Two-way non-contact anti-falling device for three-dimensional warehouse carrier

Abstract

The utility model provides a two-way non-contact anti-falling device for a three-dimensional warehouse carrier. The two-way non-contact anti-falling device comprises a first baffle movably installed at a goods taking opening of each layer of a three-dimensional warehouse, a second baffle movably installed on a goods carrying table of an elevator and a driving mechanism installed on the goods carrying table. The driving mechanism acts after receiving a first signal of the operation control end, and resets after receiving a second signal of the operation control end; the driving mechanism drives the first baffle and the second baffle to move to reset to the first state or act to the second state. Through the arrangement of the first baffle and the second baffle, the first baffle and the second baffle can be sensed through the obstacle avoidance radar on the carrier when the carrier enters and exits the elevator and has dispatching accidents, bidirectional non-contact protection is achieved when the carrier is not in place, and the first baffle and the second baffle are prevented from being damaged due to collision; after the elevator reaches the target layer of the three-dimensional warehouse, the first baffle and the second baffle fall down through the driving mechanism, and in-place passing of the carrier is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of automated parking system technology, specifically relating to a two-way non-contact anti-fall device for automated parking system transport vehicles. Background Technology

[0002] In automated storage and retrieval systems (AS / RS), handling vehicles need to use elevators to retrieve goods or change floors. In the event of an accident in the dispatching system, there is a risk that the handling vehicles may fall from the AS / RS retrieval point or the elevator loading platform. Therefore, it is necessary to install anti-fall devices for handling vehicles between the AS / RS retrieval point and the elevator loading platform.

[0003] CN202321992650.X discloses a fall prevention device for a transport vehicle in an automated warehouse. By setting a first baffle and a second baffle, it prevents the transport vehicle from falling out of control due to an accident in the dispatching system. It is a contact-type fall prevention device, and the transport vehicle will collide with the first baffle / second baffle and be damaged. In severe cases, the first baffle / second baffle needs to be replaced. In addition, the driving component that drives the first baffle and the second baffle is an electric push rod. It is a special electric push rod, which has poor versatility and high price. Utility Model Content

[0004] The present invention aims to solve the technical problems existing in the prior art. The purpose of the present invention is to provide a two-way non-contact anti-fall device for automated warehouse transport vehicles.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a two-way non-contact anti-fall device for automated storage and retrieval systems (AS / RS) transport vehicles, used to prevent the transport vehicles from falling from the AS / RS retrieval port and / or the hoist loading platform. The AS / RS has multiple layers along its height. The anti-fall device includes a first baffle movably installed at the retrieval port of each layer and / or a second baffle movably installed on the hoist loading platform. The anti-fall device also includes a drive mechanism installed on the loading platform. The enabling end of the drive mechanism is connected to the operating control end of the hoist. The drive mechanism receives a first signal from the operating control end and then operates. The system receives a second signal from the operation control terminal and resets; the drive mechanism drives the first baffle and / or the second baffle to move to reset to the first state or activate to the second state; in the first state, the first baffle / second baffle extends, the obstacle avoidance radar of the transport vehicle can sense the first baffle / second baffle, and the transport vehicle controller controls the transport vehicle to stop moving; in the second state, the first baffle / second baffle falls down, the obstacle avoidance radar of the transport vehicle cannot sense the first baffle / second baffle, and the first baffle / second baffle does not restrict the movement of the transport vehicle, allowing the transport vehicle to travel back and forth between the automated warehouse and the loading platform.

[0006] The above technical solution involves installing a first baffle at the retrieval port on each floor of the automated warehouse and a second baffle at the exit of the hoist loading platform. Utilizing the obstacle avoidance radar on the transport vehicle, the transport vehicle can sense the first / second baffle in case of scheduling accidents when entering or exiting the hoist, achieving two-way (both directions of entering and exiting the hoist) non-contact protection when the transport vehicle is not in place, preventing damage to the first / second baffle due to collision. After the hoist reaches the target floor of the automated warehouse, the drive mechanism causes the first / second baffle to fall, allowing the transport vehicle to pass through.

[0007] In a preferred embodiment of this utility model, when the first baffle and the second baffle are set at the same time, an obstacle avoidance radar is set at each of the two opposite corners of the transport vehicle, and the first baffle and the second baffle can be directly facing the two obstacle avoidance radars respectively.

[0008] In the above technical solution, the first baffle at the loading port of the automated warehouse and the second baffle on the loading platform are respectively aligned with the obstacle avoidance radars on opposite corners of the transport vehicle. Regardless of which side the transport vehicle is on, when a scheduling accident occurs at the docking point between the elevator and the automated warehouse, the obstacle avoidance radar on the transport vehicle will sense the first baffle and / or the second baffle and stop.

[0009] In a preferred embodiment of the present invention, under normal conditions, the drive mechanism does not act on the first baffle and / or the second baffle, and the first baffle and / or the second baffle are in the first state.

[0010] In the above technical solution, under normal conditions, the first baffle and / or the second baffle are in the first state, and the drive mechanism does not need to work, thus saving energy.

[0011] In a preferred embodiment of the present invention, the lower end of the first baffle and / or the second baffle has a counterweight. Under normal conditions, the first baffle and / or the second baffle are vertically arranged and in a first state under the action of the counterweight.

[0012] The above technical solution achieves unpowered automation by setting a counterweight to keep the first baffle and / or the second baffle in a vertical position under the action of gravity.

[0013] In a preferred embodiment of this utility model, the first baffle is rotatably mounted at the retrieval port of the automated warehouse via a first fixed shaft; and / or the second baffle is rotatably mounted on the loading platform via a second fixed shaft; when the first baffle and the second baffle are set at the same time, the driving mechanism can drive the first baffle and the second baffle to rotate simultaneously.

[0014] In the above technical solution, the first baffle rotates around the first fixed axis and the second baffle rotates around the second fixed axis. Thus, by driving the first baffle and / or the second baffle to rotate, the two can be switched between the first state and the second state. The implementation method is simple and reliable.

[0015] In another preferred embodiment of this utility model, the driving mechanism includes a motor mounted on the loading platform, a transmission mechanism connected to the output shaft of the motor, and a push rod connected to the transmission mechanism. The push rod is slidably connected to the loading platform. The motor drives the push rod to move linearly through the transmission mechanism. The push rod can interact with the first baffle / second baffle and rotate it. When the first baffle and the second baffle are set at the same time, the motor can be located between the first baffle and the second baffle. There are also two push rods, which are located on both sides of the motor. The motor drives the two push rods to move through the transmission mechanism. The two push rods can interact with the first baffle and the second baffle respectively.

[0016] In the above technical solution, the power source of the drive mechanism is an electric motor. Compared with a dedicated electric push rod, the electric motor has strong versatility and low price.

[0017] In another preferred embodiment of the present invention, the transmission mechanism includes a rotating rod fixedly connected to the output shaft of the motor, a connecting rod rotatably connected to the rotating rod, and the end of the connecting rod away from the rotating rod rotatably connected to the push rod.

[0018] The above technical solution uses a crank-slider mechanism composed of a rotating rod, a connecting rod, and a push rod. The motor rotates the rotating rod, and the rotating rod slides the push rod laterally through the connecting rod to push it out or retract it, ensuring reliable operation. When the first baffle and the second baffle are set at the same time, a bidirectional crank-slider mechanism is formed, and one motor can drive two push rods to run, realizing the synchronous pushing and retraction of the two push rods.

[0019] In another preferred embodiment of this utility model, the motor is further equipped with two proximity switches that cooperate with the rotating rod to monitor whether the push rod is pushed out and retracted in place. The two proximity switches are a push-out proximity switch and a retraction proximity switch. The signal output terminal of the push-out proximity switch is connected to the forward rotation stop terminal of the motor, and the signal output terminal of the retraction proximity switch is connected to the reverse rotation stop terminal of the motor. When the motor rotates forward and drives the push rod to retract, so that the first baffle / second baffle is in the first state, the rotating rod approaches the retraction proximity switch, and the motor stops rotating forward. When the motor rotates forward and drives the push rod to push out, so that the first baffle / second baffle is in the second state, the rotating rod approaches the push-out proximity switch, and the motor stops rotating in the reverse direction.

[0020] The above technical solution involves setting two proximity switches. When the rotating rod approaches the proximity switch, the motor stops rotating, and the system monitors whether the push rod is pushed out and retracted in place.

[0021] In another preferred embodiment of this utility model, the connecting rod is a telescopic rod structure. The connecting rod includes an intermediate rod, and a first end rod and a second end rod that are threaded to both ends of the intermediate rod, respectively. The end of the first end rod away from the intermediate rod is rotatably connected to the rotating rod, and the end of the second end rod away from the intermediate rod is rotatably connected to the push rod. The direction of rotation of the threaded connection between the first end rod and the intermediate rod is opposite to the direction of rotation of the threaded connection between the second end rod and the intermediate rod.

[0022] The above technical solution allows for the push rod to be pushed out and retracted properly when there is a deviation in the motor output angle, or when the first and second baffles on both sides of the motor cannot swing completely into place or the swing angles are inconsistent. This allows for a small range of deflection in the motor output angle and a small range of deviation in the installation position of each component, thus providing greater fault tolerance.

[0023] In another preferred embodiment of this utility model, a spherical bearing is provided at the rotatable connection between the connecting rod and the rotating rod, and at the rotatable connection between the connecting rod and the push rod; and / or a rolling bearing is provided at the rotatable connection between the first baffle / second flange and the first fixed shaft / second fixed shaft; and / or a rotating component is provided at the contact part between the counterweight and the push rod, the rotating component being a rotating bearing, the counterweight being fixedly connected to the inner ring of the rotating bearing, and the push rod being able to contact the outer ring of the rotating bearing.

[0024] The above technical solution adds bearings (including spherical and rolling bearings) at all rotating positions, making the entire fall arrest device operate more smoothly; by setting rotating components, sliding is changed to rolling, reducing friction.

[0025] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0027] Figure 1 This is a side view schematic diagram of the bidirectional non-contact anti-fall device for the automated warehouse transport vehicle in an embodiment.

[0028] Figure 2 This is a left-side diagram showing the docking of the elevator and the automated storage and retrieval system. Figure One At this time, the first guard and the second guard at the automated warehouse picking port are both in the first state.

[0029] Figure 3 yes Figure 2 A magnified view of section A in the image.

[0030] Figure 4This is a partially enlarged three-dimensional structural diagram of the elevator and the automated storage and retrieval system (AS / RS) docking. At this time, the first guard and the second guard at the AS / RS retrieval port are both in the first state.

[0031] Figure 5 This is a left-side diagram showing the docking of the elevator and the automated storage and retrieval system. Figure Two At this time, the first guard and the second guard at the automated warehouse picking port are both in the second state.

[0032] Figure 6 yes Figure 5 A magnified view of section B in the image.

[0033] Figure 7 This is a schematic diagram of the left side when the hoist is lifting. At this time, the first guard and the second guard at the automated warehouse retrieval port are both in the first state.

[0034] The reference numerals in the accompanying drawings include: automated storage and retrieval system 10, automated storage and retrieval port 11, first fixed shaft 12, hoist 20, loading platform 21, second fixed shaft 22, first baffle 30, counterweight 31, second baffle 40, transport vehicle 50, obstacle avoidance radar 51, drive mechanism 60, motor 61, push rod 62, rotating rod 63, connecting rod 64, intermediate rod 641, first end rod 642, second end rod 643, push proximity switch 71, retract proximity switch 72, spherical bearing 81, rolling bearing 82, and rotating component 83. Detailed Implementation

[0035] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0036] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "vertical", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] In the description of this utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0038] This utility model provides a two-way non-contact anti-fall device for the transport vehicle 50 of an automated storage and retrieval system 10, used to prevent the transport vehicle 50 from falling from the retrieval port 11 and / or the loading platform 21 of the elevator 20. The automated storage and retrieval system 10 has multiple layers along its height. Figure 1 The three-dimensional warehouse 10 shown has four layers.

[0039] like Figures 1-6 As shown, in a preferred embodiment, the fall prevention device includes a first baffle 30 movably installed at the retrieval port 11 of each floor of the automated warehouse, and / or a second baffle 40 movably installed at the exit of the loading platform 21 of the elevator 20. The fall prevention device also includes a drive mechanism 60 installed on the loading platform 21. The enable terminal of the drive mechanism 60 is connected to the operation control terminal of the elevator 20. The drive mechanism 60 is activated upon receiving a first signal from the operation control terminal, and reset upon receiving a second signal from the operation control terminal. The first signal is a positioning signal (e.g., a high level) issued by the operation control terminal when the loading platform 21 of the elevator 20 reaches the target floor of the automated warehouse 10. The second signal is a signal (e.g., a low level) issued by the operation control terminal when the loading platform 21 of the elevator 20 is not at the target floor of the automated warehouse 10. Specifically, but not limited to, detecting whether the loading platform 21 of the elevator 20 has reached the target floor of the automated warehouse 10 can be achieved by setting a floor switch or a photoelectric sensor.

[0040] The present invention preferably provides a first baffle 30 and a second baffle 40 simultaneously, and a driving mechanism 60 drives the first baffle 30 and the second baffle 40 to move to reset to the first state or to act as the second state.

[0041] like Figures 2-4 As shown, in the first state, the first baffle 30 and the second baffle 40 extend. When a scheduling accident occurs during the entry or exit of the transport vehicle 50 from the elevator 20, the obstacle avoidance radar 51 on the transport vehicle 50 can sense the first baffle 30 and the second baffle 40. The transport vehicle controller then controls the transport vehicle 50 to stop, preventing the transport vehicle 50 from accidentally falling from the automated warehouse retrieval port 11 and the elevator 20's loading platform 21. Figure 5 and Figure 6As shown, in the second state, the first baffle 30 and the second baffle 40 fall down, the obstacle avoidance radar 51 cannot sense the first baffle 30 / second baffle 40, and the first baffle 30 and the second baffle 40 do not restrict the movement of the transport vehicle 50. The transport vehicle 50 can travel back and forth between the automated warehouse 10 and the loading platform 21 without affecting the normal operation of the transport vehicle 50.

[0042] like Figure 1 and Figure 7 As shown, during the lifting and lowering process of the hoist 20, when the transport vehicle 50 is lifted and lowered along with the loading platform 21, because the second baffle 40 on the loading platform 21 is in the extended first state, in the event of a scheduling accident, the obstacle avoidance radar 51 on the transport vehicle 50 can sense the second baffle 40, which can prevent the transport vehicle 50 from falling from the loading platform 21; during the lifting and lowering process of the hoist 20, when the transport vehicle 50 runs on the automated warehouse 10 to the automated warehouse retrieval port 11, because the first baffle 30 at the automated warehouse retrieval port 11 is in the extended first state, in the event of a scheduling accident, the obstacle avoidance radar 51 on the transport vehicle 50 can sense the first baffle 30, which can prevent the transport vehicle 50 from falling from the automated warehouse retrieval port 11.

[0043] It should be noted that when the first baffle 30 and the second baffle 40 are set at the same time, an obstacle avoidance radar 51 is set at each of the two opposite corners of the transport vehicle 50, and the first baffle 30 and the second baffle 40 can be directly facing the two obstacle avoidance radars 51 respectively.

[0044] In this utility model, such as Figure 3 and Figure 4 As shown, under normal conditions, the driving mechanism does not act on the first baffle 30 and the second baffle 40, and the first baffle 30 and the second baffle 40 are in the first state under the influence of gravity; for example, the lower ends of the first baffle 30 and the second baffle 40 have counterweights 31. Under normal conditions, under the action of the counterweights 31, the first baffle 30 and the second baffle 40 are both vertically set and in the first state to prevent the transport vehicle 50 from falling.

[0045] like Figure 3 , Figure 4 and Figure 6As shown, in this utility model, the first baffle 30 is rotatably mounted at the retrieval port 11 of the automated warehouse via the first fixed shaft 12, and the second baffle 40 is rotatably mounted at the outlet of the loading platform 21 via the second fixed shaft 22. The drive mechanism 60 drives the first baffle 30 and the second baffle 40 to rotate simultaneously, so that they switch between a first state and a second state. The drive mechanism 60 includes a motor 61 (e.g., a common motor 61 with a reducer) mounted on the loading platform 21, a transmission mechanism connected to the output shaft of the motor 61, and a push rod 62 connected to the transmission mechanism. The push rod 62 is laterally slidably connected to the loading platform 21. The motor 61 drives the push rod 62 to move laterally in a linear motion via the transmission mechanism. The push rod 62 can interact with the first baffle 30 / second baffle 40 and make them rotate. For example, the push rod 62 interacts with the counterweight 31 at the lower end of the first baffle 30 / second baffle 40. When the first baffle 30 and the second baffle 40 are set at the same time, the motor 61 can be located between the first baffle 30 and the second baffle 40. There are also two push rods 62, which are located on both sides of the motor 61. The motor 61 drives the two push rods 62 to move through the transmission mechanism. The two push rods 62 can interact with the first baffle 30 and the second baffle 40 respectively.

[0046] Specifically, such as Figure 3 As shown, the transmission mechanism includes a rotating rod 63 fixedly connected to the output shaft of a motor 61. A connecting rod 64 is rotatably connected to the rotating rod 63. The end of the connecting rod 64 away from the rotating rod 63 is rotatably connected to a push rod 62. The rotating rod 63, the connecting rod 64, and the push rod 62 form a crank-slider mechanism. The motor 61 causes the rotating rod 63 to rotate, and the rotating rod 63 causes the push rod 62 to slide laterally through the connecting rod 64 to push out or retract. When the first baffle 30 and the second baffle 40 are set simultaneously, the output shaft of the motor 61 is fixedly connected to the middle of the rotating rod 63, and a connecting rod 64 is rotatably connected to each end of the rotating rod 63. The two connecting rods 64 are rotatably connected to the two push rods 62 respectively.

[0047] like Figure 3 and Figure 4 As shown, under normal conditions, motor 61 drives push rod 62 to retract via rotating rod 63 and connecting rod 64. Neither push rod 62 contacts the first baffle 30 or the second baffle 40. The first baffle 30 and the second baffle 40 are in a vertical first state under gravity, preventing the transport vehicle 50 from falling. Figure 6As shown, when the loading platform 21 of the hoist 20 reaches the predetermined 10th floor of the automated warehouse, in order not to obstruct the entry and exit of the transport vehicle 50 from the hoist 20, the motor 61 drives the left push rod 62 to push to the left through the rotating rod 63 and the connecting rod 64, and at the same time drives the right push rod 62 to push to the right. The left push rod 62 abuts against the counterweight block 31 of the first baffle 30, so that the first baffle 30 rotates clockwise around the first fixed shaft 12, and the right push rod 62 abuts against the counterweight block 31 of the second baffle 40, so that the second baffle 40 rotates counterclockwise around the second fixed shaft 22. Both the first baffle 30 and the second baffle 40 fall down (i.e., in the second state), and the transport vehicle 50 can travel back and forth between the automated warehouse 10 and the loading platform 21.

[0048] like Figure 3 , Figure 4 and Figure 6 As shown, in another preferred embodiment, the motor 61 is also equipped with two proximity switches that cooperate with the rotating rod 63 to monitor whether the push rod 62 is pushed out and retracted. The two proximity switches are push-out proximity switch 71 and retraction proximity switch 72. For example, the two proximity switches are set on the left side of the motor 61, with push-out proximity switch 71 located below retraction proximity switch 72. The signal output terminal of push-out proximity switch 71 is connected to the forward rotation stop terminal of the motor 61, and the signal output terminal of retraction proximity switch 72 is connected to the reverse rotation stop terminal of the motor 61.

[0049] Specifically, such as Figure 3 and Figure 6 As shown, when the motor 61 rotates forward (counterclockwise) and drives the two push rods 62 to retract, putting the first baffle 30 and the second baffle 40 in the first state, the end of the rotating rod 63 gradually approaches the retraction proximity switch 72. When the push rod 62 is retracted to the end, the retraction proximity switch 72 can sense the rotating rod 63, and at this time the motor 61 stops rotating forward. When the motor 61 rotates in reverse (clockwise) and drives the two push rods 62 to push out, putting the first baffle 30 and the second baffle 40 in the second state, the end of the rotating rod 63 gradually approaches the push-out proximity switch 71. When the push rod 62 is pushed out to the end, the push-out proximity switch 71 can sense the rotating rod 63, and at this time the motor 61 stops rotating in reverse.

[0050] like Figure 3As shown, in another preferred embodiment, the connecting rod 64 is a telescopic rod structure. The connecting rod 64 includes an intermediate rod 641, and a first end rod 642 and a second end rod 643 that are threaded to both ends of the intermediate rod 641, respectively. The end of the first end rod 642 away from the intermediate rod 641 is rotatably connected to the rotating rod 63, and the end of the second end rod 643 away from the intermediate rod 641 is rotatably connected to the push rod 62. The direction of rotation of the threaded connection between the first end rod 642 and the intermediate rod 641 is opposite to the direction of rotation of the threaded connection between the second end rod 643 and the intermediate rod 641. Thus, the length of the connecting rod 64 can be adjusted by rotating the intermediate rod 641.

[0051] In practice, when there is a deviation in the output angle of motor 61 (for example, due to reduced accuracy after prolonged use, or installation deviations and trigger delays in the extension and retraction of proximity switches 71 and 72, resulting in a deviation in the output angle of motor 61), the length of connecting rod 64 can be adjusted to ensure that push rod 62 is extended and retracted in place. This allows for a small range of deflection in the output angle of motor 61, providing greater fault tolerance. Additionally, it can be considered that during the installation of the hoist 20 frame and the automated storage and retrieval system 10, and the hoist 20 frame and the loading platform 21, there may be left-right deviations (facing the hoist 20 inlet and outlet). The transport vehicle track on the loading platform 21, as well as the first baffle 30 and the second baffle 40, will be adjusted left-right simultaneously according to the aforementioned deviations. Since the position of motor 61 on the loading platform 21 is fixed, this affects the left-right distance between motor 61 and the first baffle 30 and the second baffle 40. In summary, when the first baffle 30 and the second baffle 40 on both sides of the motor 61 cannot swing completely into position or the swing angles are inconsistent due to various reasons, the length of the connecting rod 64 can be adjusted.

[0052] like Figure 3 As shown, more preferably, joint bearings 81 are provided at the rotatable connection between the connecting rod 64 and the rotating rod 63, and at the rotatable connection between the connecting rod 64 and the push rod 62, so that the rotation of the connecting rod 64 is smoother. Rolling bearings 82 are provided at the rotatable connection between the first baffle 30 and the first fixed shaft 12, and at the rotatable connection between the second baffle 40 and the second fixed shaft 22, so that the rotation of the first baffle 30 and the second baffle 40 is smoother, thereby making the entire anti-fall device operation process smoother.

[0053] like Figure 4As shown, more preferably, the contact portion between the counterweight 31 and the push rod 62 is provided with a rotating component 83, which is a rotating bearing (such as a rolling bearing). The counterweight 31 is fixedly connected to the inner ring of the rotating bearing, and the push rod 62 can contact the outer ring of the rotating bearing. When the push rod 62 pushes the first baffle 30 / second baffle to rotate to the second state, the motor 61 drives the two push rods 62 to push out. The push rods 62 contact the outer ring of the rotating bearing and transmit force. The push rods 62 cause the first baffle 30 to rotate clockwise around the first fixed axis 12 and the second baffle 40 to rotate counterclockwise around the second fixed axis 22. At this time, the outer ring of the rotating bearing rotates relative to its inner ring. Compared with the push rod 62 directly acting on the counterweight 31, this scheme changes sliding to rolling, reducing friction.

[0054] In this invention, during the lifting and lowering process of the hoist 20, the motor 61 drives the push rod 62 to retract. The push rod 62 does not contact the second baffle 40, and the first baffle 30 and the second baffle 40 are in a vertical second state under the action of gravity. The first baffle 30 at the automated warehouse retrieval port 11 and the second baffle 40 on the loading platform 21 are respectively directly opposite the obstacle avoidance radars 51 on the two opposite corners of the transport vehicle 50. Regardless of which side the transport vehicle 50 is on (i.e., regardless of whether the transport vehicle 50 enters the hoist 20 from the automated warehouse 10 or exits from the hoist 20 to the automated warehouse 10), when a scheduling accident occurs at the docking point between the hoist 20 and the automated warehouse 10, the obstacle avoidance radars 51 on the transport vehicle 50 will sense the first baffle 30 and / or the second baffle 40 and stop. After the elevator 20 stops at each floor of the automated warehouse 10, the motor 61 drives the two push rods 62 to push to the left and right sides respectively. The first baffle 30 rotates around the first fixed shaft 12 and at the same time rotates around the second baffle 40 around the second fixed shaft 22. After the first baffle 30 and the second baffle 40 fall down, the transport vehicle 50 and the goods on it can pass through without affecting the transport vehicle 50 entering and exiting the elevator 20.

[0055] In the description of this specification, the references to terms such as "preferred embodiment," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0056] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A two-way non-contact anti-fall device for automated storage and retrieval systems (AS / RS) transport vehicles, used to prevent the transport vehicles from falling from the retrieval port and / or the loading platform of the elevator in the AS / RS, wherein the AS / RS has multiple layers along its height, and the anti-fall device includes a first baffle movably installed at the retrieval port of each layer of the AS / RS, and / or a second baffle movably installed on the loading platform of the elevator; characterized in that, The fall arrestor also includes a drive mechanism installed on the loading platform. The enable end of the drive mechanism is connected to the operation control end of the hoist. The drive mechanism is activated upon receiving a first signal from the operation control end and is reset upon receiving a second signal from the operation control end. The driving mechanism drives the first baffle and / or the second baffle to move to reset to the first state or to act as the second state; In the first state, the first baffle / second baffle extends, the obstacle avoidance radar of the transport vehicle can sense the first baffle / second baffle, and the transport vehicle controller controls the transport vehicle to stop moving; In the second state, the first / second baffle falls down, the obstacle avoidance radar of the transport vehicle cannot sense the first / second baffle, and the first / second baffle does not restrict the movement of the transport vehicle, allowing the transport vehicle to travel back and forth between the automated warehouse and the loading platform.

2. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 1, characterized in that, When the first baffle and the second baffle are set at the same time, one obstacle avoidance radar is set at each of the two opposite corners of the transport vehicle, and the first baffle and the second baffle can be directly facing the two obstacle avoidance radars respectively.

3. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 1, characterized in that, Under normal conditions, the drive mechanism does not act on the first baffle and / or the second baffle, and the first baffle and / or the second baffle are in the first state.

4. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 1, characterized in that, The lower end of the first baffle and / or the second baffle has a counterweight. Under normal conditions, the first baffle and / or the second baffle are vertically arranged and in a first state under the action of the counterweight.

5. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to any one of claims 1-4, characterized in that, The first baffle is rotatably installed at the retrieval port of the automated warehouse via a first fixed shaft; And / or the second baffle is rotatably mounted on the loading platform via a second fixed shaft; When the first baffle and the second baffle are set at the same time, the driving mechanism can drive the first baffle and the second baffle to rotate simultaneously.

6. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 5, characterized in that, The drive mechanism includes a motor mounted on the loading platform, a transmission mechanism connected to the output shaft of the motor, and a push rod connected to the transmission mechanism. The push rod is slidably connected to the loading platform. The motor drives the push rod to move linearly through the transmission mechanism. The push rod can interact with the first baffle / second baffle and make it rotate. When the first baffle and the second baffle are set at the same time, the motor can be located between the first baffle and the second baffle. There are also two push rods, which are located on both sides of the motor. The motor drives the two push rods to move through the transmission mechanism. The two push rods can interact with the first baffle and the second baffle respectively.

7. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 6, characterized in that, The transmission mechanism includes a rotating rod fixedly connected to the motor output shaft, a connecting rod rotatably connected to the rotating rod, and the end of the connecting rod away from the rotating rod rotatably connected to the push rod.

8. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 7, characterized in that, The motor is also equipped with two proximity switches that cooperate with the rotating rod to monitor whether the push rod is pushed out and retracted in place. The two proximity switches are a push-out proximity switch and a retraction proximity switch. The signal output terminal of the push-out proximity switch is connected to the forward rotation stop terminal of the motor, and the signal output terminal of the retraction proximity switch is connected to the reverse rotation stop terminal of the motor. When the motor rotates forward, it drives the push rod to retract and puts the first baffle / second baffle in the first state. When the rotating rod approaches the retraction proximity switch, the motor stops rotating forward. When the motor rotates in the reverse direction, it drives the push rod to push out and puts the first baffle / second baffle in the second state. When the rotating rod approaches the push-out proximity switch, the motor stops rotating in the reverse direction.

9. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 7, characterized in that, The connecting rod is a telescopic rod structure, which includes an intermediate rod and a first end rod and a second end rod that are threaded to both ends of the intermediate rod, respectively. The end of the first end rod away from the intermediate rod is rotatably connected to a rotating rod, and the end of the second end rod away from the intermediate rod is rotatably connected to a push rod. The direction of rotation of the threaded connection between the first end rod and the intermediate rod is opposite to the direction of rotation of the threaded connection between the second end rod and the intermediate rod.

10. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 7, characterized in that, The rotatable joints between the connecting rod and the rotating rod, as well as the rotatable joints between the connecting rod and the push rod, are all equipped with spherical bearings. A rolling bearing is provided at the rotatable connection between the first baffle / second stop and the first fixed shaft / second fixed shaft.

11. The bidirectional non-contact anti-fall device for automated warehouse transport vehicles according to claim 4, characterized in that, The contact area between the counterweight and the push rod is provided with a rotating component, which is a rotating bearing. The counterweight is fixedly connected to the inner ring of the rotating bearing, and the push rod can contact the outer ring of the rotating bearing.

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