuttle 200 in the X and Y directions. The X direction is formed by several second sub-rails 140 connected to form an aisle, and the Y direction is formed by several first sub-rails 120 connected to form an aisle.

[0075] The resulting technical effect is that different racking systems can be constructed and matched simply by modifying the cross-aisle platform unit, with the aisle being an extension of the cross-aisle platform unit in the X and Y directions.

[0076] This embodiment aims to reduce redundant steps in unloading, storage, and sorting during frequent inbound and outbound operations. The automated storage and retrieval system (AS / RS) with cross-aisle material handling shuttles in this embodiment includes the aforementioned hardware equipment system and management software system. The hardware equipment system, based on business needs, construction scale, and civil engineering conditions, achieves efficient storage and flexible operations through the organic coordination of the following four modules: First, the racking system: comprising cross-aisle platform units formed by the perpendicular interaction of the first main track 110 and the first sub-track 120, a second main track 130 extending to construct the main and sub-aisles, and a second sub-track 140, along with corresponding positioning features and support structures. Second, the cross-aisle shuttle 200 system: only one shuttle 200 is required per level, forming a distributed operation system of aisle-level. The shuttle 200 can travel along the main and sub-aisles within the level and autonomously switch channels, achieving full coverage of the single-level two-dimensional operation area. The equipment supports bidirectional continuous operation. Third, the hoist system, used for all vertical material handling required for operations within the warehouse. Fourth, the maintenance system: Adopting a three-dimensional maintenance design architecture, the warehouse end features an embedded maintenance platform including a maintenance hoist and layered maintenance channels for multi-car fault replacement and maintenance. The management software system is responsible for equipment operation control and workflow coordination. This solution effectively avoids congestion in I / O stations, picking stations, and other areas when the hoist is under heavy load or there is a partial fault in the conveyor line, reducing equipment operation time and improving system operating efficiency.

[0077] Example 2 This embodiment provides a method for cross-aisle operations. Based on the above-mentioned cross-aisle operation material box transport shuttle automated warehouse, the method includes: when the shuttle 200 performs cross-aisle operations on any horizontal level of the racking system: the shuttle 200 runs along the current main aisle until it reaches the first target cross-aisle platform unit, where the shuttle 200 changes its running direction; the shuttle 200 runs along the sub-aisle until it reaches the second cross-aisle platform unit corresponding to the target main aisle, where the shuttle 200 changes its running direction; the shuttle 200 runs along the target main aisle.

[0078] As an optional implementation, during storage and retrieval operations, the shuttle 200 uses a QR code reader to pre-position any material box station and a reflective detection switch to accurately locate any material box station. When the shuttle 200 switches from storage and retrieval operations to cross-aisle operations: when the shuttle 200 passes a material box station adjacent to a cross-aisle platform unit, the cross-aisle operation QR code reader pre-positions the shuttle 200, causing it to decelerate in advance. The encoder calculates the travel distance of the shuttle 200, compares it with the distance to the predetermined target cross-aisle platform unit, and decelerates in advance, providing a speed environment for accurate positioning, enabling the shuttle 200 to reach the predetermined target cross-aisle platform unit.

[0079] This invention features a relatively independent cargo-carrying platform within the shuttle 200, integrating the hoist operation function into the shuttle 200. This eliminates the traditional layer-changing process of positioning-entry-positioning-layer-positioning-exit, avoiding the need to drive to the end of the aisle for layer-changing operations. The shuttle 200 can directly transfer material boxes between different layers within the aisle. The vertically lifting logistics equipment proposed in this invention is of the shuttle 200 type, a highly integrated and compact modular unit. It enables diverse maintenance modes, including in-warehouse and off-warehouse maintenance. Its smaller size also facilitates maintenance, requiring fewer maintenance points than larger equipment such as STUs and stacker cranes, thus reducing overall maintenance difficulty. The shuttle 200 of this invention comprises three modular units: a cargo-carrying platform, a first integrated cabinet, and a second integrated cabinet. Each modular unit contains structurally identical functional execution units, and the components of each unit are highly interchangeable. Furthermore, the rack structure is designed based on the dimensions of the cross-aisle platform unit. When facing model expansion and serialized product development, only the structure of the cross-aisle platform unit needs to be changed, and the length of the sub-rail can be extended according to the cross section of the main rail to provide a customized product design adjustment scheme.

[0080] In one specific embodiment, to transport hoppers on the same floor across different aisles, the following process is required: As attached Figure 1 and attached Figure 4As shown, the material box is initially located at a certain station in the main channel, and is to be moved to another station in the main channel. Assuming the shuttle 200 is initially located in a certain position in the main channel, the shuttle 200 first travels along the main channel formed by the first main track 110 and the first sub-track 120 in the Y direction, driven by the main channel travel drive unit. During this process, each positioning hole 122 passed by the shuttle 200 is read and recorded. A QR code is also placed next to each positioning hole 122 to mark the location information of each storage location. When the shuttle 200 travels to a positioning hole 122 near the target station and reads the QR code, the control system will cause it to decelerate, providing a good speed environment for precise positioning of the positioning hole 122 at the target station, i.e., "pre-positioning" via the QR code. Then, the shuttle 200 travels to the positioning hole 122 at the target station and completes precise positioning. Then, the storage telescopic arm unit 250 extends in the X direction to retrieve the material box, completing the retrieval operation.

[0081] As attached Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, after picking up the material box, the shuttle 200 will travel along the main channel towards the first target cross-aisle platform unit. Upon passing the last positioning hole 122 adjacent to the first target cross-aisle platform unit and reading the QR code, the control system will cause it to decelerate, providing a good speed environment for accurate positioning of the cross-aisle platform unit's positioning QR code, i.e., pre-positioning via the QR code. Then, the shuttle 200 will move directly above the first target cross-aisle platform unit and stop.

[0082] As attached Figure 1 Appendix Figure 13 Appendix Figure 14 As shown, after the shuttle 200 stops, the lifting mechanism 240 is in the high position, i.e., attached... Figure 14 The state shown is as follows. In this state, the third clearance groove 132 on the second main track 130 ensures that the sub-channel traveling wheels 242 will not collide with the second main track when the shuttle 200 enters or passes through the cross-channel platform unit. Next, the second drive shaft 260 drives the two supporting eccentric wheels 247 to rotate 180°, causing the lifting mechanism 240 of the shuttle 200 to change from a high position to a low position, i.e., from the attached... Figure 14 Become an appendix Figure 13 The state shown indicates the transition from walking along the main channel to walking along the sub-channel.

[0083] As attached Figure 1 and attached Figure 13As shown, after completing the travel switch, the shuttle 200 travels along the sub-channel formed by the second main track 130 and the second sub-track 140 in the X direction, moving from the first target cross-channel platform unit 100 to the second target cross-channel platform unit 100. During this process, the encoder records the distance traveled by the shuttle and compares it with the distance between the two platform units, allowing for early deceleration and providing a speed environment for accurate positioning. After reaching and positioning the second target cross-channel platform unit, the lifting mechanism 240 changes from a low position back to a high position, completing the switch from sub-channel travel to main channel travel.

[0084] As attached Figure 1 As shown, after completing the walking switch, the shuttle 200 moves to the target station with the same positioning process as when picking up the material box, and accurately positions itself. Finally, the storage telescopic arm unit 250 extends along the X direction and pushes the material box into the target station to complete the storage of the material box.

[0085] The specific features, structures, or characteristics described in this specification may be combined in any suitable manner in one or more embodiments or examples.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0087] 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. A multi-lane operation material box transport shuttle warehouse, characterized in that, Includes a racking system and shuttle cars, which are used for storing and retrieving bins to complete bin transfer operations within a single horizontal level; The racking system includes multiple rack bodies, cross-aisle platform units, a first sub-railway, and a second sub-railway, wherein: Within any horizontal layer of the racking system, two adjacent rack bodies in the first rack row and two adjacent rack bodies in the second rack row are connected by the cross-aisle platform unit, wherein the first rack row and the second rack row are two adjacent rows; The cross-lane platform unit includes two first main tracks arranged opposite to each other and two second main tracks arranged opposite to each other, wherein the first main tracks and the second main tracks are perpendicular to each other. Two adjacent cross-lane platform units arranged along the Y direction are connected by several first sub-tracks, which are fixedly connected to the opposite ends of the first main track, forming a main channel; two adjacent cross-lane platform units arranged along the X direction are connected by several second sub-tracks, which are fixedly connected to the opposite ends of the second main track, forming a sub-channel; the shuttle car can switch its running direction in the cross-lane platform unit, thereby traveling along the main channel or the sub-channel.

2. The automated warehouse for transporting material boxes across tunnels according to claim 1, characterized in that, The first main track has a first guide edge, and the first sub-track has a second guide edge, both of which are vertically arranged; When the shuttle travels along the Y direction, the first guide edge or the second guide edge is positioned between a pair of guide wheels on the shuttle to achieve guidance in the Y direction.

3. The automated warehouse for transporting material boxes across tunnels according to claim 2, characterized in that, The first main track has a first clearance groove on each of its two opposite sides. The first clearance groove is located at the end of the first main track near the second main track. The first clearance groove is an arc-shaped groove, which is used to make way for the sub-channel traveling wheels of the shuttle when the shuttle changes direction. The sub-channel traveling wheels are used for the shuttle to travel in the X direction.

4. The automated warehouse for transporting material boxes across tunnels according to claim 1, characterized in that, A positioning hole is provided on one side wall of the first sub-track. The positioning holes are evenly spaced along the length of the first sub-track. The straight distance between adjacent positioning holes and between the cross-lane platform unit and its nearest positioning hole is L. The distance between the positioning hole and the cross-lane platform unit is nL, where n represents the sequence number of the positioning holes along the direction away from the cross-lane platform unit. A position marker is provided next to the positioning hole to locate the position of the shuttle in the Y direction.

5. The automated warehouse for transporting material boxes across tunnels according to claim 1, characterized in that, The second main track has a third guide edge, which is inclined from bottom to top along a direction away from the center of the second main track; The second sub-track has a fourth guide edge, which is inclined from bottom to top along a direction away from the center of the second sub-track; When the shuttle is running in the X direction, the two oppositely arranged third guide edges contact the two pairs of opposite guide wheels, or the two oppositely arranged fourth guide edges contact the two pairs of opposite guide wheels, thereby achieving guidance in the X direction.

6. The automated warehouse for transporting material boxes across tunnels according to claim 5, characterized in that, The second main track has a third clearance groove on each of its two opposite sides. The third clearance groove is located at the end of the second main track near the first main track. The third clearance groove is an arc-shaped groove and is used to make way for the main channel traveling wheels of the shuttle when the shuttle changes direction. The main channel traveling wheels are used for the shuttle to travel in the Y direction.

7. The automated warehouse for transporting material boxes across tunnels according to claim 1, characterized in that, The shuttle vehicle includes a first integrated cabinet, a second integrated cabinet, and a cargo platform located between the two. Both the first and second integrated cabinets are equipped with main channel wheels, sub-channel wheels, and a lifting mechanism, wherein: The lifting mechanism includes a lifting traveling support, a first lifting bearing block, a second lifting bearing block, and a bearing eccentric wheel, wherein: The sub-channel traveling wheels are rotatably connected to the opposite ends of the lifting traveling support; The first lifting support block and the second lifting support block are fixed on the lifting travel bracket, and the bearing eccentric wheel is clamped between the first lifting support block and the second lifting support block; The eccentric wheel is rotatable, and the center of rotation of the eccentric wheel is offset from its center. When the bearing eccentric wheel rotates, the first lifting bearing block and the second lifting bearing block are pushed, and the lifting traveling bracket drives the sub-channel traveling wheel to move up and down in the vertical direction, so that the sub-channel traveling wheel travels along the sub-channel, or the main channel traveling wheel travels along the main channel.

8. The automated warehouse for transporting material boxes across tunnels according to claim 7, characterized in that, When the shuttle travels along the main channel, the height of its chassis above the main channel is H. When the shuttle travels along the sub-channel, the height of its chassis above the sub-channel is h. In the bearing eccentric wheel, the straight-line distance between its center and its rotation center is e, and the maximum track depth of the main channel and the sub-channel in the vertical direction is t; Then the following conditions are met: h+2e>H>h, Hh>t, h+2e-H>t.

9. A method for cross-tunnel operation, characterized in that, Based on the automated warehouse for cross-lane operation of material box transport shuttle cars according to any one of claims 1-8, the method includes: When the shuttle car performs cross-aisle operations at any same horizontal level of the racking system: The shuttle car runs along the main channel it is currently in until it reaches the first target cross-lane platform unit, where the shuttle car switches its running direction. The shuttle car runs along the sub-channel until it reaches the second cross-channel platform unit corresponding to the target main channel, and the shuttle car switches its running direction at the second cross-channel platform unit; The shuttle vehicle runs along the main channel of the target.

10. The method for cross-tunnel operation according to claim 9, characterized in that, During storage and retrieval operations, the shuttle car can pre-position any material bin station using a QR code reader and accurately position any material bin station using a reflective detection switch. During the process of the shuttle car switching from storage and retrieval operations to cross-tunnel operations: When the shuttle car passes the material box station adjacent to the cross-lane platform unit, the QR code reader for cross-lane operation pre-positions, causing the shuttle car to slow down in advance. The distance traveled by the shuttle is calculated by the encoder and compared with the distance to the predetermined target cross-lane platform unit. The shuttle decelerates in advance to provide a speed environment for accurate positioning, so that the shuttle can reach the predetermined target cross-lane platform unit.

Images