Warehousing system, shuttle vehicle and goods shelf

Abstract

The embodiment of the utility model discloses a warehousing system, a shuttle vehicle and a goods shelf, the warehousing system comprises the goods shelf and the shuttle vehicle, the goods shelf comprises at least one goods shelf unit, and each goods shelf unit comprises a goods shelf body and a vertical track; the shuttle vehicle comprises a vehicle body, climbing wheels, a climbing telescopic assembly and a climbing driving assembly, the climbing wheels are arranged on the two opposite sides of the vehicle body in the first direction, and the climbing wheels are configured to be in extrusion fit with the vertical rails; the climbing telescopic assembly is arranged on the vehicle body and connected with the climbing wheels to drive the climbing wheels to stretch out and draw back in the first direction relative to the vehicle body, and the climbing driving assembly is arranged on the vehicle body and connected with the climbing wheels to drive the climbing wheels to rotate relative to the vehicle body. The warehousing system, the shuttle vehicle and the goods shelf are simple in structure, and the warehousing system is easy to machine, low in cost and good in operation stability.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent warehousing, and particularly relates to a warehousing system, a shuttle car, and a shelf. Background Art

[0002] A shuttle car is an intelligent device widely used in a warehousing system, which can replace manual labor to perform a series of warehousing operations, improving the warehousing operation efficiency and avoiding the risk of manual high-altitude operations.

[0003] In related technologies, a shuttle car can move up and down to reach different heights of a shelf, so as to perform warehousing operations at different heights of the shelf. However, in related technologies, the shuttle car and the supporting shelf have problems of complex structure and high cost. Summary of the Utility Model

[0004] The present application is made based on the inventor's discovery and recognition of the following facts and problems:

[0005] In related technologies, a hoist is usually arranged on the shelf to realize the up-and-down movement of the shuttle car, so as to perform warehousing operations of picking up or putting goods at different heights of the shelf. Since the hoist needs to be arranged, not only the equipment cost is increased, but also a large installation space is required to install the hoist, resulting in a complex structure, large occupied space and high cost. In addition, in order to perform warehousing operations at different positions at the same height of the shelf, the shuttle car needs to move horizontally. Since the position of the hoist is fixed, it is difficult for the shuttle car to move horizontally. If the hoist is set to be horizontally movable, it further leads to a complex structure and high cost.

[0006] Related technologies have proposed a shuttle car, which includes a translation wheel moving along a transverse track of a shelf and a climbing wheel moving along a vertical track of the shelf. Convex teeth are provided on the outer peripheral surfaces of the translation wheel and the climbing wheel, and grooves cooperating with the convex teeth are provided on the surfaces of the horizontal track and the vertical track of the shelf. Related technologies have also proposed a shuttle car, which includes a translation wheel moving along a transverse track of a shelf and a climbing wheel moving along a vertical track of the shelf, wherein racks are provided on the transverse track and the vertical track, and the translation wheel and the climbing wheel are gears to travel along the racks. For the shuttle car in related technologies, since the wheels have convex teeth or are configured as gears, and the tracks have grooves or are configured as racks, the processing is complex, the cost is high, the running stability is poor and the noise is large.

[0007] The present application aims to solve at least one of the problems in related technologies to some extent.

[0008] To this end, the present application provides a warehousing system, including a shuttle car and a shelf. The shuttle car is arranged between adjacent vertical tracks of the shelf through the extrusion fit between the climbing wheels and the adjacent vertical tracks of the shelf so as to move along the vertical tracks. Since the climbing wheels and the vertical tracks are in extrusion fit, the climbing wheels can be climbing wheels with a smooth outer peripheral surface and no convex teeth, and the vertical tracks of the shelf can be vertical tracks with a smooth track surface and no grooves or racks. Thus, the structures of the shuttle car and the shelf are simple, the warehousing system is simple to process, low in cost and good in running stability.

[0009] The present application aims to solve at least one of the problems in the related art to some extent.

[0010] To this end, an embodiment of the present application provides a warehousing system, including:

[0011] A shelf, the shelf includes at least one shelf unit, the shelf unit includes a shelf body and a vertical track, and the vertical track extends in the vertical direction;

[0012] A shuttle car, the shuttle car includes a vehicle body, climbing wheels, a climbing telescopic assembly and a climbing driving assembly. The climbing wheels are arranged on opposite sides of the vehicle body in a first direction, the first direction is orthogonal to the vertical direction, the climbing wheels are configured to be in extrusion fit with the vertical tracks, the climbing telescopic assembly is arranged on the vehicle body and connected to the climbing wheels to drive the climbing wheels to expand and contract relative to the vehicle body in the first direction, and the climbing driving assembly is arranged on the vehicle body and connected to the climbing wheels to drive the climbing wheels to rotate relative to the vehicle body.

[0013] A second aspect of the embodiment of the present application provides a shuttle car, including:

[0014] A vehicle body;

[0015] Climbing wheels, the climbing wheels are arranged on opposite sides of the vehicle body in a first direction, the first direction is orthogonal to the vertical direction, and the climbing wheels are adapted to be in extrusion fit with the vertical tracks of the shelf;

[0016] A climbing telescopic assembly, the climbing telescopic assembly is arranged on the vehicle body and connected to the climbing wheels to drive the climbing wheels to expand and contract relative to the vehicle body in the first direction;

[0017] A climbing driving assembly, the climbing driving assembly is arranged on the vehicle body and connected to the climbing wheels to drive the climbing wheels to rotate relative to the vehicle body.

[0018] A third aspect of the embodiment of the present application provides a shelf, including at least one shelf unit, and the shelf unit includes:

[0019] A shelf body;

[0020] A vertical track, which extends in the vertical direction and is adapted to be in pressing fit with the climbing wheels of the shuttle vehicle.

[0021] In the storage system of the present application, since the climbing wheels and the vertical track rely on friction to move the vehicle body in the vertical direction, the climbing wheels can be climbing wheels with a smooth outer peripheral surface without convex teeth, and the vertical track of the shelf can be a vertical track with a smooth track surface without grooves or racks. The structures of the shuttle vehicle and the shelf are simple, the storage system is easy to process, has low cost and good operation stability. Description of the Drawings

[0022] Figure 1 is a right view of the storage system according to an embodiment of the present application.

[0023] Figure 2 is a top view of the storage system according to an embodiment of the present application.

[0024] Figure 3 is Figure 2 an enlarged view of part A in

[0025] Figure 4 is Figure 2 an enlarged view of part B in

[0026] Figure 5 is a perspective view of the shuttle vehicle climbing along the vertical track in the storage system according to an embodiment of the present application.

[0027] Figure 6 is Figure 5 an enlarged view of part C in

[0028] Figure 7 is a perspective view of the shuttle vehicle climbing along the vertical track from another perspective in the storage system according to an embodiment of the present application.

[0029] Figure 8 is Figure 7 an enlarged view of part D in

[0030] Figure 9 is a right view of the shuttle vehicle climbing along the vertical track in the storage system according to an embodiment of the present application.

[0031] Figure 10 is a top view of the shuttle vehicle climbing along the vertical track in the storage system according to an embodiment of the present application.

[0032] Figure 11 is a perspective view of the shuttle vehicle according to an embodiment of the present application.

[0033] Figure 12 is a front view of the shuttle vehicle according to an embodiment of the present application.

[0034] Figure 13 It is the left view of the shuttle car according to an embodiment of the present application.

[0035] Figure 14 It is the perspective view of the climbing component of the shuttle car according to an embodiment of the present application.

[0036] Figure 15 It is Figure 14 the enlarged view at position E in

[0037] Figure 16 It is the top view of the climbing component of the shuttle car according to an embodiment of the present application.

[0038] Figure 17 It is the perspective view of the traversing component of the shuttle car according to an embodiment of the present application.

[0039] Figure 18 It is Figure 17 the enlarged view at position F in

[0040] Figure 19 It is the top view of the traversing component of the shuttle car according to an embodiment of the present application.

[0041] Figure 20 It is the perspective view of the support component of the shuttle car according to an embodiment of the present application.

[0042] Figure 21 It is Figure 20 the enlarged view at position G in

[0043] Figure 22 It is the perspective view of the goods picking and placing device of the shuttle car according to an embodiment of the present application.

[0044] Figure 23 It is the front view of the shelf according to an embodiment of the present application.

[0045] Figure 24 It is the right view of the shelf according to an embodiment of the present application.

[0046] Figure 25 It is the top view of the shelf according to an embodiment of the present application.

[0047] Figure 26 It is the perspective view of the shelf unit of the shelf according to an embodiment of the present application.

[0048] Figure 27 It is Figure 26 the enlarged view at position H in

[0049] Figure 28 It is the front view of the warehousing system according to another embodiment of the present application.

[0050] Figure 29 It is the front view of the warehousing system according to yet another embodiment of the present application.

[0051] Reference numerals:

[0052] 100, storage system;

[0053] 10, shuttle vehicle; 11, vehicle body; 111, first inlet / outlet; 112, second inlet / outlet; 113, passage space; 12, climbing assembly; 121, climbing wheel; 1211, wheel body; 12111, wheel rim; 12112, coating layer; 1212, guiding projection; 122, climbing telescopic assembly; 1221, first ball screw; 1222, second ball screw; 1223, first nut seat; 1224, second nut seat; 1225, climbing telescopic driving member; 1226, coupling; 1227, first fixing seat; 1228, second fixing seat; 123, climbing driving assembly; 1231, transmission shaft; 1232, climbing driving member; 124, linear guide rail; 125, vertical guiding portion; 13, supporting assembly; 131, supporting member; 132, supporting driving assembly; 1321, supporting driving member; 1322, gear; 1323, rack; 1324, clamping plate; 1325, supporting slider; 133, supporting guide rail; 14, transverse movement assembly; 141, transverse movement wheel; 142, transverse movement guiding portion; 143, transverse movement telescopic assembly; 144, first connecting frame; 145, second connecting frame; 147, transverse movement driving assembly; 15, goods picking and placing device; 151, carrying assembly; 152, goods picking and placing assembly

[0054] 20, shelf; 21, shelf unit; 211, shelf body; 2111, column; 2112, cross beam; 2113, supporting beam; 212, vertical track; 2121, first vertical guide rail; 2122, second vertical guide rail; 213, transverse track; 2131, track body; 2132, transition section; 22, accommodation space; 23, buffer position

[0055] 30, target goods;

[0056] 40, handling robot. Detailed implementation manners

[0057] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, but should not be construed as a limitation to the present application.

[0058] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application.

[0059] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0060] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0061] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0062] In this application, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0063] When handling goods on the shelves, in order to improve the handling efficiency and reduce the working intensity, a shuttle car is usually used to retrieve and return the goods on the shelves. The shuttle car is an important device in the warehousing system, which can automatically place goods (such as cargo boxes) on the shelves to complete the loading process (such as the process of returning boxes), and can also take the goods off the shelves (such as the process of taking boxes) and transport them to a designated location.

[0064] It can be understood that in the warehousing system, the shuttle car moves in the warehousing space and picks up or places goods on the shelves. Generally, in order to improve the space utilization rate of the warehousing system, multiple shelves are usually provided in the warehousing space, and the multiple shelves are arranged at intervals to form aisles, and the shuttle car moves in the aisles to retrieve and return the goods on the shelves.

[0065] In some examples of the embodiments of this application, the shuttle car may need to pick up goods at different positions on the shelves. For this reason, the shuttle car needs to climb vertically. However, in the related art, the shuttle car and the supporting shelves have the problems of complex structure and high cost, resulting in a high cost of the warehousing system.

[0066] In view of the technical problems existing in the related art, referring to Figures 1 to 9 As shown, the warehousing system 100 of the embodiments of this application includes a shelf 20 and a shuttle car 10.

[0067] As Figure 2 、 Figures 5 to 10 As shown, the shelf 20 of the embodiments of this application includes at least one shelf unit 21, and the shelf unit 21 includes a shelf body 211 and a vertical track 212, and the vertical track 212 extends in the vertical direction.

[0068] As Figures 11 to 16As shown in the figure, the shuttle car 10 of the embodiment of the present application includes a vehicle body 11, climbing wheels 121, a climbing telescopic assembly 122, and a climbing drive assembly 123. The climbing wheels 121 are arranged on opposite sides of the vehicle body 11 in a first direction, and the first direction is orthogonal to the vertical direction. Among them, the vertical direction can be the direction shown by the Z axis in the figure, and the first direction can be the direction shown by the X axis in the figure.

[0069] It should be noted that the first direction in the present application is not limited to the X-axis direction in the figure, and can also be the Y-axis direction, or any direction in the horizontal plane. In the following embodiments of the present application, the first direction is taken as the X-axis direction in the figure as an example for description.

[0070] As Figures 6 to 10 shown, the climbing wheels 121 are adapted to be in squeezing cooperation with the vertical rails 212. The climbing telescopic assembly 122 is arranged on the vehicle body 11 and connected to the climbing wheels 121 to drive the climbing wheels 121 to expand and contract relative to the vehicle body 11 in the first direction. The climbing drive assembly 123 is arranged on the vehicle body 11 and connected to the climbing wheels 121 to drive the climbing wheels 121 to rotate relative to the vehicle body 11. Among them, the climbing telescopic assembly 122 drives the climbing wheels 121 to switch between the extended state and the retracted state. In the extended state, the climbing wheels 121 are in squeezing cooperation with the vertical rails 212 of the shelf 20; in the retracted state, the climbing wheels 121 are disengaged from the vertical rails 212 of the shelf 20. When the climbing wheels 121 are in the extended state, the climbing drive assembly 123 drives the climbing wheels 121 to rotate relative to the vehicle body 11 to drive the vehicle body 11 to move up and down along the vertical rails 212.

[0071] In the storage system 100 of the embodiment of the present application, by arranging the climbing wheels 121 on opposite sides of the vehicle body 11 in the first direction, and the climbing telescopic assembly 122 drives the climbing wheels 121 to expand and contract in the first direction, so that the climbing wheels 121 can be in squeezing cooperation with and disengaged from the vertical rails 212 of the shelf 20. When the climbing wheels 121 are in squeezing cooperation with the vertical rails 212, a squeezing force in the first direction is generated between the climbing wheels 121 and the vertical rails 212, and this squeezing force provides a frictional force in the vertical direction for the climbing wheels 121, so that the climbing drive assembly drives the climbing wheels 121 to rotate relative to the vehicle body 11, and further drives the vehicle body 11 to move in the vertical direction. When the climbing wheels 121 are disengaged from the vertical rails 212, the cooperation relationship between the climbing wheels 121 and the vertical rails 212 can be released.

[0072] Since the friction force is generated between the climbing wheels 121 and the vertical rails 212 by the squeezing force to make the vehicle body 11 move in the vertical direction, the climbing wheels 121 can be climbing wheels with a smooth outer peripheral surface and no convex teeth, and the vertical rails 212 of the shelf 20 can be vertical rails with a smooth rail surface and no grooves or racks. The structures of the shuttle car 10 and the shelf 2 are simple, the storage system 100 is simple to process, low in cost and good in running stability.

[0073] In some examples of the embodiments of the present application, the vehicle body 11 can be made of a rigid material. For example, the vehicle body 11 is made of materials such as stainless steel, aluminum alloy, and cast iron. Of course, the vehicle body 11 can also be made of non-metallic materials such as rigid plastics. The embodiments of the present application do not limit this.

[0074] It can be understood that the vehicle body 11 is used to place, support, or transfer the target goods 30, such as a bin, a cargo box, an original box, the goods themselves, etc.

[0075] In some examples of the embodiments of the present application, such as Figure 2 , Figure 24 and Figure 25 shown, there are at least two vertical tracks 212, and the at least two vertical tracks 212 are arranged at intervals in the first direction. The climbing wheels 121 arranged oppositely in the first direction are respectively in pressing fit with two adjacent vertical tracks 212 of the shelf 20 in the first direction and move along the vertical tracks 212, so that the vehicle body 11 moves vertically between adjacent vertical tracks 212.

[0076] It should be noted that in some examples of the embodiments of the present application, two adjacent vertical tracks 212 in the first direction can be arranged on the same shelf unit 21. In other words, there are at least two vertical tracks 212 on the same shelf unit 21, and the climbing wheels 121 of the shuttle car 10 are squeezed between two adjacent vertical tracks 212 to achieve climbing. It can be understood that in this embodiment, there can be one or more shelf units 21.

[0077] In other examples of the embodiments of the present application, two adjacent vertical tracks 212 in the first direction can be respectively arranged on two shelf units 22. In other words, the climbing wheels 121 of the shuttle car 10 are squeezed between the vertical tracks 212 on two adjacent shelf units 22 to achieve climbing. By respectively pressing the climbing wheels 121 arranged oppositely in the first direction against two adjacent vertical tracks 212 of the shelf 20 in the first direction, the space of the shelf 20 in the first direction can be fully utilized, the space utilization rate of the storage system 100 can be improved, and the cost of the storage system 100 can be further reduced.

[0078] In other examples of the embodiments of the present application, there is one shelf unit 21, and the shelf unit 21 includes at least one vertical track 212. One of the vertical tracks 212 cooperates with the remaining components in the storage space (such as the walls surrounding the storage space, the auxiliary support members in the storage space, etc.), and the climbing wheels 121 of the shuttle car 10 are squeezed between the vertical track 212 and the remaining components in the storage space to achieve climbing.

[0079] In some examples of the embodiments of the present application, such as Figure 1, Figure 2 , Figure 24 and Figure 25 As shown in Figure 25 , there are multiple shelf units 21, and the multiple shelf units 21 are arranged at intervals in the first direction. An accommodation space for accommodating the shuttle vehicle 10 is formed between two adjacent shelf units 21 in the first direction. Among two adjacent shelf units 21 in the first direction, on one side of any one of the shelf units 21 close to the other shelf unit 21, there is a vertical track 212. The vertical tracks 212 of two adjacent shelf units 21 in the first direction are respectively in extrusion fit with the climbing wheels 121 arranged oppositely in the first direction.

[0080] An accommodation space 22 for accommodating the shuttle vehicle 10 is formed between two adjacent shelf units 21, which can make full use of the space of the shelf 20 in the first direction, improve the space utilization rate of the storage system 100, and further reduce the cost of the storage system 100.

[0081] In some examples of the embodiments of the present application, as Figure 24 and Figure 25 shown, the vertical tracks 212 are arranged on the opposite sides of the same shelf unit 21 in the first direction. By arranging the vertical tracks 212 on the opposite sides of the same shelf unit 21 in the first direction, it is convenient to form a vertical climbing space between the vertical tracks 212 on the other two shelf units 21 and the shelf unit 21 located in the middle among three adjacent shelf units 21, which is convenient for the shuttle vehicle 10 to climb in the vertical climbing space, beneficial to the picking and placing of the target goods 30 on the shelf 20, and conducive to improving the picking and placing efficiency of the target goods 30, thereby improving the operation efficiency of the storage system 100.

[0082] In some examples of the embodiments of the present application, the vertical tracks 212 are arranged on at least one side of the shelf body 211 in the second direction. Arranging the vertical tracks 212 on the side part of the shelf body 211 in the second direction is convenient for modification or installation. By arranging the vertical tracks 212 on both sides in the second direction, it can be ensured that at least two vertical climbing spaces correspond to one side of each shelf unit 20 in the first direction, which is convenient for the picking and placing of the target goods 30 on the shelf 20, beneficial to improving the picking and placing efficiency of the target goods 30, and thereby improving the operation efficiency of the storage system 100.

[0083] For example, the vertical tracks 212 are arranged on the opposite sides of the same shelf unit 21 in the first direction, and the vertical tracks 212 are arranged on one side of the shelf body 211 in the second direction; or, the vertical tracks 212 are arranged on the opposite sides of the same shelf unit 21 in the first direction; or, the vertical tracks 212 are arranged on one side of the shelf body 211 in the second direction; or, the vertical tracks 212 are arranged on the opposite sides of the same shelf unit 21 in the first direction, and the vertical tracks 212 are arranged on the opposite sides of the shelf body 211 in the second direction.

[0084] In some examples of the embodiments of the present application, such as Figure 26 and Figure 27 shown, the shelf body 211 includes a plurality of upright columns 2111 arranged at intervals, and the upright columns 2111 extend in the vertical direction.

[0085] At least one upright column 2111 forms a vertical track 212, or the vertical track 212 is connected to the shelf body 211 and is located on at least one side of the plurality of upright columns 2111 in the second direction.

[0086] That is to say, the vertical track 212 can be formed by the upright column 2111; or, the vertical track 212 is independently arranged from the shelf body 211, and the vertical track 212 is arranged side by side with the upright column 2111.

[0087] When the shelf body 211 is set to the above structure, while simplifying the structure of the shelf body 211, the stiffness of the shelf body 211 can be ensured, and the reliability of the shelf 20 can be improved.

[0088] In some examples of the embodiments of the present application, the size of the vertical track 212 in the second direction is 85 mm - 95 mm.

[0089] For example, as Figure 25 shown, the size of the vertical track 212 in the second direction is L, and L is 90 mm. In some examples, the vertical track 212 includes a first vertical guide rail 2121 and a second vertical guide rail 2122, and the sizes of the first vertical guide rail 2121 and the second vertical guide rail 2122 in the second direction are both 85 mm - 95 mm. In some examples, the vertical track 212 only includes a single guide rail, and the size of the single guide rail in the second direction is 85 mm - 95 mm.

[0090] By setting the size of at least one of the first vertical guide rail 2121 and the second vertical guide rail 2122 in the second direction to 85 mm - 95 mm, the bearing capacity of the vertical track 212 can be improved, the deformation of the vertical track 212 caused by extrusion with the climbing wheel 121 can be avoided, and the reliability of the shelf 20 can be improved.

[0091] In some examples of the embodiments of the present application, such as Figure 14 and Figure 15 shown, the shuttle car 10 includes a vertical guiding portion 125. As Figure 6 shown, the vertical guiding portion 125 is adapted to be in guiding cooperation with the vertical track 212.

[0092] By providing a vertical guiding portion 125 on the shuttle vehicle 10, during the movement of the climbing wheel 121 along the vertical track 212, the vertical guiding portion 125 can be used to cooperate with the vertical track 212 for guiding, guiding the movement of the climbing wheel 121, avoiding deflection of the climbing wheel 121, and further improving the reliability of the shuttle vehicle 10.

[0093] In some specific application scenarios, taking the climbing wheel 121 moving upward along the vertical track 212 as an example for illustration:

[0094] During the upward movement of the climbing wheel 121 along the vertical track 212, the vertical guiding portion 125 cooperates with the vertical track 212 for guiding, avoiding the climbing wheel 121 deflecting in the left - right direction and disengaging from the vertical track 212, or causing the vehicle body 11 to deflect in the left - right direction and affecting the position of the vehicle body 11.

[0095] In some examples of the embodiments of the present application, such as Figure 15 and Figure 16 shown, the climbing wheel 121 includes a wheel body 1211 and a guiding protrusion 1212. The guiding protrusion 1212 is provided on at least one side of the wheel body 1211 in the second direction, and the guiding protrusion 1212 forms the vertical guiding portion 125. As Figure 6 shown, the wheel body 1211 is configured to be in pressing cooperation with the vertical track 212, and the guiding protrusion 1212 is configured to abut against the vertical track 212 in the second direction, that is, the guiding protrusion 1212 is configured to abut against the side surface of the vertical track 212.

[0096] For example, as Figure 15 and Figure 16 shown, the guiding protrusion 1212 can be the rim of the climbing wheel 121.

[0097] The guiding protrusion 1212 forms a guiding portion, such that a part of the climbing wheel 121 forms the vertical guiding portion 125, which can further simplify the structure of the shuttle vehicle 10 and further reduce the cost of the shuttle vehicle 10.

[0098] In some examples of the embodiments of the present application, such as Figure 15 shown, the climbing wheel 121 includes a wheel rim 12111 and a covering layer 12112. The wheel rim 12111 is rotatably connected to the vehicle body 11, the covering layer 12112 is covered on the outer side of the wheel rim 12111, the covering layer 12112 is a flexible layer, and the covering layer 12112 is used for pressing cooperation with the vertical track 212. Among them, the covering layer 12112 can be a rubber layer.

[0099] By setting the coating layer 12112 as a flexible layer, when the climbing wheel 121 is in extrusion fit with the vertical track 212, the coating layer 12112 can undergo elastic deformation to increase the contact area with the vertical track 212, thereby increasing the frictional force between the climbing wheel 121 and the vertical track 212, ensuring the reliable cooperation between the coating layer 12112 and the vertical track 212, and improving the reliability of the shuttle car 10. In addition, the rim 12111 can play a reliable supporting role for the coating layer 12112.

[0100] Of course, in some examples of the embodiments of the present application, the climbing wheel 121 may also only include the rim 12111, and the rim 12111 is made of a rigid material.

[0101] In some examples of the embodiments of the present application, the rim 12111 and the guiding protrusion 1212 are integrally formed. For example, both the rim 12111 and the guiding protrusion 1212 are made of materials such as stainless steel, aluminum alloy, and cast iron.

[0102] In some examples of the embodiments of the present application, such as Figure 3 and Figure 25 shown, the vertical track 212 includes a first vertical guide rail 2121 and a second vertical guide rail 2122 that are spaced apart in the second direction. As Figures 11 to 13 shown, the multiple climbing wheels 121 include at least two climbing wheels 121 that are spaced apart in the second direction, and the second direction is orthogonal to the vertical direction and the first direction. As Figure 3 shown, at least two climbing wheels 121 that are spaced apart in the second direction are respectively in extrusion fit with the first vertical guide rail 2121 and the second vertical guide rail 2122. Among them, the second direction may be the direction shown by the Y axis in the figure.

[0103] For example, the first vertical guide rail 2121 is arranged on the left side of the second vertical guide rail 2122. The climbing wheel 121 located on the left side of the vehicle body 11 is in extrusion fit with the first vertical guide rail 2121; the climbing wheel 121 located on the right side of the vehicle body 11 is in extrusion fit with the second vertical guide rail 2122.

[0104] By respectively fitting at least two climbing wheels 121 spaced apart in the second direction with the first vertical guide rail 2121 and the second vertical guide rail 2122, the stability of the shuttle car 10 when cooperating with the vertical track 212 can be improved.

[0105] In some examples of the embodiments of the present application, such as Figures 11 to 13 shown, multiple climbing wheels 121 are provided on each side of the vehicle body 11 in the first direction.

[0106] Among them, the multiple climbing wheels 121 include at least two climbing wheels 121 spaced apart in the vertical direction.

[0107] The multiple climbing wheels 121 include a first wheel set and a second wheel set. The first wheel set and the second wheel set are arranged at intervals in the second direction. The climbing wheels 121 in the first wheel set are in extrusion fit with the first vertical guide rail 2121, and the climbing wheels 121 in the second wheel set are in extrusion fit with the second vertical guide rail 2122.

[0108] In some specific application scenarios, taking the number of the climbing wheels 121 as eight as an example for illustration:

[0109] The first wheel set and the second wheel set each have four climbing wheels. On the upper side of the first wheel set, two climbing wheels 121 are arranged side by side in the first direction, and on the lower side of the first wheel set, two climbing wheels 121 are arranged side by side in the first direction. On the upper side of the second wheel set, two climbing wheels 121 are arranged side by side in the first direction, and on the lower side of the second wheel set, two climbing wheels 121 are arranged side by side in the first direction. The climbing wheels 121 located on the upper side are driving wheels, and the climbing wheels 121 located on the lower side are driven wheels.

[0110] By designing the multiple climbing wheels 121 as above, the contact area between the shuttle car 10 and the vertical track 212 can be increased, and the reliability of the shuttle car 10 moving in the vertical direction can be improved.

[0111] In some examples of the embodiments of the present application, the climbing assembly 12 further includes a detection component and a control unit. The detection component is configured to detect the load information of the climbing drive assembly 123 in real time, and the control unit is configured to receive the load information and control the climbing telescopic assembly 122 to adjust the position of the climbing wheels 121 in the first direction according to the load information.

[0112] For example, the vehicle body 11 is provided with a communication module. The communication module can communicate with the upper computer and receive the control signal sent by the upper computer. The detection component sends the detected load information of the climbing drive assembly 123 to the upper computer through the communication module. The upper computer sends a control signal to the communication module according to the received load information, and the communication module sends the control signal to the control unit. The control unit adjusts the position of the climbing wheels 121 in the first direction based on the control signal, so that the extrusion force between the climbing wheels 121 and the vertical track 212 is not less than a preset threshold. Among them, the preset threshold is determined according to the weight of the shuttle car 10 and the target cargo 30. When the shuttle car 10 and the target cargo 30 are heavier, the preset threshold is larger to prevent the shuttle car 10 from falling; when the shuttle car 10 and the target cargo 30 are lighter, the preset threshold is smaller to prevent the friction force between the climbing wheels 121 and the vertical track 212 from being too large and making it difficult to drive the climbing wheels 121 to rotate.

[0113] By setting the detection component and the control unit, the adjustment of the extrusion force between the climbing wheels 121 and the vertical track 212 can be realized, so that the extrusion force between the climbing wheels 121 and the vertical track 212 is kept stable, thereby improving the reliability of the shuttle car 10.

[0114] In some examples of the embodiments of the present application, the distance between two climbing wheels 121 arranged in the first direction at different positions in the vertical direction can be prestored in the control unit, and the control unit controls the climbing telescopic assembly 122 to adjust the position of the climbing wheels 121 in the first direction in real time at a position where it is about to become larger or smaller, so that the extrusion force between the climbing wheels 121 and the vertical track 212 remains stable.

[0115] In some examples of the embodiments of the present application, such as Figure 22 As shown, the shuttle car 10 further includes a cargo loading and unloading device 15, and the cargo loading and unloading device 15 is arranged on the vehicle body 11. The cargo loading and unloading device 15 is configured to load the cargo on the shelf 20 onto the vehicle body 11 or load the cargo on the vehicle body 11 onto the shelf 20.

[0116] By providing the cargo loading and unloading device 15, the target cargo 30 can be automatically loaded onto the vehicle body 11, or the cargo on the vehicle body 11 can be loaded and unloaded onto the shelf 20, improving the operation efficiency of the shuttle car 10.

[0117] In some examples of the embodiments of the present application, such as Figures 11 to 13 As shown, the vehicle body 11 has a passage space 113. As Figure 22 shown, the cargo loading and unloading device 15 includes a carrying assembly 151 and a cargo loading and unloading component 152. The carrying assembly 151 is used to convey the cargo in the passage space 113 along the direction from one side of the vehicle body 11 to the other side of the vehicle body 11, and the cargo loading and unloading component 152 is used to cooperate with and disengage from the cargo to load and unload the cargo.

[0118] Among them, the carrying assembly 151 may include a pulley and a conveyor belt. The conveyor belt is wound around the pulley. The conveyor belt has a carrying surface for carrying the target cargo 30, and the conveyor belt is used to convey the cargo in the passage space 113 along the direction from one side of the vehicle body 11 to the other side of the vehicle body 11. The cargo loading and unloading component 152 may include a driving mechanism and a cargo picking member. The driving mechanism is connected to the cargo picking member to drive the cargo picking member to move in the first direction. The cargo picking member may be a clamping jaw or a suction cup. The clamping jaw is used to clamp the target cargo 30, and the suction cup is used to adsorb the target cargo 30. When the cargo loading and unloading component 152 includes a suction cup, a vacuum module may be provided on the vehicle body 11. A trachea is connected to the suction cup, and the trachea is communicated with the vacuum module. The vacuum module is used to pump air or inflate the suction cup, so that the suction cup applies an adsorption force to the target cargo 30 or releases the target cargo 30.

[0119] For example, as Figures 11 to 13As shown in the figure, one end of the vehicle body 11 has a first inlet / outlet 111, and the other end of the vehicle body 11 may also have a second inlet / outlet 112. Both the first inlet / outlet 111 and the second inlet / outlet 112 are communicated with the passage space 113. Among them, the first inlet / outlet 111 and the second inlet / outlet 112 may be arranged on both sides of the vehicle body 11 along the direction shown by the X axis in the figure. The loading and unloading assembly 151 is used to convey goods in the passage space 113 along the direction from the first inlet / outlet 111 to the second inlet / outlet 112 or from the second inlet / outlet 112 to the first inlet / outlet 111. The picking and placing assembly 152 enters and exits the passage space 113 through the first inlet / outlet 111 and the second inlet / outlet 112, so as to take out the target goods 30 from the shelf 20 and place them on the loading and unloading assembly 151, or put the target goods 30 back from the loading and unloading assembly 151 onto the shelf 20.

[0120] In some examples of the embodiments of the present application, the directions where the first inlet / outlet 111 and the second inlet / outlet 112 are located may intersect with the extending direction of the roadway in the warehousing system. In some examples of the embodiments of the present application, they may be perpendicular or approximately perpendicular. In this way, the first inlet / outlet 111 may be close to a target position on one side of the roadway, and the second inlet / outlet 112 may be close to a target position on the other side of the roadway, which is convenient for taking and returning the target goods 30 from the first inlet / outlet 111 and the second inlet / outlet 112 respectively.

[0121] The structure of the goods picking and placing device 15 is simple, which can further simplify the structure of the shuttle car 10 and reduce the cost of the shuttle car 10.

[0122] In some specific application scenarios, taking the example of the goods picking and placing device 15 taking the target goods 30 from the shelf 20 for illustration:

[0123] After the shuttle car 10 receives the order information or the position information of the target goods 30 sent by the host computer, it moves to the position where the target goods 30 are located; then, the picking and placing assembly 152 extends out from the first inlet / outlet 111 and moves towards the target goods 30; then, after the picking and placing assembly 152 picks up the target goods 30, the picking and placing assembly 152 retracts from the first inlet / outlet 111 into the vehicle body 11; after that, the picking and placing assembly 152 places the target goods 30 on the loading and unloading assembly 151, and the loading and unloading assembly 151 conveys the target goods 30 to the set position.

[0124] It can be understood that the process of the goods picking and placing device 15 returning the target goods 30 is the same as or similar to the process of the goods picking and placing device 15 taking the target goods 30 from the shelf 20 in the above embodiments. For example, the loading and unloading assembly 151 conveys the target goods 30 to the set position; then, the picking and placing assembly 152 takes the target goods 30 off the loading and unloading assembly 151; after that, the picking and placing assembly 152 extends out from the first inlet / outlet 111 and places the target goods 30 on the shelf 20, thus completing the return of the target goods 30.

[0125] In some examples of the embodiments of the present application, such as Figure 20 and Figure 21 shown, the shuttle vehicle 10 further includes a support assembly 13. The support assembly 13 includes a support member 131 and a support drive assembly 132. The support member 131 is disposed on both sides of the vehicle body 11 in the first direction. The support drive assembly 132 is connected to the support member 131 to drive the support member 131 to move relative to the vehicle body 11 in the first direction to abut against and move away from the shelf 20.

[0126] When the support member 131 abuts against the shelf 20 in the first direction, the position of the shuttle vehicle 10 on the shelf 20 can be restricted, and the shuttle vehicle 10 is locked on the shelf 20; when the support member 131 moves away from the shelf 20 in the first direction, the restriction of the shuttle vehicle 10 on the shelf 20 can be released, so that the shuttle vehicle 10 can move on the shelf 20.

[0127] By providing the support assembly 13, when the shuttle vehicle 10 picks up and places the target goods 30, the shuttle vehicle 10 can be locked on the shelf 20, avoiding the shuttle vehicle 10 from slipping or moving, and improving the reliability when the shuttle vehicle 10 picks up and places the target goods 30, that is, improving the reliability of the shuttle vehicle 10.

[0128] In some specific application scenarios, taking the shuttle vehicle 10 picking up the target goods 30 from the shelf 20 as an example for illustration:

[0129] When the shuttle vehicle 10 moves to the target position, the support member 131 abuts against the shelf 20 in the first direction, locking the shuttle vehicle 10 on the shelf 20, so that the shuttle vehicle 10 stably stays at the target position and picks up the target goods 30 from the shelf 20 at the target position; then, the support member 131 moves away from the shelf 20 in the first direction. At this time, the shuttle vehicle 10 can move along and transport the target goods 30 to the designated position.

[0130] In some examples of the embodiments of the present application, such as Figure 20 and Figure 21 shown, the support drive assembly 132 includes a support drive member 1321, a gear 1322, a rack 1323 and a clamping plate 1324. Among them, the support drive member 1321 is in transmission connection with the gear 1322, and the support drive member 1321 is used to drive the gear 1322 to rotate. The gear 1322 meshes with the rack 1323, the clamping plate 1324 is fixedly connected to the rack 1323, and the support member 131 is fixedly connected to the clamping plate 1324.

[0131] The support drive member 1321 drives the gear 1322 to rotate. The gear 1322 meshes with the rack 1323 and drives the rack 1323 to move. The rack 1323 is used to drive the clamping plate 1324 to move, and further the clamping plate 1324 is used to drive the support member 131 to move in the first direction.

[0132] Certainly, in some examples of the embodiments of the present application, the support driving assembly 132 may also include a support driving member and a lead screw nut mechanism, and the support driving member is in transmission connection with the support member 131 through the lead screw nut mechanism.

[0133] In some examples of the embodiments of the present application, such as Figure 20 and Figure 21 shown, the support driving assembly 132 further includes a support slider 1325 and a support guide rail 133. The support guide rail 133 extends along the first direction, and the support slider 1325 is movably and guidingly engaged with the support guide rail 133 along the first direction. The support slider 1325 is fixedly connected to the clamping plate 132, and the support guide rail 133 is fixedly connected to the vehicle body 11.

[0134] By providing the support slider 1325 and the support guide rail 133, during the movement of the support member 131 along the first direction, the guiding engagement between the support slider 1325 and the support guide rail 133 can play a guiding role in the movement of the support member 131, avoiding deflection during the movement of the support member 131 and further improving the reliability of the shuttle car 10.

[0135] Such as Figures 14 to 16 shown, the climbing wheel 121, the climbing telescopic assembly 122 and the climbing driving assembly 123 form a climbing assembly 12. In some examples of the embodiments of the present application, the climbing telescopic assembly 122 includes a first ball screw 1221, a second ball screw 1222, a first nut seat 1223, a second nut seat 1224 and a climbing telescopic driving member 1225. The first ball screw 1221 and the second ball screw 1222 extend along the first direction and are arranged in sequence in the first direction. The first nut seat 1223 is engaged with the first ball screw 1221, and the second nut seat 1224 is engaged with the second ball screw 1222. The first nut seat 1223 and the second nut seat 1224 are respectively connected to the climbing wheels 121 on both sides of the vehicle body 11 in the first direction. The climbing telescopic driving member 1225 is configured to drive the first ball screw 1221 to drive the first nut seat 1223 to move along the first ball screw 1221 and drive the second ball screw 1222 to drive the second nut seat 1224 to move along the second ball screw 1222.

[0136] The climbing telescopic drive member 1225 drives the first ball screw 1221 to drive the first nut seat 1223 to move along the first ball screw 1221, thereby driving the climbing wheel 121 on one side of the vehicle body 11 in the first direction to switch between the extended state and the retracted state; the climbing telescopic drive member 1225 drives the second ball screw 1222 to drive the second nut seat 1224 to move along the second ball screw 1222, thereby driving the climbing wheel 121 on the other side of the vehicle body 11 in the first direction to switch between the extended state and the retracted state. Thus, the switching of the climbing wheel 121 between the extended state and the retracted state is realized. The above-mentioned climbing telescopic assembly 122 can stably and reliably drive the climbing wheel 121 to switch between the extended state and the retracted state, improving the reliability of the shuttle car 10.

[0137] In some specific application scenarios, taking the climbing wheel 121 switching from the retracted state to the extended state as an example for illustration:

[0138] The climbing telescopic drive member 1225 drives the first ball screw 1221 to rotate forward, driving the first nut seat 1223 to move along the positive direction of the X-axis, so that the climbing wheel 121 on the positive side of the vehicle body 11 in the X-axis positive direction switches from the retracted state to the extended state. At the same time, the climbing telescopic drive member 1225 drives the second ball screw 1222 to rotate in the reverse direction, driving the second nut seat 1224 to move along the negative direction of the X-axis, so that the climbing wheel 121 on the negative side of the vehicle body 11 in the X-axis negative direction switches from the retracted state to the extended state.

[0139] It can be understood that the process of the climbing wheel 121 switching from the retracted state to the extended state is similar to the above-mentioned embodiment. For example, the climbing telescopic drive member 1225 drives the first ball screw 1221 to rotate in the reverse direction, driving the first nut seat 1223 to move along the negative direction of the X-axis, so that the climbing wheel 121 on the positive side of the vehicle body 11 in the X-axis positive direction switches from the extended state to the retracted state. At the same time, the climbing telescopic drive member 1225 drives the second ball screw 1222 to rotate forward, driving the second nut seat 1224 to move along the positive direction of the X-axis, so that the climbing wheel 121 on the positive side of the vehicle body 11 in the X-axis positive direction switches from the extended state to the retracted state.

[0140] In some examples of the embodiments of the present application, the first ball screw 1221 and the second ball screw 1222 are respectively connected to the climbing telescopic drive member 1225 through two couplings 1226. The climbing telescopic drive member 1225 can be arranged in the middle of the two couplings 1226, and the climbing telescopic drive member 1225 drives the first ball screw 1221 and the second ball screw 1222 to rotate in opposite directions at the same time.

[0141] Among them, the climbing telescopic driving member 1225 may include a motor, and the motor shaft of the motor is in transmission connection with the first ball screw 1221 and the second ball screw 1222, and the motor is used to drive the first ball screw 1221 and the second ball screw 1222 to rotate.

[0142] Thus, the same climbing telescopic driving member 1225 can be used to drive the first ball screw 1221 and the second ball screw 1222 to rotate simultaneously, so as to drive the climbing wheels 121 on both sides of the vehicle body 11 in the first direction to extend or retract simultaneously. The structure of the climbing telescopic assembly 122 is simplified, the structure of the shuttle car 10 can be further simplified, and the cost of the shuttle car 10 can be further reduced.

[0143] In some examples of the embodiments of the present application, such as Figures 14 to 16 As shown, the climbing telescopic assembly 122 further includes a first fixed seat 1227 and a second fixed seat 1228, and both the first fixed seat 1227 and the second fixed seat 1228 are connected to the vehicle body 11. The first ball screw 1221 is rotatably connected to the first fixed seat 1227, and the second ball screw 1222 is rotatably connected to the second fixed seat 1228.

[0144] The first fixed seat 1227 is arranged adjacent to the first nut seat 1223 and is located on the side of the first nut seat 1223 facing the second nut seat 1224. The second fixed seat 1228 is arranged adjacent to the second nut seat 1224 and is located on the side of the second nut seat 1224 facing the first nut seat 1223. In other words, both the first fixed seat 1227 and the second fixed seat 1228 are located between the first nut seat 1223 and the second nut seat 1224.

[0145] Among them, the first fixed seat 1227 and the second fixed seat 1228 can be connected to the vehicle body 11 through fasteners, and the fasteners can be bolts, screws, etc. The first ball screw 1221 and the first fixed seat 1227 can be connected through a bushing or a bearing. The second ball screw 1222 and the second fixed seat 1228 can be connected through a bushing or a bearing.

[0146] The first fixing base 1227 and the second fixing base 1228 respectively function to fix the first ball screw 1221 and the second ball screw 1222, preventing the first ball screw 1221 and the second ball screw 1222 from floating and wobbling during rotation. By arranging the first fixing base 1227 adjacent to the first nut block 1223 and on the side of the first nut block 1223 facing the second nut block 1224. The second fixing base 1228 is arranged adjacent to the second nut block 1224 and on the side of the second nut block 1224 facing the first nut block 1223, so that the distance that the first nut block 1223 moves towards the second nut block 1224 can be restricted by the first fixing base 1227, and the distance that the second nut block 1224 moves towards the first nut block 1223 can be restricted by the second fixing base 1228, preventing the climbing wheel 121 from retracting too much and affecting the speed of the next extension of the climbing wheel 121, thereby improving the operation efficiency of the shuttle car 10.

[0147] In some examples of the embodiments of the present application, such as Figures 14 to 16 As shown, the climbing assembly 12 further includes a linear guide rail 124 extending in the first direction, and the linear guide rail 124 is connected to the vehicle body 11. Both the first nut block 1223 and the second nut block 1224 include a mating portion, and the mating portion is in guiding cooperation with the linear guide rail 124. The first nut block 1223 and the second nut block 1224 are configured to be movable along the linear guide rail 124 through the corresponding mating portions. Among them, the linear guide rail 124 and the vehicle body 11 can be welded, bonded or connected by fasteners, and the fasteners can be bolts, screws, rivets, etc.

[0148] By guiding the mating portions of the first nut block 1223 and the second nut block 1224 to cooperate with the linear guide rail 124, the linear guide rail 124 can be used to guide the movement of the first nut block 1223 and the second nut block 1224, preventing the first nut block 1223 and the second nut block 1224 from deflecting during movement and further improving the reliability of the shuttle car 10.

[0149] In some specific application scenarios, taking the switching of the climbing wheel 121 between the retracted state and the extended state as an example for illustration:

[0150] When the climbing telescopic driving member 1225 drives the first ball screw 1221 to rotate and drives the first nut block 1223 to move along the X-axis, the guiding portion of the first nut block 1223 is in guiding cooperation with the linear guide rail 124; at the same time, when the climbing telescopic driving member 1225 drives the second ball screw 1222 to rotate and drives the second nut block 1224 to move along the X-axis, the guiding portion of the second nut block 1224 is in guiding cooperation with the linear guide rail 124.

[0151] In some examples of the embodiments of the present application, such as Figure 16As shown, the climbing assembly 12 further includes a transmission shaft 1231, which is connected between two climbing wheels 121 arranged at intervals in the second direction. The climbing drive assembly 123 is configured to drive the transmission shaft 1231 to rotate so as to drive the two climbing wheels 121 to rotate.

[0152] By providing the transmission shaft 1231, the same climbing drive assembly 123 can drive the two climbing wheels 121 to rotate simultaneously, reducing the number of climbing drive assemblies 123, thereby further simplifying the structure of the shuttle car 10 and further reducing the cost of the shuttle car 10.

[0153] In some examples of the embodiments of the present application, such as Figures 14 to 16 As shown, the climbing drive assembly 123 includes a climbing drive member 1232 and gears, etc. Among them, the climbing drive member 1232 can be a motor, the motor drives the gear to rotate, the gear drives the transmission shaft 1231 to rotate, and further drives the two climbing wheels 121 to rotate.

[0154] In some examples of the embodiments of the present application, such as Figure 2 、 Figure 4 、 Figure 8 and Figure 10 As shown, the shelf 20 includes a transverse track 213, and the transverse track 213 extends in the second direction, and the second direction is orthogonal to the vertical direction and the first direction. As Figures 11 to 13 As shown, the shuttle car 10 further includes a transverse movement wheel 141, the transverse movement wheel 141 is rotatably connected to the vehicle body 11, and the transverse movement wheel 141 is telescopic relative to the vehicle body 11 in the first direction. The transverse movement wheel 141 of the shuttle car 10 is adapted to cooperate with and disengage from the transverse track 213.

[0155] As Figures 1 to 4 As shown, the shuttle car 10 is configured to be switchable between a first state, a second state, and a third state. In the first state, the climbing wheels 121 extend in the first direction to be adapted to cooperate with the vertical track 212 of the shelf 20, and the transverse movement wheels 141 retract in the first direction to be adapted to avoid the shelf 20. In the second state, the climbing wheels 121 extend in the first direction to cooperate with the vertical track 212 of the shelf 20, and the transverse movement wheels 141 extend in the first direction to be adapted to be arranged opposite to the transverse track 213 of the shelf 20 in the vertical direction. In the third state, the climbing wheels 121 retract in the first direction to be adapted to disengage from the vertical track 212, and the transverse movement wheels 141 extend in the first direction to be adapted to cooperate with the transverse track 213.

[0156] As Figure 3As shown, in the first state, the climbing wheel 121 extends in the first direction to cooperate with the vertical track 212 of the shelf 20, and the traversing wheel 141 retracts in the first direction to avoid the shelf 20, so that the climbing wheel 121 can rotate relative to the vehicle body 11 and drive the vehicle body 11 to lift and lower along the vertical track 212; in the second state, the climbing wheel 121 extends in the first direction to cooperate with the vertical track 212 of the shelf 20, and the traversing wheel 141 extends in the first direction to be arranged opposite to the horizontal track 213 of the shelf 20 in the vertical direction, so that the climbing wheel 121 can rotate relative to the vehicle body 11 and drive the vehicle body 11 to lift and lower, and further enable the traversing wheel 141 to contact the horizontal track 213; as Figure 4 shown, in the third state, the traversing wheel 141 extends in the first direction to cooperate with the horizontal track 213 of the shelf 20, and the climbing wheel 121 retracts in the first direction to avoid the vertical track 212, so that the traversing wheel 141 can rotate relative to the vehicle body 11 and drive the vehicle body 11 to traverse along the horizontal track 213.

[0157] Thus, the traversing wheel 141 is arranged opposite to the horizontal track 213 in the vertical direction before cooperating with the horizontal track 213, which can ensure the reliability of the shuttle vehicle 10 to change direction between lifting and traversing. In addition, only by setting the climbing wheel 121 and the traversing wheel 141 to be retractable relative to the vehicle body in the first direction, the transformation of the shuttle vehicle 10 between lifting and traversing can be realized, and the structure of the shuttle vehicle 10 is simple and the cost is low.

[0158] In some examples of the embodiments of the present application, as Figures 11 to 13 shown, the traversing wheels 141 are arranged on opposite sides of the vehicle body 11 in the first direction. The traversing wheels 141 are adapted to cooperate with the top surface of the horizontal track 213. As Figure 2 and Figure 25 shown, there are at least two horizontal tracks 213, and the at least two horizontal tracks 213 are arranged at intervals in the first direction. The traversing wheels 141 arranged opposite to each other in the first direction are adapted to respectively cooperate with the adjacent horizontal tracks 213 arranged at intervals in the first direction on the shelf 20.

[0159] For example, the traversing wheels 141 are arranged on the front and rear sides of the vehicle body 11, and the traversing wheels 141 are adapted to cooperate with the upper surface of the horizontal track 213. The traversing wheel 141 located on the front side of the vehicle body 11 cooperates with the horizontal track 213 located on the front side of the vehicle body 11, and the traversing wheel 141 located on the rear side of the vehicle body 11 cooperates with the horizontal track 213 located on the rear side of the vehicle body.

[0160] By laterally moving the wheels 141 on the relatively two sides of the vehicle body 11 in the first direction, and the laterally moving wheels 141 arranged oppositely in the first direction are adapted to respectively cooperate with the adjacent lateral tracks 213 arranged at intervals in the first direction on the shelf 20, so that there are laterally moving wheels 141 on the relatively two sides of the vehicle body 11 in the first direction that cooperate with the lateral tracks 213, which increases the force stability on the two sides of the vehicle body 11 in the first direction, thereby further improving the reliability of the shuttle car 10.

[0161] In some examples of the embodiments of the present application, the shuttle car 10 includes a lateral movement assembly 14, as Figures 17 to 19 shown, the lateral movement assembly 14 includes the above-mentioned laterally moving wheels 141 and a lateral movement guiding portion 142, and the lateral movement guiding portion 142 is arranged on at least one side of the vehicle body 11 in the second direction. In the second state and the third state, the lateral movement guiding portion 142 abuts against the lateral track 213 in the first direction.

[0162] By arranging the lateral movement guiding portion 142 on the shuttle car 10, during the process of the laterally moving wheels 141 moving along the lateral track 213, the guiding cooperation between the lateral movement guiding portion 142 and the lateral track 213 can be utilized to guide the movement of the laterally moving wheels 141, avoiding the deflection of the laterally moving wheels 141 and further improving the reliability of the shuttle car 10.

[0163] In some examples of the embodiments of the present application, as Figure 18 shown, the lateral movement guiding portion 142 is a guiding wheel, and in the second state and the third state, it abuts against the lateral track 213 in the first direction.

[0164] In some examples of the embodiments of the present application, as Figures 17 to 19 shown, the lateral movement assembly 14 includes a lateral movement telescopic assembly 143 and a lateral movement driving assembly 147. The lateral movement telescopic assembly 143 is arranged on the vehicle body 11 and is connected to the laterally moving wheels 141 to drive the laterally moving wheels 141 to telescope in the first direction, and the lateral movement driving assembly 147 is arranged on the vehicle body 11 and is connected to the laterally moving wheels 141 to drive the laterally moving wheels 141 to rotate relative to the vehicle body 11.

[0165] By arranging the lateral movement telescopic assembly 143, the automatic telescoping of the laterally moving wheels 141 in the first direction can be realized, and by arranging the lateral movement driving assembly 147, the rotation of the laterally moving wheels 141 relative to the vehicle body 11 can be realized, thereby facilitating the automatic control of the laterally moving wheels 141.

[0166] In some examples of the embodiments of the present application, as Figure 17 and Figure 19 shown, the lateral movement telescopic assembly 143 further includes a first connecting frame 144 and a second connecting frame 145. The multiple laterally moving wheels 141 and guiding wheels on one side in the first direction are all connected to the first connecting frame 144, and the laterally moving wheels 141 and guiding wheels on the other side in the first direction are all connected to the second connecting frame 145.

[0167] By providing the first connecting frame 144 and the second connecting frame 145, the traversing wheels 141 and the guiding wheels on the same side of the vehicle body 11 in the first direction are connected to the same connecting frame (the first connecting frame 144 or the second connecting frame 145), so that the traversing wheels 141 and the guiding wheels can be simultaneously driven by the traversing telescopic assembly 143 to expand and contract in the first direction. The structure of the shuttle car 10 can be further simplified, and the cost of the shuttle car 10 can be reduced.

[0168] In some examples of the embodiments of the present application, such as Figure 26 and Figure 27 shown, the transverse rail 213 includes a rail body 2131 and a transition section 2132 arranged at intervals in the second direction. The rail body 2131 and the transition section 2132 extend along the second direction respectively. The transition section 2132 is arranged between the first vertical guide rail 2121 and the second vertical guide rail 2122. The rail body 2131 is arranged on at least one side of the vertical rail 212 in the second direction. The side surface of the rail body 2131 facing the shuttle car 10 and the side surface of the transition section 2132 facing the shuttle car 10 both protrude in the first direction from the side surface of the vertical rail 212 facing the shuttle car 10.

[0169] In some specific application scenarios, taking the example that the shuttle car is on the vertical rail 212 and the target position is above the left of the shuttle car 10 for illustration:

[0170] First, the climbing wheel 121 extends and the traversing wheel 141 retracts. At this time, the shuttle car 10 is in the first state. The climbing wheel 121 is in pressing fit with the vertical rail 212 of the shelf 20, and the climbing wheel 121 moves upward along the vertical rail 212, so that the vehicle body 11 is located above the target position. Then, the climbing wheel 121 remains in the extended state and the traversing wheel 141 extends. At this time, the shuttle car 10 is in the second state. The climbing wheel 121 moves downward along the vertical rail 212, so that the vehicle body 11 is at the same height as the target position, and the traversing wheel 141 cooperates with the transition section 2132 of the transverse rail 213. After that, the climbing wheel 121 retracts and the traversing wheel 141 extends. At this time, the shuttle car 10 is in the third state. The traversing wheel 141 first moves leftward along the transverse rail 213 to the rail body 2131 of the transverse rail 213, and then moves leftward to the target position.

[0171] Among them, during the process of the traversing wheel 141 moving leftward along the transverse rail 213, the climbing wheel 121 retracts to avoid the vertical rail 212. By using the fact that the side surface of the rail body 2131 facing the shuttle car 10 and the side surface of the transition section 2132 facing the shuttle car 10 both protrude in the first direction from the side surface of the vertical rail 212 facing the shuttle car 10, the traversing wheel 141 is entirely located on one side of the vertical rail 212 facing the shuttle car 10, avoiding interference between the vertical rail 212 and the vertical rail 212.

[0172] In some examples of the embodiments of the present application, such as Figure 26 and Figure 27 shown, the shelf body 211 further includes a plurality of cross beams 2112 arranged at intervals, and the cross beams 2112 extend along the second direction. At least one cross beam 2112 forms a transverse track 213, or the transverse track 213 is connected to the shelf body 211 and is located on at least one side of the shelf body 211 in the first direction.

[0173] The transverse track 213 can be formed by the cross beam 2112; alternatively, the transverse track 213 is independently arranged from the cross beam 2112, and the transverse track 213 is connected to the column 2111, and the transverse track 212 is located on the side of the cross beam 2112 in the first direction.

[0174] The shelf body 211 is configured as the above structure, which can simplify the structure of the shelf body 211 while ensuring the stiffness of the shelf body 211 and improving the reliability of the shelf 20.

[0175] In some examples of the embodiments of the present application, such as Figure 26 shown, the shelf unit 21 further includes a support beam 2113, the support beam 2113 extends along the second direction, and the support beam 2113 is connected to the cross beam 2112.

[0176] Such as Figure 28 and Figure 29 shown, a plurality of shelf units 21 are arranged along the second direction, and the vertical tracks 212 of each shelf unit 21 are all arranged on the same side of the shelf body 211 in the second direction, and a vertical track 212 is arranged between two adjacent shelf units 21.

[0177] Thereby, the shuttle car 10 located on the vertical track 212 can move along the second direction to different shelf units 21 to realize the picking and placing of the target goods 30 on different shelf units 21.

[0178] In some examples of the embodiments of the present application, such as Figure 5 , Figure 7 and Figure 26 shown, the shelf 20 is provided with a buffer position 23, and the buffer position 23 is located at the bottom layer of the shelf 20. The buffer position 23 is used to buffer the target goods 30.

[0179] In some examples of the embodiments of the present application, such as Figure 29 shown, the warehousing system 100 further includes a handling robot 40, the handling robot 40 moves in the aisle, and the handling robot 40 is used to transport the target goods 30 to the shelf unit 21 and place the target goods 30 at the target position through the shuttle car 10; or, the handling robot 40 transfers out the target goods 30 taken out by the shuttle car 10.

[0180] In some examples of the embodiments of the present application, the shelf 20 is provided with a two-dimensional code, and the shuttle vehicle 10 is provided with a camera. The position and movement path of the shuttle vehicle 10 are determined by the camera recognizing the two-dimensional code of the shelf 20, etc.

[0181] In some specific application scenarios, taking the warehousing of the target goods 30 as an example for illustration: The handling robot 40 transfers the target goods 30 to the buffer position 23 of the shelf 20; after receiving the instruction, the shuttle vehicle 10 moves to the buffer position 23 through lateral movement and vertical lifting; the shuttle vehicle 10 puts the target goods 30 into the vehicle body 11 through the goods picking and placing device 15; the shuttle vehicle 10 moves to the designated position with the target goods 30 through lateral movement and vertical lifting and places the target goods 30 at the designated position on the shelf 20, completing the warehousing of the target goods 30. Among them, during the lateral movement and vertical lifting of the shuttle vehicle 10 on the shelf 20, two-dimensional code positioning is adopted.

[0182] It can be understood that the process of the target goods 30 leaving the warehouse is similar to the above embodiments. For example, after receiving the instruction, the shuttle vehicle 10 moves to the position of the target goods 30 through lateral movement and vertical lifting; the support assembly 13 is used to lock the shuttle vehicle 10 on the shelf 20; the shuttle vehicle 10 puts the target goods 30 into the vehicle body 11 through the goods picking and placing device 15; the shuttle vehicle 10 moves to the buffer position 23 with the target goods 30 through lateral movement and vertical lifting; the shuttle vehicle 10 places the target goods 30 on the buffer position through the goods picking and placing device 15; the handling robot 40 removes the target goods 30 from the buffer position 23.

[0183] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Any changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present application.

Claims

1. A warehousing system (100), characterized in that, Comprising: A shelf (20), the shelf (20) includes at least one shelf unit (21), the shelf unit (21) includes a shelf body (211) and a vertical track (212), and the vertical track (212) extends in the vertical direction; A shuttle car (10), the shuttle car (10) includes a vehicle body (11), a climbing wheel (121), a climbing telescopic assembly (122) and a climbing drive assembly (123), the climbing wheels (121) are arranged on opposite sides of the vehicle body (11) in a first direction, the first direction is orthogonal to the vertical direction, the climbing wheels (121) are configured to be in pressing fit with the vertical track (212), the climbing telescopic assembly (122) is arranged on the vehicle body (11) and connected to the climbing wheel (121) to drive the climbing wheel (121) to extend and retract relative to the vehicle body (11) in the first direction, and the climbing drive assembly (123) is arranged on the vehicle body (11) and connected to the climbing wheel (121) to drive the climbing wheel (121) to rotate relative to the vehicle body (11).

2. The warehousing system (100) according to claim 1, wherein There are at least two of the vertical tracks (212), and the at least two vertical tracks (212) are arranged at intervals in the first direction. The climbing wheels (121) arranged oppositely in the first direction are respectively in pressing fit with the adjacent vertical tracks (212) arranged at intervals in the first direction and move along the vertical track (212), so that the vehicle body (11) moves in the vertical direction between the adjacent vertical tracks (212).

3. The warehousing system (100) according to claim 2, characterized in that, There are multiple shelf units (21), and the multiple shelf units (21) are arranged at intervals in the first direction. An accommodation space (22) for accommodating the shuttle car (10) is formed between the adjacent shelf units (21) in the first direction. Among the two adjacent shelf units (21) in the first direction, the vertical track (212) is provided on one side of any one of the shelf units (21) close to the other shelf unit (21). The vertical tracks (212) of the adjacent shelf units (21) in the first direction are respectively in pressing fit with the climbing wheels (121) arranged oppositely in the first direction.

4. The storage system (100) according to claim 1, characterized in that, The vertical track (212) is arranged on opposite sides of the same shelf unit (21) in the first direction; and / or The vertical track (212) is arranged on at least one side of the shelf body (211) in a second direction, and the second direction is orthogonal to the vertical direction and the first direction.

5. The storage system (100) according to claim 1, characterized in that, The shelf body (211) includes a plurality of spaced-apart columns (2111), and the columns (2111) extend in the vertical direction; At least one of the columns (2111) forms the vertical track (212), or The vertical track (212) is connected to the shelf body (211) and arranged side by side with the column (2111).

6. The warehousing system (100) according to claim 1, characterized in that, The shuttle car (10) further includes a detection component and a control unit. The detection component is configured to detect the load information of the climbing drive assembly (123) in real time. The control unit is configured to receive the load information and control the climbing telescopic assembly (122) to adjust the position of the climbing wheel (121) in the first direction according to the load information.

7. The warehousing system (100) according to claim 1, wherein, The shuttle car (10) includes a vertical guiding portion (125), and the vertical guiding portion (125) is configured to be in guiding cooperation with the vertical track (212).

8. The warehousing system (100) according to claim 7, characterized in that, The climbing wheel (121) includes a wheel body (1211) and a guiding protrusion (1212). The guiding protrusion (1212) is provided on at least one side of the wheel body (1211) in the second direction. The guiding protrusion (1212) forms the vertical guiding portion (125). The wheel body (1211) is configured to be in pressing cooperation with the vertical track (212). The guiding protrusion (1212) is configured to abut against the vertical track (212) in the second direction. The second direction is orthogonal to the vertical direction and the first direction.

9. The warehousing system (100) according to claim 1, wherein, The climbing wheel (121) includes a wheel rim (12111) and a covering layer (12112). The wheel rim (12111) is rotatably connected to the vehicle body (11). The covering layer (12112) covers the outside of the wheel rim (12111). The covering layer (12112) is a flexible layer, and the covering layer (12112) is used for pressing cooperation with the vertical track (212).

10. The warehousing system (100) according to any one of claims 1-9, characterized in that, The shuttle car (10) further includes a goods picking and placing device (15). The goods picking and placing device (15) is provided on the vehicle body (11), and the goods picking and placing device (15) is configured to load the goods on the shelf (20) onto the vehicle body (11) or load the goods on the vehicle body (11) onto the shelf (20).

11. The warehousing system (100) according to claim 10, characterized in that, There is a passing space (113) on the vehicle body (11). The goods picking and placing device (15) includes a carrying assembly (151) and a goods picking and placing assembly (152). The carrying assembly (151) is used for conveying goods in the passing space (113) along the direction from one side of the vehicle body (11) to the other side of the vehicle body (11). The goods picking and placing assembly (152) is used for cooperating with and disengaging from the goods to load and unload the goods.

12. The warehousing system (100) according to claim 10, characterized in that, The shuttle car (10) further includes a support assembly (13), and the support assembly (13) includes: Support members (131) provided on both sides of the vehicle body (11) in the first direction; A support drive assembly (132) connected to the support members (131) to drive the support members (131) to move relative to the vehicle body (11) in the first direction to abut against and move away from the shelf (20).

13. A shuttle vehicle (10), characterized in that, including: Vehicle body (11); Climbing wheels (121), the climbing wheels (121) are arranged on opposite sides of the vehicle body (11) in a first direction, the first direction being orthogonal to the vertical direction, and the climbing wheels (121) are adapted to be in pressing fit with the vertical rails (212) of the shelf (20); A climbing telescopic assembly (122), the climbing telescopic assembly (122) is arranged on the vehicle body (11) and connected to the climbing wheels (121) to drive the climbing wheels (121) to telescopically move relative to the vehicle body (11) in the first direction; A climbing drive assembly (123), the climbing drive assembly (123) is arranged on the vehicle body (11) and connected to the climbing wheels (121) to drive the climbing wheels (121) to rotate relative to the vehicle body (11).

14. The shuttle car (10) according to claim 13, characterized in that, The climbing wheels (121) arranged oppositely in the first direction are respectively in pressing fit with the adjacent vertical rails (212) arranged at intervals in the first direction and move along the vertical rails (212), so that the vehicle body (11) moves in the vertical direction between the adjacent vertical rails (212).

15. The shuttle car (10) according to claim 13, characterized in that, The climbing wheel (121) includes a wheel body (1211) and a guiding protrusion (1212), the guiding protrusion (1212) is arranged on at least one side of the wheel body (1211) in a second direction, the guiding protrusion (1212) forms a vertical guiding portion (125), the wheel body (1211) is configured to be in pressing fit with the vertical rail (212), and the guiding protrusion (1212) is configured to abut against the vertical rail (212) in the second direction, the second direction being orthogonal to the vertical direction and the first direction.

16. The shuttle car (10) according to claim 13, characterized in that, The climbing wheel (121) includes a wheel rim (12111) and a coating layer (12112), the wheel rim (12111) is rotatably connected to the vehicle body (11), the coating layer (12112) is coated on the outer side of the wheel rim (12111), the coating layer (12112) is a flexible layer, and the coating layer (12112) is used for being in pressing fit with the vertical rail (212).

17. The shuttle car (10) according to claim 13, characterized in that, On each side of the vehicle body (11) in the first direction, a plurality of climbing wheels (121) are provided; The plurality of climbing wheels (121) include at least two climbing wheels (121) arranged at intervals in the vertical direction, and / or, The plurality of climbing wheels (121) include a first wheel group and a second wheel group, the first wheel group and the second wheel group are arranged at intervals in a second direction, the second direction being orthogonal to the vertical direction and the first direction, the vertical rail (212) includes a first vertical guide rail (2121) and a second vertical guide rail (2122) arranged at intervals in the second direction, and the climbing wheels (121) in the first wheel group are in pressing fit with the first vertical guide rail (2121), and the climbing wheels (121) in the second wheel group are in pressing fit with the second vertical guide rail (2122).

18. The shuttle car (10) according to any one of claims 13-17, characterized in that, The shuttle car (10) further includes a goods loading and unloading device (15), which is arranged on the vehicle body (11), and is configured to load the goods on the shelf (20) onto the vehicle body (11) or load the goods on the vehicle body (11) onto the shelf (20).

19. The shuttle car (10) according to claim 18, characterized in that, There is a passage space on the vehicle body (11). The goods loading and unloading device (15) includes a carrying component (151) and a goods picking and placing component (152). The carrying component (151) is used to convey goods in the passage space along the direction from one side of the vehicle body (11) to the other side of the vehicle body (11), and the goods picking and placing component (152) is used to cooperate with and disengage from the goods to load and unload the goods.

20. The shuttle car (10) according to claim 18, characterized in that, The shuttle car (10) further includes a support component (13), and the support component (13) includes: Support members (131) arranged on both sides of the vehicle body (11) in the first direction; A support driving component (132) connected to the support members (131) to drive the support members (131) to move relative to the vehicle body (11) in the first direction to abut against and move away from the shelf (20).

21. A shelf (20), characterized in that, It includes at least one shelf unit (21), and the shelf unit (21) includes: A shelf body (211); Vertical rails (212) extending in the vertical direction, and the vertical rails (212) are adapted to be in extrusion fit with the climbing wheels (121) of the shuttle car (10).

22. The shelf (20) according to claim 21, characterized in that, There are at least two of the vertical rails (212), and at least two of the vertical rails (212) are arranged at intervals in the first direction. The adjacent vertical rails (212) arranged at intervals in the first direction are respectively in extrusion fit with the climbing wheels (121) arranged opposite to each other in the first direction. The first direction is orthogonal to the vertical direction.

23. The shelf (20) according to claim 21, characterized in that, There are multiple shelf units (21), and the multiple shelf units (21) are arranged at intervals in the first direction. An accommodation space (22) for accommodating the shuttle car (10) is formed between the adjacent shelf units (21) in the first direction. Among the two adjacent shelf units (21) in the first direction, the vertical rails (212) are provided on one side of any one of the shelf units (21) close to the other shelf unit (21). The climbing wheels (121) arranged opposite to each other in the first direction are respectively in extrusion fit with the vertical rails (212) of the adjacent shelf units (21) in the first direction. The first direction is orthogonal to the vertical direction.

24. The shelf (20) according to claim 21, characterized in that, The vertical rails (212) are arranged on the opposite sides in the first direction of the same shelf unit (21), and the first direction is orthogonal to the vertical direction; and / or The vertical rails (212) are arranged on at least one side of the shelf body (211) in the second direction, and the second direction is orthogonal to the vertical direction and the first direction.

25. The shelf (20) according to claim 21, characterized in that, The vertical track (212) includes a first vertical guide rail (2121) and a second vertical guide rail (2122) that are spaced apart in a second direction. The first vertical guide rail (2121) and the second vertical guide rail (2122) are configured to be in pressing fit with at least two of the climbing wheels (121) that are spaced apart in a second horizontal direction. The second direction is orthogonal to the vertical direction.

26. The shelf (20) according to claim 21, wherein The shelf body (211) includes a plurality of spaced-apart columns (2111) that extend in the vertical direction; at least one of the columns (2111) forms the vertical track (212), or the vertical track (212) is connected to the shelf body (211) and arranged side by side with the columns (2111).

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