Carrier, transfer trolley and warehousing system
By setting a retaining edge on the first track of the transfer car, the stability problem at the track junction of the transfer car was solved, resulting in more stable operation and a thinner car body design.
Patent Information
- Application Number
- CN202422864337.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-22
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2034-11-22
AI Technical Summary
In existing technologies, the transfer vehicle has poor movement stability at the track junction of the warehousing system, and the chamfered edge setting causes track gaps that affect operational stability.
A stop is set on the long side of the first track to restrict the movement of the first traveling wheel, the gap at the track junction is eliminated or reduced, the stop is used to cooperate with the track side wall, and the diameter of the traveling wheel is reduced to improve stability.
The stability of the transfer vehicle on the track has been improved by reducing the thickness of the vehicle body, preventing the running wheels from jumping at the intersection, and enhancing stability.
Smart Images
Figure CN223658957U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of warehouse logistics, and particularly relates to a carrier, a transfer trolley and a warehouse system. BACKGROUND
[0002] In a warehouse logistics system, in order to fully utilize the longitudinal space of the warehouse system, multiple layers of storage spaces are usually arranged along the longitudinal direction on the shelves of the warehouse system. A transfer trolley can move on the tracks of each layer of the shelves to take target objects (such as containers) from each layer of the storage spaces and move out of the shelves, or deliver and place containers on each layer of the storage spaces, so that the longitudinal space of the warehouse system is fully utilized.
[0003] In the related art, in order to improve the running stability of the transfer trolley on each layer of the tracks, a reverse edge is usually arranged on the running wheel of the transfer trolley. When the main body of the running wheel rolls along the track, the reverse edge moves along the side wall of the track, thereby limiting the running wheel and avoiding the running wheel moving along the extension direction deviating from the track.
[0004] However, the arrangement of the reverse edge requires a gap to be reserved at the joint of the sub-track and the parent track of each layer of the tracks, which affects the movement stability of the transfer trolley on the parent track or the sub-track. CONTENT OF THE INVENTION
[0005] An embodiment of the application provides a carrier, a transfer trolley and a warehouse system, which can improve the running stability of the transfer trolley on the tracks of the carrier.
[0006] In one aspect, the application provides a carrier, comprising:
[0007] a first track arranged on one of a lane and a goods passage of the carrier;
[0008] a second track arranged on the other of the lane and the goods passage of the carrier, the first track and the second track being configured to allow a transfer trolley to run thereon;
[0009] the first track and the second track are arranged to cross each other to allow the transfer trolley to switch between the lane and the goods passage; the second track is provided with a docking interface, and the first track is arranged to pass through the docking interface;
[0010] At least one long side of a running surface of the first track is provided with a blocking edge extending upward, and the blocking edge is configured to stop a first running wheel of the transfer trolley.
[0011] In some implementations, at the cross-docking position of the first track and the second track, the blocking edge is in contact with a docking wall of the second track on the opposite side, and the docking wall of the second track is a side wall of the docking interface.
[0012] In some implementations, a side wall of the first track, on which the blocking edge is arranged, is arranged to be in contact with the docking wall of the second track.
[0013] In some implementations, the stopper is flush with or lower than a running surface of the second track.
[0014] In some implementations, a top surface of the stopper is configured as an arc surface, the arc surface is convex upward, and a highest position of the arc surface is lower than the running surface of the second track.
[0015] In some implementations, the first track includes a first track body, and the stopper is convex to a running surface of the first track body.
[0016] The stopper includes an arc portion, the arc portion is curved upward, and an upward surface of the arc portion is configured as a top surface of the stopper.
[0017] In some implementations, one end of the arc portion is connected to the running surface of the first track body, and the other end of the arc portion is connected to a side wall of the first track body; or,
[0018] One end of the arc portion is connected to the running surface of the first track body, and the other end of the arc portion is a free end.
[0019] In some implementations, the first track has the stopper on both long sides of the running surface.
[0020] The second track has opposite two abutting walls at the abutting interface, one of the abutting walls is in contact with the stopper on one side, and the other abutting wall is in contact with the stopper on the other side.
[0021] In some implementations, the first track is an integral piece.
[0022] In some implementations, the running surface of the second track is at least higher than or flush with a corner between the running surface of the second track and an inner side wall of the second track.
[0023] The inner side wall of the second track is configured to cooperate with a reverse edge of a second walking wheel in the transfer trolley to stop the second walking wheel when the second walking wheel walks along the running surface of the second track.
[0024] In some implementations, the corner is configured as an arc chamfer, and the arc chamfer cooperates with a connection end of the reverse edge of the second walking wheel.
[0025] In some implementations, the abutting interface is an abutting groove formed on the second track, and a support portion is bent inward at a bottom of the side wall of the first track, and the support portion is supported on a bottom wall of the abutting groove.
[0026] Another aspect of the present application provides a transfer trolley, comprising:
[0027] A trolley body configured to carry articles.
[0028] A first traveling wheel is mounted on the vehicle body and configured to travel along a first track of the vehicle, wherein at least one long side of the running surface of the first track extends upward with a stop, and the first traveling wheel is configured to travel along the running surface of the first track under the stop of the stop.
[0029] The second traveling wheel is mounted on the vehicle body and is configured to travel along the vehicle's second track.
[0030] In some implementations, the vehicle body includes a base and a support, with the first traveling wheel mounted on the support or the base, and the second traveling wheel mounted on the base;
[0031] The support can be raised or lowered relative to the base.
[0032] In some implementations, the transfer vehicle performs the following actions upon receiving a pick-up and return task:
[0033] The first traveling wheel moves along the first track to allow the transfer vehicle to travel within the vehicle's aisle until it reaches the cargo lane where the target item is located.
[0034] The first traveling wheel rises relative to the second traveling wheel until the second traveling wheel contacts the second track, at which point the first traveling wheel disengages from the first track.
[0035] The second traveling wheel travels along the second track, allowing the transfer vehicle to move within the cargo lane until it reaches the target storage location.
[0036] The vehicle is used for retrieving and returning items.
[0037] In some implementations, the vehicle body performs the following actions to pick up the object:
[0038] The vehicle body's supporting components rise relative to the vehicle body's base until they lift the target object in the target storage location;
[0039] Driven by the second traveling wheels, the vehicle moves along the second track to move the target object out of the target storage location.
[0040] In some implementations, the vehicle performs the following actions to return the item:
[0041] The vehicle body's support component descends relative to the vehicle body's base until the target object on the support component is supported on the target storage location and detaches from the support component;
[0042] Driven by the second traveling wheel, the vehicle moves along the second track to detach from the target storage location.
[0043] This application further provides a warehousing system, including:
[0044] The vehicle as described above;
[0045] The first walking wheel of the transfer trolley runs along the first track of the carrier and is stopped by the blocking edge of the first track.
[0046] The embodiment of the present application provides a carrier, a transfer trolley and a storage system. The first walking wheel of the transfer trolley is limited on the running surface of the first track and runs along the extension direction of the first track when the first walking wheel runs along the first track, so that the first walking wheel is prevented from separating from the first track from one side of the first track, and the running stability of the transfer trolley on the first track is improved. In addition, compared with the scheme that the reverse edge is arranged on the first walking wheel and cooperates with the side wall of the first track to limit the first walking wheel, the diameter size of the first walking wheel can be reduced in the embodiment of the present application, so that the thickness of the transfer trolley can be reduced. In addition, the blocking edge is arranged on the first track, so that a large gap for passing the reverse edge is not needed at the cross joint of the first track and the second track, the gap can be reduced or directly removed, the width of the joint is reduced, the second walking wheel of the transfer trolley can be prevented from idling at the cross joint, and the jumping amplitude of the second walking wheel of the transfer trolley when passing the cross joint of the first track and the second track is reduced, so that the stability of the transfer trolley when moving on the second track is improved. BRIEF DESCRIPTION OF DRAWINGS
[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.
[0048] Figure 1a is a structural schematic diagram of a storage system provided by an embodiment of the present application;
[0049] Figure 1b is a structural schematic diagram of a transfer trolley provided by an embodiment of the present application;
[0050] Figure 2 is a structural schematic diagram of the cooperation between a carrier and a walking wheel of a transfer trolley provided by an embodiment of the present application;
[0051] Figure 3 is Figure 2 a top view of
[0052] Figure 4 is Figure 2 a partial enlarged view of A in
[0053] Figure 5 isFigure 2 one of the side views of the
[0054] Figure 6 is Figure 5 the enlarged view of B in FIG. 1C;
[0055] Figure 7a is one of the side views of the first track according to an embodiment of the present application;
[0056] Figure 7b is another side view of the first track according to an embodiment of the present application;
[0057] Figure 8 is Figure 2 the front view of the
[0058] Figure 9 is Figure 8 the enlarged view of C in FIG. 1D.
[0059] Explanation of Reference Signs:
[0060] 10 - carrier; P - article;
[0061] 100 - first track; 101 - first track group; 200 - second track; 201 - second track group; 300 - lane; 400 - goods aisle; 500 - cross docking; 600 - overlapping support area;
[0062] 100a - first running surface; 100b - avoidance gap; 110 - first track body; 120 - baffle; 120a - arc surface; 200a - second running surface; 200c - corner; 210 - second track body; 220 - support frame; 220a - support surface; 230 - docking groove; 240 - docking wall; 241 - first docking wall; 242 - second docking wall;
[0063] 111 - running part; 112 - support part; 121 - arc part; 122 - transition part;
[0064] 20 - transfer vehicle;
[0065] 21 - first walking wheel; 22 - second walking wheel; 221 - reverse edge; 23 - vehicle body; 231 - base; 232 - support member; DETAILED DESCRIPTION
[0066] In order to make the technical personnel in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should fall within the scope of protection of the present application.
[0067] It should be noted that in the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but 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 by the specific embodiments disclosed below.
[0068] In the description of the present application, it should be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium.
[0069] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be direct connection, or indirect connection through an intermediate medium, or internal communication between two elements or interaction relationship between two elements. However, it is noted that direct connection means that the connection between the two main bodies does not form a connection relationship through an excessive structure, but is connected to form a whole only through the connection structure. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0070] In the present application, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features.
[0071] Figure 1a is a structural schematic diagram of a warehouse system provided by an embodiment of the present application, Figure 1b is a structural schematic diagram of a transfer trolley provided by an embodiment of the present application. Referring to Figure 1a and Figure 1bAs shown, the embodiment of the present application provides a warehouse system, which comprises a carrier 10 and a transfer vehicle 20.
[0072] In some examples, the carrier 10 can be a shelf with multiple layers of storage locations, each layer of the shelf having a storage channel 400 on which the storage locations are arranged. The storage channel 400 can extend along a second direction of the shelf. It can be understood that each layer of the shelf can be arranged with multiple storage channels 400 along a first direction, and each storage channel 400 can be arranged with multiple storage locations thereon, so as to improve the storage density of each layer of the shelf.
[0073] In some examples, each layer of the shelf can have a lane 300 extending along the first direction to communicate with the multiple storage channels 400 arranged along the first direction. For example, each layer of the shelf can be arranged with multiple lanes 300 arranged along the second direction. At least one side of each storage location can have one lane 300, so that the article P taken out from any one storage location can be removed from the lane 300 on one side.
[0074] It should be noted that the article P includes but is not limited to goods, original boxes or packages containing goods, containers containing goods or original boxes, etc., wherein the container can include but is not limited to a box, a pallet, etc.
[0075] Referring to Figure 1a For example, as shown, there can be one or two storage locations between two adjacent lanes 300. Taking two storage locations as an example, the article P on one of the two storage locations can be removed from the lane 300 on the left side, and the article P on the other storage location can be removed from the lane 300 on the right side.
[0076] Figure 2 is a structure diagram of the carrier and the transfer vehicle cooperating with the running wheels of the transfer vehicle, Figure 3 is a top view of Figure 2 Figure 4 is a partial enlarged view of A in Figure 2 Referring to Figures 1a to 4 As shown, in some examples, in order to enable the transfer vehicle 20 to stably run on the storage channel 400 and the lane 300, the carrier 10 further comprises a first track 100 and a second track 200, the first track 100 is arranged on one of the lane 300 and the storage channel 400 of the carrier 10, and the second track 200 is arranged on the other one of the lane 300 and the storage channel 400. The transfer vehicle 20 runs along the first track 100 and the second track 200 on each layer of the shelf.
[0077] For example, the first track 100 is arranged on the lane 300 for the transfer vehicle 20 to run in the lane 300. The second track 200 is arranged on the storage channel 400 for the transfer vehicle 20 to run in the storage channel 400.
[0078] For convenience of description, the specific structure of the track is described below with the first track 100 arranged in the aisle 300 and the second track 200 arranged in the goods aisle 400 as an example. Of course, the structure improvement of the track of the embodiments of the present application is also applicable to the scheme that the first track 100 is arranged in the goods aisle 400 and the second track 200 is arranged in the aisle 300, which will not be described here.
[0079] For example, the first walking wheel 21 of the transfer vehicle 20 can roll along the first track 100, so that the transfer vehicle 20 walks along the first track 100. Wherein, the first track 100 can extend along the first direction.
[0080] In some examples, each aisle 300 has two first tracks 100, and the two first tracks 100 are arranged in the width direction (for example, the second direction) of the aisle 300, and the two first tracks 100 are configured to support the opposite two first walking wheels 21 of the transfer vehicle 20. For example, the first walking wheels 21 on the opposite sides of the transfer vehicle 20 in the second direction can be supported on the corresponding first tracks 100 and walk along the first tracks 100 in the first direction. For convenience of description, the two first tracks 100 on one aisle 300 matched with the same transfer vehicle 20 can be regarded as a first track group 101.
[0081] It should be noted that in some examples, the first track 100 can be arranged on the frame of each layer of the shelf. For example, the first track 100 can be detachably arranged on the frame of each layer of the shelf, so as to facilitate the assembly stability of the first track 100 on the shelf, and also facilitate the disassembly of the first track 100.
[0082] In other examples, the first track 100 can directly serve as the frame of each layer of the shelf, that is, one first track group 101 directly forms one aisle 300 of each layer of the shelf. In this way, the manufacturing and assembly process of the shelf can be simplified.
[0083] In some examples, the second track 200 is arranged on the other one of the aisle 300 and the goods aisle 400 of the carrier 10, for example, the second track 200 is arranged on the goods aisle 400, so that the transfer vehicle 20 walks in the goods aisle 400. For example, the transfer vehicle 20 walks on the second track 200 through the second walking wheel 22 to reach the storage location of the goods aisle 400 and is docked with the storage location to take or return the article P. Wherein, the second track 200 can extend along the second direction.
[0084] In some examples, the transfer vehicle 20 can include a vehicle body 23, and the first walking wheel 21 and the second walking wheel 22 are arranged on the vehicle body 23. The vehicle body 23 walks on the second track 200 under the driving of the second walking wheel 22 to reach the storage location of the goods aisle 400 and is docked with the storage location to take or return the article P.
[0085] Exemplarily, the shelf can include a support frame 220, a support surface 220a of the support frame 220 being configured to support the article P, i.e., a storage location is formed on the support surface 220a of the support frame 220. The support surface 220a of the support frame 220 is located above a running surface (hereinafter referred to as a second running surface 200a) of the second track 200, so as to form a running space between the support surface 220a and the second running surface 200a, which is configured to allow the transfer trolley 20 to pass through smoothly below the storage location.
[0086] In some examples, the trolley body 23 can include a bracket 232 and a base 231, the first walking wheel 21 being arranged on the bracket 232 or the base 231, and the second walking wheel 22 being arranged on the base 231. The bracket 232 can be lifted up and down relative to the base 231 of the transfer trolley 20. When the empty transfer trolley 20 reaches below the storage location along the second track 200, the bracket 232 can be controlled to be lifted up until the article P on the storage location is lifted up, and then the transfer trolley 20 carrying the article P continues to run along the second track 200 in the aisle 400 until it reaches the nearby lane 300, and the article P is moved out of the shelf from the lane 300, thereby completing the picking process.
[0087] When the transfer trolley 20 carrying the article P reaches the storage location along the second track 200, the bracket 232 can be controlled to be lowered, so that the article P on the bracket 232 is lowered to be in contact with the support surface 220a of the support frame 220, and then the bracket 232 is continuously lowered so that the bracket 232 is separated from the article P, thereby completing the returning process. Then, the transfer trolley 20 can walk along the second track 200 from the aisle 400 to the lane 300, in preparation for the next task.
[0088] In some examples, each aisle 400 has two second tracks 200, which are arranged in a width direction (e.g., a first direction) of the aisle 400. In this way, the second walking wheels 22 on opposite sides of the transfer trolley 20 along the first direction can be supported on the corresponding second tracks 200 and walk along the second tracks 200 in a second direction. For the convenience of description, the two second tracks 200 on one aisle 400 that cooperate with the same transfer trolley 20 can be regarded as a second track group 201.
[0089] It should be noted that, in some examples, the second track 200 can be arranged on the frame of each layer of the shelf. For example, the second track 200 can be detachably arranged on the frame of each layer of the shelf, so as to facilitate the assembly stability of the second track 200 on the shelf, and facilitate the disassembly of the second track 200.
[0090] In some examples, the first rail 100 and the second rail 200 are arranged in cross, i.e. the first rail 100 and the second rail 200 have an overlapping support area 600 for the transfer vehicle 20 to switch between the aisle 300 and the goods aisle 400.
[0091] In some examples, the first rail 100 and the second rail 200 are arranged in cross, i.e. the first rail 100 and the second rail 200 have an overlapping support area 600 for the transfer vehicle 20 to switch between the aisle 300 and the goods aisle 400.
[0092] Referring to Figure 4 In some examples, the second rail 200 can be formed with a docking interface 230, and the first rail 100 is arranged in the docking interface 230. The docking interface 230 includes two oppositely arranged side walls, both of which are directed towards the first rail 100. The side wall of the docking interface 230 directed towards the first rail 100 can be referred to as the docking wall 240 of the second rail 200.
[0093] For example, the docking interface 230 can be a docking groove 230a formed by inwardly recessing the second rail 200, and the first rail 100 is arranged in the docking groove 230a. The docking groove 230a includes two oppositely arranged groove walls, both of which are directed towards the first rail 100. The groove wall of the docking groove 230a directed towards the first rail 100 can be referred to as the docking wall 240 of the second rail 200.
[0094] For another example, the second rail 200 can be arranged as at least two second sub-rails, and the two second sub-rails are arranged in a spaced manner along the second direction. The gap between the end walls of the two second sub-rails serves as the docking interface 230. The first rail 100 is arranged between the end walls of the two second sub-rails directed towards each other, and the end wall of one of the second sub-rails can be fixed on one side wall of the first rail 100 by means of screws or the like, and the end wall of the other second sub-rail can be fixed on the other side wall of the first rail 100 by means of screws or the like, so that the first rail 100 and the second rail 200 are arranged in cross. It should be noted that the side wall of the first rail 100 used for docking with the second rail 200 is the side wall opposite to the first rail 100 along the second direction.
[0095] The embodiments of the present application are described by taking the second rail 200 arranged with the docking groove 230a as an example.
[0096] In the above examples, the second sub-track faces the end wall of the first track 100 as the docking wall 240 of the second track 200.
[0097] The embodiments of the present application do not limit the docking manner between the first track 100 and the second track 200.
[0098] It should be noted that when the transfer trolley 20 travels along the first track 100, the first walking wheel 21 of the transfer trolley 20 contacts the running surface of the first track 100, i.e., the first running surface 100a, and rolls along the first running surface 100a. Meanwhile, when the transfer trolley 20 passes through the second track 200, the second walking wheel 22 of the transfer trolley 20 needs to ensure that it does not interfere with the second track 200.
[0099] When the transfer trolley 20 travels along the second track 200, the second walking wheel 22 of the transfer trolley 20 contacts the second running surface 200a, i.e., the second running surface 200a, and rolls along the second running surface 200a. Meanwhile, when the transfer trolley 20 passes through the first track 100, the first walking wheel 21 of the transfer trolley 20 needs to ensure that it does not interfere with the first track 100.
[0100] When the transfer trolley 20 runs along the first track 100 to the cross docking place 500 and is ready to travel along the second track 200, the first walking wheel 21 needs to be controlled to disengage from the first track 100, and the second walking wheel 22 needs to be controlled to contact the second running surface 200a, so that when the second walking wheel 22 travels along the second running surface 200a, the first walking wheel 21 does not interfere with the first track 100.
[0101] When the transfer trolley 20 runs along the second track 200 to the cross docking place 500 and is ready to travel along the first track 100, the second walking wheel 22 needs to be controlled to disengage from the second track 200, and the first walking wheel 21 needs to be controlled to contact the first running surface 100a, so that when the first walking wheel 21 travels along the first running surface 100a, the second walking wheel 22 does not interfere with the second track 200.
[0102] It can be understood that when the transfer trolley 20 switches between the first track 100 and the second track 200, the first walking wheel 21 can be controlled to rise and fall relative to the second walking wheel 22, or the second walking wheel 22 can be controlled to rise and fall relative to the first walking wheel 21, or the first walking wheel 21 and the second walking wheel 22 can be controlled to rise and fall respectively, as long as one of the walking wheels can contact the corresponding track and the other walking wheel can disengage from the corresponding track.
[0103] To simplify the structure of the transfer trolley 20, the first walking wheel 21 can be movably arranged on the base 231 of the transfer trolley 20, and the second walking wheel 22 can be fixedly arranged on the base 231 of the transfer trolley 20. In addition, a driving structure is arranged in the transfer trolley 20, which can drive the first walking wheel 21 to rise and fall relative to the second walking wheel 22 in the height direction of the transfer trolley 20, so as to switch the transfer trolley 20 between at least the first state and the second state. In the first state, the first walking wheel 21 is in contact with the first running surface 100a and can roll and walk along the first running surface 100a, and the second walking wheel 22 is higher than the second track 200. In the second state, the first walking wheel 21 is higher than the first track 100, and the transfer trolley 20 is lower than the support surface 220a of the support frame 220, and the second walking wheel 22 is in contact with the second running surface 200a and can roll and run along the second running surface 200a. In the first state, the axis of the first walking wheel 21 is in the first position, and in the second state, the axis of the first walking wheel 21 is in the second position.
[0104] In some examples, the above-mentioned driving structure can also drive the support 232 to rise and fall synchronously when driving the first walking wheel 21 to rise and fall, so as to simplify the structure and working efficiency of the transfer trolley 20. For example, the first walking wheel 21 can be fixed on the support 232, and the support 232 can be movably arranged on the base 231. The driving structure can be connected with the first walking wheel 21, and can drive the support 232 to rise and fall by driving the first walking wheel 21 to rise and fall. Alternatively, the driving structure can be connected with the support 232, and can drive the first walking wheel 21 to rise and fall by driving the support 232 to rise and fall.
[0105] It can be understood that the driving structure can be a driving member such as a driving motor, that is, the output shaft of the driving motor is directly connected with the support 232 or the first walking wheel 21, so as to drive the support 232 and the first walking wheel 21 to rise and fall. Alternatively, the driving structure can include a driving member and a transmission member, the driving member is connected with the transmission member, and the transmission member is connected with the support 232 or the first walking wheel 21, so that the transmission member drives the support 232 or the first walking wheel 21 to move under the driving of the driving member.
[0106] The transmission member can include but is not limited to a gear and rack structure, a pulley structure, etc., and the embodiments of the present application do not limit the arrangement mode of the driving structure.
[0107] The transfer trolley 20 of the embodiments of the present application performs the following actions when receiving a pick-up or drop-off task:
[0108] The first walking wheel 21 walks along the first track 100, so that the transfer trolley 20 walks in the lane 300 until reaching the goods aisle 400 where the target goods are located;
[0109] The first walking wheel 21 is raised relative to the second walking wheel 22 until the second walking wheel 22 is in contact with the second track 200, and the first walking wheel 21 is disengaged from the first track 100;
[0110] The second walking wheel 22 walks along the second track 200 to make the transfer trolley 20 walk in the goods aisle 400 until reaching the target storage location;
[0111] The trolley body 23 performs a pick action.
[0112] In some examples, the trolley body 23 performs the following actions to perform the pick action:
[0113] The support member 232 of the trolley body 23 is raised relative to the base 231 of the trolley body 23 until the target object on the target storage location is lifted;
[0114] The trolley body 23 is moved along the second track 200 under the driving of the second walking wheel 22 to move the target object out of the target storage location.
[0115] The trolley body 23 performs the following actions to perform the return action:
[0116] In some examples, the support member 232 of the trolley body 23 is lowered relative to the base 231 of the trolley body 23 until the target object on the support member 232 is supported on the target storage location and disengaged from the support member 232;
[0117] The trolley body 23 is moved along the second track 200 under the driving of the second walking wheel 22 to disengage the target storage location.
[0118] The cooperation between the transfer trolley 20 and the track on the goods shelf is described below from the picking and returning processes of the box respectively.
[0119] Picking process:
[0120] After receiving the picking instruction, the transfer trolley 20 located in the aisle 300 near the target box can walk along the first track 100 in the aisle 300 until walking to the goods aisle 400 where the target box is located (i.e., the target goods aisle 400), that is, when the transfer trolley 20 is located at the intersection 500 of the first track 100 and the second track 200, the driving structure can drive the first walking wheel 21 to rise until the transfer trolley 20 is switched from the first state to the second state, and then the second walking wheel 22 rolls along the second running surface 200a, so that the transfer trolley 20 walks on the goods aisle 400.
[0121] When the transfer trolley 20 reaches the target bin, the driving structure can drive the supporting member 232 to move upward until the supporting member 232 lifts the target bin, and the second walking wheel 22 continues to drive the transfer trolley 20 to roll along the second track 200 until the transfer trolley 20 reaches the aisle 300, i.e., the transfer trolley 20 is located at the intersection 500 of the first track 100 and the second track 200, the driving structure can drive the first walking wheel 21 to descend until the transfer trolley 20 switches to the first state, and then the first walking wheel 21 rolls along the first running surface 100a, so that the transfer trolley 20 drives the target bin to walk on the aisle 300 to move the target bin out of the shelf.
[0122] For the convenience of the following description, the state of the transfer trolley 20 when the supporting member 232 carries the target bin on the goods channel 400 can be referred to as a third state. It can be understood that the height of the supporting member 232 when the transfer trolley 20 carries the target bin on the goods channel 400 is a first height, and the height of the supporting member 232 when the transfer trolley 20 carries the target bin on the aisle 300 is a second height. The first height can be greater than or equal to the second height.
[0123] It can be understood that when the first walking wheel 21 is arranged on the supporting member 232, the height of the first walking wheel 21 when the transfer trolley 20 walks on the second track 200 is higher than the height of the transfer trolley 20 when it walks on the first track 100. Therefore, when the first walking wheel 21 is arranged on the supporting member 232, the first height is greater than the second height, i.e., the state of the transfer trolley 20 carrying the target bin on the goods channel 400 is the third state, and the state of the transfer trolley 20 on the aisle 300 can be the first state.
[0124] When the first walking wheel 21 is arranged on the supporting member 232, the driving structure drives the axis of the first walking wheel 21 to rise to a third position, so that the supporting member 232 lifts the target bin and walks on the second track 200 of the goods channel 400. Therefore, when the transfer trolley 20 is in the third state, the height of the axis of the first walking wheel 21 is higher than the height when the transfer trolley 20 is in the second state, i.e., the third position is higher than the second position.
[0125] Of course, when the first walking wheel 21 and the supporting member 232 are independent of each other, i.e., the lifting of the first walking wheel 21 does not affect the height of the supporting member 232, the first height can be equal to or greater than the second height.
[0126] The box storage process:
[0127] The transfer trolley 20 loaded with the target box can walk along the first track 100 on the aisle 300 based on the unloading instruction until the target box is located at the goods aisle 400 (i.e., the target goods aisle 400), that is, when the transfer trolley 20 is located at the intersection 500 of the first track 100 and the second track 200, the driving structure can drive the first walking wheel 21 to rise until the transfer trolley 20 is switched from the first state to the third state, that is, the driving structure lifts the first walking wheel 21 to the third position, so that the target box on the supporting piece 232 is located on the horizontal extension space above the supporting surface 220a, and then the second walking wheel 22 rolls along the second running surface 200a, so that the transfer trolley 20 walks on the goods aisle 400.
[0128] When the transfer trolley 20 delivers the target box to above the storage goods location, the driving structure can drive the supporting piece 232 to move downward, so that the target box on the supporting piece 232 is supported on the supporting surface 220a of the supporting frame 220, and continue to lower the supporting piece 232, so that the supporting piece 232 is separated from the article P, so that the transfer trolley 20 is switched from the third state to the second state, that is, the first walking wheel 21 is lowered from the third position to the second position, and then the second walking wheel 22 continues to drive the transfer trolley 20 to roll and walk along the second track 200, and then moves to the aisle 300, and then moves the target box out of the goods shelf.
[0129] In some examples, a lifting mechanism such as a hoist can be arranged on the goods shelf, and the transfer trolley 20 can be driven by the hoist to move in the height direction of the goods shelf to switch between each layer of the goods shelf and the ground. For example, after the transfer trolley 20 takes out the target box of the target layer, the transfer trolley 20 can be lowered to the ground under the drive of the hoist and is handed over to other robots, and the target box is transferred to a workstation or other place for picking and other operations. Alternatively, after the transfer trolley 20 is lowered to the ground, the transfer trolley 20 directly carries the target box to move to the workstation for picking. Based on the above, the transfer trolley 20 needs to stably run along the first track 100 or the second track 200, so as to stably carry the target box from the aisle 300 to the corresponding target storage goods location on the goods aisle 400, or carry the target box on the target storage goods location from the goods aisle 400 to the aisle 300.
[0130] In the related art, in order to improve the running stability of the transfer trolley 20 in the track, a reverse edge is usually arranged on the walking wheel of the transfer trolley 20. When the main body of the walking wheel rolls along the track, the reverse edge moves along the side wall of the track. The reverse edge cooperates with the side wall of the track to limit the walking wheel, so as to avoid the walking wheel moving along the extension direction deviating from the track.
[0131] However, the setting of the reverse edge requires a gap on both sides of the track, which requires the first track 100 to reserve a gap at the cross joint 500 with the second track 200, for example, a gap between the side wall of the first track 100 and the joint wall 240 of the second track 200, so that when the transfer vehicle 20 moves along the second track 200 to the storage location, when it reaches the cross joint 500 of the second track 200 and the first track 100, the second walking wheel 22 will jump due to the existence of the gap, affecting the stability of the transfer vehicle 20 on the second track 200.
[0132] The embodiment of the present application provides a carrier 10 and a warehouse system, by extending a retaining edge 120 upwardly on at least one long side of the first track 100, when the first walking wheel 21 of the transfer vehicle 20 walks along the first track 100, the retaining edge 120 can limit the first walking wheel 21 on the first running surface 100a, so that the first walking wheel 21 can be limited on the first running surface 100a, avoiding the first walking wheel 21 from escaping from the first track 100 on one side of the first track 100, improving the running stability of the transfer vehicle 20 on the first track 100. In addition, compared with the scheme of setting a reverse edge 221 on the first walking wheel 21, and cooperating the reverse edge 221 with the side wall of the first track 100 to limit the first walking wheel 21, the diameter size of the first walking wheel 21 can be reduced in the embodiment of the present application, so that the thickness of the transfer vehicle 20 can be reduced.
[0133] In addition, the retaining edge 120 is arranged on the first track 100, when the first track and the second track are assembled, a too large gap can be reserved at the cross joint 500 of the first track 100 and the second track 200 to avoid the reverse edge, the gap between the retaining edge 120 and the joint wall 240 of the second track 200 on the opposite side can be reduced or even removed, so as to reduce the width of the joint, which can avoid the second walking wheel 22 of the transfer vehicle 20 idling at the cross joint 500, and can also alleviate the jumping amplitude of the second walking wheel 22 of the transfer vehicle 20 when passing through the cross joint 500 of the first track 100 and the second track 200, improving the stability of the transfer vehicle 20 moving on the second track 200.
[0134] The track structure of the carrier 10 will be described in detail below with reference to the accompanying drawings.
[0135] Figure 5 is Figure 2 one of the side views, Figure 6 is Figure 5 the enlarged view of B in FIG. 8, Figure 7a is a side view of one of the first tracks provided by an embodiment of the present application, Figure 7b is a side view of another first track provided by an embodiment of the present application. Refer to Figures 4 to 7bAs shown, in the embodiments of the present application, at least one long side of the running surface of the first track 100 extends upwardly with a stop edge 120, which is configured to stop the first walking wheel 21 of the transfer vehicle 20.
[0136] Specifically, the first track 100 can include a first track body 110 and a stop edge 120, and the first track body 110 is formed with a running surface, for example, a first running surface 100a, for the first walking wheel 21 of the transfer vehicle 20 to walk on. The stop edge 120 is arranged on at least one long side of the first running surface 100a.
[0137] Wherein, the extension direction of the first track 100 is the first direction, then the long side of the first running surface 100a is the side extending along the first direction, and the short side of the first running surface 100a is the side extending along the second direction.
[0138] It can be understood that the first running surface 100a has two long sides arranged at intervals along the second direction, and the first running surface 100a has two short sides arranged at intervals along the first direction, and the two long sides and the two short sides together form the edges of the first running surface 100a.
[0139] Referring to Figure 4 As shown, in some examples, the upwardly extending stop edge 120 can be formed on the distal long side of the first running surface 100a. Wherein, the distal long side of the first running surface 100a refers to the long side of the two long sides that is away from the lane area formed by the first track group 101. In this way, when the first walking wheel 21 of the transfer vehicle 20 walks along the first running surface 100a of the first track 100, it can be kept on the first running surface 100a under the stop of the stop edge 120 on the distal long side, preventing the first walking wheel 21 from disengaging from the first track 100 at the distal long side.
[0140] Of course, in some examples, the upwardly extending stop edge 120 can be formed on the proximal long side of the first running surface 100a. Wherein, the proximal long side of the first running surface 100a refers to the long side of the two long sides that is close to the lane area formed by the first track group 101. In this way, when the first walking wheel 21 of the transfer vehicle 20 walks along the first running surface 100a of the first track 100, it can be kept on the first running surface 100a under the stop of the stop edge 120 on the proximal long side, preventing the first walking wheel 21 from disengaging from the first track 100 at the proximal long side.
[0141] Referring to Figure 6As shown, in some examples, the two long edges of the first running surface 100a are each provided with a stop edge 120, so that when the first walking wheel 21 of the transfer trolley 20 walks along the first running surface 100a of the first track 100, it can be stopped on the first running surface 100a under the stop of the two stop edges 120, preventing the first walking wheel 21 from escaping from the first track 100 on both sides of the first running surface 100a.
[0142] In some examples, the stop edge 120 can be provided on both of the first tracks 100 of the first track group 101 to limit the two groups of first walking wheels 21 arranged in the second direction relative to the transfer trolley 20.
[0143] It can be understood that the stop edges 120 on the two first tracks 100 of the first track group 101 can be arranged in the same way or differently. For example, when one stop edge 120 is arranged on each of the two first tracks 100 of the first track group 101, the stop edges 120 of the two first tracks 100 can be arranged on the distal side, or on the proximal side, or one stop edge 120 is arranged on the distal side and the other stop edge 120 is arranged on the proximal side. Of course, two stop edges 120 can be arranged on each of the two first tracks 100 in the first track group 101. The embodiments of the present application do not limit this.
[0144] In some examples, at the intersection joint 500 of the first track 100 and the second track 200, the stop edge 120 can be in contact with the abutment wall 240 of the second track 200, wherein the abutment wall 240 of the second track 200 faces the first track 100, i.e. the abutment wall 240 is a side wall of the abutment interface 230.
[0145] It should be noted that one of the stop edges 130 is in contact with the abutment wall 240 on the opposite side. Among them, the abutment wall 240 on the opposite side of the stop edge 120 refers to the abutment wall 240 adjacent to the stop edge 120. It can be understood that the second track 200 has two opposite abutment walls 240 at the abutment interface 230.
[0146] For the convenience of description, the abutment wall 240 on the left side of the second direction can be referred to as a first abutment wall 241, and the abutment wall 240 on the right side of the second direction can be referred to as a second abutment wall 242. Among them, the first abutment wall 241 faces and abuts against the side wall on the left side of the first track 100, and the second abutment wall 242 faces and abuts against the side wall on the right side of the first track 100. Figure 6
[0147] Among them, referring to Figure 7a As shown, when one of the long edges of the first track 100 is provided with a stop edge 120, the side wall of the first track 100 (refer toFigure 7a The side wall of the first track 100 includes the side wall of the first track body 110 (refer to a1 in FIG. 7a) and the side wall of the stopper 120 (refer to a2 in FIG. 7a).
[0148] For example, when the left long side of the first track 100 has the stopper 120, the left side wall of the first track 100 includes the left side wall of the first track body 110 and the outer side wall of the left stopper 120. The outer side wall of the stopper 120 is the side wall of the stopper 120 facing away from the first running surface 100a. When the right long side of the first track 100 has the stopper 120, the right side wall of the first track 100 includes the right side wall of the first track body 110 and the outer side wall of the right stopper 120.
[0149] The stopper 120 arranged on the left long side of the first track 100 can be in contact with the first abutting wall 241, so that the top of the first track 100 and the first abutting wall 241 of the second track 200 are kept in contact without a gap with the opening upward. The stopper 120 arranged on the right long side of the first track 100 can be in contact with the second abutting wall 242, so that the top of the first track 100 and the second abutting wall 242 of the second track 200 are kept in contact without a gap with the opening upward.
[0150] In some other examples, the stopper 120 and the abutting wall 240 on the opposite side can have a gap, which can be equal to or greater than the thickness of the chamfer in the prior art, or can be smaller than the thickness of the chamfer, because the gap does not need to be arranged for the passing of the chamfer, and the present application also does not need to arrange the chamfer on the first running wheel 21. The arrangement of the gap in the present application can provide assembly space for the first track 100 to pass through the abutting portion 230, so as to avoid the problem that the assembly error cannot cross the second track.
[0151] The first track 100 is provided with the stop edges 120, which limit the first walking wheels 21, so that a large gap does not need to be reserved at the intersection and butt joint place 500 of the first track 100 and the second track 200, so that the gap can be reduced or directly removed to reduce the width of the butt joint 230 (the distance between the first butt joint wall 241 and the second butt joint wall 242). For example, the stop edge 120 can be in contact with the butt joint wall 240 of the second track 200 on the opposite side. For example, the stop edge 120 on the left side can be in contact with the first butt joint wall 241, so that the left stop edge 120 of the first track 100 can be fully butt jointed with the second track 200. The stop edge 120 on the right side can be in contact with the second butt joint wall 242, so that the right stop edge 120 of the first track 100 can be fully butt jointed with the second track 200. This can avoid the situation that the second walking wheels 22 of the transfer trolley 20 are idling due to a too wide gap at the intersection and butt joint place 500, and can also alleviate the amplitude of the second walking wheels 22 of the transfer trolley 20 jumping when passing through the intersection and butt joint place 500 of the first track 100 and the second track 200, and improve the stability of the transfer trolley 20 moving on the second track 200.
[0152] In some examples, the outer side wall of the stop edge 120 can be arranged in abutment with the corresponding butt joint wall 240 of the second track 200, and the side wall of the first track body 110 on the same side as the stop edge 120 can not be in contact with the corresponding butt joint wall 240. In other words, the stop edge 120 can be a structure that is outwardly inclined or curved in the second direction with respect to the side wall of the first track body 110.
[0153] In other examples, the side wall of the first track 100 on the side where the stop edge 120 is arranged can be arranged in abutment with the butt joint wall 240 of the second track 200. It can be understood that the side wall of the first track 100 on the side where the stop edge 120 is arranged includes the outer side wall of the stop edge 120 and the side wall of the first track body 110 on the same side as the stop edge 120.
[0154] By arranging the outer side wall of the stop edge 120 and the side wall of the first track body 110 in abutment with the butt joint wall 240 of the second track 200, the butt joint area between the first track 100 and the butt joint wall 240 of the second track 200 is increased, so that the butt joint strength and stability of the first track 100 and the second track 200 are enhanced, and the first track 100 is prevented from shaking left and right in the second direction.
[0155] For example, the left and right long edges of the first track 100 are provided with the stop edges 120, the left stop edge 120 of the first track 100 and the left side wall of the first track body 110 are flushly arranged with the first abutting wall 241, and the right stop edge 120 of the first track 100 and the right side wall of the first track body 110 are flushly arranged with the second abutting wall 242, so that the first track 100 will not be deflected in the first direction, thereby ensuring that the transfer trolley 20 can stably walk in the first direction along the first track 100.
[0156] Referring to Figure 4 and Figure 6 As shown in FIGS. 1, 2 and 3, in some examples, the stop edge 120 is lower than the second running surface 200a.
[0157] Based on the above, when the transfer trolley 20 is switched from the first state to the second state, i.e., the second walking wheel 22 walks along the second track 200, the first walking wheel 21 cannot interfere with the first track 100, so that the entire transfer trolley 20 can walk in the second direction.
[0158] By setting the stop edge 120 to be lower than the second running surface 200a, in the second state of the transfer trolley 20, the axis of the second walking wheel 22 and the axis of the first walking wheel 21 can be at the same height, so that the first walking wheel 21 and the second walking wheel 22 of the transfer trolley 20 do not need to be set to have a height difference in the initial state, but only need to be lifted in different states, thereby reducing the thickness of the transfer trolley 20.
[0159] In addition, after the transfer trolley 20 is thinned, the height between the support surface 220a of the support frame 220 in the rack and the second running surface 200a of the second track 200 can be thinned, thereby reducing the setting height of the support frame 220 and saving the material amount of the rack.
[0160] Of course, the embodiments of the present application also do not exclude setting the stop edge 120 to be flush with or higher than the second running surface 200a.
[0161] For example, the first running surface 100a can be set to be flush with the second running surface 200a, so that the stop edge 120 protrudes from the second running surface 200a.
[0162] For example, when the first running surface 100a is set to be flush with the second running surface 200a, in order to prevent the guard 120 from interfering with the second traveling wheel 21 when the transfer vehicle 20 reaches the intersection 500 during the operation of the second track 200, the guard 120 at the intersection 500 can be removed, so that there is no guard 120 between the first running surface 100a and the second running surface 200a. This ensures that the second traveling wheel 21 can smoothly enter the first running surface 100a from the second running surface 200a and then enter the second running surface 200a.
[0163] The structure of the guard 120 can be varied. In some examples, the guard 120 can be a vertical plate-like structure extending upward from the first running surface 100a, that is, the guard 120 is perpendicular to the first running surface 100a, and the top surface of the guard 120 is a plane, and the side surface of the guard 120 is perpendicular to the top surface.
[0164] Reference Figure 6 , Figure 7a and Figure 7b As shown, in some other examples, the top surface of the flange 120 is configured as an arcuate surface 120a, which protrudes upward and the highest point of the arcuate surface 120a is lower than the second running surface 200a. For example, the guard 120 may include an arcuate portion 121. One end of the arcuate portion 121 (e.g., the first end) is connected to the first running surface 100a, and the other end of the arcuate portion 121 (e.g., the second end) can be bent to the side opposite to the first running surface 100a, or it can be bent to the side facing the first running surface 100a. The end face of the second end of the arcuate portion 121 can face downwards, so that the upward-facing surface of the arcuate portion 121 forms an arcuate surface 120a. In this way, when the second traveling wheel 22 passes through the intersection 500 of the first track 100 and the second track 200, it can smoothly enter the groove of the intersection along the arcuate surface 120a at the top of the guard 120, or after moving out of the first running surface 100a, it can smoothly leave the groove of the intersection along the arcuate surface 120a at the top of the guard 120. The arcuate surface 120a makes the second traveling wheel 22 more stable when passing through the groove, reducing the amplitude of the jump of the transfer vehicle 20.
[0165] It can be understood that the upward-facing surface of the arc-shaped portion 121 is the top surface of the retaining edge 120.
[0166] Reference Figure 7b In some examples, the other end of the arcuate portion 121, i.e. the second end, can be a free end. For example, one end of the sidewall of the first track body 110 is directly connected to the long side of the first running surface 100a, and the arcuate portion 121 can be understood as extending upward from one end of the sidewall of the first track body 110.
[0167] Reference Figure 7aIn some examples, the other end of the arc-shaped portion 121, i.e., the second end, is connected to the sidewall of the first track body 110. For example, the first track 100 is a frame structure, the first end of the arc-shaped portion 121 is connected to the first running surface 100a, and the second end of the arc-shaped portion 121 is bent to the side away from the first running surface 100a and extends downward to be connected to the sidewall of the first track body 110. That is, the first running surface 100a of the first track body 110 is suspended and is not directly connected to the sidewall of the first track body 110, but is connected to the sidewall of the first track body 110 via the bent arc-shaped portion 121.
[0168] By connecting the second end of the arc-shaped portion 121 to the sidewall of the first track body 110, the structural stability of the arc-shaped portion 121 is enhanced, the stopping effect of the arc-shaped portion 121 on the first walking wheel 21 is improved, and the supporting effect of the arc-shaped portion 121 on the second walking wheel 22 is also improved.
[0169] Referring to Figure 7a In some examples, the retaining edge 120 can further include a transition portion 122, and the arc-shaped portion 121 can be connected to the first running surface 100a via the transition portion 122. The transition portion 122 is bent in a direction different from that of the arc-shaped portion 121. For example, the arc-shaped portion 121 is bent upward, and the transition portion 122 is bent downward, e.g., the transition portion 122 is bent downward toward the lower side of the first running surface 100a. In this way, the connection strength between the arc-shaped portion 121 and the first running surface 100a can be improved.
[0170] In some examples, the first track body 110 can include a first running portion 111, the upper surface of the first running portion 111 forms the first running surface 100a, and one end of the first running portion 111 is upwardly protruding between the sidewall of the first track body 110 to form the retaining edge 120. The region between the first running portion 111, the retaining edge 120, and the sidewall of the first track body 110 is a hollow region, which can reduce the weight of the first track 100, save costs, facilitate disassembly and assembly of the first track 100, and facilitate support of the second track 200 on the first track 100.
[0171] In some examples, the bottom of the sidewall of the first track 100 is inwardly bent to form a support portion 113, and the support portion 113 is supported on the bottom wall of the abutting groove 230a of the second track 200. For example, the bottom of the sidewall of the first track body 110 is inwardly bent to form the support portion 113. The provision of the support portion 113 can increase the contact area with the bottom wall of the abutting groove 230a, so that the first track 100 can be stably supported in the abutting groove 230a of the second track 200.
[0172] In some examples, the first track 100 can be a single, integrally molded component. For instance, the flange 120, running surface, sidewall, and support 113 of the first track 100 can all be integrally injection molded using a mold, thereby simplifying the manufacturing of the first track 100 and improving the overall structural strength of the first track 100.
[0173] Figure 8 yes Figure 2 The main view, Figure 9 yes Figure 8 A magnified view of a section at point C. (Refer to...) Figure 4 , Figure 8 and Figure 9 As shown, in some examples, at least in the region between two opposing first tracks 100, such as the support overlap region 600, the second running surface 200a is at least higher than or flush with the corner 200c between the second running surface 200a and the sidewall of the second track 200. That is, at least in the support overlap region 600, no guard is provided on the second track 200. Thus, when the transfer vehicle 20 needs to travel along the first direction on the first track 100, the first traveling wheel 21 contacts the first track 100, and the second traveling wheel 22 can rise to a lower height relative to the first traveling wheel 21, so that it will not collide with the second track 200. This can improve the efficiency of the transfer vehicle 20 switching from other states, such as the second state, to the first state, and also save the power consumption of the drive structure.
[0174] In other words, as the first traveling wheel 21 travels along the first track 100 in the first direction, the height difference between the second traveling wheel 22 and the first traveling wheel 21 can be reduced. That is, the second traveling wheel 22 does not need to rise to a higher height relative to the first traveling wheel 21 to avoid interference with the second track 200, thereby shortening the switching time of the transfer vehicle 20 from the second or third state to the first state and improving the working efficiency of the transfer vehicle 20.
[0175] Specifically, a chamfer 221 can be provided on the second traveling wheel 22 of the transfer vehicle 20, and the side wall of the second track 200, for example, the inner side wall, that is, the side wall facing into the cargo channel 400 (see reference). Figure 9 As shown in Figure B, the second traveling wheel 22 of the transfer vehicle 20 is configured to engage with the chamfered edge 221 of the second traveling wheel 22 to stop the second traveling wheel 22 when it travels along the second running surface 200a. For example, the chamfered edge 221 of the second traveling wheel 22 engages with the inner wall of the second track 200, so that when the second traveling wheel 22 travels along the second track 200, the inner wall of the second track 200 acts as a stop and guide for the second traveling wheel 22, ensuring that the second traveling wheel 22 does not travel in a direction deviating from the extension direction of the second track 200.
[0176] In some examples, the second track 200 can also not be provided with the stop edge at a portion outside the support overlap region 600, for example, at the inner side long edge of the entire extension direction of the second track 200, so as to simplify the structure of the second track 200.
[0177] In some examples, the second track 200 can be provided with the support frame 220 at a portion outside the support overlap region 600, and the support frame 600 is arranged at the outer side long edge of the second running surface 200a, so that the inner side region of the support frame 600 is used for the travel of the transfer vehicle 20, thereby smoothly reaching the storage location formed by the support frame 220.
[0178] In some examples, the second track body 210 and the support frame 600 of the second track 200 can be integrally formed, so as to improve the connection strength between the support frame 600 and the second track body 210, and also simplify the manufacturing and assembly process of the second track 200.
[0179] In some examples, the second track body 210 and the support frame 600 can also be detachably connected, so as to facilitate the separate replacement of the second track body 210 or the support frame 600.
[0180] In some examples, the corner 200c is configured as an arc-shaped chamfer, and the arc-shaped chamfer is arc-surfaced with the connection end of the reverse edge 221 of the second travel wheel 22. Compared with the right-angle corner 200c, the reverse edge 221 of the second travel wheel 22 will not be stuck at the corner 200c, and the stable movement of the reverse edge 221 along the inner side wall of the second track 200 can be ensured.
[0181] It should be noted that the connection end (refer to Fig. 2a) of the reverse edge 221 is the end of the reverse edge 221 connected with the body of the second travel wheel 22. Figure 9 The free end (refer to Fig. 2b) of the reverse edge 221 is the end of the reverse edge 221 away from the body of the second travel wheel 22. Figure 9
[0182] Figure 4 Figure 9 In some examples, in order to avoid the reverse edge 221, the first track 100 is provided with an avoidance gap 100b at the cross-connection position 500 of the first track 100 and the second track 200. Thus, when the second travel wheel 22 reaches the cross-connection position 500 along the second track 200, the body of the second travel wheel 22 passes through the first track 100 along the stop edge 120 and the first running surface 100a of the first track 100, and the reverse edge 221 of the second travel wheel 22 passes through the first track 100 from the avoidance gap 100b.
[0183] The above detailed description of the embodiments of the present application is merely intended to provide a further detailed description of the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.
Claims
1. A carrier, characterized by The utility model relates to a kind of first track (100), second track (200) and the transfer trolley (20) of the first track (100) and the second track (200) are crossed, the first track (100) and the second track (200) are crossed to be arranged, to supply transfer trolley (20) between aisle (300) and goods channel (400) switching;Second track (200) is equipped with docking interface (230), and the first track (100) is arranged in the docking interface (230). Wherein, at least one long side of the running surface of the first track (100) extends upward with a stop edge (120), and the stop edge (120) is configured to stop the first running wheel (21) of the transfer trolley (20). At the intersection of the first track (100) and the second track (200), the stop edge (120) is in contact with the docking wall (240) of the second track (200), wherein the docking wall (240) of the second track (200) is a side wall of the docking interface (230). The side wall of the first track (100) equipped with the stop edge (120) is arranged in close contact with the docking wall (240) of the second track (200). The stop edge (120) is flush with or lower than the running surface of the second track (200).
2. The carrier of claim 1, wherein, The top surface of the stop edge (120) is configured as an arc surface (120a) that protrudes upward.
3. The carrier of claim 2, wherein, The first track (100) includes a first track body (110), and the stop edge (120) protrudes from the running surface of the first track body (110).
4. The carrier of claim 1, wherein, The stop edge (120) includes an arc portion (121) that curves upward, and the upward-facing surface of the arc portion (121) is configured as the top surface of the stop edge (120).
5. The carrier of claim 1, wherein, One end of the arc portion (121) is connected to the running surface of the first track body (110), and the other end of the arc portion (121) is connected to the side wall of the first track body (110).
6. The carrier of claim 5, wherein, Alternatively, one end of the arc portion (121) is connected to the running surface of the first track body (110), and the other end of the arc portion (121) is a free end. Both long sides of the running surface of the first track (100) have the stop edge (120).
7. The carrier of claim 6, wherein, The second track (200) has two opposite docking walls (240) at the docking interface (230), one of which is in contact with the stop edge (120) on one side, and the other is in contact with the stop edge (120) on the other side. The first track (100) is an integral one-piece.
8. The carrier of claim 1, wherein, 9. The carrier of claim 1, wherein, 10. The carrier of any of claims 1-9, wherein, The carrier comprises two opposite first tracks (100), and the two first tracks (100) are configured to allow the first walking wheels (21) of the transfer trolley (20) to walk thereon. At least in the area between the two first tracks (100), the running surface of the second track (200) is higher than or flush with the corner (200c) between the running surface of the second track (200) and the sidewall of the second track (200). One of the sidewalls of the second track (200) is configured to cooperate with the reverse edge (222) of the second walking wheel (22) of the transfer trolley (20) when the second walking wheel (22) walks along the running surface of the second track (200), so as to stop the second walking wheel (22).
11. The carrier of claim 10, wherein, The corner (200c) is configured as an arc-shaped chamfer which cooperates with the connecting end of the reverse edge (222).
12. The carrier of any of claims 1-9, wherein, The abutting surface (230) is an abutting groove (230a) formed on the second track (200), and the sidewall of the first track (100) is inwardly bent to form a support portion (112) which supports the bottom wall of the abutting groove (230a).
13. A transfer cart, characterized by, Comprise: a vehicle body (23) configured to carry an article; a first walking wheel (21) arranged on the vehicle body (23) and configured to walk along a first track (100) of a carrier (10), wherein at least one long side of the running surface of the first track (100) extends upwardly to form a stop edge (120), and the first walking wheel (21) is configured to walk along the running surface of the first track (100) under the stop of the stop edge (120); a second walking wheel (22) arranged on the vehicle body (23) and configured to walk along a second track (200) of the carrier (10).
14. The transfer cart of claim 13, wherein, The vehicle body (23) comprises a base (231) and a support member (232), and the first walking wheel (21) is arranged on the support member (232) or the base (231), and the second walking wheel (22) is arranged on the base (231); The support member (232) is liftable relative to the base (231).
15. The transfer cart of claim 13 or 14, wherein, When the transfer trolley receives a pick-up or drop-off task, the following actions are performed: The first walking wheel (21) walks along the first track (100) to allow the transfer trolley to walk in a lane (300) of the carrier (10) until reaching a target article in a goods aisle (400); The first walking wheel (21) is lifted relative to the second walking wheel (22) until the second walking wheel (22) contacts the second track (200), and the first walking wheel (21) is separated from the first track (100); The second walking wheel (22) walks along the second track (200) to allow the transfer trolley to walk in the goods aisle (400) until reaching a target storage location; The vehicle body (23) performs a pick-up or drop-off action.
16. The transfer cart of claim 15, wherein, The vehicle body (23) performs the following actions to perform a pick-up action: The supporting member (232) of the vehicle body (23) is raised relative to the base (231) of the vehicle body (23) until the target object on the target storage location is jacked up; The vehicle body (23) is moved along the second track (200) by the second walking wheel (22) to move the target object out of the target storage location.
17. The transfer cart of claim 15, wherein, The vehicle body (23) performs the following actions to perform the object returning action: The supporting member (232) of the vehicle body (23) is lowered relative to the base (231) of the vehicle body (23) until the target object on the supporting member (232) is supported on the target storage location and is separated from the supporting member (232); The vehicle body (23) is moved along the second track (200) by the second walking wheel (22) to separate from the target storage location.
18. A warehousing system characterized by, Comprise: The carrier (10) according to any one of claims 1-12; The transfer trolley (20) has a first walking wheel (21) running along the first track (100) of the carrier (10) and being stopped by the stop edge (120) of the first track (100), and has a second walking wheel (22) walking along the second track (200) of the carrier (10).