Transfer trolley and warehousing system

Abstract

The embodiment of the utility model provides a transfer trolley and a warehousing system. The transfer trolley comprises a trolley body; the walking mechanism is arranged on the vehicle body; the walking mechanism is configured to drive the vehicle body to walk; the climbing mechanism is arranged on the vehicle body and can stretch out and draw back relative to the vehicle body in the radial direction of the vehicle body; the climbing mechanism comprises a first gear and a second gear, the axis of the first gear and the axis of the second gear are arranged side by side in the axial direction of the vehicle body, and the first gear and the second gear are configured to be matched with meshing pieces on the goods shelf stand columns so as to drive the vehicle body to climb along the goods shelf stand columns. According to the transfer trolley and the warehousing system, articles stored in other layers, except the bottom layer, in the multiple layers of goods shelves can be carried, and the application range of the transfer trolley is widened.

Description

Technical Field

[0001] The present application belongs to the field of warehousing and logistics technology, and specifically relates to a transfer vehicle and a warehousing system. Background Art

[0002] In warehousing logistics, four-way vehicles are widely used as equipment for transporting target items (such as boxes) due to their flexible movement direction.

[0003] Currently, four-way vehicles move on the ground or on platforms to move target items from one location in the warehouse to another, such as from a rack picker workstation. To improve the utilization of the longitudinal space in the warehouse system, the racks arranged in the warehouse space can usually be multi-layer racks.

[0004] However, currently, four-way vehicles are difficult to transport target items stored on layers other than the bottom layer of multi-layer shelves, and their scope of application is relatively narrow. Utility Model Content

[0005] The embodiments of the present application provide a transfer vehicle and a storage system that can transport items stored on layers other than the bottom layer of a multi-layer shelf, thereby improving the applicability of the transfer vehicle.

[0006] According to a first aspect of an embodiment of the present application, a transfer vehicle is provided, comprising:

[0007] body;

[0008] The traveling mechanism is provided on the vehicle body; the traveling mechanism is configured to drive the vehicle body to move;

[0009] The climbing mechanism is provided on the vehicle body and can be extended and retracted relative to the vehicle body along the radial direction of the vehicle body; the climbing mechanism includes a first gear and a second gear, the axes of the first gear and the second gear are arranged side by side along the axial direction of the vehicle body, and the first gear and the second gear are configured to cooperate with the engaging parts on the shelf columns to drive the vehicle body to climb along the shelf columns.

[0010] In one implementation, the walking mechanism includes:

[0011] A first wheel assembly is rotatably disposed on the bottom of the vehicle body, and the first wheel assembly is configured to drive the vehicle body to move in a first direction;

[0012] The second wheel group is rotatably arranged at the bottom of the vehicle body, and the second wheel group is configured to drive the vehicle body to move along a second direction; the second direction intersects with the first direction; the plane where the first direction and the second direction are located is consistent with the radial direction of the vehicle body, and the plane where the first direction and the second direction are located intersects with the extension direction of the shelf column.

[0013] In one implementation, the climbing mechanism includes:

[0014] The mounting bracket is provided on the vehicle body and can extend out of the vehicle body or retract into the vehicle body along the radial direction of the vehicle body;

[0015] The first gear and the second gear are arranged at one end of the mounting bracket away from the vehicle body. The first gear and the second gear are rotatably connected to the mounting bracket, and the first gear and the second gear rotate in the same direction.

[0016] In one implementation, a third gear is provided on the mounting bracket, the third gear is rotatably connected to the mounting bracket, the third gear is meshed with the first gear, and the third gear is meshed with the second gear.

[0017] In one implementation, the climbing mechanism further includes:

[0018] A first drive assembly is provided on the vehicle body, a power output shaft of the first drive assembly is passed through the mounting bracket, and the power output shaft is transmission-connected to the third gear;

[0019] The power output shaft is movably connected to the mounting bracket along the circumference of the power output shaft.

[0020] In one implementation, the power take-off shaft is positionally connected to the mounting bracket along the axial direction of the power take-off shaft.

[0021] In one implementation, the axis of the power output shaft intersects with the rotation axis of the third gear; and the climbing mechanism further comprises:

[0022] The power steering assembly is located between the power output shaft and the third gear, and is configured to turn the power of the power output shaft and transmit it to the third gear.

[0023] In one implementation, a power steering assembly includes:

[0024] a first helical gear, provided on the power output shaft;

[0025] The second helical gear is coaxially arranged with the third gear, and the first helical gear is meshed with the second helical gear.

[0026] In one implementation, the first drive component includes:

[0027] A first driving member is provided on the vehicle body;

[0028] The fourth gear is in transmission connection with the first driving member. The fourth gear is sleeved on the power output shaft and is limitedly connected to the power output shaft along the circumference of the power output shaft.

[0029] In one implementation, the power take-off shaft is movably connected to the fourth gear along the axial direction of the power take-off shaft.

[0030] In one implementation, the transfer vehicle further includes:

[0031] A sliding assembly is disposed within the vehicle body and is movable along the radial direction of the vehicle body. One portion of the sliding assembly is connected to the vehicle body, and another portion of the sliding assembly is connected to the mounting bracket, so that the mounting bracket can extend out of the vehicle body along the radial direction of the vehicle body.

[0032] The second driving member is provided in the vehicle body and is configured to drive the mounting bracket to extend out of the vehicle body in the radial direction of the vehicle body, or to drive the mounting bracket to retract into the vehicle body in the radial direction of the vehicle body.

[0033] In one implementation, a plurality of rack columns form a climbing space; there are a plurality of climbing mechanisms, and the plurality of climbing mechanisms are evenly spaced and arranged along the circumference of the vehicle body;

[0034] When the traveling mechanism drives the vehicle body into the climbing space, the second driving member drives the mounting bracket to extend out of the vehicle body until the first gear and the second gear are engaged with the engaging member;

[0035] The first driving assembly drives the first gear and the second gear to rotate along the third direction, so that the climbing mechanism drives the vehicle body to climb along the shelf column.

[0036] In one implementation, when the climbing mechanism drives the vehicle body to climb along the shelf column to the first target position and completes the retrieval of the target item, the first drive assembly drives the first gear and the second gear to rotate in the third direction or the fourth direction, so that the climbing mechanism drives the vehicle body to move along the shelf column until the vehicle body moves to the second target position; wherein the fourth direction is opposite to the third direction;

[0037] The second driving member drives the mounting bracket back into the vehicle body;

[0038] The traveling mechanism drives the vehicle body to travel along any one of a first direction and a second direction.

[0039] In one implementation, the sliding assembly includes:

[0040] A slide rail provided on one of the mounting bracket and the vehicle body;

[0041] The slider is arranged on the other of the mounting bracket and the vehicle body, and is slidably connected to the slide rail.

[0042] In one implementation, a bending portion is provided at one end of the mounting bracket facing away from the vehicle body, and the bending portion is bent away from any one of the first gear and the second gear; the bending portion is provided with a limiting roller, and the limiting roller is configured to cooperate with the shelf column to position the climbing mechanism and the engaging member.

[0043] In one implementation, the bent portion is located on both sides of the axial direction of any one of the first gear and the second gear; and the limiting roller is located on a side of the bent portion close to any one of the first gear and the second gear.

[0044] In one implementation, a plurality of limiting rollers are arranged side by side along the arrangement direction of the first gear and the second gear.

[0045] In one implementation, the cross-section of the vehicle body is polygonal, and the climbing mechanisms include multiple climbing mechanisms, which are evenly spaced and arranged along the circumference of the vehicle body.

[0046] According to a second aspect of an embodiment of the present application, a warehousing system is provided, including:

[0047] The transfer vehicle provided by the embodiment of the first aspect of the present application;

[0048] The shelf has a shelf column, and the shelf column is provided with an engaging member, which is configured to cooperate with the first gear and the second gear of the transfer vehicle.

[0049] In one implementation, the shelf columns are provided with angle steels, which are located on both sides of the engaging member; the angle steels are configured to cooperate with the limiting rollers of the transfer vehicle.

[0050] According to the transfer vehicle and storage system provided by the embodiments of the present application, a traveling mechanism is provided on the vehicle body, which can drive the vehicle body to move, thereby transporting target items through the vehicle body and moving them within the storage space. A climbing mechanism is provided on the vehicle body, which can be extended and retracted relative to the vehicle body in the radial direction of the vehicle body; thus, for target items stored on layers other than the bottom layer of a multi-layer shelf, the transfer vehicle can move to the bottom of the multi-layer shelf, extend the climbing mechanism from the vehicle body, and cooperate with the shelf columns to climb along the shelf columns to each layer of the multi-layer shelf, thereby transporting and transferring the target items stored on the shelf.

[0051] Furthermore, the climbing mechanism includes a first gear and a second gear, the axes of which are arranged side by side along the circumference of the vehicle body. This allows for a meshing member to be provided on the shelf column along the length of the shelf column. When the climbing mechanism engages with the shelf column, the first gear and the second gear can respectively mesh with the meshing member, allowing the vehicle to climb along the shelf column. The meshing of the side-by-side first and second gears with the meshing member improves the stability of the meshing between the climbing mechanism and the meshing member, thereby enhancing the stability of the transfer vehicle as it climbs along the shelf column. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0053] Figure 1 This is a structural diagram of a warehousing system provided in some embodiments of the present application;

[0054] Figure 2 This is a front view of a warehousing system provided by some embodiments of the present application;

[0055] Figure 3 is a top view of a storage system provided by some embodiments of the present application;

[0056] Figure 4 This is a structural schematic diagram of a climbing mechanism in a transfer vehicle provided in some embodiments of the present application;

[0057] Figure 5 This is a front view of a climbing mechanism in a transfer vehicle provided in some embodiments of the present application;

[0058] Figure 6 This is a front view of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application;

[0059] Figure 7 is a top view of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application;

[0060] Figure 8 This is a schematic diagram of the internal structure of a climbing mechanism in a transfer vehicle provided in some embodiments of the present application;

[0061] Figure 9 This is another schematic diagram of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application;

[0062] Figure 10 is a top view of a climbing mechanism in a transfer vehicle provided in some embodiments of the present application;

[0063] Figure 11 yes Figure 10 A magnified partial view of point A in the middle.

[0064] Description of reference numerals:

[0065] 10-transfer vehicle; 20-shelf column;

[0066] 110-car body; 120-traveling mechanism; 130-climbing mechanism; 140-sliding assembly; 210-engaging member; 220-angle steel;

[0067] 121 - traveling wheel; 131 - first gear; 132 - second gear; 133 - mounting bracket; 134 - third gear; 135 - first drive assembly; 136 - power steering assembly; 141 - slide rail; 142 - slider;

[0068] 1331 - bending portion; 1332 - limiting roller; 1351 - power output shaft; 1352 - first driving member; 1353 - fourth gear; 1354 - worm; 1355 - fifth gear; 1356 - sixth gear; 1361 - first helical gear; 1362 - second helical gear. DETAILED DESCRIPTION

[0069] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0070] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0071] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting this application. In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0072] In this application, unless otherwise expressly specified or limited, the terms "connected," "connected," "fixed," and the like should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two elements or an interaction between two elements. However, the phrase "directly connected" indicates that the two connected entities are not connected through an intermediate structure, but are connected to form a whole through a connecting structure. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0073] In this application, references to "first," "second," and the like are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0074] In warehousing and logistics, four-way vehicles are widely used as equipment for transporting target items due to their flexible movement direction.

[0075] In some examples, the target object may be a container, an empty container, or a container containing items.

[0076] In some examples, the target object may be a pallet, an empty pallet, or a pallet loaded with containers.

[0077] In some examples, the target item may be a crate, a box, or the item itself.

[0078] In some examples, a four-way vehicle can move on the ground or a platform, and target items can be placed on the four-way vehicle, and as the four-way vehicle moves, the target items are transported from one location in the storage space to another.

[0079] For example, in some examples, a four-way vehicle can transfer target items stored on shelves to a picking station, or transfer target items from a picking station to shelves for storage.

[0080] In some examples, in warehousing logistics, to store target items, shelves may be provided in the storage space, and the target items may be placed and stored on the shelves.

[0081] In some examples, in order to improve the utilization of the longitudinal space of the storage system, the shelves can generally be multi-layer shelves.

[0082] Currently, when using a four-way vehicle to transfer target items, the vehicle cannot carry target items other than the bottom shelf in a multi-layer shelf. Usually, other equipment is required to transfer the target items to the bottom shelf.

[0083] In some cases, a robot or robotic arm can be installed on the shelf to transfer the target item to the bottom shelf. Then, a four-way vehicle can transfer the target item on the bottom shelf. This results in a narrow application range of the four-way vehicle.

[0084] Figure 1 This is a structural diagram of a warehousing system provided in some embodiments of the present application. Figure 2 This is a main view of the warehousing system provided in some embodiments of the present application. Figure 3This is a top view of the storage system provided by some embodiments of the present application.

[0085] Regarding the problems existing in related technologies, refer to Figure 1-Figure 3 As shown, some embodiments of the present application provide a storage system. The storage system may include shelves.

[0086] For some examples, refer to Figure 1-Figure 3 As shown, the shelf can have a plurality of shelf columns 20. The shelf columns 20 can be set on the ground or platform of the storage space.

[0087] In some examples, a crossbeam (not shown in the figure) may be provided between two adjacent shelf columns 20 . The crossbeam may connect the two adjacent shelf columns 20 .

[0088] In some examples, along the extension direction of the shelf column 20 (in some examples, it can also be called the height direction of the shelf, for example Figure 1 A plurality of cross beams can be arranged side by side to form a multi-layer shelf together with the shelf columns 20.

[0089] In some examples, the shelf column 20 may be provided with an engaging member 210 . The engaging member 210 may be provided along the extension direction of the shelf column 20 .

[0090] In some examples, the engagement member 210 may be a rack.

[0091] In some examples, the rack can be a standard rack.

[0092] In some examples, the rack may be a non-standard rack.

[0093] In some examples, the engagement member 210 may be a long strip plate disposed along the extension direction of the shelf column 20. The long strip plate may have a plurality of engagement holes arranged side by side along the extension direction of the shelf column 20. The engagement holes may be configured to engage with the teeth of a gear.

[0094] In some examples of the embodiments of the present application, the engagement member 210 is taken as a rack as a specific example for illustration.

[0095] For some examples, refer to Figure 1-Figure 3 As shown, the warehousing system may include a transfer vehicle 10 .

[0096] In some examples, the transfer vehicle 10 may be a four-way vehicle.

[0097] For some examples, refer to Figure 1 As shown, the transfer vehicle 10 may include a vehicle body 110. The vehicle body 110 may be a load-bearing body of the transfer vehicle 10.

[0098] In some examples, the vehicle body 110 may be made of metal materials such as stainless steel, aluminum alloy, or cast iron, so as to facilitate carrying and transporting heavy target items.

[0099] In some examples, the vehicle body 110 may be made of non-metallic materials such as engineering plastics. In some examples of the embodiments of the present application, the material of the vehicle body 110 is not limited.

[0100] For some examples, refer to Figure 1 As shown, the transport vehicle 10 may include a traveling mechanism 120. The traveling mechanism 120 may be provided on the vehicle body 110. The traveling mechanism 120 may be configured to drive the vehicle body 110 to travel.

[0101] In some examples, the running mechanism 120 may include running wheels 121. The running wheels 121 may be rotatably connected to the vehicle body 110. When the running wheels 121 rotate relative to the vehicle body 110, the vehicle body 110 may be driven to run on a track, on the ground, or on a platform.

[0102] In some examples, the traveling mechanism 120 may include a first wheel set 122. The first wheel set 122 may be disposed at the bottom of the vehicle body 110. The first wheel set 122 may be located at the bottom of the vehicle body 110 along a first direction (e.g., Figure 1 on both sides of the direction shown by the y-axis).

[0103] In some examples, the first wheel set 122 may be configured to drive the vehicle body 110 along a first direction (eg Figure 1 The direction shown by the y-axis) is walked.

[0104] In some examples, the first wheel set 122 can drive the vehicle body 110 to move along a first direction on the floor of the storage space.

[0105] In some examples, the first wheel set 122 can drive the vehicle body 110 to move along the first direction on the crossbeam.

[0106] In some examples, the traveling mechanism may include a second wheel set 123. The second wheel set 123 may be provided at the bottom of the vehicle body 110. The second wheel set may be provided at the bottom of the vehicle body 110 along the second direction (eg Figure 1 on both sides of the direction shown along the x-axis).

[0107] In some examples, the second wheel set 123 may be configured to drive the vehicle body 110 along a second direction (eg Figure 1 The direction shown by the x-axis) is walked.

[0108] In some examples, the second wheel set 123 can drive the vehicle body 110 to move along the second direction on the floor of the storage space.

[0109] In some examples, the second wheel set 123 can drive the vehicle body 110 to move along the second direction on the crossbeam.

[0110] In some examples, the running wheels 121 can run on the crossbeams of the shelf, moving from one cargo position on the same level of the shelf to another cargo position.

[0111] In some examples, this is done to facilitate the transfer of target items on other shelves except the bottom shelf. Figure 1-Figure 3 As shown, the transfer vehicle 10 may include a climbing mechanism 130. The climbing mechanism 130 may be provided on the vehicle body 110.

[0112] In some examples, along the radial direction of the vehicle body 110 (eg Figure 1 The climbing mechanism 130 can be extended and retracted relative to the vehicle body 110. In other words, the climbing mechanism 130 can extend radially out of the vehicle body 110; or the climbing mechanism 130 can be retracted radially into the vehicle body 110.

[0113] In some application scenarios, the transfer vehicle 10 can travel on the ground of the storage space and transfer target items.

[0114] In some examples, the transfer vehicle 10 may carry a target item. The transfer vehicle 10 moves under the shelf, for example, Figure 1 and Figure 3 As shown, the transfer vehicle 10 can move into the climbing space formed by the four shelf columns 20. Then, the climbing mechanism 130 extends out of the vehicle body 110 and cooperates with the shelf columns 20. The climbing mechanism 130 drives the transfer vehicle 10 to climb along the shelf columns 20, thereby carrying the target items to various cargo locations on the shelves.

[0115] In some examples, the transfer vehicle 10 can remove the target item from the shelf and descend along the shelf columns 20 to the floor of the storage space or to a cache location. At this time, the climbing mechanism 130 can be retracted and retracted into the vehicle body 110. This can prevent interference between the climbing mechanism 130 and the shelf columns 20, facilitating the transfer vehicle 10 to move outward from the climbing space formed by the four shelf columns 20 under the drive of the traveling mechanism 120. The transfer vehicle 10 transfers the target item to the target location (e.g., a picking workstation).

[0116] Figure 4 This is a structural schematic diagram of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application. Figure 5 This is a front view of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application. Figure 6 This is a schematic diagram of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application.

[0117] In some examples, the purpose is to improve the stability of the cooperation between the climbing mechanism 130 and the shelf column 20. Figure 4-Figure 6 As shown, in some examples of the embodiments of the present application, the climbing mechanism 130 may include a first gear 131 and a second gear 132 .

[0118] For some examples, refer to Figure 6 As shown, the axes of the first gear 131 and the second gear 132 can be along the axial direction of the vehicle body 110 (for example Figure 1 That is to say, when the transfer vehicle 10 is moving normally, one of the first gear 131 and the second gear 132 can be above the other.

[0119] For example, in some examples, the first gear 131 can be disposed above the second gear 132. Alternatively, the second gear 132 can be disposed above the first gear 131. The first gear 131 and the second gear 132 can be configured to cooperate with the engagement member 210 on the shelf column 20.

[0120] In some examples, after the climbing mechanism 130 extends out of the vehicle body 110 , the first gear 131 and the second gear 132 can engage with the engagement member 210 on the shelf column 20 . For example, the first gear 131 and the second gear 132 engage with the engagement member 210 .

[0121] In some examples, when the first gear 131 and the second gear 132 rotate, since the first gear 131 and the second gear 132 are engaged with the engagement member 210, the first gear 131 and the second gear 132 can move along the extension direction of the engagement member 210 (e.g., the rack), thereby driving the vehicle body 110 to climb along the shelf column 20.

[0122] In some examples of the embodiments of the present application, the first gear 131 and the second gear 132 arranged side by side are engaged with the rack; in this way, when the transfer vehicle 10 climbs along the rack on the shelf column 20, the two gears can provide two contact points with the rack. The two points determine a line, which can ensure that the vehicle body 110 is in a horizontal or approximately horizontal state, and can prevent the vehicle body 110 from tilting and causing the target item to fall, thereby improving the stability of the transfer vehicle 10 climbing along the shelf column 20.

[0123] It will be appreciated that in some examples of the embodiments of the present application, the first gear 131 and the second gear 132 are shown as a specific example only. In some examples, the climbing mechanism 130 may have three or four gears arranged side by side. In some examples of the embodiments of the present application, the number of gears meshing with the rack in the climbing mechanism 130 is not limited.

[0124] According to the transfer vehicle 10 provided in the embodiment of the present application, a traveling mechanism 120 is provided on the vehicle body 110, and the traveling mechanism 120 can drive the vehicle body 110 to travel, thereby transporting target items through the vehicle body 110 and moving them in the storage space. A climbing mechanism 130 is provided on the vehicle body 110, and the climbing mechanism 130 can be extended and retracted relative to the vehicle body 110 along the radial direction of the vehicle body 110; thus, for target items stored on layers other than the bottom layer of a multi-layer shelf, the transfer vehicle 10 can move to the bottom of the multi-layer shelf, extend the climbing mechanism 130 from the vehicle body 110, and cooperate with the shelf columns to climb along the shelf columns 20 to each layer of the multi-layer shelf, thereby transporting and transferring the target items stored on the shelf.

[0125] In addition, the climbing mechanism 130 includes a first gear 131 and a second gear 132, the axes of which are arranged side by side along the circumference of the vehicle body 110. This allows for a meshing member 210 to be provided on the shelf column 20 along the length of the shelf column 20. When the climbing mechanism 130 engages with the shelf column 20, the first gear 131 and the second gear 132 can respectively mesh with the meshing member 210 and climb along the shelf column 20. The meshing of the side-by-side first gear 131 and second gear 132 with the meshing member 210 improves the stability of the meshing between the climbing mechanism 130 and the meshing member 210, thereby improving the stability of the transfer vehicle 10 as it climbs along the shelf column 20.

[0126] For some examples, refer to Figure 4 and Figure 5 As shown, the climbing mechanism 130 may include a mounting bracket 133. The mounting bracket 133 may be provided on the vehicle body 110.

[0127] In some examples, the mounting bracket 133 can be telescopic relative to the vehicle body 110 along the radial direction of the vehicle body 110 .

[0128] In some examples, along the radial direction of the vehicle body 110 , the mounting bracket 133 may extend out of the vehicle body 110 relative to the vehicle body 110 .

[0129] In some examples, along the radial direction of the vehicle body 110 , the mounting bracket 133 may be retracted into the vehicle body 110 relative to the vehicle body 110 .

[0130] In some examples, the mounting bracket 133 may be a telescopic bracket. For example, the mounting bracket 133 may include multiple telescopic plates that are movably connected to each other, and the mounting bracket 133 can be extended and retracted relative to the vehicle body 110 via a motor and a transmission belt.

[0131] In some examples, the first gear 131 and the second gear 132 can be disposed at an end of the mounting bracket 133 away from the vehicle body 110. For example, after the mounting bracket 133 extends out of the vehicle body 110, the first gear 131 and the second gear 132 can be located at an end of the mounting bracket 133 away from the vehicle body 110.

[0132] In some examples, the first gear 131 and the second gear 132 can be rotatably connected to the mounting bracket 133. For example, two rotating shafts arranged side by side can be provided on the mounting bracket 133, the first gear 131 can be sleeved on one of the rotating shafts, and the second gear 132 can be sleeved on the other rotating shaft.

[0133] In some examples, the first gear 131 and the second gear 132 may rotate in the same direction.

[0134] In some examples, the driving member that drives the first gear 131 and the second gear 132 can simultaneously drive the first gear 131 and the second gear 132 through a chain, a belt, or a synchronous belt, thereby ensuring that the first gear 131 and the second gear 132 rotate in the same direction.

[0135] In some examples, the driving member that drives the first gear 131 and the second gear 132 may also drive only one of the first gear 131 and the second gear 132. The first gear 131 and the second gear 132 are connected via a transition gear transmission. In other words, the first gear 131 meshes with the transition gear, and the transition gear meshes with the second gear 132. In this way, when the driving member drives one of the first gear 131 and the second gear 132, the transition gear rotates in the opposite direction to the first gear 131 and the second gear 132, ensuring that the first gear 131 and the second gear 132 rotate in the same direction.

[0136] In some examples of the embodiments of the present application, the bracket 133 is installed to extend and retract relative to the vehicle body 110 along the radial direction of the vehicle body 110, so that the first gear 131 and the second gear 132 can be easily extended and retracted relative to the vehicle body 110; when the transfer vehicle 10 is moving on the ground, platform or beam, the first gear 131 and the second gear 132 can be easily retracted into the vehicle body 110, which can avoid interference between the climbing mechanism 130 and the shelf column 20, and facilitate the movement of the transfer vehicle 10.

[0137] In addition, the first gear 131 and the second gear 132 are rotatably connected to the mounting bracket 133, and the first gear 131 and the second gear 132 rotate in the same direction. As a result, after the first gear 131 and the second gear 132 are engaged with the rack, the first gear 131 and the second gear 132 rotate in the same direction, and the rack can generate a force in the same direction, facilitating the transfer vehicle 10 to climb along the rack.

[0138] Figure 7 It is a top view of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application. Figure 8 This is a schematic diagram of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application. Figure 9 This is another schematic diagram of the internal structure of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application.

[0139] For some examples, refer to Figure 6-Figure 9 As shown, the mounting bracket 133 may be provided with a third gear 134. The third gear 134 may be rotatably connected to the mounting bracket 133.

[0140] In some examples, a rotating shaft may be provided on the mounting bracket 133 , and the third gear 134 may be sleeved on the rotating shaft.

[0141] In some examples, the third gear 134 can mesh with the first gear 131 .

[0142] In some examples, the third gear 134 can mesh with the second gear 132 .

[0143] In some examples, when the third gear 134 is driven, the third gear 134 rotates relative to the mounting bracket 133. The third gear 134 drives the first gear 131 to rotate. The rotation direction of the first gear 131 is opposite to the rotation direction of the third gear 134.

[0144] In some examples, when the third gear 134 is driven, the third gear 134 rotates relative to the mounting bracket 133. The third gear 134 drives the second gear 132 to rotate. The rotation direction of the second gear 132 is opposite to the rotation direction of the third gear 134.

[0145] In this way, it can be ensured that the first gear 131 and the second gear 132 rotate in the same direction.

[0146] In some examples of the present application, a third gear 134 is provided on the mounting bracket 133, and the third gear 134 meshes with the first gear 131, and the third gear 134 meshes with the second gear 132. In this manner, simply driving the third gear 134 ensures that the first gear 131 and the second gear 132 rotate in the same direction. This facilitates maintaining the same rotational direction for the first gear 131 and the second gear 132, and simplifies the structure of the climbing mechanism 130.

[0147] For some examples, refer to Figure 6-Figure 9 As shown, the climbing mechanism 130 may include a first drive assembly 135. The first drive assembly 135 may be provided on the vehicle body 110.

[0148] For some examples, refer to Figure 4 and Figure 5 As shown, the power output shaft 1351 of the first drive assembly 135 can be installed through the mounting bracket 133. The power output shaft 1351 can be in driving connection with the third gear 134. In this way, the power output from the power output shaft 1351 can drive the third gear 134 to rotate, thereby driving the first gear 131 and the second gear 132 to rotate through the third gear 134.

[0149] In some examples, the power output shaft 1351 is movably connected to the mounting bracket 133 along the circumference of the power output shaft 1351. That is, when the power output shaft 1351 rotates, the mounting bracket 133 and the vehicle body 110 are relatively stationary.

[0150] In some examples, the power output shaft 1351 may include a universal joint. When the climbing mechanism 130 is retracted into the vehicle body 110, the power output shaft 1351 can be folded and turned at the universal joint to facilitate the retraction of the climbing mechanism 130.

[0151] In some examples, when the climbing mechanism 130 extends out of the vehicle body 110 , the power output shaft 1351 can be stretched through the universal joint to drive the third gear 134 .

[0152] In some examples of the present invention, a first drive assembly 135 is provided on the vehicle body 110. A power output shaft 1351 of the first drive assembly 135 passes through the mounting bracket 133 and is in driving connection with the third gear 134. Furthermore, the power output shaft 1351 is movably connected to the mounting bracket 133 along its circumference. This facilitates power transmission to the third gear 134, driving the third gear 134 and simplifying the structure of the climbing mechanism 130.

[0153] For some examples, refer to Figure 6-Figure 9 As shown, the power take-off shaft 1351 may comprise a straight shaft.

[0154] In some examples, along the axial direction of the power output shaft 1351, the power output shaft 1351 can be limitedly connected to the mounting bracket 133. That is, about the axial direction of the power output shaft 1351, the positions of the power output shaft 1351 and the mounting bracket 133 are relatively fixed.

[0155] In some examples, the power take-off shaft 1351 and the mounting bracket 133 may be axially limited by a retaining spring.

[0156] In some examples, the power output shaft 1351 can be rotatably connected to the mounting bracket 133 via a bearing. The inner ring of the bearing can be fixed relative to the power output shaft 1351, and the outer ring of the bearing can be fixed relative to the mounting bracket 133. This allows the power output shaft 1351 and the mounting bracket 133 to be positioned at an upper limit in the axial direction of the power output shaft 1351.

[0157] In some examples, when the climbing mechanism 130 extends out of the vehicle body 110, the mounting bracket 133 can drive the power output shaft 1351 to extend out of the vehicle body 110; when the climbing mechanism 130 retracts into the vehicle body 110, the mounting bracket 133 can drive the power output shaft 1351 to retract into the vehicle body 110. In this way, the relative position between the power output shaft 1351 and the third gear 134 can be maintained unchanged, facilitating stable power transmission from the power output shaft 1351 to the third gear 134.

[0158] For some examples, refer to Figure 6-Figure 9 As shown, the axis i2 of the power output shaft 1351 intersects the rotation axis i1 of the third gear 134. For example, the axis of the power output shaft 1351 can be consistent with the radial direction of the vehicle body 110. In this way, the power output shaft 1351 can be easily extended or retracted into the vehicle body 110.

[0159] For some examples, refer to Figure 8 and Figure 9 To facilitate the engagement of the first gear 131 and the second gear 132 with the third gear 134 , the axis i1 of the third gear 134 may be parallel or approximately parallel to the circumferential direction of the first gear 131 and the second gear 132 .

[0160] In some examples, the power output from the power output shaft 1351 is transmitted to the third gear 134 so that the third gear 134 drives the first gear 131 and the second gear 132 to rotate. Figure 6-Figure 9 As shown, the climbing mechanism 130 may include a power steering assembly 136. The power steering assembly 136 may be located between the power output shaft 1351 and the third gear 134. The power steering assembly 136 may be configured to redirect the power of the power output shaft 1351 and transmit it to the third gear 134.

[0161] In some examples, the power steering assembly 136 may include a universal joint. One end of the universal joint may be connected to the power take-off shaft 1351. The other end of the universal joint may be connected to the third gear 134. Thus, when the power take-off shaft 1351 rotates, the power on the power take-off shaft 1351 may be diverted by the universal joint and transmitted to the third gear 134.

[0162] In some examples of the embodiments of the present application, a power steering assembly 136 is provided between the power output shaft 1351 and the third gear 134. The power steering assembly 136 can redirect the power output from the power output shaft 1351 and transmit it to the third gear 134. This facilitates the power output of the power output shaft 1351 and facilitates driving the third gear 134, the first gear 131, and the second gear 132.

[0163] For some examples, refer to Figure 6-Figure 9 As shown, the power steering assembly 136 may include a first bevel gear 1361. The first bevel gear 1361 may be provided on the power output shaft 1351.

[0164] In some examples, the first bevel gear 1361 can be referred to as a bevel gear. The first bevel gear 1361 can be coaxially disposed with the power output shaft 1351. The first bevel gear 1361 can be fixedly connected to the power output shaft 1351. In other words, when the power output shaft 1351 rotates, the first bevel gear 1361 can be driven to rotate synchronously.

[0165] In some examples, the first bevel gear 1361 can be disposed at an end of the power output shaft 1351 close to the third gear 134 .

[0166] For some examples, continue to refer to Figure 6-Figure 9 As shown, the power steering assembly 136 may include a second bevel gear 1362. The second bevel gear 1362 may be coaxially disposed with the third gear 134. For example, the second bevel gear 1362 may be disposed on a rotation axis of the third gear 134.

[0167] In some examples, the second bevel gear 1362 and the third gear 134 can be relatively fixed. For example, the second bevel gear 1362 can be fixedly connected to the rotating shaft, and the third gear 134 can be fixedly connected to the rotating shaft, so that the second bevel gear 1362 and the third gear 134 are fixedly connected.

[0168] In some examples, the second bevel gear 1362 can mesh with the first bevel gear 1361. The rotational surface of the second bevel gear 1362 can intersect with the rotational surface of the first bevel gear 1361. Thus, when the power output shaft 1351 drives the first bevel gear 1361 to rotate, the first bevel gear 1361 can drive the second bevel gear 1362 to rotate, thereby driving the third gear 134 to rotate, thereby diverting and transmitting power to the third gear 134.

[0169] For some examples, refer to Figure 8 As shown, the power output shaft 1351 is along Figure 8 When the power output shaft 1351 rotates in the direction indicated by the arrow a, the first bevel gear 1361 is driven to rotate along the Figure 8The first bevel gear 1361 is engaged with the second bevel gear 1362, and the second bevel gear 1362 rotates under the drive of the first bevel gear 1361, and the second bevel gear 1362 drives the third gear 134 to rotate, and the third gear 134 drives the first gear 131 and the second gear 132 to rotate along Figure 8 Rotate in the direction indicated by arrow b.

[0170] In some examples, the power output shaft 1351 is along Figure 8 When the first gear 131 and the second gear 132 rotate in the opposite direction of the arrow a, Figure 8 Rotate in the opposite direction of arrow b.

[0171] In some examples of the embodiments of the present application, a first bevel gear 1361 is provided on the power output shaft 1351, and a second bevel gear 1362 is provided coaxially with the third gear 134; the second bevel gear 1362 meshes with the first bevel gear 1361. In this way, the power output from the power output shaft 1351 can be diverted and transmitted to the third bevel gear, facilitating the diversion and transmission of power and simplifying the structure of the climbing mechanism 130.

[0172] For some examples, refer to Figure 8 and Figure 9 As shown, the first driving assembly 135 may include a first driving member 1352. The first driving member 1352 may be disposed on the vehicle body 110.

[0173] In some examples, the first driving member 1352 can be a motor that can rotate forward and reverse. For example, the first driving member 1352 can be any one of a servo motor, a stepper motor, or a synchronous motor.

[0174] In some examples, the first driving member 1352 can be fixedly connected to the vehicle body 110 .

[0175] In some examples, the first driving assembly 135 may include a fourth gear 1353. The fourth gear 1353 may be in driving connection with the first driving member 1352. The first driving member 1352 may drive the fourth gear 1353 to rotate.

[0176] In some examples, the fourth gear 1353 can be sleeved on the power output shaft 1351. The fourth gear 1353 can be positionally connected to the power output shaft 1351 along the circumference of the power output shaft 1351. That is, the rotation of the fourth gear 1353 drives the power output shaft 1351 to rotate synchronously with the circumference of the power output shaft 1351. The first driving member 1352 transmits power to the power output shaft 1351 via the fourth gear 1353.

[0177] In some examples, the fourth gear 1353 can be connected to the power output shaft 1351 in a circumferentially limited manner via a spline.

[0178] In some examples of the embodiments of the present application, a fourth gear 1353 is sleeved on the power output shaft 1351, and the fourth gear 1353 is limitedly connected to the power output shaft 1351 along the axial direction of the power output shaft 1351. In this way, the first driving member 1352 provided on the vehicle body 110 can move through the fourth gear 1353 to transmit power to the power output shaft 1351, thereby driving the first gear 131 and the second gear 132, thereby facilitating the transmission of power by the first driving member 1352.

[0179] In some examples, the power output shaft 1351 is movably connected to the fourth gear 1353 along the axial direction of the power output shaft 1351. In other words, the fourth gear 1353 and the power output shaft 1351 have a degree of freedom along the axial direction. The power output shaft 1351 can move relative to the fourth gear 1353 along the axial direction.

[0180] In some examples, a spline can be provided on the peripheral wall of the power output shaft 1351 along the axial direction of the power output shaft 1351. The spline extends along the axial direction of the power output shaft 1351. The spline limits the fourth gear 1353 in the circumferential direction, and the fourth gear 1353 can slide relative to the spline in the axial direction.

[0181] In some examples, the fourth gear 1353 can be fixed relative to the vehicle body 110 .

[0182] In some examples, when the climbing mechanism 130 is extended out of the vehicle body 110, the first driving member 1352 and the fourth gear 1353 can remain stationary relative to the vehicle body 110. The power output shaft 1351 can slide axially relative to the fourth gear 1353, thereby extending the climbing mechanism 130 and transmitting power through the fourth gear 1353.

[0183] In some examples, when the climbing mechanism 130 retracts into the vehicle body 110 , the power output shaft 1351 may slide axially relative to the fourth gear 1353 , thereby achieving the retraction of the climbing mechanism 130 .

[0184] In some examples of the embodiments of the present application, the power output shaft 1351 is movably connected to the fourth gear 1353 along the axial direction of the power output shaft 1351. This facilitates the extension and retraction of the power output shaft 1351 and simplifies the structure of the climbing mechanism 130.

[0185] In some examples, the output shaft of the first driving member 1325 can be in driving connection with the fourth gear 1353 , thereby transmitting power to the fourth gear 1353 , and the rotation of the fourth gear 1353 drives the power output shaft 1351 to rotate.

[0186] In some examples, the output shaft of the first driving member 1352 can be engaged with the fourth gear 1353 through a gear, thereby being in transmission connection with the fourth gear 1353.

[0187] In some examples, the output shaft of the first driving member 1352 can be connected to the fourth gear 1353 through a transmission member such as a belt, a synchronous belt or a chain.

[0188] For some examples, refer to Figure 8 and Figure 9 As shown, the first drive assembly 135 can include a worm 1354. The worm 1354 can be located between the first drive member 1352 and the fourth gear 1353.

[0189] In some examples, the worm 1354 can be in driving connection with the first driving member 1352. The fourth gear 1353 can be a worm gear. The worm 1354 can mesh with the gear.

[0190] For some examples, refer to Figure 8 and Figure 9 As shown, the output shaft of the first driving member 1352 may be provided with a fifth gear 1355. One end of the worm 1354 may be provided with a sixth gear 1356. The fifth gear 1355 may mesh with the sixth gear 1356.

[0191] In some examples, the power of the first driving member 1352 can be transmitted to the worm 1354 through the fifth gear 1355 and the sixth gear 1356, the worm 1354 drives the fourth gear 1353 to rotate, and the fourth gear 1353 drives the power output shaft 1351 to rotate, thereby transmitting the power to the first gear 131 and the second gear 132 through the first bevel gear 1361, the second bevel gear 1362 and the third gear 134.

[0192] In some examples of the embodiments of the present application, a worm 1354 is provided between the first drive member 1352 and the fourth gear 1353, and the worm 1354 is in transmission connection with the first drive member 1352. The worm 1354 meshes with the fourth gear 1353. In this way, the torque of the power output by the first drive member 1352 can be changed by the gear ratio between the worm 1354 and the gear wheel. This allows the first drive member 1352 with a lower power to provide a higher output torque, making it easier to transfer heavier target items using the lower power first drive member 1352, thereby reducing the production and processing costs of the transfer vehicle 10.

[0193] For some examples, refer to Figure 4 and Figure 5As shown, to facilitate the expansion and contraction of the mounting bracket 133 relative to the vehicle body 110, the transport vehicle 10 may include a sliding assembly 140. A portion of the sliding assembly 140 may be connected to the vehicle body 110. Another portion of the sliding assembly 140 may be connected to the mounting bracket 133.

[0194] In some examples, the transport vehicle 10 may include a second driving member (not shown). The second driving member may be disposed on the vehicle body 110. The second driving member may be configured to drive the mounting bracket 133 to extend or retract relative to the vehicle body 110.

[0195] In some examples, the second driving member may include a telescopic cylinder, a piston cylinder, a linear motor, or a lead screw.

[0196] In some examples, the fixed end of the telescopic cylinder can be disposed on the vehicle body 110. The free end of the telescopic cylinder can be connected to the mounting bracket 133. When the mounting bracket 133 needs to be extended from the vehicle body 110, the free end of the telescopic cylinder can be extended relative to the fixed end, thereby driving the mounting bracket 133 to extend out of the vehicle body 110. The mounting bracket 133 slides relative to the vehicle body 110 via the sliding assembly 140 and extends out of the vehicle body 110. When the mounting bracket 133 needs to be retracted into the vehicle body 110, the free end of the telescopic cylinder can be retracted relative to the fixed end, thereby driving the mounting bracket 133 to slide relative to the vehicle body 110 via the sliding assembly 140 and retract into the vehicle body 110.

[0197] It can be understood that when the second driving member is a piston cylinder or a linear motor, the driving method of the second driving member on the mounting bracket 133 can be similar to the telescopic cylinder in the aforementioned embodiment of the present application. For details, please refer to the detailed description of the aforementioned embodiment of the present application, and the embodiments of the present application will not go into details about this.

[0198] In some examples, a lead screw can be arranged along the movable direction of the mounting bracket 133. The mounting bracket 133 can be connected to a lead screw nut. Driven by a motor, the lead screw can rotate, thereby driving the lead screw nut to move along the lead screw's axis. The movement of the lead screw nut drives the mounting bracket 133 to extend from the vehicle body 110; alternatively, the lead screw nut drives the mounting bracket 133 to retract into the vehicle body 110.

[0199] In some examples, the second drive element may include a motor and a transmission belt combination. For example, the transmission belt may be mounted on two transmission wheels. The mounting bracket 133 is connected to the transmission belt. The motor drives the transmission belt to rotate around the transmission wheels, thereby driving the mounting bracket 133 to move relative to the vehicle body 110.

[0200] In some examples of the embodiments of the present application, a portion of the sliding assembly 140 is set on the vehicle body 110, and another portion of the sliding assembly 140 is set on the mounting bracket 133; in this way, the mounting bracket 133 can be conveniently driven to move relative to the vehicle body 110 through a second driving member provided on the vehicle body 110, thereby driving the climbing mechanism 130 to move relative to the vehicle body 110.

[0201] For some examples, refer to Figure 1 As shown, multiple rack columns 20 can be constructed to form a climbing space. Multiple climbing mechanisms 130 can be provided on the vehicle body 110. The multiple climbing mechanisms 130 can be evenly spaced along the circumference of the vehicle body 110. In this way, the multiple climbing mechanisms 130 can provide a uniform force on the vehicle body 110, ensuring that the force is evenly applied to the vehicle body 110 during the climbing process, thereby improving the stability of the vehicle body 110 during the climbing process.

[0202] In some examples, when the traveling mechanism 120 drives the vehicle body into the climbing space, the second driving member can drive the mounting bracket 133 to extend out of the vehicle body 110 until the first gear 131 and the second gear 132 engage with the engaging member 210 .

[0203] In some examples, after the first gear 131 and the second gear 132 are engaged with the meshing member 210, the first driving assembly 135 can drive the first gear 131 and the second gear 132 to move in the third direction (the linear velocity of the contact point between the first gear 131 and the second gear 132 and the meshing member 210 can be along the third direction). Figure 1 The climbing mechanism 130 drives the vehicle body to climb along the shelf column 20.

[0204] In a specific application scenario, the transfer vehicle 10 can move target items from a tallying station or picking station on the ground floor of a storage space to a shelf and store them at a first target location on the shelf. The traveling mechanism 120 can drive the vehicle body 10 and the target items on the vehicle body 10 to move in a first direction and a second direction and into the climbing space.

[0205] In another application scenario, a cache position can be set at the bottom of the shelf, and the transport robot can transport the target item to the cache position for caching. The transfer vehicle 10 can take the target item from the cache position and transfer the target item to the first target position of the shelf for storage.

[0206] In some examples, the cache location may be the bottom shelf.

[0207] In some examples, the cache location may be a cache shelf.

[0208] In some examples, after the walking mechanism 120 drives the vehicle body 10 to move into the climbing space, the second driving member can drive the mounting bracket 133 to extend out of the vehicle body until the first gear 131 and the second gear 132 engage with the engaging member 210; then, the first driving assembly 135 can drive the first gear 131 and the second gear 132 to rotate along the third direction, thereby driving the vehicle body 110 and the target items carried on the vehicle body 110 to climb along the shelf column 20.

[0209] When the climbing mechanism 130 drives the vehicle body 110 and the target object to climb to the first target position (for example, the target cargo position), the vehicle body 110 can place the target object on the beam, thereby completing the storage of the target object.

[0210] In some examples, when the transfer vehicle 10 completes the retrieval of the target item, for example, by depositing the target item at the target location or removing the target item from the target location, the first drive assembly 135 can drive the first gear 131 and the second gear 132 to rotate in a third direction or a fourth direction. The fourth direction can be opposite to the third direction.

[0211] In some examples, the transfer vehicle 10 is used to remove a target item from a target location. The target location contains the target item. Driven by the climbing mechanism 130, the transfer vehicle 10 can climb along the shelf column 20 to the target location. The top of the transfer vehicle contacts the target item and removes the target item or the target location. At this point, the first drive assembly 135 can drive the first gear 131 and the second gear 132 to continue rotating in the third direction. In other words, the climbing mechanism 130 continues to drive the vehicle body 110 to climb along the shelf column 20.

[0212] In some examples, when the climbing mechanism 130 drives the vehicle body 10 to move along the shelf column 20 to the second target position, the traveling mechanism 120 can drive the vehicle body 110 to move in either the first direction or the second direction. For example, the traveling mechanism 120 can drive the vehicle body 110 to move along the crossbeam, thereby moving to another shelf position or other climbing space, and climbing or descending from other climbing spaces.

[0213] In some examples, the example of placing a target item at a target location by the transfer vehicle 10 is used for illustration. After the climbing mechanism 130 drives the vehicle body 110 and the target item to the target location and places the target item at the target location, the first drive assembly 135 can drive the first gear 131 and the second gear 132 to rotate in the fourth direction.

[0214] That is, the first driving assembly 135 can drive the first gear 131 and the second gear 132 to rotate in opposite directions. In this way, the climbing mechanism 130 can drive the vehicle body 10 to descend along the shelf column 20 until it descends to the second target position.

[0215] In some examples, the second target location may be a level where another shelf location is located.

[0216] In some examples, when the climbing mechanism 130 drives the vehicle body 110 to descend to the second target position, the walking mechanism 120 can drive the vehicle body 110 to walk on the beam.

[0217] In some examples, the second target location may be the floor of a storage space.

[0218] In some examples, after the climbing mechanism 130 lowers the vehicle body 110 to the floor of the storage space, the traveling mechanism 120 can drive the vehicle body in either a first direction or a second direction, thereby leaving the climbing space. After leaving the climbing space, the traveling mechanism 120 can continue to drive the vehicle body 110 toward the sorting station or the picking workstation.

[0219] In some examples, the second target location can be a cache location set at the bottom of the shelf. When the climbing mechanism 130 drives the vehicle body 110 down to the second target location, the walking mechanism 120 can drive the vehicle body 110 to the cache location and place the target item in the cache location.

[0220] It is understood that the running mechanism 120 can drive the vehicle body 110 to leave the climbing space. Alternatively, the running mechanism 120 can drive the vehicle body 110 to move on the crossbeam of the shelf to another climbing space. In addition, the running mechanism 120 can drive the vehicle body 110 to move in the lane at the bottom of the shelf.

[0221] For some examples, refer to Figure 4 and Figure 5 As shown, the sliding assembly 140 may include a slide rail 141 . The slide rail 141 may be provided on one of the mounting bracket 133 and the vehicle body 110 .

[0222] In some examples, the sliding assembly 140 may include a slider 142 . The slider 142 may be disposed on the other of the mounting bracket 133 and the vehicle body 110 . The slider 142 may be slidably connected to the slide rail 141 .

[0223] In some examples, the slide rail 141 can be disposed on the mounting bracket 133 . The slider 142 can be disposed on the vehicle body 110 .

[0224] In some examples, the slide rail 141 can be disposed on the vehicle body 110 . The slider 142 can be disposed on the mounting bracket 133 .

[0225] For some examples, refer to Figure 4 and Figure 5 As shown, in some examples of the embodiments of the present application, the slide rail 141 is provided on the mounting bracket 133 as an example for description. The slide rail 141 can be provided along the extension direction of the mounting bracket 133.

[0226] For some examples, refer to Figure 4 and Figure 5 As shown, a plurality of slide rails 141 may be provided on one side of the mounting bracket 133, and the plurality of slide rails 141 may be arranged side by side on the mounting bracket 133. In some examples of the embodiments of the present application, two slide rails 141 are used as a specific example. Each slide rail 141 may be provided with a slider 142.

[0227] In some examples, a plurality of slide rails 141 may be provided on the other side of the mounting bracket 133. The plurality of slide rails 141 may be provided side by side on the mounting bracket 133. In this way, the stability of the mounting bracket 133 relative to the vehicle body 110 may be improved.

[0228] In some examples of the embodiments of the present application, a slide rail 141 is provided on one of the mounting bracket 133 and the vehicle body 110, and a slider 142 is provided on the other of the mounting bracket 133 and the vehicle body 110. This facilitates the movement of the mounting bracket 133 relative to the vehicle body 110, thereby improving the smoothness of the extension or retraction of the mounting bracket 133.

[0229] Figure 10 This is a top view of the climbing mechanism in the transfer vehicle provided in some embodiments of the present application. Figure 11 yes Figure 10 A magnified partial view of point A in the middle.

[0230] For some examples, refer to Figure 10 and Figure 11 As shown, the end of the mounting bracket 133 facing away from the vehicle body 110 may be provided with a bent portion 1331. The end of the mounting bracket 133 facing away from the vehicle body 110 may refer to the end of the mounting bracket 133 facing the shelf column 20 when the climbing mechanism 130 cooperates with the shelf column 20.

[0231] In some examples, along the direction in which the mounting bracket 133 moves away from the vehicle body 110 (e.g., the direction indicated by arrow c in FIG10 ), the bent portion 1331 extends away from either the first gear 131 or the second gear 132. In other words, the bent portion 1331 extends in an outwardly expanding direction.

[0232] For some examples, refer to Figure 10 and Figure 11As shown, the bending portion 1331 may be provided with a limiting roller 1332. The limiting roller 1332 may be configured to cooperate with the shelf column 20 to position the climbing mechanism 130 and the engaging member 210.

[0233] In some examples, when the transfer vehicle 10 reaches the bottom of the shelf and is located within the space formed by the four shelf columns 20, the second driving member drives the mounting bracket 133 to extend out of the vehicle body 110. After the mounting bracket 133 extends out of the vehicle body 110, the limiting roller 1332 contacts the shelf column 20, thereby positioning the first gear 131, the second gear 132, and the rack.

[0234] For some examples, refer to Figure 1 and Figure 3 As shown, the shelf column 20 may be provided with angle steels 220 , which are located on both sides of the engaging member 210 ; the angle steels 220 are configured to cooperate with the limiting rollers 1332 .

[0235] In some examples, the limiting roller 1332 can abut against the angle steel 220 on both sides of the rack. In this way, the first gear 131 and the second gear 132 can be positioned by the limiting roller 1332 abutting against the angle steel 220 on both sides of the rack, so that the first gear 131 and the second gear 132 can cooperate with the rack.

[0236] For some examples, refer to Figure 11 As shown, the bent portion 1331 is located on both sides of the axial direction of any one of the first gear 131 and the second gear 132. In this way, after the limiting rollers 1332 of the bent portion 1331 cooperate with the angle steel 220, when the transfer vehicle 10 moves along the shelf column 20 via the climbing mechanism 130, the first gear 131, the second gear 132, and the limiting rollers 1332 on both sides limit the position of the transfer vehicle 10, thereby maintaining the stable operation of the vehicle body 110 of the transfer vehicle 10, preventing the vehicle body 110 from tilting, and ensuring the safety of the transfer of target items.

[0237] In some examples, the limiting roller 1332 can be located on the side of the bent portion 1331 close to either the first gear 131 or the second gear 132. In this way, after the limiting roller 1332 contacts the angle steel 220 on the shelf column 20, the force exerted by the angle steel 220 on the limiting roller 1332 and the bent portion 1331 is an outward expansion force, which facilitates the bent portion 1331 to provide a reaction force, thereby effectively protecting the limiting roller 1332.

[0238] In some examples, multiple limiting rollers 1332 may be arranged side by side along the arrangement direction of the first gear 131 and the second gear 132. In this way, the bent portion 1331 and the angle steel 220 may have multiple contact points, which can improve the force balance of the bent portion 1331 and thus improve the stability of the transfer robot.

[0239] For some examples, refer to Figure 1 and Figure 3 As shown, the cross section of the vehicle body 110 may be a polygon. In some examples of the embodiments of the present application, the cross section of the vehicle body 110 is a quadrilateral as an example for description.

[0240] In some examples, the climbing mechanism 130 may include multiple climbing mechanisms 130 , and the multiple climbing mechanisms 130 may be evenly spaced and arranged along the circumference of the vehicle body 110 .

[0241] In some examples, multiple climbing mechanisms 130 can be arranged on the diagonal lines of the vehicle body 110. In this way, a stable force is generated between the climbing mechanisms 130 and the shelf columns 20, so that the transfer vehicle 10 can move stably along the shelf columns 20.

[0242] The implementation methods described above are only specific implementation methods of the present application and are not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solution of the present application should be included in the scope of protection of the present application.

Claims

1. A transfer vehicle, characterized in that: include: Vehicle body (110); A walking mechanism (120) is provided on the vehicle body (110); the walking mechanism (120) is configured to drive the vehicle body (110) to walk; A climbing mechanism (130) is provided on the vehicle body (110), and is extendable relative to the vehicle body (110) along the radial direction of the vehicle body (110); the climbing mechanism (130) comprises a first gear (131) and a second gear (132), wherein the axes of the first gear (131) and the second gear (132) are arranged side by side along the axial direction of the vehicle body (110), and the first gear (131) and the second gear (132) are configured to cooperate with a meshing member (210) on a shelf column (20) to drive the vehicle body (110) to climb along the shelf column (20).

2. The transfer vehicle according to claim 1, characterized in that: The walking mechanism (120) comprises: A first wheel set (122) is rotatably disposed at the bottom of the vehicle body (110), and the first wheel set (122) is configured to drive the vehicle body (110) to move along a first direction; A second wheel set (123) is rotatably disposed at the bottom of the vehicle body (110), and the second wheel set (123) is configured to drive the vehicle body (110) to move along a second direction; the second direction intersects with the first direction; the plane where the first direction and the second direction lie is consistent with the radial direction of the vehicle body (110), and the plane where the first direction and the second direction lie intersects with the extension direction of the shelf column (20).

3. The transfer vehicle according to claim 1 or 2, characterized in that: The climbing mechanism (130) comprises: A mounting bracket (133) is provided on the vehicle body (110), and along the radial direction of the vehicle body (110), the mounting bracket (133) can extend out of the vehicle body (110) or retract into the vehicle body (110); The first gear (131) and the second gear (132) are arranged at one end of the mounting bracket (133) away from the vehicle body (110); the first gear (131) and the second gear (132) are rotatably connected to the mounting bracket (133); and the first gear (131) and the second gear (132) rotate in the same direction.

4. The transfer vehicle according to claim 3, characterized in that: A third gear (134) is provided on the mounting bracket (133), the third gear (134) is rotatably connected to the mounting bracket (133), the third gear (134) is meshed with the first gear (131), and the third gear (134) is meshed with the second gear (132).

5. The transfer vehicle according to claim 4, characterized in that: The climbing mechanism (130) further comprises: A first drive assembly (135) is provided on the vehicle body (110); a power output shaft (1351) of the first drive assembly (135) is passed through the mounting bracket (133); and the power output shaft (1351) is in transmission connection with the third gear (134); Along the circumference of the power output shaft (1351), the power output shaft (1351) is movably connected to the mounting bracket (133).

6. The transfer vehicle according to claim 5, characterized in that: Along the axial direction of the power output shaft (1351), the power output shaft (1351) is position-limitingly connected to the mounting bracket (133).

7. The transfer vehicle according to claim 6, characterized in that: The axis of the power output shaft (1351) intersects with the rotation axis of the third gear (134); the climbing mechanism (130) further includes: A power steering assembly (136) is located between the power output shaft (1351) and the third gear (134), and the power steering assembly (136) is configured to redirect the power of the power output shaft (1351) and transmit it to the third gear (134).

8. The transfer vehicle according to claim 7, characterized in that: The power steering assembly (136) includes: A first helical gear (1361) is provided on the power output shaft (1351); The second bevel gear (1362) is coaxially arranged with the third gear (134), and the first bevel gear (1361) is meshed with the second bevel gear (1362).

9. The transfer vehicle according to claim 5, characterized in that: The first drive assembly (135) comprises: A first driving member (1352) is provided on the vehicle body (110); The fourth gear (1353) is in transmission connection with the first driving member (1352). The fourth gear (1353) is sleeved on the power output shaft (1351). Along the circumference of the power output shaft (1351), the fourth gear (1353) is limitedly connected to the power output shaft (1351).

10. The transfer vehicle according to claim 9, characterized in that: Along the axial direction of the power output shaft (1351), the power output shaft (1351) is movably connected to the fourth gear (1353).

11. The transfer vehicle according to any one of claims 5 to 10, characterized in that: The transfer vehicle also includes: A sliding assembly (140) is movably disposed in the vehicle body (110) along the radial direction of the vehicle body (110), wherein a portion of the sliding assembly (140) is connected to the vehicle body (110), and another portion of the sliding assembly (140) is connected to the mounting bracket (133), so that the mounting bracket (133) can extend out of the vehicle body (110) along the radial direction of the vehicle body (110); A second driving member is provided in the vehicle body (110), and the second driving member is configured to drive the mounting bracket (133) to extend out of the vehicle body (110) in a radial direction of the vehicle body (110), or the second driving member is configured to drive the mounting bracket (133) to retract into the vehicle body (110) in a radial direction of the vehicle body (110).

12. The transfer vehicle according to claim 11, characterized in that: A plurality of the shelf columns (20) are constructed to form a climbing space; the plurality of climbing mechanisms (130) are provided, and the plurality of climbing mechanisms (130) are evenly spaced and arranged along the circumference of the vehicle body (110); When the walking mechanism (120) drives the vehicle body (110) into the climbing space, the second driving member drives the mounting bracket (133) to extend out of the vehicle body (110) until the first gear (131) and the second gear (132) engage with the engagement member (210); The first driving assembly (135) drives the first gear (131) and the second gear (132) to rotate along a third direction, so that the climbing mechanism (130) drives the vehicle body (110) to climb along the shelf column (20).

13. The transfer vehicle according to claim 12, characterized in that: When the climbing mechanism (130) drives the vehicle body to climb along the shelf column (20) to the first target position and completes the retrieval of the target item, the first drive assembly (135) drives the first gear (131) and the second gear (132) to rotate along the third direction or the fourth direction, so that the climbing mechanism (130) drives the vehicle body (110) to move along the shelf column (20) until the vehicle body (110) moves to the second target position; wherein the fourth direction is opposite to the third direction; The second driving member drives the mounting bracket (133) to retract into the vehicle body (110); The walking mechanism (120) drives the vehicle body (110) to walk in either a first direction or a second direction.

14. The transfer vehicle according to claim 11, characterized in that: The sliding assembly (140) comprises: A slide rail (141) provided on one of the mounting bracket (133) and the vehicle body (110); A slider (142) is provided on the other of the mounting bracket (133) and the vehicle body (110), and the slider (142) is slidably connected to the slide rail (141).

15. The transfer vehicle according to claim 3, characterized in that: The mounting bracket (133) is provided with a bent portion (1331) at one end facing away from the vehicle body (110), and the bent portion (1331) is bent away from any one of the first gear (131) and the second gear (132); the bent portion (1331) is provided with a limiting roller (1332), and the limiting roller (1332) is configured to cooperate with the shelf column (20) to position the climbing mechanism (130) and the engaging member (210).

16. The transfer vehicle according to claim 15, characterized in that: The bent portion (1331) is located on both sides of the axial direction of any one of the first gear (131) and the second gear (132); the limiting roller (1332) is located on one side of the bent portion (1331) close to any one of the first gear (131) and the second gear (132).

17. The transfer vehicle according to claim 16, characterized in that: Along the arrangement direction of the first gear (131) and the second gear (132), a plurality of the limiting rollers (1332) are arranged side by side.

18. The transfer vehicle according to claim 1 or 2, characterized in that: The cross section of the vehicle body (110) is polygonal, and the climbing mechanism (130) includes a plurality of climbing mechanisms (130), which are evenly spaced and arranged along the circumference of the vehicle body (110).

19. A storage system, characterized in that: include: The transfer vehicle (10) according to any one of claims 1 to 18; The shelf has a shelf column (20), wherein the shelf column (20) is provided with an engagement member (210), and the engagement member (210) is configured to cooperate with a first gear (131) and a second gear (132) of the transfer vehicle.

20. The storage system according to claim 19, characterized in that: The shelf column (20) is provided with angle steels (220), and the angle steels (220) are located on both sides of the engaging member (210); the angle steels (220) are configured to cooperate with the limiting rollers (1332) of the transfer vehicle.

Images