Shuttle vehicle, goods shelf and warehousing system

Abstract

The embodiment of the utility model discloses a shuttle vehicle, a goods shelf and a warehousing system, the shuttle vehicle comprises a vehicle body, climbing wheels and transverse moving wheels, the climbing wheels are rotatably connected with the vehicle body, the climbing wheels are telescopic in the first direction relative to the vehicle body, and the first direction is orthogonal to the vertical direction; the transverse moving wheels are rotationally connected with the vehicle body, and the transverse moving wheels can stretch out and draw back in the first direction relative to the vehicle body; wherein the shuttle vehicle is configured to be switchable among a first state, a second state and a third state. According to the shuttle vehicle provided by the embodiment of the invention, the transverse moving wheels are arranged opposite to the transverse rails in the vertical direction before being matched with the transverse rails, so that the reversing reliability of the shuttle vehicle between lifting and transverse moving can be ensured; in addition, the shuttle vehicle can be switched between lifting and transverse moving only by arranging the climbing wheels and the transverse moving wheels to be telescopic in the first direction relative to the vehicle body, and the shuttle vehicle is simple in structure and low in cost.

Description

Technical Field

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

[0002] A shuttle vehicle 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 vehicle can lift vertically and also traverse horizontally to enable the shuttle vehicle to operate at different positions on the shelf. However, in related technologies, the shuttle vehicle has problems such as unreliable commutation between lifting and traversing, complex structure, and high cost. Summary of the Utility Model

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

[0005] Related technologies have proposed a shuttle vehicle and a shelf. The shuttle vehicle includes translation wheels and climbing wheels, and convex teeth are provided on the outer circumferential surfaces of the translation wheels and the climbing wheels; the shelf includes a horizontal track and a vertical track, and grooves for cooperating with the convex teeth are provided on the surfaces of the horizontal track and the vertical track. When the shuttle vehicle climbs, the convex teeth on the climbing wheels cooperate with the grooves on the surface of the vertical track. When the shuttle vehicle needs to move horizontally after climbing, the convex teeth on the translation wheels cooperate with the grooves on the surface of the horizontal track, and the convex teeth on the climbing wheels are withdrawn from the grooves on the vertical track, and the translation wheels rotate to realize the translation of the shuttle vehicle.

[0006] Related technologies have also proposed a shuttle vehicle and a shelf. The shelf includes a horizontal track and a vertical track, and a rack is provided on the vertical track; the shuttle vehicle includes translation wheels that move along the horizontal track and climbing wheels that move along the vertical track. The climbing wheels are gears to travel along the rack, and the traversing wheels cooperate with the horizontal track. When the shuttle vehicle moves horizontally, the translation wheels extend to cooperate with the horizontal track. When it moves to the vertical track, the climbing wheels descend to cooperate with the vertical track, the translation wheels retract to disengage from the horizontal track, and the climbing wheels rotate to realize the climbing of the shuttle vehicle.

[0007] For the shuttle vehicle in related technologies, since during the commutation between lifting and traversing, it is only a switch from the cooperation between the climbing wheels and the vertical track to the cooperation between the traversing wheels and the horizontal track, without an intermediate matching process, the commutation between lifting and traversing has an unreliable problem, and the structure of the shuttle vehicle is complex and the cost is high.

[0008] The present utility model aims to solve at least one of the problems in related technologies to a certain extent.

[0009] To this end, an embodiment of the present utility model provides a shuttle vehicle. When the shuttle vehicle climbs vertically, the climbing wheels extend to cooperate with the vertical track. When it needs to move horizontally to a preset position, the transverse movement wheels extend and are first arranged opposite to the transverse track in the vertical direction, and then the transverse movement wheels cooperate with the transverse track, and the transverse movement wheels rotate to realize the horizontal movement of the shuttle vehicle. By arranging the transverse movement wheels opposite to the transverse track in the vertical direction before realizing the horizontal cooperation, the reliability of lifting and horizontal movement commutation can be ensured, and the structure of the shuttle vehicle is simple and the cost is low.

[0010] In a first aspect of the embodiments of the present application, a shuttle vehicle is provided, including:

[0011] A vehicle body;

[0012] Climbing wheels, the climbing wheels are rotatably connected to the vehicle body, the climbing wheels are telescopable relative to the vehicle body in a first direction, and the first direction is orthogonal to the vertical direction;

[0013] Transverse movement wheels, the transverse movement wheels are rotatably connected to the vehicle body, and the transverse movement wheels are telescopable relative to the vehicle body in the first direction;

[0014] Wherein, the shuttle vehicle is configured to be switchable between a first state, a second state, and a third state. In the first state, the climbing wheels extend in the first direction to be adapted to cooperate with the vertical track of the shelf, and the transverse movement wheels retract in the first direction to be adapted to avoid the shelf; in the second state, the climbing wheels extend in the first direction to cooperate with the vertical track of the shelf, and the transverse movement wheels extend in the first direction to be adapted to be arranged opposite to the transverse track of the shelf in the vertical direction; in the third state, the climbing wheels retract in the first direction to be adapted to disengage from the vertical track, and the transverse movement wheels extend in the first direction to be adapted to cooperate with the transverse track.

[0015] In a second aspect of the embodiments of the present application, a shelf is provided, including:

[0016] A shelf body;

[0017] Vertical tracks, the vertical tracks extend in the vertical direction, and the vertical tracks are adapted to cooperate with and disengage from the climbing wheels of the shuttle vehicle described in any one of the above;

[0018] Transverse tracks, the transverse tracks extend in a second direction, the second direction is orthogonal to the vertical direction and the first direction, and the transverse tracks are adapted to cooperate with and disengage from the transverse movement wheels of the shuttle vehicle.

[0019] In a third aspect of the embodiments of the present application, a warehousing system is provided, including:

[0020] A shuttle vehicle, where the shuttle vehicle is the shuttle vehicle described in the above embodiments;

[0021] A shelf, where the shelf is the shelf described in any of the above embodiments;

[0022] Wherein, the climbing wheel cooperates with and disengages from the vertical track, and the traversing wheel cooperates with and disengages from the horizontal track.

[0023] For the shuttle vehicle, shelf and storage system of the present application, by setting the climbing wheel to be retractable relative to the vehicle body in the first direction and setting the traversing wheel to be retractable relative to the vehicle body in the first direction, the shuttle vehicle can be switched between a first state, a second state and a third state. In the first state, the climbing wheel extends in the first direction to cooperate with the vertical track of the shelf, and the traversing wheel retracts in the first direction to avoid the shelf, so that the climbing wheel can rotate relative to the vehicle body and drive the vehicle body to lift and lower along the vertical track; in the second state, the climbing wheel extends in the first direction to cooperate with the vertical track of the shelf, and the traversing wheel extends in the first direction to be arranged opposite to the horizontal track of the shelf in the vertical direction, so that the climbing wheel can rotate relative to the vehicle body and drive the vehicle body to lift and lower, and the traversing wheel can contact the horizontal track; in the third state, the traversing wheel extends in the first direction to cooperate with the horizontal track of the shelf, and the climbing wheel retracts in the first direction to avoid the vertical track, so that the traversing wheel can rotate relative to the vehicle body and drive the vehicle body to traverse along the horizontal track. Thus, the traversing wheel is arranged opposite to the horizontal track in the vertical direction before cooperating with the horizontal track, which can ensure the reliability of the shuttle vehicle in changing directions between lifting and traversing; in addition, only by setting the climbing wheel and the traversing wheel to be retractable relative to the vehicle body along the first direction, the transformation of the shuttle vehicle between lifting and traversing can be realized, and the structure of the shuttle vehicle is simple and the cost is low. Description of the Drawings

[0024] Figure 1 is a perspective view of a shuttle vehicle according to an embodiment of the present application.

[0025] Figure 2 is a front view of a shuttle vehicle according to an embodiment of the present application.

[0026] Figure 3 is a left view of a shuttle vehicle according to an embodiment of the present application.

[0027] Figure 4 is a perspective view of a climbing assembly of a shuttle vehicle according to an embodiment of the present application.

[0028] Figure 5 is Figure 4 an enlarged view of part A in

[0029] Figure 6 is a top view of a climbing assembly of a shuttle vehicle according to an embodiment of the present application.

[0030] Figure 7 It is a perspective view of the traversing assembly of the shuttle vehicle according to an embodiment of the present application.

[0031] Figure 8 It is Figure 7 An enlarged view of position B in

[0032] Figure 9 It is a top view of the traversing assembly of the shuttle vehicle according to an embodiment of the present application.

[0033] Figure 10 It is a perspective view of the support assembly of the shuttle vehicle according to an embodiment of the present application.

[0034] Figure 11 It is Figure 10 An enlarged view of position C in

[0035] Figure 12 It is a perspective view of the goods picking and placing device of the shuttle vehicle according to an embodiment of the present application.

[0036] Figure 13 It is a right view of the warehousing system according to an embodiment of the present application.

[0037] Figure 14 It is a top view of the warehousing system according to an embodiment of the present application.

[0038] Figure 15 It is Figure 14 An enlarged view of position D in

[0039] Figure 16 It is Figure 14 An enlarged view of position E in

[0040] Figure 17 It is a perspective view of the shuttle vehicle climbing along the vertical track in the warehousing system according to an embodiment of the present application.

[0041] Figure 18 It is Figure 17 An enlarged view of position F in

[0042] Figure 19 It is a perspective view of the shuttle vehicle climbing along the vertical track in the warehousing system according to an embodiment of the present application from another perspective.

[0043] Figure 20 It is Figure 19 An enlarged view of position G in

[0044] Figure 21 It is a right view of the shuttle vehicle climbing along the vertical track in the warehousing system according to an embodiment of the present application.

[0045] Figure 22It is a top view of a shuttle vehicle climbing along a vertical track in a warehousing system according to an embodiment of the present application.

[0046] Figure 23 It is a front view of a shelf according to an embodiment of the present application.

[0047] Figure 24 It is a right view of a shelf according to an embodiment of the present application.

[0048] Figure 25 It is a top view of a shelf according to an embodiment of the present application.

[0049] Figure 26 It is a perspective view of a shelf unit of a shelf according to an embodiment of the present application.

[0050] Figure 27 It is Figure 17 an enlarged view of the position H in

[0051] Figure 28 It is a front view of a warehousing system according to another embodiment of the present application.

[0052] Figure 29 It is a front view of a warehousing system according to still another embodiment of the present application.

[0053] Reference numerals:

[0054] 100, warehousing system;

[0055] 10. Shuttle car; 11. Car body; 111. First inlet and outlet; 112. Second inlet and outlet; 113. Passage space; 12. Climbing assembly; 121. Climbing wheel; 1211. Wheel body; 12111. Rim; 12112. Coating layer; 1212. Guide protrusion; 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 fixed seat; 1228. Second fixed seat; 123. Climbing driving assembly; 1231. Transmission shaft; 1232. Climbing driving member; 124. Linear guide rail; 125. Vertical guiding portion; 13. Support assembly; 131. Support member; 132. Support driving assembly; 1321. Support driving member; 1322. Gear; 1323. Rack; 1324. Clamping plate; 1325. Support slider; 133. Support guide rail; 14. Transverse movement assembly; 141. Transverse movement wheel; 142. Transverse movement guiding portion; 143. Transverse movement telescopic assembly; 1431. Rotating member; 1432. First crank-slider mechanism; 1433. Second crank-slider mechanism; 144. First connecting frame; 145. Second connecting frame; 146. Fixed block; 1461. Fixed groove; 147. Transverse movement driving assembly; 15. Goods picking and placing device; 151. Carrying assembly; 152. Goods picking and placing component;

[0056] 20. Shelf; 21. Shelf unit; 211. Shelf body; 2111. Column; 2112. Cross beam; 2113. Support beam; 212. Vertical track; 2121. First vertical guide rail; 2122. Second vertical guide rail; 213. Horizontal track; 2131. Track body; 2132. Transition section; 22. Accommodating space; 23. Buffer position;

[0057] 30. Target goods;

[0058] 40. Handling robot. Detailed implementation manners

[0059] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0060] In the description of the present application, it should be understood that the orientation or positional relationships 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. are based on the orientation or positional relationships shown in the drawings, and are 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 thus should not be construed as a limitation on the present application.

[0061] 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.

[0062] In the present application, unless otherwise clearly specified and limited, the terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed 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 it may be the communication inside 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.

[0063] 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.

[0064] 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.

[0065] 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 the goods (such as a cargo box) on the shelves to complete the loading process (such as the process of returning the box), and can also take the goods off the shelves (such as the process of taking the box) and transport them to a designated location.

[0066] It can be understood that in the warehousing system, the shuttle car moves in the warehousing space and takes goods from the shelves or places the goods on the shelves. Generally, in order to improve the space utilization rate of the warehousing system, multiple shelves are usually arranged 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.

[0067] In some examples of the embodiments of this application, the shuttle car may need to take goods at different positions on the shelves. For this reason, the shuttle car needs to climb vertically and traverse horizontally. However, in the related art, the structure of the way the shuttle car transforms between lifting and traversing is complex, resulting in complex structures of the shuttle car and the shelves, and high costs of the warehousing system.

[0068] Regarding the technical problems existing in the related art, referring to Figures 1 to 11 As shown, the shuttle car 10 of the embodiments of this application includes a vehicle body 11, a climbing wheel 121, and a traversing wheel 141. The climbing wheel 121 is rotatably connected to the vehicle body 11, and the climbing wheel 121 is telescopic relative to the vehicle body 11 in a first direction, and the first direction is orthogonal to the vertical direction. The traversing wheel 141 is rotatably connected to the vehicle body 11, and the traversing wheel 141 is telescopic relative to the vehicle body 11 in the first direction.

[0069] As Figures 13 to 16As shown, the shuttle vehicle 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 a first direction to be adapted to cooperate with the vertical rails 212 of the shelf 20, and the traversing 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 rails 212 of the shelf 20, and the traversing wheels 141 extend in the first direction to be adapted to be arranged opposite to the horizontal rails 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 rails 212, and the traversing wheels 141 extend in the first direction to be adapted to cooperate with the horizontal rails 213. Wherein, the vertical direction may be the direction shown by the Z-axis in the figure, and the first direction may be the direction shown by the X-axis in the figure.

[0070] It should be noted that the first direction in this application is not limited to the X-axis direction in the figure, and may also be the Y-axis direction, or any direction in the horizontal plane. The following embodiments of this application will be described by taking the first direction as the X-axis direction in the figure as an example.

[0071] In the shuttle vehicle 10 according to the embodiment of the present application, by setting the climbing wheels 121 to be telescopic relative to the vehicle body 11 in the first direction, and setting the traversing wheels 141 to be telescopic relative to the vehicle body 11 in the first direction, the shuttle vehicle 10 can be switched between the first state, the second state, and the third state. As Figure 15 shown, in the first state, the climbing wheels 121 extend in the first direction to cooperate with the vertical rails 212 of the shelf 20, and the traversing wheels 141 retract in the first direction to avoid the shelf 20, so that the climbing wheels 121 can rotate relative to the vehicle body 11 and drive the vehicle body 11 to lift and lower along the vertical rails 212; in the second state, the climbing wheels 121 extend in the first direction to cooperate with the vertical rails 212 of the shelf 20, and the traversing wheels 141 extend in the first direction to be arranged opposite to the horizontal rails 213 of the shelf 20 in the vertical direction, so that the climbing wheels 121 can rotate relative to the vehicle body 11 and drive the vehicle body 11 to lift and lower, and further enable the traversing wheels 141 to contact the horizontal rails 213; as Figure 16 shown, in the third state, the traversing wheels 141 extend in the first direction to cooperate with the horizontal rails 213 of the shelf 20, and the climbing wheels 121 retract in the first direction to avoid the vertical rails 212, so that the traversing wheels 141 can rotate relative to the vehicle body 11 and drive the vehicle body 11 to traverse along the horizontal rails 213.

[0072] Thus, before the transverse movement wheel 141 cooperates with the transverse track 213, it is arranged opposite to the transverse track 213 in the vertical direction, which can ensure the reliability of the shuttle vehicle 10 when changing direction between lifting and transverse movement. In addition, only by setting the climbing wheel 121 and the transverse movement wheel 141 to be retractable relative to the vehicle body along the first direction, the transformation of the shuttle vehicle 10 between lifting and transverse movement can be realized. The structure of the shuttle vehicle 10 is simple and the cost is low.

[0073] In some examples of the embodiments of the present application, the vehicle body 11 can be made of a hard 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 hard 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 store the target goods 30, such as a storage box, a cargo box, an original box, the goods themselves, etc.

[0075] In some examples of the embodiments of the present application, the climbing wheels 121 arranged opposite to each other in the first direction are adapted to be 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.

[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 vehicle 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 vehicle 10 are squeezed between the vertical tracks 212 on two adjacent shelf units 22 to achieve climbing.

[0078] By pressing the climbing wheel 121 against the vertical track 212, the frictional force for the climbing wheel 121 can be provided by the pressing force between the climbing wheel 121 and the vertical track 212. Other structures do not need to be additionally provided on the climbing wheel 121, and the climbing wheel 121 can move along the vertical direction, further simplifying the structure of the shuttle vehicle 10 and reducing the cost of the shuttle vehicle 10.

[0079] In some 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 enclosing the storage space, auxiliary supports in the storage space, etc.). The climbing wheels 121 of the shuttle vehicle 10 are squeezed between the vertical track 212 and the remaining components in the storage space to achieve climbing.

[0080] In some examples of the embodiments of the present application, as Figures 1 to 3 shown, a plurality of climbing wheels 121 are provided on each side of the vehicle body 11 in the first direction.

[0081] Among them, the plurality of climbing wheels 121 includes at least two climbing wheels 121 arranged at intervals in the vertical direction.

[0082] As Figures 1 to 3 shown, the plurality of climbing wheels 121 includes a first wheel group and a second wheel group, and the first wheel group and the second wheel group are arranged at intervals in the second direction. The vertical track 212 includes a first vertical guide rail 2121 and a second vertical guide rail 2122 arranged at intervals in the second direction. 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. Among them, the second direction may be the direction shown by the Y axis in the figure.

[0083] In some specific application scenarios, taking the number of climbing wheels 121 as eight as an example for illustration:

[0084] The first wheel group and the second wheel group each have four climbing wheels 121. On the upper side of the first wheel group, two climbing wheels 121 are arranged side by side in the first direction. On the lower side of the first wheel group, two climbing wheels 121 are arranged side by side in the first direction. On the upper side of the second wheel group, two climbing wheels 121 are arranged side by side in the first direction. On the lower side of the second wheel group, 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.

[0085] By designing the plurality of climbing wheels 121 as described above, the contact area between the shuttle vehicle 10 and the vertical track 212 can be increased, and the reliability of the shuttle vehicle 10 moving in the vertical direction can be improved.

[0086] In some examples of the embodiments of the present application, as Figures 1 to 3As shown, a plurality of climbing wheels 121 include at least two climbing wheels 121 arranged at intervals in a second direction, which is orthogonal to the vertical direction and the first direction. The vertical track 212 includes a first vertical guide rail 2121 and a second vertical guide rail 2122 arranged at intervals in the second direction. At least two climbing wheels 121 arranged at intervals in the second direction are respectively in pressing fit with the first vertical guide rail 2121 and the second vertical guide rail 2122. Among them, the second direction can be the direction shown by the Y-axis in the figure.

[0087] As Figure 13 and Figure 14 shown, the climbing wheels 121 arranged oppositely in the first direction are respectively in pressing fit with two adjacent vertical tracks 212 in the first direction. Four climbing wheels 121 on the same side of the vehicle body 11 in the front-rear direction cooperate with the same vertical track 212. As Figure 14 shown, two vertical tracks 212 are arranged at intervals in the front-rear direction. Four climbing wheels 121 located on the front side of the vehicle body 11 are in pressing fit with the vertical track 212 located on the front side; two climbing wheels 121 located on the rear side of the vehicle body 11 are in pressing fit with the vertical track 212 located on the rear side.

[0088] By respectively pressing and fitting the climbing wheels 121 arranged oppositely in the first direction with two adjacent vertical tracks 212 in the first direction, it is possible to directly use the two adjacent vertical tracks 212 in the first direction to press the climbing wheels 121, without the need to additionally set other structures. Thus, the structure of the shuttle car 10 is further simplified, and the cost of the shuttle car 10 is reduced.

[0089] In some examples of the embodiments of the present application, as Figures 4 to 6 shown, the shuttle car 10 includes a vertical guiding portion 125. As Figure 18 shown, in the first state and the second state, the vertical guiding portion 125 is in guiding cooperation with the vertical track 212.

[0090] By providing the vertical guiding portion 125 on the shuttle car 10, during the movement of the climbing wheels 121 along the vertical track 212, the vertical guiding portion 125 can be used to be in guiding cooperation with the vertical track 212 to guide the movement of the climbing wheels 121, avoiding the deflection of the climbing wheels 121 and further improving the reliability of the shuttle car 10.

[0091] In some specific application scenarios, taking the upward movement of the climbing wheels 121 along the vertical track 212 as an example for illustration:

[0092] During the upward movement of the climbing wheel 121 along the vertical track 212, the vertical guiding portion 125 is in guiding cooperation with the vertical track 212 to prevent the climbing wheel 121 from 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.

[0093] In some examples of the embodiments of the present application, such as Figure 5 and Figure 6 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 18 shown, in the extended state, the wheel body 1211 is configured to be in extrusion 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.

[0094] For example, as Figure 5 and Figure 6 shown, the guiding protrusion 1212 can be the rim of the climbing wheel 121.

[0095] The guiding protrusion 1212 forms the vertical guiding portion 125, so that a part of the climbing wheel 121 forms the vertical guiding portion 125, which can further simplify the structure of the shuttle car 10 and further reduce the cost of the shuttle car 10.

[0096] In some examples of the embodiments of the present application, such as Figure 5 shown, 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, and 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 extrusion cooperation with the vertical track 212. Among them, the coating layer 12112 can be a rubber layer.

[0097] By setting the coating layer 12112 as a flexible layer, when the climbing wheel 121 is in extrusion cooperation 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 friction force between the climbing wheel 121 and the vertical track 212, ensuring reliable cooperation between the coating layer 12112 and the vertical track 212, and improving the reliability of the shuttle car 10. In addition, the wheel rim 12111 can provide a reliable support for the coating layer 12112.

[0098] Of course, in some examples of the embodiments of the present application, the climbing wheel 121 can also only include the wheel rim 12111, and the wheel rim 12111 is made of a rigid material.

[0099] 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.

[0100] In some examples of the embodiments of the present application, such as Figures 1 to 3 shown, the shuttle vehicle 10 includes a climbing assembly 12. As Figures 4 to 5 shown, the climbing assembly 12 includes the above-mentioned climbing wheels 121, a climbing telescopic assembly 122, and a climbing drive assembly 123. 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 in a 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.

[0101] Among them, the climbing telescopic assembly 122 drives the climbing wheels 121 to switch between an extended state and a retracted state. In the extended state, the climbing wheels 121 are configured to be in extrusion fit with the vertical track 212 of the shelf 20; in the retracted state, the climbing wheels 121 are disengaged from the vertical track 212. 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 lift and lower along the vertical track 212.

[0102] In some examples of the embodiments of the present application, such as Figure 15 shown, when the shuttle vehicle 10 is in the first state and the second state, the climbing wheels 121 are in the extended state, so that the climbing wheels 121 are in extrusion fit with the vertical track 212; as Figure 16 shown, when the shuttle vehicle 10 is in the third state, the climbing wheels 121 are in the retracted state, so that the climbing wheels 121 are disengaged from the vertical track 212.

[0103] By providing the climbing telescopic assembly 122 and the climbing drive assembly 123, the assembly for driving the expansion and contraction of the climbing wheels 121 and the assembly for driving the rotation of the climbing wheels 121 are independently arranged, so as to facilitate controlling the expansion and contraction and rotation of the climbing wheels 121 as needed.

[0104] In some specific application scenarios, taking the shuttle vehicle 10 being on the vertical track 212 and the target position being above the left of the shuttle vehicle 10, and the shuttle vehicle 10 moving to the target position as an example for illustration:

[0105] First, the climbing telescopic assembly 122 drives the climbing wheel 121 to be in the extended state. The climbing wheel 121 is in pressing fit with the vertical track 212 of the shelf 20. At this time, the shuttle car 10 is in the first state, and the climbing wheel 121 moves upward along the vertical track 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 shuttle car 10 is in the second state. The climbing wheel 121 moves downward along the vertical track 212, so that the vehicle body 11 is at the same height as the target position. At this time, the transverse movement wheel 141 cooperates with the transverse track 213. After that, the climbing telescopic assembly 122 drives the climbing wheel 121 to be in the retracted state, and the shuttle car 10 is in the third state. The transverse movement wheel 141 moves leftward along the transverse track 213 to the target position.

[0106] In some examples of the embodiments of the present application, such as Figures 4 to 6 As shown, 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 respectively extend along the first direction and are arranged in sequence in the first direction. The first nut seat 1223 cooperates with the first ball screw 1221, and the second nut seat 1224 cooperates 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.

[0107] The climbing telescopic driving 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 driving 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 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.

[0108] In some specific application scenarios, taking the example of the climbing wheel 121 switching from the retracted state to the extended state for illustration:

[0109] The climbing telescopic driving member 1225 drives the first ball screw 1221 to rotate forward, driving the first nut seat 1223 to move in 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 direction switches from the retracted state to the extended state. At the same time, the climbing telescopic driving member 1225 drives the second ball screw 1222 to rotate reversely, driving the second nut seat 1224 to move in 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 direction switches from the retracted state to the extended state.

[0110] It can be understood that the process of the climbing wheel 121 switching from the retracted state to the extended state is similar to that of the above embodiment. For example, the climbing telescopic driving member 1225 drives the first ball screw 1221 to rotate reversely, driving the first nut seat 1223 to move in 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 direction switches from the extended state to the retracted state. At the same time, the climbing telescopic driving member 1225 drives the second ball screw 1222 to rotate forward, driving the first nut seat 1223 to move in 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 direction switches from the extended state to the retracted state.

[0111] 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 driving member 1225 through two couplings 1226. The climbing telescopic driving member 1225 can be arranged between the two couplings 1226, and the climbing telescopic driving member 1225 drives the first ball screw 1221 and the second ball screw 1222 to rotate in opposite directions at the same time.

[0112] Among them, the climbing telescopic driving member 1225 can 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.

[0113] 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 at the same time, so as to drive the climbing wheels 121 on both sides of the vehicle body 11 in the first direction to extend or retract at the same time. 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.

[0114] In some examples of the embodiments of the present application, as Figures 4 to 6 shown, the climbing telescopic assembly 122 further includes a first fixing seat 1227 and a second fixing seat 1228, and both the first fixing seat 1227 and the second fixing seat 1228 are connected to the vehicle body 11. The first ball screw 1221 is rotatably connected to the first fixing seat 1227, and the second ball screw 1222 is rotatably connected to the second fixing seat 1228.

[0115] 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.

[0116] Wherein, 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.

[0117] The first fixed seat 1227 and the second fixed seat 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 fixed seat 1227 adjacent to the first nut seat 1223 and on the side of the first nut seat 1223 facing the second nut seat 1224, and arranging the second fixed seat 1228 adjacent to the second nut seat 1224 and on the side of the second nut seat 1224 facing the first nut seat 1223, it is possible to use the first fixed seat 1227 to limit the distance that the first nut seat 1223 moves towards the second nut seat 1224, and use the second fixed seat 1228 to limit the distance that the second nut seat 1224 moves towards the first nut seat 1223, 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 operating efficiency of the shuttle car 10.

[0118] In some examples of the embodiments of the present application, 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 seat 1223 and the second nut seat 1224 include a mating portion, and the mating portion is in guiding cooperation with the linear guide rail 124. The first nut seat 1223 and the second nut seat 1224 are configured to be movable along the linear guide rail 124 through the corresponding mating portions. Wherein, the linear guide rail 124 and the vehicle body 11 can be welded, bonded or connected through fasteners, and the fasteners can be bolts, screws, rivets, etc.

[0119] By guiding and mating the mating parts of the first nut block 1223 and the second nut block 1224 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, avoiding skew during the movement of the first nut block 1223 and the second nut block 1224, and further improving the reliability of the shuttle car 10.

[0120] 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:

[0121] 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; meanwhile, 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.

[0122] In some examples of the embodiments of the present application, such as Figure 6 shown, the climbing assembly 12 further includes a transmission shaft 1231, and the transmission shaft 1231 is connected between two climbing wheels 121 arranged at intervals in the second direction, and the climbing drive assembly 123 is configured to drive the transmission shaft 1231 to drive the two climbing wheels 121 to rotate.

[0123] By providing the transmission shaft 1231, the same climbing drive assembly 123 can drive 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.

[0124] In some examples of the embodiments of the present application, 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.

[0125] In the related art, in order to realize the cooperation between the climbing wheel and the vertical track, climbing protrusions are provided on the climbing wheel, and a plurality of climbing notches are arranged at intervals on the vertical track, and the climbing protrusions are inserted into the climbing notches to realize the cooperation between the climbing wheel and the vertical track.

[0126] In some examples of the embodiments of the present application, such as Figures 1 to 6 shown, the climbing wheels 121 are arranged on opposite sides of the vehicle body 11 in the first direction. As Figure 15 shown, in the first state, the climbing wheels 121 are used for squeezing and cooperating with the vertical track 212.

[0127] For example, asFigure 15 As shown, in the first state, the climbing wheel 121 extends in the first direction and is in extrusion fit with the surface of the vertical track 212 facing the climbing wheel 121 in the first direction, so that an extrusion force in the first direction is generated between the climbing wheel 121 and the vertical track 212. This extrusion force provides a frictional force in the vertical direction for the climbing wheel 121, so that when the climbing wheel 121 rotates, the vehicle body 11 is driven to move in the vertical direction.

[0128] 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 wheel 121 in the first direction according to the load information.

[0129] 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 wheel 121 in the first direction based on the control signal, so that the extrusion force between the climbing wheel 121 and the vertical track 212 is not less than a preset threshold. Wherein, 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 frictional force between the climbing wheel 121 and the vertical track 212 from being too large and making it difficult to drive the climbing wheel 121 to rotate.

[0130] By setting the detection component and the control unit, the adjustment of the extrusion force between the climbing wheel 121 and the vertical track 212 can be realized, so that the extrusion force between the climbing wheel 121 and the vertical track 212 is kept stable, thereby improving the reliability of the shuttle car 10.

[0131] 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 stored in advance in the control unit. The control unit controls the climbing telescopic assembly 122 to adjust the position of the climbing wheel 121 in the first direction in real time at the position where it is about to become larger or smaller, so that the extrusion force between the climbing wheel 121 and the vertical track 212 is kept stable.

[0132] In some examples of the embodiments of the present application, such as Figure 12As shown, the shuttle vehicle 10 further includes a cargo loading and unloading device 15, which is provided 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.

[0133] 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 vehicle 10.

[0134] As Figures 1 to 3 shown, in some examples of the embodiments of the present application, the vehicle body 11 has a passage space 113. As Figure 12 shown, the cargo loading and unloading device 15 includes a carrying component 151 and a cargo picking and placing component 152. The carrying component 151 is used to convey the cargo in the passage space 113 in the direction from one side of the vehicle body 11 to the other side of the vehicle body 11. The cargo picking and placing component 152 is used to cooperate with and disengage from the cargo to load and unload the cargo.

[0135] Among them, the carrying component 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. The conveyor belt is used to convey the cargo in the passage space 113 in the direction from one side of the vehicle body 11 to the other side of the vehicle body 11. The cargo picking and placing 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 device or a suction cup. The clamping device is used to clamp the target cargo 30, and the suction cup is used to adsorb the target cargo 30. When the cargo picking and placing 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 evacuate 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.

[0136] For example, as Figures 1 to 3 shown, 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 Figure 1 direction shown by the X-axis in the figure. The carrying component 151 is used to convey the cargo in the passage space 113 in 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 cargo picking and placing component 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 cargo 30 from the shelf 20 and place it on the carrying component 151, or put the target cargo 30 back from the carrying component 151 to the shelf 20.

[0137] 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 can be close to a target position on one side of the roadway, and the second inlet / outlet 112 can be close to a target position on the other side of the roadway, facilitating the picking and returning of the target goods 30 from the first inlet / outlet 111 and the second inlet / outlet 112 respectively.

[0138] 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.

[0139] In some specific application scenarios, taking the goods picking and placing device 15 picking the target goods 30 from the shelf 20 as an example for illustration:

[0140] 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 goods picking and placing component 152 extends from the first inlet / outlet 111 and moves towards the target goods 30; next, after the goods picking and placing component 152 picks up the target goods 30, the goods picking and placing component 152 retracts from the first inlet / outlet 111 into the vehicle body 11; afterwards, the goods picking and placing component 152 places the target goods 30 on the carrying component 151, and the carrying component 151 transports the target goods 30 to the set position.

[0141] 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 picking the target goods 30 from the shelf 20 in the above embodiments. For example, the carrying component 151 transports the target goods 30 to the set position; then, the goods picking and placing component 152 takes down the target goods 30 from the carrying component 151; afterwards, the goods picking and placing component 152 extends 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.

[0142] In some examples of the embodiments of the present application, as Figure 10 shown, the shuttle car 10 further includes a support component 13. The support component 13 includes a support member 131 and a support driving component 132. The support member 131 is arranged on both sides of the vehicle body 11 in the first direction. The support driving component 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 transverse track 213. Among them, the support member 131 is configured to move in the first direction in the third state to abut against and move away from the transverse track 213.

[0143] When the support member 131 abuts against the transverse rail 213 in the first direction, the position of the shuttle car 10 on the shelf 20 can be restricted, and the shuttle car 10 can be locked on the shelf 20; when the support member 131 moves away from the transverse rail 213 in the first direction, the restriction of the shuttle car 10 on the shelf 20 can be released, so that the shuttle car 10 can move on the shelf 20.

[0144] By providing the support assembly 13, when the shuttle car 10 picks up and places the target goods 30, the shuttle car 10 can be locked on the shelf 20, preventing the shuttle car 10 from slipping or moving, improving the reliability when the shuttle car 10 picks up and places the target goods 30, that is, improving the reliability of the shuttle car 10.

[0145] In some specific application scenarios, taking the shuttle car 10 picking up the target goods 30 from the shelf 20 as an example for illustration:

[0146] When the shuttle car 10 moves to the target position, the support member 131 abuts against the transverse rail 213 in the first direction, locking the shuttle car 10 on the shelf 20, so that the shuttle car 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 transverse rail 213 in the first direction. At this time, the shuttle car 10 can move along and transport the target goods 30 to the designated position.

[0147] In some examples of the embodiments of the present application, such as Figure 10 As shown, the support driving assembly 132 includes a support driving member 1321, a gear 1322, a rack 1323 and a clamping plate 1324. Among them, the support driving member 1321 is in transmission connection with the gear 1322, and the support driving 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.

[0148] The support driving 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 drive the support member 131 to move in the first direction by using the clamping plate 1324.

[0149] Of course, 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.

[0150] In some examples of the embodiments of the present application, 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 1324, and the support guide rail 133 is fixedly connected to the vehicle body 11.

[0151] 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.

[0152] In some examples of the embodiments of the present application, as Figures 1 to 3 shown, the lateral movement wheels 141 are provided on opposite sides of the vehicle body 11 in the first direction. The lateral movement wheels 141 are adapted to cooperate with the top surface of the lateral track 213. As Figure 13 and Figure 14 shown, there are at least two lateral tracks 213, and the at least two lateral tracks 213 are arranged at intervals in the first direction. 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.

[0153] For example, the lateral movement wheels 141 are provided on the front and rear sides of the vehicle body 11, and the lateral movement wheels 141 are adapted to cooperate with the upper surface of the lateral track 213. The lateral movement wheels 141 located on the front side of the vehicle body 11 cooperate with the lateral track 213 located on the front side of the vehicle body 11, and the lateral movement wheels 141 located on the rear side of the vehicle body 11 cooperate with the lateral track 213 located on the rear side of the vehicle body.

[0154] By providing the lateral movement wheels 141 on opposite 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, both sides of the vehicle body 11 in the first direction have lateral movement wheels 141 cooperating with the lateral track 213, increasing the force stability on both sides of the vehicle body 11 in the first direction, and thus further improving the reliability of the shuttle car 10.

[0155] In some examples of the embodiments of the present application, as Figure 1 、 Figure 3 and Figure 7 shown, at least three lateral movement wheels 141 are provided on each side of the vehicle body 11 in the first direction. As Figure 16 shown, in the third state, at least two lateral movement wheels 141 on the same side of the vehicle body 11 in the first direction are configured to cooperate with the same lateral track 213.

[0156] For example, as Figure 1 , Figure 3 and Figure 7 shown, four traversing wheels 141 are provided on each side of the vehicle body 11 in the first direction, and the four traversing wheels 141 on the same side are all configured to cooperate with the same transverse track 213.

[0157] By providing at least three traversing wheels 141 on each side of the vehicle body 11 in the first direction, and in the third state, at least two traversing wheels 141 on the same side of the vehicle body 11 in the first direction are configured to cooperate with the same transverse track 213, the contact area between the shuttle car 10 and the transverse track 213 can be increased, and the reliability of the shuttle car 10 moving in the first direction can be improved.

[0158] In addition, for the case where the transverse track 213 is discontinuous, for example, when the middle of the transverse track 213 is separated into two sections by the vertical track 212, by providing at least three traversing wheels 141 on each side in the first direction, it can be ensured that during the process of the shuttle car 10 moving from one section of the transverse track 213 to another section, different traversing wheels 141 can contact different sections of the transverse track 213; and in the third state, at least two traversing wheels 141 on the same side of the vehicle body 11 in the first direction cooperate with the same transverse track 213, which can prevent the traversing wheels 141 from getting stuck in the gap between two adjacent sections of the transverse track 213 and ensure the stability of the transverse movement process of the shuttle car 10.

[0159] In some examples of the embodiments of the present application, the shuttle car 10 includes a traversing assembly 14, as Figure 8 shown, the traversing assembly 14 includes the above-mentioned traversing wheels 141 and a traversing guiding portion 142, and the traversing guiding portion 142 is provided on at least one side of the vehicle body 11 in the second direction. In the second state and the third state, the traversing guiding portion 142 abuts against the transverse track 213 in the first direction.

[0160] By providing the traversing guiding portion 142 on the shuttle car 10, during the movement of the traversing wheels 141 along the transverse track 213, the traversing guiding portion 142 can be used to guide and cooperate with the transverse track 213 to guide the movement of the traversing wheels 141, prevent the traversing wheels 141 from deflecting, and further improve the reliability of the shuttle car 10.

[0161] In some specific application scenarios, taking the movement of the traversing wheels 141 along the transverse track 213 as an example for illustration:

[0162] During the movement of the traversing wheels 141 along the transverse track 213, the traversing guiding portion 142 abuts against the top surface of the transverse track 213, preventing the traversing wheels 141 from deflecting in the vertical direction and disengaging from the transverse track 213, or causing the vehicle body 11 to deflect in the vertical direction and affecting the position of the vehicle body 11.

[0163] In some examples of the embodiments of the present application, such as Figure 8 shown, the lateral movement guiding part 142 is a guiding wheel, which abuts against the lateral track 213 in the first direction in the second state and the third state.

[0164] The lateral movement guiding part 142 being a guiding wheel enables a rolling friction between the lateral movement guiding part 142 and the lateral track 213, which can reduce the frictional force between the lateral movement guiding part 142 and the lateral track 213 and facilitate driving the rotation of the lateral movement wheel 141.

[0165] In some examples of the embodiments of the present application, such as Figures 7 to 9 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 lateral movement wheel 141 to drive the lateral movement wheel 141 to telescope in the first direction. The lateral movement driving assembly 147 is arranged on the vehicle body 11 and is connected to the lateral movement wheel 141 to drive the lateral movement wheel 141 to rotate relative to the vehicle body 11.

[0166] By providing the lateral movement telescopic assembly 143, the automatic telescoping of the lateral movement wheel 141 in the first direction can be achieved. By providing the lateral movement driving assembly 147, the rotation of the lateral movement wheel 141 relative to the vehicle body 11 can be achieved, thereby facilitating the automatic control of the lateral movement wheel 141.

[0167] In some examples of the embodiments of the present application, such as Figure 7 and Figure 9 shown, the lateral movement telescopic assembly 143 includes a rotating member 1431, a first crank-slider mechanism 1432, a second crank-slider mechanism 1433 and a lateral movement telescopic driving member. The rotating member 1431 has a first end and a second end arranged oppositely in its extending direction and an intermediate position between the first end and the second end of the rotating member 1431. The lateral movement telescopic driving member is connected to the intermediate position of the rotating member 1431. The first crank driving mechanism is connected to the first end of the rotating member 1431 and is connected to the lateral movement wheel 141 on one side of the vehicle body 11 in the first direction. The second crank driving mechanism is connected to the second end of the rotating member 1431 and is connected to the lateral movement wheel 141 on the other side of the vehicle body 11 in the first direction. The lateral movement telescopic driving member is connected to the intermediate position of the rotating member 1431 and is configured to drive the lateral movement wheels 141 on both sides of the vehicle body 11 in the first direction to telescope respectively through the first crank-slider mechanism 1432 and the second crank-slider mechanism 1433. Among them, the rotating member 1431 can be a rotating rod.

[0168] When the transverse telescopic driving member drives the rotating member 1431 to rotate, the first crank-slider mechanism 1432 and the second crank-slider mechanism 1433 drive the transverse wheels 141 located on both sides of the vehicle body 11 in the first direction to extend and retract respectively. The structure of the above transverse telescopic assembly 143 is simple, which further simplifies the structure of the shuttle car 10 and can further reduce the cost of the shuttle car 10.

[0169] In some specific application scenarios, taking the shuttle car 10 switching from the first state to the second state as an example for illustration:

[0170] The forward rotation of the rotating member 1431 drives the first crank-slider mechanism 1432 and the second crank-slider mechanism 1433 to move, driving the transverse wheels 141 located on both sides of the vehicle body 11 in the first direction to extend respectively. This enables the shuttle car 10 to switch from the first state to the second state.

[0171] It can be understood that the process of the shuttle car 10 switching from the third state to the first state is similar to the above embodiment. For example, the reverse rotation of the rotating member 1431 drives the first crank-slider mechanism 1432 and the second crank-slider mechanism 1433 to move, driving the transverse wheels 141 located on both sides of the vehicle body 11 in the first direction to retract respectively. This enables the shuttle car 10 to switch from the third state to the first state.

[0172] In some examples of the embodiments of the present application, the transverse telescopic assembly 143 further includes a first connecting frame 144 and a second connecting frame 145. A plurality of transverse wheels 141 and guide wheels on one side in the first direction are all connected to the first connecting frame 144, and the transverse wheels 141 and guide wheels on the other side in the first direction are all connected to the second connecting frame 145. Among them, the rotating member 1431 is connected to the first connecting frame 144 through the first crank-slider mechanism 1432, and the rotating member 1431 is connected to the second connecting frame 145 through the second crank-slider mechanism 1433.

[0173] By providing the first connecting frame 144 and the second connecting frame 145, the transverse wheels 141 and guide wheels on the same side of the vehicle body 11 in the first direction are all connected to the same connecting frame (the first connecting frame 144 or the second connecting frame 145), so that the transverse telescopic assembly 143 can be used to drive the transverse wheels 141 and guide wheels to extend and retract along the first direction simultaneously. The structure of the shuttle car 10 can be further simplified and the cost of the shuttle car 10 can be reduced.

[0174] In some examples of the embodiments of the present application, the shuttle car 10 further includes a transverse guide rail extending along the first direction, and the transverse guide rail is connected to the vehicle body 11. The transverse telescopic assembly 143 further includes a transverse slider, and the transverse slider is movably engaged with the transverse guide rail along the first direction. Among them, the first connecting frame 144 and the second connecting frame 145 are both connected with transverse sliders.

[0175] For example, referring toFigure 8 As shown, the transverse translation and telescopic assembly 143 further includes a fixing block 146, and both the first connecting frame 144 and the second connecting frame 145 are connected to the fixing block 146. The fixing block 146 is provided with a fixing groove 1461, and the transverse translation slider is fixed in the fixing groove 1461.

[0176] By guiding and mating the first connecting frame 144 and the second connecting frame 145 with the transverse translation guide rail through the transverse translation slider, the transverse translation guide rail can play a guiding role in the movement of the first connecting frame 144 and the second connecting frame 145, avoiding deflection during the movement of the first connecting frame 144 and the second connecting frame 145, thereby improving the reliability of the shuttle car 10.

[0177] In some examples of the embodiments of the present application, the transverse translation assembly 14 includes a transverse translation driving assembly 147, and the transverse translation driving assembly 147 is connected to the transverse translation wheel 141 to drive the transverse translation wheel 141 to rotate relative to the vehicle body 11, so as to drive the vehicle body 11 to move in the second direction along the transverse track 213 when the shuttle car 10 is in the third state.

[0178] By providing the transverse translation driving assembly 147, the automatic movement of the vehicle body 11 in the second direction along the transverse track 213 can be realized, which is convenient for realizing the automatic control of the shuttle car 10.

[0179] As Figures 23 to 27 As shown, the embodiments of the present application further provide a shelf 20, and the shelf 20 includes at least one shelf unit 21. The shelf unit 21 includes a shelf body 211, a vertical track 212 and a transverse track 213. The vertical track 212 extends in the vertical direction, and the vertical track 212 is adapted to cooperate with and disengage from the climbing wheel 121 of the shuttle car 10 described in any of the above embodiments. The transverse track 213 extends in the second direction, and the second direction is orthogonal to the vertical direction and the first direction. The transverse track 213 is adapted to cooperate with and disengage from the transverse translation wheel 141 of the shuttle car 10.

[0180] In some examples of the embodiments of the present application, the transverse track 213 and the vertical track 212 are provided on the same side of the shelf body 211 in the first direction, and the side surface of the transverse track 213 facing the shuttle car 10 protrudes in the first direction from the side surface of the vertical track 212 facing the shuttle car 10.

[0181] For the shelf 20 of the embodiments of the present application, by providing the transverse track 213 and the vertical track 212 on the same side of the shelf body 211 in the first direction, and the side surface of the transverse track 213 facing the shuttle car 10 protrudes in the first direction from the side surface of the vertical track 212 facing the shuttle car 10, the structure of the shelf 20 can be simplified and the cost of the shelf 20 can be reduced.

[0182] In some examples of the embodiments of the present application, as Figures 24 to 26As shown, the vertical rails 212 are provided on opposite sides of the same shelf unit 21 in the first direction; and / or, the vertical rails 212 are provided on at least one side of the shelf body 211 in the second direction.

[0183] For example, the vertical rails 212 are provided on opposite sides of the same shelf unit 21 in the first direction, and the vertical rails 212 are provided on one side of the shelf body 211 in the second direction; or, the vertical rails 212 are provided on opposite sides of the same shelf unit 21 in the first direction; or, the vertical rails 212 are provided on one side of the shelf body 211 in the second direction; or, the vertical rails 212 are provided on opposite sides of the same shelf unit 21 in the first direction, and the vertical rails 212 are provided on opposite sides of the shelf body 211 in the second direction.

[0184] By providing the vertical rails 212 on opposite sides of the same shelf unit 21 in the first direction, the shuttle car 10 can move on opposite sides of the same shelf unit 21 in the first direction, realizing the picking and placing of the target goods 30 on the shelf 20, which is beneficial to improving the picking and placing efficiency of the target goods 30, thereby improving the operation efficiency of the storage system 100.

[0185] In some examples of the embodiments of the present application, such as Figure 25 As shown, the vertical rails 212 include a first vertical guide rail 2121 and a second vertical guide rail 2122 that are spaced apart in the 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 climbing wheels 121 that are spaced apart in the second direction.

[0186] By providing the vertical rails 212 to include the first vertical guide rail 2121 and the second vertical guide rail 2122, the contact area between the shuttle car 10 and the vertical rails 212 can be increased, and the reliability of the shuttle car 10 moving in the vertical direction can be improved.

[0187] In some specific application scenarios, taking the example where the shuttle car is on the vertical rails 212 and the target position is above and to the left of the shuttle car 10 for illustration:

[0188] In some specific application scenarios, taking the example where the shuttle car is on the vertical rails 21 and the target position is above and to the left of the shuttle car 10 for illustration:

[0189] 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 track 212 of the shelf 20, and the climbing wheel 121 moves upward along the vertical track 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 track 212, so that the vehicle body 11 is at the same height as the target position, and the traversing wheel 141 is in cooperation with the transition section 2132 of the horizontal track 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 horizontal track 213 to the track body 2131 of the horizontal track 213, and then moves leftward to the target position.

[0190] Wherein, during the process of the traversing wheel 141 moving leftward along the horizontal track 213, the climbing wheel 121 retracts to avoid the vertical track 212. By using that the side of the track body 2131 facing the shuttle car 10 and the side of the transition section 2132 facing the shuttle car 10 both protrude in the first direction from the side of the vertical track 212 facing the shuttle car 10, the traversing wheel 141 is entirely located on one side of the vertical track 212 facing the shuttle car 10, avoiding interference between the vertical track 212 and the vertical track 212.

[0191] 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.

[0192] 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 both the first vertical guide rail 2121 and the second vertical guide rail 2122 in the second direction are 85 mm - 95 mm. In some examples, the vertical track 212 includes only a single guide rail, and the size of the single guide rail in the second direction is 85 mm - 95 mm.

[0193] 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, avoiding deformation of the vertical track 212 due to extrusion with the climbing wheel 121, and improving the reliability of the shelf 20.

[0194] In some examples of the embodiments of the present application, as Figure 27As shown, the shelf body 211 includes a plurality of vertically spaced columns 2111 and a plurality of horizontally spaced cross beams 2112. The columns 2111 extend in the vertical direction, and the cross beams 2112 extend in the second direction. At least one 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 columns 2111 in the second direction.

[0195] That is to say, the vertical track 212 can be formed by the column 2111; or, the vertical track 212 is independently arranged from the shelf body 211, and the vertical track 212 is connected to the shelf body 211.

[0196] In some examples of the embodiments of the present application, such as Figure 27 As shown, at least one cross beam 2112 forms a horizontal track 213, or the horizontal track 213 is connected to the shelf body 211 and is located on at least one side of at least one cross beam 2112 in the first direction.

[0197] That is to say, the horizontal track 213 can be formed by the cross beam 2112; or, the horizontal track 213 is independently arranged from the shelf body 211, and the horizontal track 213 is connected to the column 2111.

[0198] Among them, the column 2111 and the cross beam 2112, the vertical track 212 and the column 2111, and the horizontal track 213 and the column 2111 can be welded.

[0199] The shelf body 211 is set to 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.

[0200] In some examples of the embodiments of the present application, such as Figure 27 As shown, the shelf unit 21 further includes a support beam 2113. The support beam 2113 extends in the second direction, and the support beam 2113 is connected to the cross beam 2112.

[0201] In some examples of the embodiments of the present application, such as Figure 24 and Figure 25 As shown, the shelf 20 includes a plurality of shelf units 21 spaced apart in the first direction. An accommodation space 22 for accommodating the shuttle vehicle 10 is defined between two adjacent shelf units 21 in the first direction. Among two adjacent shelf units 21 in the first direction, a vertical track 212 and a horizontal track 213 are provided on one side of any one of the shelf units 21 close to the other shelf unit 21.

[0202] For example, as Figure 15As shown, the climbing wheel 121 extends in the first direction and is in extrusion fit with the surface of the vertical track 212 facing the climbing wheel 121 in the first direction, so that an extrusion force in the first direction is generated between the climbing wheel 121 and the vertical track 212. This extrusion force provides a frictional force in the vertical direction for the climbing wheel 121, so that when the climbing wheel 121 rotates, it drives the vehicle body 11 to move in the vertical direction. As Figure 16 As shown, the traversing wheel 141 extends in the first direction, and the horizontal track 213 is in cooperation with the bottom surface of the traversing wheel 141 of the shuttle car 10, so that the traversing wheel 141 is hung on the horizontal track 213. An extrusion force in the vertical direction is generated between the traversing wheel 141 and the horizontal track 213. This extrusion force provides a frictional force in the second direction for the traversing wheel 141, so that when the traversing wheel 141 rotates, it drives the vehicle body 11 to move in the first direction.

[0203] By configuring the vertical track 212 to be in extrusion fit with the climbing wheel 121 of the shuttle car 10 and using the extrusion force between the climbing wheel 121 and the vertical track 212 to provide a frictional force for the climbing wheel 121, it is possible to avoid additionally providing other structures on the vertical track 212, and the climbing wheel 121 can be moved in the vertical direction. By configuring the horizontal track 213 to be in cooperation with the bottom surface of the traversing wheel 141 of the shuttle car 10 and using the extrusion force in the vertical direction generated between the traversing wheel 141 and the horizontal track 213 to provide a frictional force for the traversing wheel 141, it is possible to avoid additionally providing other structures on the horizontal track 213, and the traversing wheel 141 can be moved in the first direction.

[0204] Thus, the structure of the shelf 20 is simplified, which is beneficial to reducing the cost of the shelf 20.

[0205] As Figure 28 and Figure 29 As shown, a plurality of shelf units 21 are arranged in the second direction. 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 provided between two adjacent shelf units 21.

[0206] Thus, the shuttle car 10 located on the vertical track 212 can move in the second direction to different shelf units 21 to realize the picking and placing of target goods 30 on different shelf units 21.

[0207] The embodiment of the present application also provides a storage system 100. The storage system 100 includes a shuttle car 10 and a shelf 20. The shuttle car 10 is the shuttle car 10 in any of the above embodiments, and the shelf 20 is the shelf 20 in any of the above embodiments. Among them, the climbing wheel 121 is configured to cooperate with and disengage from the vertical track 212, and the traversing wheel 141 is adapted to cooperate with and disengage from the horizontal track 213.

[0208] The storage system 100 according to the embodiments of the present application has the advantages of simple structure and low cost.

[0209] In some examples of the embodiments of the present application, such as Figure 17 , Figure 19 and Figure 26 as 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 by the user to buffer the target goods 30.

[0210] In some examples of the embodiments of the present application, such as Figure 29 as shown, the storage system 100 further includes a handling robot 40. The handling robot 40 moves in the aisle. 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 the target goods 30 taken out by the shuttle car 10.

[0211] In some examples of the embodiments of the present application, the shelf 20 is provided with a two-dimensional code, and the shuttle car 10 is provided with a camera. The position and movement path of the shuttle car 10 are determined by the camera identifying the two-dimensional code of the shelf 20.

[0212] 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 car 10 moves to the buffer position 23 through horizontal movement and vertical lifting; the shuttle car 10 places the target goods 30 into the vehicle body 11 through the goods picking and placing device 15; the shuttle car 10 with the target goods 30 moves to the designated position through horizontal movement and vertical lifting and places the target goods 30 at the designated position of the shelf 20, completing the warehousing of the target goods 30. Among them, during the horizontal movement and vertical lifting of the shuttle car 10 on the shelf 20, two-dimensional code positioning is adopted.

[0213] It can be understood that the process of the target goods 30 leaving the warehouse is similar to the above embodiment. For example, after receiving the instruction, the shuttle car 10 moves to the target goods 30 through horizontal movement and vertical lifting; the support component 13 is used to lock the shuttle car 10 on the shelf 20; the shuttle car 10 places the target goods 30 into the vehicle body 11 through the goods picking and placing device 15; the shuttle car 10 with the target goods 30 moves to the buffer position 23 through horizontal movement and vertical lifting; the shuttle car 10 places the target goods 30 on the buffer position through the goods picking and placing device 15; the handling robot 40 moves the target goods 30 away from the buffer position 23.

[0214] 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 scope of protection of the present application.

Claims

1. A shuttle vehicle (10), characterized in that, Comprising: A vehicle body (11); A climbing wheel (121) rotatably connected to the vehicle body (11), the climbing wheel (121) being telescopable relative to the vehicle body (11) in a first direction orthogonal to the vertical direction; A traversing wheel (141) rotatably connected to the vehicle body (11), the traversing wheel (141) being telescopable relative to the vehicle body (11) in the first direction; Wherein, 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 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); 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 vertically arranged opposite to the lateral track (213) of the shelf (20); in the third state, the climbing wheel (121) retracts in the first direction to disengage from the vertical track (212), and the traversing wheel (141) extends in the first direction to cooperate with the lateral track (213).

2. The shuttle car (10) according to claim 1, characterized in that, The traversing wheels (141) are arranged on opposite sides of the vehicle body (11) in the first direction, and the traversing wheels (141) are adapted to cooperate with the top surface of the lateral track (213). The traversing wheels (141) arranged opposite to each other in the first direction are respectively adapted to cooperate with adjacent lateral tracks (213) spaced apart from each other in the first direction of the shelf (20).

3. The shuttle car (10) according to claim 2, characterized in that, At least three of the traversing wheels (141) are provided on each side of the vehicle body (11) in the first direction. In the third state, at least two of the traversing wheels (141) on the same side of the vehicle body (11) in the first direction cooperate with the same lateral track (213).

4. The shuttle car (10) according to claim 2, characterized in that, The shuttle car (10) includes a traversing guiding portion (142) provided on at least one side of the vehicle body (11) in a second direction. In the second state and the third state, the traversing guiding portion (142) is adapted to guide and cooperate with the lateral track (213), and the second direction is orthogonal to the vertical direction and the first direction.

5. The shuttle car (10) according to claim 4, characterized in that, The traversing guiding portion (142) is a guiding wheel. In the second state and the third state, the guiding wheel abuts against the lateral track (213) along the first direction.

6. The shuttle car (10) according to claim 2, wherein, The shuttle car (10) includes a transverse telescopic assembly (143) and a transverse drive assembly (147). The transverse telescopic assembly (143) is arranged on the vehicle body (11) and connected to the transverse wheels (141) to drive the transverse wheels (141) to telescope in the first direction. The transverse drive assembly (147) is arranged on the vehicle body (11) and connected to the transverse wheels (141) to drive the transverse wheels (141) to rotate relative to the vehicle body (11).

7. The shuttle car (10) according to claim 1, characterized in that, The shuttle car (10) further includes a cargo loading and unloading device (15). The cargo loading and unloading device (15) is arranged on the vehicle body (11), and 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).

8. The shuttle car (10) according to claim 7, characterized in that, The vehicle body (11) has a passage space (113). 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). The cargo loading and unloading component (152) is used to cooperate with and disengage from the cargo to load and unload the cargo.

9. The shuttle car (10) according to any one of claims 1-8, characterized in that, The shuttle car (10) further includes a support assembly (13). The support assembly (13) includes: Support members (131) arranged 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 transverse track (213).

10. The shuttle car (10) according to any one of claims 1-8, characterized in that, The climbing wheels (121) are arranged on opposite sides of the vehicle body (11) in the first direction. In the first state, the climbing wheels (121) are used to cooperate with the vertical track (212) by extrusion.

11. The shuttle car (10) according to claim 10, characterized in that, The climbing wheels (121) arranged oppositely in the first direction are adapted to respectively cooperate with and move along two adjacent vertical tracks (212) of the shelf (20) in the first direction by extrusion.

12. The shuttle car (10) according to any one of claims 1-8, characterized in that, The shuttle car (10) further includes a climbing telescopic assembly (122), a climbing drive assembly (123), a detection component, and a control unit. The climbing telescopic assembly (122) is provided on the vehicle body (11) and connected to the climbing wheel (121) to drive the climbing wheel (121) to telescopically move relative to the vehicle body (11) along the first direction. The climbing drive assembly (123) is provided 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). 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.

13. The shuttle car (10) according to any one of claims 1-8, characterized in that, The shuttle car (10) includes a vertical guiding portion (125). In the first state and the second state, the vertical guiding portion (125) is in guiding cooperation with the vertical track (212).

14. The shuttle car (10) according to any one of claims 1-8, characterized in that, A plurality of climbing wheels (121) are provided on each side of the vehicle body (11) in the first direction; 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) form 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 is orthogonal to the vertical direction and the first direction. The vertical track (212) includes a first vertical guide rail (2121) and a second vertical guide rail (2122). The first vertical guide rail (2121) and the second vertical guide rail (2122) are arranged at intervals in the second direction. The climbing wheels (121) in the first wheel group are in pressing cooperation with the first vertical guide rail (2121), and the climbing wheels (121) in the second wheel group are in pressing cooperation with the second vertical guide rail (2122).

15. The shuttle car (10) according to any one of claims 1-8, 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. The coating layer (12112) is used for pressing cooperation with the vertical track (212).

16. A shelf (20), characterized in that, It includes at least one shelf unit (21). The shelf unit (21) includes: A shelf body (211); A vertical track (212). The vertical track (212) extends in the vertical direction. The vertical track (212) is adapted to cooperate with and disengage from the climbing wheels (121) of the shuttle car (10) according to any one of claims 1-15; A transverse track (213). The transverse track (213) extends in a second direction. The second direction is orthogonal to the vertical direction and the first direction. The transverse track (213) is adapted to cooperate with and disengage from the transverse movement wheels (141) of the shuttle car (10).

17. The shelf (20) according to claim 16, characterized in that, The horizontal track (213) and the vertical track (212) are provided on the same side of the shelf body (211) in the first direction, and the side of the horizontal track (213) facing the shuttle car (10) protrudes in the first direction from the side of the vertical track (212) facing the shuttle car (10).

18. The shelf (20) according to claim 16, characterized in that, The vertical track (212) is provided on opposite sides of the same shelf unit (21) in the first direction; and / or, The vertical track (212) is provided on at least one side of the shelf body (211) in the second direction.

19. The shelf (20) according to claim 16, characterized in that, The vertical track (212) includes a first vertical guide rail (2121) and a second vertical guide rail (2122) arranged at intervals in the second direction, and 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) arranged at intervals in the second direction.

20. The shelf (20) according to claim 19, characterized in that, The horizontal track (213) includes a track body (2131) and a transition section (2132) arranged at intervals in the second direction. The track 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 track body (2131) is arranged on at least one side of the vertical track (212) in the second direction. The side of the track body (2131) facing the shuttle car (10) and the side of the transition section (2132) facing the shuttle car (10) both protrude in the first direction from the side of the vertical track (212) facing the shuttle car (10).

21. The shelf (20) according to claim 16, wherein, The shelf body (211) includes a plurality of upright columns (2111) arranged at intervals and a plurality of cross beams (2112) arranged at intervals. The upright columns (2111) extend in the vertical direction, and the cross beams (2112) extend in the second direction; At least one of the upright columns (2111) forms the 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, and / or, At least one of the cross beams (2112) forms the horizontal track (213) or the horizontal track (213) is connected to the shelf body (211) and is located on at least one side of at least one of the cross beams (2112) in the first direction.

22. The shelf (20) according to any one of claims 16-21, characterized in that, The shelf (20) includes a plurality of shelf units (21) arranged at intervals in the first direction. An accommodation space (22) for accommodating the shuttle car (10) is formed between two adjacent shelf units (21) in the first direction; In two adjacent shelf units (21) in the first direction, the vertical track (212) and the horizontal track (213) are provided on one side of any one of the shelf units (21) close to the other shelf unit (21).

23. A warehousing system (100), characterized in that, Comprising: A shuttle car (10), wherein the shuttle car (10) is the shuttle car (10) described in any one of claims 1-15; A rack (20), wherein the rack (20) is the rack (20) described in any one of claims 16-22; Wherein, the climbing wheel (121) cooperates with and disengages from the vertical track (212), and the traversing wheel (141) cooperates with and disengages from the horizontal track (213).

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