Goods shelf storage unit and storage system

Abstract

The utility model relates to a goods shelf warehousing unit and a goods shelf warehousing system, the goods shelf warehousing unit comprises a goods shelf and a carrying device, the carrying device comprises a mother vehicle, the mother vehicle is connected with a goods carrying platform through a lifting belt, the goods carrying platform is provided with a telescopic goods taking and placing mechanism, a plurality of vertical channels are arranged in the goods shelf, and the vertical channels are communicated with the mother vehicle. The multiple vertical channels are distributed in the extending direction of the goods shelf, multiple goods positions distributed in the vertical direction are arranged on the two sides of each vertical channel, and the mother trolley is matched with the top of the goods shelf through a walking mechanism so that the mother trolley can walk in the extending direction of the goods shelf. The top end of the goods shelf is provided with a horizontal channel used for the goods carrying table to move in the extending direction of the goods shelf, the top ends of the multiple vertical channels are communicated with the horizontal channel, the telescopic direction of the telescopic goods taking and placing mechanism is parallel to the extending direction of the goods shelf, and the goods shelf storage unit is small in occupied space and high in field adaptability.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing, and in particular to a shelf storage unit and a storage system. 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 shelf storage system is equipped with multiple storage units. A storage unit includes shelves and handling robots. The handling robot includes a mother car. The mother car is connected to a cargo platform through a lifting belt. The cargo platform is provided with a telescopic pick-up and placement mechanism. Currently, a handling robot needs to be equipped with two rows of shelves. The position of the handling robot corresponds to the position of the aisle between the two rows of shelves. When working, the mother car and the cargo platform are both located on one side of the shelf, and the mother car and the cargo platform move between the two rows of shelves. The telescopic pick-up and placement mechanism is perpendicular to the movement direction of the mother car and the cargo platform. When using this type of shelf storage unit, the same handling robot needs to be equipped with two rows of shelves. The handling robot occupies the space outside the shelf, takes up a large amount of space, and is not suitable for use in relatively small spaces, resulting in limited usage scenarios of the shelf storage system. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the above-mentioned prior art and to provide a shelf storage unit and a storage system, which occupy a small space, are suitable for use in narrow spaces, and improve the applicability of the entire storage system.

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

[0006] In the first aspect, an embodiment of the present invention provides a shelf storage unit, comprising a shelf and a handling device, wherein the handling device comprises a mother cart, the mother cart is connected to a cargo platform via a lifting belt, the cargo platform is provided with a telescopic pick-up and placement mechanism, a plurality of vertical channels are provided in the shelf, and the plurality of vertical channels are distributed along the extension direction of the shelf, and a plurality of cargo positions distributed vertically are provided on both sides of the vertical channels, the mother cart cooperates with the walking track provided at the top of the shelf through a walking mechanism so that the mother cart can travel along the extension direction of the shelf, and the top of the shelf is provided with a horizontal channel for the mother cart to carry the cargo platform to move along the extension direction of the shelf, the tops of the plurality of vertical channels are connected to the horizontal channel, and the telescopic direction of the telescopic pick-up and placement mechanism is parallel to the extension direction of the shelf.

[0007] Optionally, among the multiple cargo positions corresponding to the ends of the shelf, a cargo loading and unloading mechanism is provided below the bottom cargo position to serve as a cargo loading and unloading station of the shelf.

[0008] Optionally, the cargo entry and exit mechanism adopts a belt conveyor mechanism or a powered roller conveyor line.

[0009] Optionally, the plurality of vertical channels are distributed at equal intervals along the extension direction of the shelf.

[0010] Optionally, the telescopic cargo picking and placing mechanism includes a first telescopic mechanism, which is connected to the cargo picking and placing component to drive the cargo picking and placing component to perform telescopic movement along the extension direction of the shelf.

[0011] Optionally, the cargo picking and placing component uses a plate fork that matches the socket on the cargo;

[0012] or;

[0013] The cargo picking and placing component includes a fork connected to the first telescopic mechanism, and the end of the fork is provided with a rotating component, which is connected to the shift fork;

[0014] or;

[0015] The cargo picking and placing component includes a connecting component connected to the first telescopic mechanism, and the end of the connecting component is provided with a vacuum suction cup or a hook claw.

[0016] Optionally, the first telescopic mechanism includes a first conveying mechanism installed on the cargo platform, the conveying direction of the first conveying mechanism is set along the telescopic direction, the conveying component of the first conveying mechanism is connected to the telescopic part, the telescopic part is slidably connected to the cargo platform, and a second conveying mechanism is provided on the telescopic part, the conveying direction of the second conveying mechanism is set along the telescopic direction, the conveying component of the second conveying mechanism is connected to the picking and placing component, and the picking and placing component is slidably connected to the telescopic part.

[0017] Optionally, the first conveying mechanism adopts a first belt conveying mechanism, and the conveying belt of the first belt conveying mechanism serves as a conveying component and is fixedly connected to the telescopic part;

[0018] or,

[0019] The serrated structure on the surface of the conveyor belt of the first belt conveyor mechanism is engaged with the rack at the bottom of the telescopic part

[0020] Alternatively, the first conveying mechanism adopts a first chain transmission mechanism, and its conveying chain serves as a conveying component and is fixedly connected to the telescopic component.

[0021] Optionally, the second conveying mechanism adopts a second belt conveying mechanism, and the conveyor belt of the second belt conveying mechanism serves as a conveying component and is fixedly connected to the picking and placing component;

[0022] or,

[0023] The serrated structure on the surface of the conveyor belt of the second belt conveyor mechanism is engaged with the rack at the bottom of the picking and placing component;

[0024] Alternatively, the second conveying mechanism adopts a second chain transmission mechanism, and its conveying chain serves as a conveying component and is fixedly connected to the picking and placing component.

[0025] Optionally, at least one second telescopic mechanism is provided on both sides of the cargo platform along the extension direction of the shelf, and the second telescopic mechanism can cooperate with the shelf when extended.

[0026] Optionally, the second telescopic mechanism includes a pushing drive mechanism, which includes a guide block and a pushing rod fixed to the cargo platform, one end of the pushing rod extends into the guide block, and the pushing rod is slidably connected to the guide block, and the other end of the pushing rod is provided with a pushing plate, and the part of the pushing rod located inside the guide block is provided with a rack, the rack is engaged with a gear, and the gear is connected to the output shaft of the rotating drive member fixed to the guide block.

[0027] Optionally, the second telescopic mechanism includes a claw and a telescopic driving mechanism for driving the claw to extend and retract, and the claw cooperates with the shelf when it can be extended.

[0028] Optionally, the second telescopic mechanism includes an adsorption mechanism and a telescopic driving mechanism for driving the adsorption mechanism to be extended or retracted, and the adsorption mechanism can be adsorbed on the shelf when extended; the adsorption mechanism is a magnetic adsorption mechanism or a vacuum adsorption mechanism.

[0029] Optionally, the shelves are arranged in multiple rows in parallel, and a reversing track is provided on the top of the multiple rows of shelves, and the reversing track is arranged perpendicular to the walking track; the mother vehicle is provided with a reversing mechanism on both sides perpendicular to the extension direction of the shelves, and the mother vehicle can travel along the reversing track through the reversing mechanism.

[0030] Optionally, guide rails are provided at the four corners of the vertical channel provided in the shelf in the vertical direction, which cooperate with the guide wheels provided at the four corners of the cargo platform.

[0031] In a second aspect, an embodiment of the present invention provides a shelf storage system comprising a plurality of shelf storage units as described in the first aspect.

[0032] The beneficial effects of the above utility model are as follows:

[0033] 1. The shelf storage unit and storage system of the present invention have a mother car arranged on the top of the shelf, and the shelf is provided with multiple vertical channels for lifting and lowering the cargo platform. The shelf is also provided with a horizontal channel for the horizontal movement of the cargo platform along the extension direction of the shelf, and cargo spaces are provided on both sides of the vertical channel. The telescopic direction of the telescopic picking and placing mechanism is arranged along the extension direction of the shelf, and the cargo platform moves inside the shelf. The entire shelf storage unit only needs to be provided with one row of shelves, and the mother car and the cargo platform will not occupy the space outside the shelf, which greatly reduces the floor space of the shelf storage unit and improves the adaptability of the entire storage unit to the site. It is suitable for the arrangement of shelf storage units in small spaces.

[0034] 2. The shelf storage unit and storage system of the present invention are provided with a pushing drive mechanism and a pushing plate. When the telescopic picking and placing mechanism is picking and placing goods, the pushing drive mechanism can drive the pushing plate to contact the shelf, thereby preventing the cargo platform from shaking and ensuring the smooth and safe picking and placing of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the utility model;

[0037] Figure 2 This is a front view of the overall structure of Example 1 of the utility model;

[0038] Figure 3 This is a schematic structural diagram of a transport robot according to embodiment 1 of the present invention;

[0039] Figure 4 This is a partially enlarged schematic diagram of the cargo platform of Example 1 of the present utility model;

[0040] Figure 5 This is a schematic diagram of the working principle of Example 1 of the utility model;

[0041] Among them, 1. Shelf, 2. Cart, 3. Traveling mechanism, 4. Lifting belt, 5. Cargo platform, 6. Cargo, 7. Cargo loading and unloading mechanism, 8. Telescopic loading and unloading mechanism, 9. Traveling track, 10. Push plate, 11. Guide block, 12. Push rod, 13. Rotating drive component;

[0042] 1-1. Vertical aisle, 1-2. Cargo space, 1-3. Horizontal aisle;

[0043] 8-1. First belt conveyor mechanism, 8-2. Telescopic beam, 8-3. First guide rail, 8-4. Second belt conveyor mechanism, 8-5. Second guide rail, 8-6. Plate fork. DETAILED DESCRIPTION

[0044] Example 1

[0045] This embodiment provides a shelf storage unit, such as Figure 1-Figure 2 As shown, it includes a shelf 1 and a handling robot, wherein the handling robot includes a mother car 2, and a walking mechanism 3 is provided at the four corners of the mother car 2. A walking track is provided on the top of the shelf 1, and the walking mechanism of the mother car 2 cooperates with the walking track 9. The mother car 2 can walk on the top of the shelf 1 along the extension direction of the shelf 1 through the walking mechanism. A winch mechanism is provided at the four corners of the mother car 2, and the winch mechanism is connected to the lifting belt 4, which can drive the lifting belt 4 to perform lifting and lowering movements. The winch mechanism includes a lifting drive motor installed on the mother car 2, and the output shaft of the lifting drive motor is connected to the winch disk. The lifting belt 4 is wound on the winch disk. After the lifting belt 4 passes through the mother car 2, the movable end at the bottom is connected to the cargo platform 5. The structure and connection method of the mother car 2, the walking mechanism 3, the winch mechanism, the cargo platform 5 and the lifting belt 4 can adopt the existing technology, and its further technical details are not described in detail here. A telescopic picking and placing mechanism 8 is provided on the cargo platform 5 for picking and placing goods, and the telescopic direction of the telescopic picking and placing mechanism 8 is set along the extension direction of the shelf 1.

[0046] In this embodiment, a plurality of vertical channels 1-1 are provided inside the shelf 1, and the plurality of vertical channels 1-1 are provided along the extension direction of the shelf 1. The vertical channels 1-1 are used to provide space for the cargo platform 5 to move vertically. A plurality of cargo positions 1-2 are provided on both sides of the vertical channels 1-1, and the plurality of cargo positions 1-2 are distributed vertically. The cargo positions 1-2 are used to hold stored goods 6.

[0047] Preferably, the plurality of vertical channels 1 - 1 are distributed at equal intervals along the extension direction of the shelf 1 .

[0048] A horizontal channel 1-3 is provided on the top of the shelf 1, and the horizontal channel 1-3 is arranged along the extension direction of the shelf 1. The horizontal channel 1-3 is used to provide space for the cargo platform 5 to move horizontally along the extension direction of the shelf 1 when it is raised to the highest position.

[0049] The bottom of the lowest cargo position 1-2 in a row of cargo positions 1-2 at one end of the shelf 1 is used as a shelf loading and unloading station.

[0050] A goods entry and exit mechanism 7 is provided at the shelf entry and exit station.

[0051] In this embodiment, the cargo loading and unloading mechanism 7 adopts an existing belt transmission mechanism or a powered roller conveyor line, and those skilled in the art can set it according to actual needs.

[0052] It is understandable that the shelf does not have an entry and exit station, but an entry and exit channel for the transfer device to move needs to be reserved at the bottom of the shelf 1. The transfer device uses an AGV vehicle or a shuttle vehicle, etc. After the cargo platform 5 descends to the entry and exit channel, it can directly deliver the goods to the transfer device or receive the goods delivered by the transfer device.

[0053] like Figure 3-Figure 4 As shown, the cargo platform 5 is provided with a telescopic cargo pick-up and placement mechanism 8. In this embodiment, the telescopic cargo pick-up and placement mechanism 8 adopts a one-way telescopic cargo pick-up and placement mechanism, including a first telescopic mechanism. The first telescopic mechanism is installed on the cargo platform 5. The first telescopic mechanism is connected to the cargo pick-up and placement component and can drive the cargo pick-up and placement component to move. The cargo pick-up and placement component is used to cooperate with the cargo to deliver the cargo from the cargo platform to the shelf or from the shelf to the cargo platform.

[0054] In this embodiment, a first telescopic mechanism is provided on both sides of the loading platform 5 parallel to the extension direction of the shelf 1. The first telescopic mechanism includes a first conveying mechanism. The first conveying mechanism is installed on the loading platform 5. The conveying direction of the first conveying mechanism is set along the extension direction of the shelf 1, that is, along the telescopic direction of the telescopic mechanism.

[0055] The conveying component of the first conveying mechanism is connected to the telescopic part and can drive the telescopic part to perform telescopic movement along the telescopic direction.

[0056] In this embodiment, the first conveyor mechanism utilizes a first belt conveyor 8-1 mounted on the cargo platform. The belt comprises a driving pulley, a driven pulley, and a transmission belt wound between the driving and driven pulleys. The transmission belt serves as the first conveyor mechanism's transmission component. The driving pulley of the first belt conveyor 8-1 is connected to the output shaft of a drive motor mounted on the cargo platform 5, while the driven pulley is rotationally connected to the cargo platform 5 via an axle. The serrated structure on the surface of the transmission belt meshes with the rack on the bottom surface of the telescopic portion, driving the telescopic portion to extend and retract.

[0057] The telescopic part adopts a telescopic beam 8-2, and a slider is provided at the bottom of the telescopic beam 8-2. The slider is slidably connected to the first guide rail 8-3 provided on the cargo platform 5. The telescopic beam 8-2 cooperates with the slider and the first guide rail 8-3 to guide the movement of the telescopic beam 8-2.

[0058] The bottom surface of the telescopic beam 8-2 is also provided with a rack, which meshes with the serrated structure on the surface of the conveying belt of the first belt conveying mechanism.

[0059] Preferably, the telescopic beam 8-2 corresponds to two first guide rails 8-3, and the first guide rails 8-3 are arranged along the telescopic direction.

[0060] A second conveying mechanism is provided on the telescopic beam 8-2, and the conveying direction of the second conveying mechanism is set along the telescopic direction of the telescopic mechanism. The conveying component of the second conveying mechanism is connected with the picking and placing component, and the picking and placing component is slidably connected with the telescopic beam 8-2. The second conveying mechanism can drive the picking and placing component to move along the telescopic direction of the telescopic mechanism.

[0061] In this embodiment, the second conveying mechanism uses a second belt conveyor mechanism 8-4, which includes a driving pulley, a driven pulley, and a conveyor belt wound around the rotating pulley and the driven pulley. The conveyor belt serves as the conveying component of the second conveying mechanism. The driving pulley is connected to a drive motor mounted on the telescopic beam 8-2, and the driven pulley is rotatably connected to the telescopic beam 8-2 via a wheel shaft. The serrated structure on the surface of the conveyor belt of the second conveying mechanism engages with the rack on the bottom surface of the pick-up and place component. The conveyor belt of the second conveying mechanism can drive the pick-up and place component to move in the telescopic direction. Of course, the second conveying mechanism can also be other conveying mechanisms, such as a chain conveyor mechanism, and this application does not limit this.

[0062] The bottom surface of the cargo picking and placing component is provided with a slider, and correspondingly, the upper surface of the telescopic beam is provided with a second guide rail 8-5, and the slider is slidably connected to the second guide rail 8-5 to guide the movement of the cargo picking and placing component.

[0063] A rack is also provided on the bottom surface of the picking and placing component, and the rack is engaged with the serrated structure on the surface of the conveying belt of the second conveying mechanism.

[0064] Preferably, one second guide rail 8-5 corresponding to the picking and placing component is provided, which is provided on one side of the second conveying mechanism.

[0065] In this embodiment, the first telescopic mechanism includes a first belt conveyor mechanism 8-1 and a second belt conveyor mechanism 8-4, which is a two-stage telescopic mechanism. It can be understood that the first telescopic mechanism can be set as a single-stage telescopic mechanism or a three-stage telescopic mechanism or a multi-stage telescopic mechanism according to actual needs. Technical personnel in this field can set it according to actual needs.

[0066] In this embodiment, the telescopic beam is engaged with the serrated structure on the surface of the conveyor belt of the first belt conveyor mechanism through the rack, and the picking and placing component is engaged with the serrated structure on the surface of the conveyor belt of the second belt conveyor mechanism through the rack, thereby realizing bidirectional telescopic movement.

[0067] In another embodiment, the telescopic beam is fixedly connected to the conveyor belt of the first belt conveyor mechanism, and the cargo picking and placing component is fixedly connected to the conveyor belt of the second belt conveyor mechanism, so as to achieve unidirectional telescopic movement.

[0068] In a third embodiment, the first conveying mechanism adopts a chain transmission mechanism, and the conveying chain of the chain transmission mechanism serves as a conveying component connected to the telescopic beam.

[0069] It is understandable that the second conveying mechanism may also adopt a chain transmission mechanism, and the conveying chain of the chain transmission mechanism serves as a conveying component connected to the picking and placing component.

[0070] In this embodiment, the picking and placing component adopts a plate fork 8-6, the bottom surface of the plate fork 8-6 engages with the serrated structure on the surface of the conveyor belt of the second conveying mechanism through a rack, and the plate fork 8-6 is used to extend into the socket set in the cargo, thereby realizing picking and placing the cargo.

[0071] In this embodiment, after the fork 8-6 is inserted into the slot of the cargo, the lifting belt 4 drives the cargo platform 5 to rise a set distance, so that the cargo 6 leaves the cargo position 1-2. After the fork 8-6 is retracted, the cargo is removed from the shelf 1.

[0072] The shift fork 8-6 carries the cargo 6 and extends to transfer the cargo to the top of the cargo position 1-2. The lifting belt 4 drives the cargo platform 5 to descend, and the cargo 6 falls onto the cargo position 1-2. Then the plate fork 8-6 continues to descend. At this time, the plate fork 8-6 is separated from the cargo 6 in the socket. At this time, the telescopic mechanism drives the plate fork 8-6 to retract, completing the placement of the cargo 6 into the shelf 1.

[0073] In another embodiment, the picking and placing component adopts a fork-type picking and placing component, including a fork, which engages with the serrated structure on the surface of the conveyor belt of the second conveying mechanism through the bottom rack, and the fork is slidably connected to the telescopic beam 8-2. The two ends of the fork are provided with rotating components, which are connected to the fork and can drive the fork to rotate in a vertical plane.

[0074] The rotating component adopts a motor or a servo installed at the end of the fork, and the output shaft of the rotating component is connected to one end of the fork. The rotating component can drive the fork to rotate in a vertical plane. When the fork rotates to a horizontal state, it can contact the cargo, thereby realizing picking up and releasing the cargo. When the fork rotates to a vertical state, it cannot contact the cargo.

[0075] In the third embodiment, the picking and placing component adopts a vacuum suction cup, which is connected to the connecting component. The connecting component is slidably connected to the telescopic beam 8-2 and the connecting component is engaged with the serrated structure on the surface of the conveyor belt of the second conveying mechanism through the bottom rack. The vacuum suction cup can be adsorbed and fixed or separated from the goods, thereby realizing picking and placing of goods.

[0076] Furthermore, in order to ensure the stability of the cargo platform 5 when the telescopic cargo picking and placing mechanism is picking and placing cargo, and to ensure the smooth and safe picking and placing of cargo, at least one second telescopic mechanism is provided on both sides of the cargo platform 5 along the extension direction of the shelf. The second telescopic mechanism can cooperate with the shelf when extended to ensure the stability of the cargo platform.

[0077] In this embodiment, the second telescopic mechanism includes a pushing drive mechanism, which is connected to the pushing plate 10. The pushing drive mechanism can drive the pushing plate 10 to move along the telescopic direction, and the pushing plate 10 can contact the shelf 1, thereby preventing the cargo platform 5 from shaking during loading and unloading of goods.

[0078] Preferably, two ends of the two edges of the cargo platform 5 perpendicular to the telescopic direction are provided with a pushing drive mechanism.

[0079] The pushing drive mechanism can adopt a telescopic driving mechanism. In this embodiment, the pushing drive mechanism includes a guide block 11. The guide block 11 adopts a cavity structure. The guide block 11 is fixedly connected to the cargo platform 5. A pushing rod 12 passes through the guide block 11. The axial direction of the pushing rod 12 is set along the telescopic direction. One end of the pushing rod 12 is fixed with a pushing plate 10, and the other end extends into the internal cavity of the guide block 11. The pushing rod 12 is slidingly connected to the guide block 11 and can move along its own axial direction. The outer rod surface of the part of the pushing rod 12 extending into the guide block 11 is provided with a rack, and the rack is meshed with a gear. The gear is connected to the output shaft of a rotating drive member 13 fixed to the outer side surface of the guide block 11. The rotating drive member 13 can drive the gear to rotate. Under the meshing action of the gear and the rack, the pushing rod 12 can move along its own axial direction.

[0080] The rotating drive member 13 is a device capable of outputting rotational motion, such as a motor or a servo. Preferably, the rotating drive member 13 is a servo, which is fixed to the outer side of the guide block, and its output shaft extends into the interior of the guide block and is fixedly connected to a gear.

[0081] In some other embodiments, the push rod 12 is connected to a device such as a screw transmission mechanism, a connecting rod mechanism, a synchronous belt mechanism, or a chain transmission mechanism inside the guide block that can output linear telescopic motion or folding telescopic motion, and can drive the push rod 12 to output linear motion.

[0082] In another embodiment, the second telescopic mechanism includes a claw and a telescopic drive mechanism that drives the claw to extend and retract. The claw cooperates with the shelf when it can be extended. The telescopic drive mechanism can use an existing device that can output linear motion, such as an electric telescopic rod or a screw transmission mechanism or a linear motor, etc. Those skilled in the art can set it according to actual needs. The claw can use an existing claw, and its specific structure will not be described in detail here.

[0083] In a third embodiment, the second telescopic mechanism includes an adsorption mechanism and a telescopic drive mechanism for driving the adsorption mechanism to extend and retract, and the adsorption mechanism can be adsorbed on the shelf when extended; the telescopic drive mechanism can adopt existing equipment that can output linear motion, such as an electric telescopic rod or a screw transmission mechanism or a linear motor, etc., which can be set by those skilled in the art according to actual needs. The adsorption mechanism is a magnetic adsorption mechanism or a vacuum adsorption mechanism, and the magnetic adsorption mechanism and the vacuum adsorption mechanism can adopt existing equipment, and their specific structures are not described in detail here.

[0084] As a possible implementation, multiple rows of shelves are arranged side by side, with reversing tracks installed at the top of the rows, running perpendicular to the running tracks. A mother vehicle is equipped with reversing mechanisms on both sides perpendicular to the direction in which the shelves extend, allowing the mother vehicle to move along the reversing tracks. This allows the mother vehicle to carry the cargo platform and travel perpendicular to the direction in which the shelves extend, enabling cross-shelf transport and improving movement flexibility.

[0085] The reversing mechanism adopts a reversing motor connected to the mother vehicle, the reversing motor is connected to the wheel frame, the wheel frame is connected to the running wheel, and the reversing motor drives the wheel frame to rotate to achieve reversing.

[0086] As a possible implementation, to ensure the stability of the cargo platform during lifting, guide rails can be provided on the sides of the vertical channel of the shelf, and guide wheels can be provided at corresponding positions on the cargo platform. When the cargo platform is lifted, the guide wheels provided on the sides of the cargo platform cooperate with the corresponding guide rails. Preferably, guide rails can be provided at the four corners of the vertical channel of the shelf, and guide wheels can also be provided at the four corners of the cargo platform to guide the cargo platform and improve the stability of the cargo platform during lifting.

[0087] like Figure 5 As shown, the warehousing working method of the shelf storage unit of this embodiment is:

[0088] The mother car 2 walks along the top of the shelf 1, and the cargo platform 5 moves in the horizontal channel 1-3 until the cargo platform 5 moves to the vertical channel 1-1 closest to the shelf entry and exit position, and then the lifting belt 4 drives the cargo platform 5 to descend to the position corresponding to the shelf 1 entry and exit position, and the telescopic picking and placing mechanism 8 transfers the goods 6 on the goods entry and exit mechanism 7 to the cargo platform 5, and then the lifting belt 4 drives the cargo platform 5 to the highest position. At this time, the cargo platform 5 is located in the horizontal channel 1-3, and the mother car 2 drives the cargo platform 5 to move horizontally along the extension direction of the shelf 1 until it moves to the vertical channel 1-1 corresponding to the target cargo position, and the lifting belt drives the cargo platform to descend to the corresponding position of the target cargo position, and the pushing drive mechanism drives the pushing rod 12 and the pushing plate 10 to extend, and the pushing plate 10 abuts on the shelf 1, and the telescopic picking and placing mechanism 8 transfers the goods from the cargo platform 5 to the target cargo position, completing the warehousing of the goods.

[0089] The outbound working method of the shelf storage unit of this embodiment is as follows:

[0090] The mother car 2 walks along the top of the shelf 1, and the loading platform 5 moves in the horizontal channel 1-3 until the loading platform 5 moves to the vertical channel 1-1 corresponding to the goods to be out of the warehouse, and then the lifting belt 4 drives the loading platform 5 to descend to the position corresponding to the goods to be out of the warehouse, and the pushing drive mechanism drives the pushing rod 12 to move, and the pushing plate 10 abuts against the shelf 1, and the telescopic picking and placing mechanism 8 transfers the goods 6 on the cargo position 1-2 to the loading platform 5, and then the pushing drive mechanism drives the pushing rod 12 and the pushing plate 10 to retract, and the lifting belt 4 drives the loading platform 5 to rise to the highest position and enter the horizontal channel 1-3, and the mother car 2 walks along the top of the shelf 1, driving the loading platform 5 to move to the vertical channel 1-1 closest to the entry and exit station, and then the lifting belt 4 drives the loading platform 5 to descend to the corresponding position of the entry and exit mechanism, and the telescopic picking and placing mechanism 8 drives the goods 6 into the goods entry and exit mechanism 7, completing the outbound delivery of the goods 6.

[0091] In the shelf storage unit of this embodiment, the cargo platform 5 moves inside the shelf 1, and the entire shelf storage unit only needs to be set up with one row of shelves. Moreover, the mother vehicle and the cargo platform 5 will not occupy the space outside the shelf, which greatly reduces the floor space of the shelf storage unit and improves the adaptability of the entire storage unit to the site. It is suitable for the arrangement of shelf storage units in a small space.

[0092] Example 2

[0093] This embodiment provides a shelf storage system, which is provided with multiple shelf storage units described in Example 1, and the multiple shelf storage units are arranged side by side.

[0094] 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 shelf storage unit, comprising a shelf and a handling device, wherein the handling device comprises a mother vehicle, the mother vehicle is connected to a cargo platform via a lifting belt, and the cargo platform is provided with a telescopic loading and unloading mechanism, characterized in that: A plurality of vertical channels are provided in the shelf, and the plurality of vertical channels are distributed along the extension direction of the shelf. A plurality of cargo positions distributed vertically are provided on both sides of the vertical channels. The mother vehicle cooperates with the travel track provided on the top of the shelf through a walking mechanism so that the mother vehicle can travel along the extension direction of the shelf. A horizontal channel is provided at the top of the shelf for the mother vehicle to carry the cargo platform to move along the extension direction of the shelf. The top ends of the plurality of vertical channels are connected to the horizontal channel. The telescopic direction of the telescopic picking and placing mechanism is parallel to the extension direction of the shelf. The telescopic picking and placing mechanism includes a first telescopic mechanism connected to the picking and placing component to drive the picking and placing component to perform telescopic movement along the extension direction of the shelf; The first telescopic mechanism includes a first conveying mechanism installed on the cargo platform, the conveying direction of the first conveying mechanism is set along the telescopic direction, the conveying component of the first conveying mechanism is connected to the telescopic part, the telescopic part is slidably connected to the cargo platform, and a second conveying mechanism is provided on the telescopic part, the conveying direction of the second conveying mechanism is set along the telescopic direction, the conveying component of the second conveying mechanism is connected to the picking and placing component, and the picking and placing component is slidably connected to the telescopic part.

2. A shelf storage unit according to claim 1, characterized in that: Among the multiple cargo positions corresponding to the ends of the shelf, a cargo entry and exit mechanism is provided below the bottom cargo position to serve as an entry and exit station for the shelf.

3. A shelf storage unit according to claim 2, characterized in that: The cargo in-and-out mechanism adopts a belt conveyor mechanism or a powered roller conveyor line.

4. A shelf storage unit according to claim 1, characterized in that: The plurality of vertical channels are distributed at equal intervals along the extension direction of the shelf.

5. A shelf storage unit according to claim 1, characterized in that: The cargo picking and placing component uses a plate fork that matches the socket on the cargo; or; The cargo picking and placing component includes a fork connected to the first telescopic mechanism, and the end of the fork is provided with a rotating component, which is connected to the shift fork; or; The cargo picking and placing component includes a connecting component connected to the first telescopic mechanism, and the end of the connecting component is provided with a vacuum suction cup or a hook claw.

6. A shelf storage unit according to claim 1, characterized in that: The first conveying mechanism adopts a first belt conveying mechanism, and the conveying belt of the first belt conveying mechanism is fixedly connected to the telescopic part as a conveying component; or, The serrated structure on the surface of the conveyor belt of the first belt conveyor mechanism is engaged with the rack at the bottom of the telescopic part Alternatively, the first conveying mechanism adopts a first chain transmission mechanism, and its conveying chain serves as a conveying component and is fixedly connected to the telescopic component.

7. A shelf storage unit according to claim 1, characterized in that: The second conveying mechanism adopts a second belt conveying mechanism, and the conveyor belt of the second belt conveying mechanism serves as a conveying component and is fixedly connected to the picking and placing component; or, The serrated structure on the surface of the conveyor belt of the second belt conveyor mechanism is engaged with the rack at the bottom of the picking and placing component; Alternatively, the second conveying mechanism adopts a second chain transmission mechanism, and its conveying chain serves as a conveying component and is fixedly connected to the picking and placing component.

8. A shelf storage unit according to claim 1, characterized in that: Along the extension direction of the shelf, at least one second telescopic mechanism is provided on both sides of the cargo platform, and the second telescopic mechanism can cooperate with the shelf when extended.

9. A shelf storage unit according to claim 8, characterized in that: The second telescopic mechanism includes a pushing drive mechanism, which includes a guide block fixed to the cargo platform and a pushing rod, one end of the pushing rod extends into the guide block, and the pushing rod is slidably connected to the guide block, and the other end of the pushing rod is provided with a pushing plate, and the part of the pushing rod located inside the guide block is provided with a rack, the rack is engaged with a gear, and the gear is connected to the output shaft of the rotating drive member fixed to the guide block.

10. The shelf storage unit according to claim 8, characterized in that: The second telescopic mechanism includes a claw and a telescopic driving mechanism for driving the claw to extend and retract, and the claw can cooperate with the shelf when extended.

11. A shelf storage unit according to claim 8, characterized in that: The second telescopic mechanism includes an adsorption mechanism and a telescopic driving mechanism for driving the adsorption mechanism to be extended or retracted. The adsorption mechanism can be adsorbed on the shelf when extended. The adsorption mechanism is a magnetic adsorption mechanism or a vacuum adsorption mechanism.

12. The shelf storage unit according to claim 1, characterized in that: The shelves are arranged in multiple rows in parallel, and a reversing track is provided on the top of the multiple rows of shelves, and the reversing track is arranged perpendicular to the walking track; the mother vehicle is provided with a reversing mechanism on both sides perpendicular to the extension direction of the shelves, and the mother vehicle can travel along the reversing track through the reversing mechanism.

13. The shelf storage unit according to claim 1, characterized in that: Guide rails are provided at the four corners of the vertical channel provided in the shelf along the vertical direction, and cooperate with the guide wheels provided at the four corners of the cargo platform.

14. A shelf storage system, characterized in that: The utility model comprises a plurality of shelf storage units according to any one of claims 1 to 13.

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