Warehousing system and cargo handling device

Abstract

The utility model relates to a warehousing system and goods handling device, a plurality of goods shelves, a roadway formed between the adjacent goods shelves, and a walking track arranged at the same height position of the adjacent goods shelves, the goods handling device comprises a mother vehicle, a first walking mechanism is arranged on the side portion of a vehicle body of the mother vehicle along the extending direction of the roadway, and a second walking mechanism is arranged on the side portion of the first walking mechanism. The vehicle body is further provided with a lifting belt mechanism, the lifting belt mechanism is connected with a cargo carrying table, a cargo taking and placing mechanism is arranged on the cargo carrying table, and the first walking mechanism is used for moving in a roadway along the walking track so as to drive the cargo carrying table to move to a target position to take and place cargoes. A space used for containing a cargo carrying table is arranged in the middle of a vehicle body of the mother vehicle, the mother vehicle can lift the cargo carrying table into the space through the lifting belt mechanism, so that the cargo carrying plane of the cargo carrying table is not lower than the plane where the walking rails are located, and the storage system is high in goods shelf utilization rate.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing, and in particular to a warehousing system and a cargo handling device. Background Art

[0002] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] The current cargo handling device based on the shelf includes a mother car, which is connected to the cargo platform by a lifting belt. The mother car and the cargo platform are arranged in the aisle between adjacent shelves. The mother car can move along the extension direction of the aisle of the shelf, and the cargo platform is provided with a picking and placing mechanism to pick up and place goods. When working, the cargo platform is always located under the mother car and is lifted and lowered by the lifting belt to reach the cargo positions on different layers. In order to improve the efficiency of cargo transfer, multiple cargo handling devices are arranged at different layers of the shelf. When adopting this method, since the cargo platform is always working under the mother car, the cargo position on the shelf layer where the mother car is located cannot pick up and place goods, resulting in waste of upper storage space, and the overall height space occupied by the cargo handling device is relatively large. When arranging the cargo positions, in addition to considering the height occupied by the stored goods, the height of the cargo handling device must also be considered, which further leads to the ineffective use of the storage space and reduces the utilization rate of the shelf. Utility Model Content

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide a storage system and a cargo handling device, thereby improving the utilization rate of shelf cargo spaces.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a storage system, comprising:

[0007] Multiple shelves, with lanes formed between adjacent shelves, and walking tracks set at the same height of adjacent shelves;

[0008] The cargo handling device includes a mother vehicle, a first walking mechanism is provided on the side of the body of the mother vehicle along the extension direction of the lane, and the body is further provided with a lifting belt mechanism, the lifting belt mechanism is connected to the cargo platform, and the cargo platform is provided with a pick-up and release mechanism, the first walking mechanism is used to move along the walking track in the lane to drive the cargo platform to move to the target position to pick up and release the cargo;

[0009] A space for accommodating a cargo platform is provided in the middle of the body of the mother vehicle, and the mother vehicle can lift the cargo platform into the space through the lifting belt mechanism so that the cargo plane of the cargo platform is not lower than the plane where the walking track is located.

[0010] Optionally, the body of the mother vehicle includes a first body and a second body, and a space is formed between the first body and the second body to match the cargo platform and to accommodate the cargo platform. The first body and the second body are both provided with a first walking mechanism, and the first body is connected to one side of the cargo platform through a first lifting belt mechanism, and the second body is connected to the other side of the cargo platform through a second lifting belt mechanism.

[0011] Optionally, a cargo handling device is provided in at least one lane, and correspondingly, a lane-changing track is provided between adjacent lanes. The lane-changing track is connected to the ends on the same side of the running tracks of the adjacent lanes, and the lane-changing track is a curved track.

[0012] Optionally, the first lifting belt mechanism includes a first winch wheel rotatably connected to the outer end portion of the first vehicle body, the first winch wheel is connected to a first lifting drive mechanism installed on the first vehicle body, a first lifting belt is wrapped around the first winch wheel, the first lifting belt passes around the guide wheel set at the top of the inner end of the first vehicle body and extends downward, and its movable end is connected to the cargo platform.

[0013] Optionally, the first lifting drive mechanism adopts a first rotating drive member located inside the first hoisting wheel, and the first rotating drive member is connected to the first hoisting wheel through a first transmission mechanism.

[0014] Optionally, the second lifting belt mechanism includes a second winch wheel located at the outer end portion of the second vehicle body, the second winch wheel is connected to a second lifting drive mechanism installed on the second vehicle body, a second lifting belt is wrapped around the second winch wheel, and the second lifting belt passes around the guide wheel set at the top of the inner end of the second vehicle body and extends downward, and its movable end is connected to the cargo platform.

[0015] Optionally, the second lifting belt mechanism adopts a second rotating driving member located inside the second hoisting wheel, and the second rotating driving member is connected to the second hoisting wheel through a second transmission mechanism.

[0016] Optionally, the first vehicle body is equipped with at least two first lifting belt mechanisms and / or the second vehicle body is equipped with at least two second lifting belt mechanisms.

[0017] Optionally, a jacking mechanism is provided along the side of the body of the mother vehicle perpendicular to the extension direction of the tunnel, and the jacking mechanism is connected to the second walking mechanism through a lifting plate. The jacking mechanism is used to drive the second walking mechanism to descend when the cargo handling device changes lanes, so that the second walking mechanism can walk along the lane changing track connected between the walking tracks of adjacent lanes, and the walking direction of the second walking mechanism is perpendicular to the walking direction of the first walking mechanism.

[0018] Optionally, a connecting channel connecting two adjacent lanes is provided on the shelf, and lane-changing tracks are fixed on the shelves on both sides of the connecting channel and are connected to the running tracks of the adjacent lanes.

[0019] Optionally, the cargo pick-up and placement mechanism adopts a telescopic cargo pick-up and placement mechanism, including a bidirectional telescopic mechanism installed on both sides of the cargo platform, the telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotary drive member, and the rotary drive member is connected to the shift fork;

[0020] or;

[0021] The cargo pick-up and placement mechanism adopts a telescopic cargo pick-up and placement mechanism, including a two-way telescopic mechanism installed on both sides of the cargo platform, and the two-way telescopic mechanism is connected to the clamping plate;

[0022] or;

[0023] The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a bidirectional telescopic mechanism installed in the middle or on both sides of the cargo platform, and the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly.

[0024] Optionally, at least two pushing members are provided on both edges of the cargo platform parallel to the extension direction of the shelf, and the pushing members are connected to the telescopic assembly, which can drive the pushing members to move so that the pushing members abut against the shelf.

[0025] Optionally, a plurality of the cargo handling devices are provided in the same lane, and the plurality of cargo handling devices are located at different heights of the lane shelves, and the mother vehicle cooperates with the corresponding running tracks fixed on the shelves through the running mechanism.

[0026] In a second aspect, an embodiment of the present invention provides a cargo handling device, comprising a mother vehicle, the mother vehicle comprising a first vehicle body and a second vehicle body, a space formed between the first vehicle body and the second vehicle body that matches a cargo platform and is used to accommodate the cargo platform, the first vehicle body and the second vehicle body are both provided with a first walking mechanism, the first vehicle body is connected to one side of the cargo platform via a first lifting belt mechanism, the second vehicle body is connected to the other side of the cargo platform via a second lifting belt mechanism, and a cargo picking and placing mechanism is provided on the cargo platform;

[0027] The mother vehicle can lift the cargo platform into the space through the first lifting belt mechanism and the second lifting belt mechanism, so that the cargo plane of the cargo platform is not lower than the plane of the walking track coordinated with the first walking mechanism.

[0028] The beneficial effects of the above utility model are as follows:

[0029] The warehousing system of the present invention is provided with a space for accommodating a cargo platform in the middle part of the body of the mother vehicle. The mother vehicle can lift the cargo platform into the space through the lifting belt mechanism so that the loading plane of the cargo platform is not lower than the plane of the walking track, thereby realizing the picking and placing of goods at the shelf cargo position on the layer where the mother vehicle is located. At the same time, compared with the scenario where the cargo platform can only work under the body of the mother vehicle, the overall height space occupied by the cargo handling device provided by the present invention is reduced, and there is no need to consider the height of the cargo handling device when setting the shelf storage cargo position, thereby further improving the utilization rate of the storage space. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation on this application.

[0031] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present utility model;

[0032] Figure 2 This is a front view of the overall structure of Example 1 of the utility model;

[0033] Figure 3 This is a schematic diagram of the structure of the cargo handling device of embodiment 1 of the utility model Figure 1 ;

[0034] Figure 4 This is a schematic diagram of the structure of the cargo handling device of embodiment 1 of the utility model Figure 2 ;

[0035] Figure 5 This is a schematic diagram of the coordination between the mother vehicle and the running track of the shelf in Example 1 of the utility model;

[0036] Figure 6 This is a structural diagram of a cargo handling device according to embodiment 2 of the present invention;

[0037] Figure 7 This is a schematic structural diagram of the mother vehicle in accordance with Embodiment 2 of the present invention;

[0038] Among them: 1. Cargo platform, 2. Pick-up and drop-off mechanism, 3. Shelf, 4. Travel track, 5. First vehicle body, 6. Second vehicle body, 7. Lane change track, 8. Push plate, 9. Vehicle body, 10. Lifting belt, 11. First wheel, 12. First transmission mechanism, 13. Travel drive motor, 14. Transmission shaft, 15. Lifting plate, 16. Lifting mechanism, 17. Second wheel, 18. Second transmission mechanism, 19. Reversing mechanism, 20. Tensioner.

[0039] 5-1. First housing, 5-2. First hoisting wheel, 5-3. First hoisting wheel shaft, 5-4. First transmission mechanism, 5-5. First lifting drive motor, 5-6. First lifting belt, 5-7. First guide wheel, 5-8. First guide wheel shaft, 5-9. First travel wheel, 5-10. First travel wheel shaft, 5-11. Travel drive motor;

[0040] 6-1. Second casing, 6-2. Second hoisting wheel, 6-3. Second hoisting wheel shaft, 6-4. Second lifting belt, 6-5. Second traveling wheel. DETAILED DESCRIPTION

[0041] Example 1

[0042] This embodiment provides a warehousing system, including multiple rows of shelves, with aisles formed between adjacent shelves. The shelves on both sides of the aisle are provided with walking tracks at the same height. The walking tracks cooperate with the cargo handling device, and the cargo handling device can travel along the walking tracks. The walking tracks are arranged along the extension direction of the aisle. The cargo handling device includes a mother car, a cargo platform 1 and a picking and placing mechanism 2. The mother car is connected to the cargo platform 1 through a lifting belt mechanism, and can drive the cargo platform 1 to rise and fall. The side of the mother car arranged along the extension direction of the aisle is provided with a first walking mechanism. The first walking mechanism cooperates with the walking track 4 provided on the shelf 3, and the mother car can travel along the extension direction of the shelf 3.

[0043] The body of the mother vehicle is provided with a space that matches the cargo platform and is used to accommodate the cargo platform 1. In this embodiment, the body of the mother vehicle is divided into two parts, namely a first body 5 and a second body 6. The first body 5 and the second body 6 are both provided with a first running mechanism that cooperates with the running track 4 provided on the shelf 3. A space that matches the cargo platform 1 and can accommodate the cargo platform 1 is provided between the first body 5 and the second body 6. The first body 5 is connected to one side of the cargo platform 1 via a first lifting belt mechanism, and the second body 6 is connected to the other side of the cargo platform 1 via a second lifting belt mechanism. The first and second lifting belt mechanisms can drive the cargo platform 1 to the space between the first body 5 and the second body 6, and ensure that the loading surface of the cargo platform 1 is not lower than the top surface of the running track 4. This enables the loading and unloading mechanism on the cargo platform 1 to load and unload cargo at the cargo location corresponding to the layer where the mother vehicle is located.

[0044] Furthermore, in order to ensure the stability of the cargo platform 1 during lifting and lowering, at least two first lifting belt structures are provided and / or at least two second lifting belt structures are provided.

[0045] The first vehicle body 5 and the second vehicle body 6 have the same structure.

[0046] Specifically, the first vehicle body 5 includes a first outer shell 5 - 1 , the first outer shell 5 - 1 has a space inside, and the first vehicle body is installed with a first lifting belt mechanism, which is connected to one side of the cargo platform 1 .

[0047] Furthermore, in order to ensure the stability of lifting the cargo platform 1, the first vehicle body 5-1 is provided with at least two first lifting belt mechanisms. Preferably, two first lifting belt mechanisms are provided, and the two first lifting belt mechanisms are respectively located on both sides of the first vehicle body 5.

[0048] The first lifting belt mechanism includes a first winch wheel 5-2, and the two first winch wheels 5-2 are both connected to a first winch wheel shaft 5-3, and the first winch wheel shaft 5-3 is rotatably connected to the first shell 5-1. In this embodiment, the two first winch wheels 5-2 are located in the outer part of the space inside the first shell 5-1, that is, the two first winch wheels 5-2 are arranged at the outer end of the first vehicle body 5.

[0049] The two first hoisting wheels 5-2 rotate synchronously through the first hoisting wheel shaft 5-3.

[0050] The first hoisting wheel shaft 5-3 is connected to the first lifting drive mechanism through the first transmission mechanism 5-4. In this embodiment, the first lifting drive mechanism is arranged on the inner side of the first hoisting wheel 5-2 on one side. The first lifting drive member adopts the first lifting drive motor 5-5 or other equipment that can output rotational motion. The output shaft of the first lifting drive motor 5-5 is connected to the first hoisting wheel shaft 5-3 through the first transmission mechanism 5-4, and then realizes the connection with the first hoisting wheel 5-2, thereby realizing the transmission of power to the first hoisting wheel 5-2.

[0051] The first transmission mechanism 5 - 4 adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0052] The first lifting belt 5-6 is wound around the first hoisting wheel 5-2. Preferably, the first lifting belt 5-6 is a flat belt. The first lifting belt 5-6 passes around the first guide wheel 5-7 and extends downward through the first shell 5-1. The movable end of the first lifting belt 5-6 is connected to one side of the cargo platform 1.

[0053] In this embodiment, the two first guide wheels 5-7 are connected by a first guide wheel shaft 5-8, and the first guide wheel shaft 5-8 is rotatably connected to the first outer shell 5-1. The first guide wheel shaft 5-8 and the two first guide wheels 5-7 are arranged at the top of the inner end part of the internal space of the first outer shell 5-1. This arrangement makes it easy to lift the cargo platform 1 to the space between the first vehicle body 5 and the second vehicle body 6.

[0054] A travel drive member is provided on the inner side of the first hoisting wheel 5 - 2 on the other side. The travel drive member is connected to the first travel mechanism to drive the first travel mechanism to work.

[0055] In this embodiment, the running mechanism connected to the first vehicle body 5 is two first running wheels 5-9 located on both sides of the first shell 5-1. The two first running wheels 5-9 are connected by a first running wheel axle 5-10, and the first running wheel axle 5-10 is rotationally connected to the first shell 5-1.

[0056] The travel drive member adopts a travel drive motor 5-11. It can be understood that the travel drive member can also adopt other devices that can output rotational motion.

[0057] The output shaft of the travel drive motor 5-11 is connected to the first travel wheel shaft 5-10 through a third transmission mechanism. The third transmission mechanism adopts a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism or other mechanisms capable of transmitting rotational motion, and preferably adopts a belt transmission mechanism.

[0058] The travel drive motor 5 - 11 can drive the first travel wheel shaft 5 - 10 to rotate through the third transmission mechanism, and then drive the two first travel wheels 5 - 9 to rotate, thereby realizing the travel of the first vehicle body 5 along the travel track 4 .

[0059] The structure of the second car body 6 is the same as that of the first car body 5, including a second shell 6-1, the second shell 6-1 is equipped with a walking mechanism and a second lifting belt mechanism, and there are also two second lifting belt mechanisms, which are respectively arranged on both sides of the second car body 6, and the second lifting belt mechanism includes a second winch wheel 6-2. The second winch wheels 6-2 of the two second lifting belt mechanisms are connected by a second winch wheel shaft 6-3, and the second winch wheel shaft 6-3 is rotatably connected to the second shell 6-1. The second winch wheel shaft 6-3 and the second winch wheel 6-2 are arranged at the outer end of the internal space of the second shell, that is, at the outer end of the second car body 6, and the second lifting belt 6-4 is wrapped around the second winch wheel 6-2. Preferably, the second lifting belt 6-4 is a flat belt. The second lifting belt 6-4 extends downward after passing around the second guide wheel, and its movable end is connected to the other side of the cargo platform after passing through the second shell 6-1.

[0060] The second guide wheels of the two second lifting belt mechanisms are connected through a second guide wheel shaft, and the second guide wheel shaft is rotatably connected to the second shell 6-1. The two second guide wheels and the second guide wheel shaft therebetween are located at the top of the inner end part of the inner space of the second shell.

[0061] A second lifting drive mechanism is provided on the inner side of the second guide wheel on one side, and the second lifting drive mechanism is connected to the second winch wheel shaft through a second transmission mechanism. The second lifting drive mechanism adopts a second lifting drive motor. It can be understood that the second lifting drive mechanism can also adopt other devices that can output rotational motion. The output shaft of the second lifting drive motor is connected to the second winch wheel shaft through the second transmission mechanism, driving the second winch wheel shaft to rotate, thereby realizing the synchronous rotation of the two second winch wheels 6-2.

[0062] The second transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0063] A traveling drive mechanism is provided on the inner side of the second hoisting wheel 6 - 2 on the other side. The traveling drive mechanism is connected to the first traveling mechanism of the second vehicle body to drive the traveling mechanism to work.

[0064] The running mechanism of the second vehicle body 6 includes two second running wheels 6-5 respectively located on both sides of the second shell 6-1. The two second running wheels 6-5 are connected by a second running wheel axle. The running drive mechanism adopts a running drive motor or other equipment that can output rotational motion. The running drive motor is connected to the second running wheel axle between the two second running wheels 6-5 through a fourth transmission mechanism, driving the second running wheel axle to rotate, thereby driving the two second running wheels 6-5 to rotate synchronously.

[0065] In this embodiment, the fourth transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0066] A pick-up and placement mechanism 2 is installed on the cargo platform. The pick-up and placement mechanism adopts a telescopic pick-up and placement mechanism, including a two-way telescopic mechanism arranged on both sides of the cargo platform 1. The telescopic direction of the two-way telescopic mechanism is perpendicular to the walking direction of the first vehicle body and the second vehicle body. The two-way telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating drive member. The rotating drive member adopts a steering gear, and the axis of the steering gear is parallel to the telescopic direction of the two-way telescopic mechanism. The output shaft of the steering gear is connected to a fork perpendicular to it. The steering gear can drive the fork to rotate in a plane perpendicular to the fork. The fork rotates to the space between the two two-way telescopic mechanisms to pick up and place cargo. The above-mentioned two-way telescopic mechanism and the fork, the structural connection method of the fork can adopt the telescopic mechanism, fork and fork structure and connection method disclosed in patent application CN117585346A, and its further technical details are not described in detail here.

[0067] In another embodiment, the bidirectional telescopic mechanisms on both sides of the cargo platform are connected to the clamping plates. At the same time, the bidirectional telescopic mechanisms on both sides of the cargo platform are connected to the telescopic components installed on the cargo platform. The telescopic components adopt cylinders, linear motors, or screw transmission mechanisms, etc. The telescopic direction of the telescopic components is perpendicular to the telescopic direction of the bidirectional telescopic mechanism to drive the two clamping plates to move toward or away from each other.

[0068] In the third embodiment, the cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a two-way telescopic mechanism arranged in the middle or on both sides of the cargo platform, and the two-way telescopic mechanism is connected to the suction cup assembly or the hook assembly, and the suction cup assembly or the hook assembly is used to realize cargo picking and placing.

[0069] In the cargo handling device of this embodiment, the cargo platform 1 can be lifted to the space between the first vehicle body 5 and the second vehicle body 6 under the action of the first lifting belt mechanism and the second lifting belt mechanism, thereby realizing the picking and placing of goods at the shelf cargo space on the layer where the mother vehicle is located. It can be applied to the situation where there are multiple cargo handling devices distributed up and down in the aisle, thereby improving the utilization rate of the cargo space.

[0070] Furthermore, the two edges of the cargo platform 1 parallel to the extension direction of the shelf are each provided with at least two pushing members. Preferably, two pushing members are each provided with two pushing members, and the two pushing members are respectively arranged at the two ends of the edge of the cargo platform 1. The pushing members are pushing plates 8, and each pushing plate 8 is connected to the telescopic mechanism installed on the cargo platform 1. The telescopic mechanism can adopt an existing telescopic mechanism, such as a gear rack telescopic mechanism or a cylinder or linear motor and other equipment that can output linear motion. After the cargo platform reaches the target cargo position, the pushing plate extends and abuts against the shelf, thereby ensuring the stability of the cargo platform 1 when taking and placing goods.

[0071] The cargo handling device is arranged inside the aisle formed by adjacent shelves, and the first walking mechanism of the first vehicle body 5 and the second vehicle body 6 cooperates with the walking track 4 fixed on the shelf 3 and arranged along the extension direction of the aisle. The first vehicle body 5 and the second vehicle body 6 can travel along the walking track through the walking mechanism.

[0072] In this embodiment, at least one lane is provided with the cargo handling device, and accordingly, a curved lane-changing track 7 is provided between the ends of the running tracks 4 on the same side of adjacent lanes, so that the cargo handling device can move from one lane to another adjacent lane.

[0073] Furthermore, a plurality of cargo handling devices are provided in the aisle, and the plurality of cargo handling devices are located at different heights of the shelves. The bottom height of the loading platform of the upper cargo handling device is higher than the maximum height of the lower cargo handling device in the loaded state, and no motion interference will occur, thereby further improving the cargo transfer efficiency. Accordingly, a plurality of aisle-changing rails 7 are also provided, which are respectively connected to the walking rails at different heights.

[0074] Example 2

[0075] This embodiment provides a warehousing system. Compared with the first embodiment, the difference lies in the different structure of the cargo handling device and the different arrangement of the lane change track.

[0076] The body 9 of the mother vehicle of the cargo handling device is an integral structure, which is provided with a accommodating cavity, which forms a space that matches the cargo platform 1 and is used to accommodate the cargo platform 1. A lifting belt mechanism is provided at the four corners of the top of the body 9. The lifting belt mechanism includes a lifting drive motor fixed to the top of the body, the lifting drive motor is connected to the winch wheel, and the winch wheel is wrapped with a lifting belt 10. The lifting belt 10 passes around the guide wheel rotatably connected to the top of the body and then extends downward and is connected to the cargo platform 1.

[0077] The lifting drive motor can drive the cargo platform 1 to be lifted and accommodated in the accommodating cavity through the lifting belt so that the cargo loading plane of the cargo platform 1 is not lower than the top plane of the walking track.

[0078] The two first wheels 11 are respectively arranged on both sides of the bottom end of the side of the vehicle body 6, and the two first wheels 11 are rotatably connected to the vehicle body 9 through a wheel axle. The axles of the two first wheels 11 are connected through a first transmission mechanism 12, so that the two first wheels 11 rotate synchronously. In this embodiment, the first transmission mechanism 12 adopts a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism, including a driving pulley, a plurality of driven pulleys and a transmission belt wound between the driving pulley and the driven pulley. The axles of the two first wheels 11 are connected to the driven pulley of the belt transmission mechanism, and the driving pulley of the belt transmission mechanism is located at the top of the vehicle body and is connected to the travel drive motor 13 arranged on the top of the vehicle body.

[0079] The corresponding driven pulleys of the first transmission mechanisms 12 on both sides are connected via a transmission shaft 14 , so that the two first transmission mechanisms 12 can move synchronously, and further the first traveling mechanisms on both sides share a traveling drive motor 13 .

[0080] The other two sides of the vehicle body that are relatively arranged perpendicular to the extension direction of the tunnel are provided with lifting components. The lifting components adopt a lifting plate 15, and the lifting plate 15 is connected to the jacking mechanism installed on the vehicle body. In this embodiment, the jacking mechanism adopts a screw lifting mechanism 16 or a cam lifting mechanism. The existing lifting mechanism can be used, and its specific structure will not be described in detail here.

[0081] The lifting plate 16 is provided with a slider, which is slidably connected to the guide rail provided on the vehicle body 9, thereby realizing the sliding connection between the lifting plate 16 and the vehicle body 9 and ensuring the stability of the lifting of the lifting plate 16.

[0082] A second traveling mechanism is installed on the lifting plate 16. The traveling direction of the second traveling mechanism is perpendicular to the traveling direction of the first traveling mechanism. The second traveling mechanism includes multiple second wheels 17, one of the second wheels 17 is a driving wheel, and the other second wheels 17 are driven wheels. In this embodiment, two second wheels 17 are provided, one of the second wheels 17 is a driving wheel, and the other second wheel 17 is a driven wheel.

[0083] The second wheels 17 are all rotatably connected to the lifting plate 15 via a wheel axle, wherein the second wheel serving as the driving wheel is connected to a reversing mechanism 19 via a second transmission mechanism 18 , and the reversing mechanism 19 is connected to an axle of one of the first wheels 11 .

[0084] In this embodiment, the second transmission mechanism 18 adopts a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism, one of the driven pulleys of the belt transmission mechanism is connected to the axle of the second wheel 17, and the other driven pulleys are connected to the vehicle body for rotation, and the driving pulley is connected to the output shaft of the reversing mechanism 19 installed on the vehicle body 9, and the input shaft of the reversing mechanism is the axle of the first wheel.

[0085] In this embodiment, the reversing mechanism 19 adopts a bevel gear transmission box installed at the bottom of the vehicle body, which can realize 90° reversing transmission of power.

[0086] A tensioner 20 is also mounted on the lifting plate 15 , and the tensioner 20 contacts the transmission belt of the second transmission mechanism 18 , so that when the lifting plate 15 drives the second wheel 17 to rise and fall, the transmission belt of the second transmission mechanism 18 can remain in a tensioned state to ensure smooth transmission of power.

[0087] In the shelf using the cargo handling device of this embodiment, multiple connecting channels are provided between adjacent lanes, and the multiple connecting channels connect the adjacent lanes. The connecting channels are arranged inside the shelf, and lane-changing tracks are provided on both sides of the connecting channels. The lane-changing tracks are fixedly connected to the shelf, and the lane-changing tracks are vertically connected to the walking tracks of the adjacent lanes to realize lane-changing of the cargo handling device. The lane-changing tracks are used to cooperate with the second walking mechanism. When the mother vehicle moves to the corresponding position of the lane-changing track through the first walking mechanism and the walking track, the lifting mechanism drives the lifting plate to descend, so that the second wheel cooperates with the lane-changing track and the first wheel disengages from the walking track. At this time, the second walking mechanism can drive the cargo handling device to move to the adjacent lane to realize lane changing.

[0088] In the storage system of this embodiment, the lane-changing track is set inside the shelf and does not occupy the space outside the shelf, thereby reducing the volume of the entire storage system. Moreover, the cargo handling device can change lanes through the lane-changing track closest to its current position, thereby improving the efficiency of the lane-changing work.

[0089] The rest of the structure of this embodiment is the same as that of embodiment 1 and will not be repeated here.

[0090] Example 3

[0091] This embodiment provides a cargo handling device, including a mother car, a cargo platform 1 and a cargo picking and placing mechanism 2. The mother car is connected to the cargo platform 1 through a lifting belt mechanism, and can drive the cargo platform 1 to rise and fall. The mother car is provided with a walking mechanism, and the walking mechanism cooperates with the walking track 4 set on the shelf 3. The mother car can move along the extension direction of the shelf 3.

[0092] The body of the mother vehicle is provided with a space that matches the cargo platform and is used to accommodate the cargo platform 1. In this embodiment, the body of the mother vehicle is divided into two parts, namely a first body 5 and a second body 6. The first body 5 and the second body 6 are both provided with a running mechanism that cooperates with the running track 4 provided on the shelf 3. A space that matches the cargo platform 1 and can accommodate the cargo platform 1 is provided between the first body 5 and the second body 6. The first body 5 is connected to one side of the cargo platform 1 via a first lifting belt mechanism, and the second body 6 is connected to the other side of the cargo platform 1 via a second lifting belt mechanism. The first and second lifting belt mechanisms can drive the cargo platform 1 to the space between the first body 5 and the second body 6, and ensure that the loading surface of the cargo platform 1 is not lower than the top surface of the running track 4. This enables the loading and unloading mechanism on the cargo platform 1 to load and unload cargo at the cargo location corresponding to the layer where the mother vehicle is located.

[0093] There are at least two first lifting belt structures and / or at least two second lifting belt structures, and the first vehicle body 5 and the second vehicle body 6 have the same structure.

[0094] Specifically, the first vehicle body 5 includes a first outer shell 5 - 1 , the first outer shell 5 - 1 has a space inside, and the first vehicle body is installed with a first lifting belt mechanism, which is connected to one side of the cargo platform 1 .

[0095] The first vehicle body 5 - 1 is provided with at least two first lifting belt mechanisms. Preferably, two first lifting belt mechanisms are provided, and the two first lifting belt mechanisms are respectively located on both sides of the first vehicle body 5 .

[0096] The first lifting belt mechanism includes a first winch wheel 5-2, and the two first winch wheels 5-2 are both connected to a first winch wheel shaft 5-3, and the first winch wheel shaft 5-3 is rotatably connected to the first shell 5-1. In this embodiment, the two first winch wheels 5-2 are located in the outer part of the space inside the first shell 5-1, that is, the two first winch wheels 5-2 are arranged at the outer end of the first vehicle body 5.

[0097] The two first hoisting wheels 5-2 rotate synchronously through the first hoisting wheel shaft 5-3.

[0098] The first hoisting wheel shaft 5-3 is connected to the first lifting drive mechanism through the first transmission mechanism 5-4. In this embodiment, the first lifting drive mechanism is arranged on the inner side of the first hoisting wheel 5-2 on one side. The first lifting drive member adopts the first lifting drive motor 5-5 or other equipment that can output rotational motion. The output shaft of the first lifting drive motor 5-5 is connected to the first hoisting wheel shaft 5-3 through the first transmission mechanism 5-4, and then realizes the connection with the first hoisting wheel 5-2, thereby realizing the transmission of power to the first hoisting wheel 5-2.

[0099] The first transmission mechanism 5 - 4 adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0100] The first lifting belt 5-6 is wound around the first hoisting wheel 5-2. Preferably, the first lifting belt 5-6 is a flat belt. The first lifting belt 5-6 passes around the first guide wheel 5-7 and extends downward through the first shell 5-1. The movable end of the first lifting belt 5-6 is connected to one side of the cargo platform 1.

[0101] In this embodiment, the two first guide wheels 5-7 are connected by a first guide wheel shaft 5-8, and the first guide wheel shaft 5-8 is rotatably connected to the first outer shell 5-1. The first guide wheel shaft 5-8 and the two first guide wheels 5-7 are arranged at the top of the inner end part of the internal space of the first outer shell 5-1. This arrangement makes it easy to lift the cargo platform 1 to the space between the first vehicle body 5 and the second vehicle body 6.

[0102] A travel drive member is provided on the inner side of the first winch wheel 5 - 2 on the other side, and the travel drive member is connected to the travel mechanism to drive the travel mechanism to work.

[0103] In this embodiment, the running mechanism connected to the first vehicle body 5 is two first running wheels 5-9 located on both sides of the first shell 5-1. The two first running wheels 5-9 are connected by a first running wheel axle 5-10, and the first running wheel axle 5-10 is rotationally connected to the first shell 5-1.

[0104] The travel drive member adopts a travel drive motor 5-11. It can be understood that the travel drive member can also adopt other devices that can output rotational motion.

[0105] The output shaft of the travel drive motor 5-11 is connected to the first travel wheel shaft 5-10 through a third transmission mechanism. The third transmission mechanism adopts a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism or other mechanisms capable of transmitting rotational motion, and preferably adopts a belt transmission mechanism.

[0106] The travel drive motor 5 - 11 can drive the first travel wheel shaft 5 - 10 to rotate through the third transmission mechanism, and then drive the two first travel wheels 5 - 9 to rotate, thereby realizing the travel of the first vehicle body 5 along the travel track 4 .

[0107] The structure of the second car body 6 is the same as that of the first car body 5, including a second shell 6-1, the second shell 6-1 is equipped with a walking mechanism and a second lifting belt mechanism, and there are also two second lifting belt mechanisms, which are respectively arranged on both sides of the second car body 6, and the second lifting belt mechanism includes a second winch wheel 6-2. The second winch wheels 6-2 of the two second lifting belt mechanisms are connected by a second winch wheel shaft 6-3, and the second winch wheel shaft 6-3 is rotatably connected to the second shell 6-1. The second winch wheel shaft 6-3 and the second winch wheel 6-2 are arranged at the outer end of the internal space of the second shell, that is, at the outer end of the second car body 6, and the second lifting belt 6-4 is wrapped around the second winch wheel 6-2. Preferably, the second lifting belt 6-4 is a flat belt. The second lifting belt 6-4 extends downward after passing around the second guide wheel, and its movable end is connected to the other side of the cargo platform after passing through the second shell 6-1.

[0108] The second guide wheels of the two second lifting belt mechanisms are connected through a second guide wheel shaft, and the second guide wheel shaft is rotatably connected to the second shell 6-1. The two second guide wheels and the second guide wheel shaft therebetween are located at the top of the inner end part of the inner space of the second shell.

[0109] A second lifting drive mechanism is provided on the inner side of the second guide wheel on one side, and the second lifting drive mechanism is connected to the second winch wheel shaft through a second transmission mechanism. The second lifting drive mechanism adopts a second lifting drive motor. It can be understood that the second lifting drive mechanism can also adopt other devices that can output rotational motion. The output shaft of the second lifting drive motor is connected to the second winch wheel shaft through the second transmission mechanism, driving the second winch wheel shaft to rotate, thereby realizing the synchronous rotation of the two second winch wheels 6-2.

[0110] The second transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0111] A traveling drive mechanism is provided on the inner side of the second hoisting wheel 6 - 2 on the other side. The traveling drive mechanism is connected to the traveling mechanism of the second vehicle body to drive the traveling mechanism to work.

[0112] The running mechanism of the second vehicle body 6 includes two second running wheels 6-5 respectively located on both sides of the second shell 6-1. The two second running wheels 6-5 are connected by a second running wheel axle. The running drive mechanism adopts a running drive motor or other equipment that can output rotational motion. The running drive motor is connected to the second running wheel axle between the two second running wheels 6-5 through a fourth transmission mechanism, driving the second running wheel axle to rotate, thereby driving the two second running wheels 6-5 to rotate synchronously.

[0113] In this embodiment, the fourth transmission mechanism adopts a mechanism capable of transmitting rotational motion, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, and preferably adopts a belt transmission mechanism.

[0114] A pick-up and placement mechanism 2 is installed on the cargo platform. The pick-up and placement mechanism adopts a telescopic pick-up and placement mechanism, including a two-way telescopic mechanism arranged on both sides of the cargo platform 1. The telescopic direction of the two-way telescopic mechanism is perpendicular to the walking direction of the first vehicle body and the second vehicle body. The two-way telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating drive member. The rotating drive member adopts a steering gear, and the axis of the steering gear is parallel to the telescopic direction of the two-way telescopic mechanism. The output shaft of the steering gear is connected to a fork perpendicular to it. The steering gear can drive the fork to rotate in a plane perpendicular to the fork. The fork rotates to the space between the two two-way telescopic mechanisms to pick up and place cargo. The above-mentioned two-way telescopic mechanism and the fork, the structural connection method of the fork can adopt the telescopic mechanism, fork and fork structure and connection method disclosed in patent application CN117585346A, and its further technical details are not described in detail here.

[0115] In another embodiment, the bidirectional telescopic mechanism is connected to a plate fork, and the plate fork is used to pick up and place goods.

[0116] In the third embodiment, the bidirectional telescopic mechanism is connected to the fork, and the end of the fork is provided with a telescopic drive member perpendicular to it. The telescopic drive member adopts a device such as a cylinder that can output linear motion. The telescopic drive member is connected to the vacuum suction cup, and the vacuum suction cup is used to absorb and fix the goods to realize picking and placing of goods.

[0117] In the cargo handling device of this embodiment, the cargo platform 1 can be lifted to the space between the first vehicle body 5 and the second vehicle body 6 under the action of the first lifting belt mechanism and the second lifting belt mechanism, thereby realizing the picking and placing of goods at the shelf cargo space on the layer where the mother vehicle is located. It can be applied to the situation where there are multiple cargo handling devices distributed up and down in the aisle, thereby improving the utilization rate of the cargo space.

[0118] Furthermore, the two edges of the cargo platform 1 parallel to the extension direction of the shelf are each provided with at least two pushing members. Preferably, two pushing members are each provided with two pushing members, and the two pushing members are respectively arranged at the two ends of the edge of the cargo platform 1. The pushing members are pushing plates 8, and each pushing plate 8 is connected to the telescopic mechanism installed on the cargo platform 1. The telescopic mechanism can adopt an existing telescopic mechanism, such as a gear rack telescopic mechanism or a cylinder or linear motor and other equipment that can output linear motion. After the cargo platform reaches the target cargo position, the pushing plate extends and abuts against the shelf, thereby ensuring the stability of the cargo platform 1 when taking and placing goods.

[0119] Although the above description of the specific implementation methods of the present invention is combined with the accompanying drawings, it does not limit the scope of protection of the present invention. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present invention, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present invention.

Claims

1. A warehousing system, characterized in that: include: Multiple shelves, with lanes formed between adjacent shelves, and walking tracks set at the same height of adjacent shelves; The cargo handling device includes a mother vehicle, wherein a first traveling mechanism is provided on a side of the mother vehicle body along the direction in which the lane extends, and the vehicle body is further provided with a lifting belt mechanism, wherein the lifting belt mechanism is connected to a cargo platform, and a cargo pick-up and placement mechanism is provided on the cargo platform, wherein the first traveling mechanism is used to move horizontally along the traveling track in the lane to drive the cargo platform to move to a target position to pick up and place cargo; A space for accommodating a cargo platform is provided in the middle of the body of the mother vehicle, and the mother vehicle can lift the cargo platform into the space through the lifting belt mechanism so that the cargo plane of the cargo platform is not lower than the plane where the walking track is located.

2. A storage system according to claim 1, characterized in that: The body of the mother vehicle includes a first body and a second body, and a space is formed between the first body and the second body to match the cargo platform and to accommodate the cargo platform. The first body and the second body are both provided with a first walking mechanism, and the first body is connected to one side of the cargo platform through a first lifting belt mechanism, and the second body is connected to the other side of the cargo platform through a second lifting belt mechanism.

3. A storage system according to claim 2, characterized in that: A cargo handling device is provided in at least one lane. Correspondingly, a lane-changing track is provided between adjacent lanes. The lane-changing track is connected to the same-side end of the running track of the adjacent lanes, and the lane-changing track is a curved track.

4. A storage system according to claim 2, characterized in that: The first lifting belt mechanism includes a first winch wheel rotatably connected to the outer end portion of the first vehicle body, the first winch wheel is connected to a first lifting drive mechanism installed on the first vehicle body, a first lifting belt is wrapped around the first winch wheel, the first lifting belt passes over a guide wheel arranged at the top of the inner end of the first vehicle body and extends downward, and its movable end is connected to the cargo platform.

5. A storage system according to claim 4, characterized in that: The first lifting drive mechanism adopts a first rotating drive member located inside the first hoisting wheel, and the first rotating drive member is connected to the first hoisting wheel through a first transmission mechanism.

6. A storage system according to claim 2, characterized in that: The second lifting belt mechanism includes a second winch wheel located at the outer end portion of the second vehicle body, the second winch wheel is connected to the second lifting drive mechanism installed on the second vehicle body, a second lifting belt is wrapped around the second winch wheel, and the second lifting belt passes around the guide wheel set at the top of the inner end of the second vehicle body and extends downward, and its movable end is connected to the cargo platform.

7. A storage system according to claim 6, characterized in that: The second lifting belt mechanism adopts a second rotating driving member located inside the second hoisting wheel, and the second rotating driving member is connected to the second hoisting wheel through a second transmission mechanism.

8. A storage system according to claim 2, characterized in that: The first vehicle body is equipped with at least two first lifting belt mechanisms and / or the second vehicle body is equipped with at least two second lifting belt mechanisms.

9. A storage system according to claim 1, characterized in that: The body of the mother vehicle is provided with a jacking mechanism along the side perpendicular to the extension direction of the lane, and the jacking mechanism is connected to the second walking mechanism through a lifting plate. The jacking mechanism is used to drive the second walking mechanism to descend when the cargo handling device changes lanes, so that the second walking mechanism can walk along the lane changing track connected between the walking tracks of adjacent lanes, and the walking direction of the second walking mechanism is perpendicular to the walking direction of the first walking mechanism.

10. A storage system according to claim 9, characterized in that: The shelves are provided with a connecting passage connecting two adjacent lanes, and lane-changing tracks are fixed on the shelves on both sides of the connecting passage, and the lane-changing tracks are connected to the running tracks of the adjacent lanes.

11. A storage system according to claim 1, characterized in that: The cargo pick-up and placement mechanism adopts a telescopic cargo pick-up and placement mechanism, including a bidirectional telescopic mechanism installed on both sides of the cargo platform, the telescopic mechanism is connected to the cargo fork, and the two ends of the cargo fork are provided with a rotating drive member, and the rotating drive member is connected to the shift fork; or; The cargo pick-up and placement mechanism adopts a telescopic cargo pick-up and placement mechanism, including a two-way telescopic mechanism installed on both sides of the cargo platform, and the two-way telescopic mechanism is connected to the clamping plate; or; The cargo picking and placing mechanism adopts a telescopic cargo picking and placing mechanism, including a bidirectional telescopic mechanism installed in the middle or on both sides of the cargo platform, and the telescopic mechanism is connected to the suction cup assembly or the hook claw assembly.

12. A storage system according to claim 1, characterized in that: At least two pushing members are provided on both edges of the cargo platform parallel to the extension direction of the shelf. The pushing members are connected to the telescopic assembly, and the telescopic assembly can drive the pushing members to move so that the pushing members abut against the shelf.

13. The storage system according to claim 1, wherein: A plurality of the cargo handling devices are arranged in the same lane, and the plurality of cargo handling devices are located at different heights of the shelves. The mother vehicle cooperates with the corresponding walking tracks fixed on the shelves through the walking mechanism.

14. A cargo handling device, comprising a mother vehicle, characterized in that: The mother vehicle includes a first vehicle body and a second vehicle body, wherein a space matching the cargo platform and used to accommodate the cargo platform is formed between the first vehicle body and the second vehicle body, and the first vehicle body and the second vehicle body are both provided with a first walking mechanism, the first vehicle body is connected to one side of the cargo platform via a first lifting belt mechanism, and the second vehicle body is connected to the other side of the cargo platform via a second lifting belt mechanism, and a cargo picking and placing mechanism is provided on the cargo platform; The mother vehicle can lift the cargo platform into the space through the first lifting belt mechanism and the second lifting belt mechanism, so that the cargo plane of the cargo platform is not lower than the plane of the walking track coordinated with the first walking mechanism.

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