Transfer trolley and warehousing system

Abstract

The embodiment of the utility model provides a transfer trolley and a warehousing system. The transfer trolley comprises a first fixing base, first walking wheels and a first driving mechanism. The first driving mechanism is connected with the first walking wheel and is configured to drive the first walking wheel to walk along a first track of the carrier, and the first walking wheel and the first driving mechanism are both arranged on the first fixing seat; the device further comprises a second fixing base, a second walking wheel and a second driving mechanism. The second driving mechanism is connected with the second walking wheel and is configured to drive the second walking wheel to walk along the second track, and the second walking wheel and the second driving mechanism are both arranged on the second fixing seat; the first track and the second track are arranged crosswise; the first fixing base and the second fixing base are detachably connected, the structure of the transfer trolley can be simplified, and the assembly difficulty can be lowered.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics technology, and in particular relates to a transfer vehicle and warehousing system. Background Technology

[0002] In warehousing and logistics systems, in order to make full use of the vertical space of the warehousing system, multiple storage locations are usually arranged along the longitudinal direction on the shelves of the warehousing system. The target items (such as boxes) can be taken out from the storage locations on each layer of the shelves by the transfer vehicle moving on the tracks of each layer of the shelves, and removed from the shelves, or the boxes can be transported and placed on the storage locations on each layer, so that the vertical space of the warehousing system can be fully utilized.

[0003] Typically, a transfer vehicle includes main rail wheels and sub-rail wheels. The main rail wheels travel along the main rail of the rack to allow the transfer vehicle to run in the aisles of each rack level to reach each cargo aisle. The sub-rail wheels travel along the sub-rail of the rack to allow the transfer vehicle to run in the cargo aisles of each rack level to realize the picking and placing of goods.

[0004] However, the first and second wheels mentioned above are driven by a single drive structure, which makes the overall structure of the transfer vehicle complex and difficult to assemble. Utility Model Content

[0005] One embodiment of this application provides a transfer vehicle and a warehousing system, which can simplify the structure and assembly difficulty of the transfer vehicle.

[0006] This application provides a transfer vehicle, including a first fixed seat, a first traveling wheel, and a first drive mechanism; the first drive mechanism is connected to the first traveling wheel and is configured to drive the first traveling wheel to travel along a first track of the vehicle, and both the first traveling wheel and the first drive mechanism are disposed on the first fixed seat;

[0007] It also includes a second fixed base, a second traveling wheel, and a second drive mechanism; the second drive mechanism is connected to the second traveling wheel and is configured to drive the second traveling wheel to travel along the second track, and both the second traveling wheel and the second drive mechanism are disposed on the second fixed base; the first track and the second track are arranged intersectingly;

[0008] The first fixing seat and the second fixing seat are detachably connected.

[0009] In some implementations, the first fixed seat includes two, which are spaced apart along the extension direction of the second track. Each first fixed seat is provided with a first traveling wheel and a first drive mechanism. The first drive mechanism on each first fixed seat is configured to drive the first traveling wheel on the same side.

[0010] In some implementations, each first fixed seat is provided with at least two first traveling wheels, and the at least two first traveling wheels are spaced apart along the extension direction of the first track;

[0011] The first drive mechanism includes at least two first drive motors, one of which is connected to one of the first traveling wheels, and the other of the at least two first drive motors is connected to the other first traveling wheel; or...

[0012] The first drive mechanism includes a first transmission structure and a first drive motor. The first drive motor is connected to the first transmission structure, and at least two first traveling wheels are connected to the first transmission structure. The first transmission structure is configured to drive at least two first traveling wheels to travel under the drive of the first drive motor.

[0013] In some implementations, a lifting drive mechanism is also included;

[0014] The first fixed seat includes a fixed part and a movable part. The fixed part is detachably connected to the second fixed seat. The movable part can be raised and lowered relative to the fixed part and the second fixed seat. The first traveling wheel and the first drive mechanism are mounted on the movable part.

[0015] The lifting drive mechanism is connected to the movable part to drive the movable part to rise and fall relative to the fixed part and the second fixed seat, so that the first traveling wheel rises and falls relative to the second traveling wheel.

[0016] In some implementations, one part of the lifting drive mechanism is located on the fixed part, and another part of the lifting drive mechanism cooperates with the movable part to drive the movable part to move.

[0017] In some implementations, the lifting drive mechanism includes a lifting drive motor and a lifting transmission structure. The lifting drive motor is mounted on a fixed component, and the lifting transmission structure is connected to the lifting drive motor and coupled to a moving component.

[0018] The lifting transmission structure is configured to drive the moving parts to rise and fall under the drive of the lifting drive motor.

[0019] In some implementations, the lifting transmission structure includes:

[0020] The cam is connected to the lifting drive motor so that it rotates under the drive of the lifting drive motor;

[0021] A connecting shaft is connected to the cam and is not coaxial with the output shaft of the lifting drive motor. At least a portion of the connecting shaft is located in the guide cavity on the movable part and can move within the guide cavity.

[0022] The lifting drive motor is configured to drive the cam to rotate, thereby causing the connecting shaft to move within the guide cavity, which in turn abuts against the cavity wall, causing the moving part to rise or fall.

[0023] In some implementations, the lifting drive mechanism includes two components, one of which is mounted on one of the first fixed seats and is configured to drive the movable component on the corresponding first fixed seat to lift.

[0024] Another lifting drive mechanism is mounted on another first fixed base and is configured to drive the lifting of the movable part on the same side.

[0025] In some implementations, the transfer vehicle includes a first chute and a first guide member cooperating with the first chute. The first guide member is disposed on one of a movable member and a fixed member, and the first chute is disposed on the other of the movable member and the fixed member. During the lifting and lowering of the movable member relative to the fixed member, the first guide member moves along the first chute; and / or,

[0026] The transfer vehicle includes a second chute and a second guide member that cooperates with the second chute. The second guide member is disposed on one of the movable member and the second fixed seat, and the second chute is disposed on the other of the movable member and the second fixed seat. During the lifting and lowering of the movable member relative to the second fixed seat, the second guide member moves along the second chute.

[0027] In some implementations, a first positioning structure is provided on the first fixed base, and the first traveling wheel is provided on the first positioning structure.

[0028] In some implementations, the first positioning structure is a positioning cavity formed on the first fixed seat, the first traveling wheel is installed in the positioning cavity, the first fixed seat also has a mounting position, at least a part of the first driving mechanism is disposed in the mounting position, the mounting position communicates with the positioning cavity, one end of the first driving mechanism passes through the cavity wall of the positioning cavity and is connected to the first traveling wheel.

[0029] In some implementations, the positioning cavity is a positioning hole that penetrates the first fixed seat along the height direction of the first fixed seat;

[0030] An installation notch is formed on one side wall of the first fixing seat near the positioning hole, and the installation notch is configured as an installation position.

[0031] In some implementations, the second fixed seat includes two second fixed seats, which are spaced apart along the extension direction of the first track. Each second fixed seat is provided with a second traveling wheel and a second drive mechanism. The second drive mechanism on each second fixed seat is configured to drive the second traveling wheel on the same side.

[0032] In some implementations, each second fixed seat is provided with at least two second traveling wheels, and the at least two second traveling wheels are spaced apart along the extension direction of the second track;

[0033] The second drive mechanism includes at least two second drive motors, one of which is connected to one of the second travel wheels, and the other of the at least two second drive motors is connected to the other second travel wheel; or...

[0034] The second drive mechanism includes a second transmission structure and a second drive motor. The second drive motor is connected to the second transmission structure, and at least two second traveling wheels are connected to the second transmission structure. The second transmission structure is configured to drive at least two second traveling wheels to travel under the drive of the second drive motor.

[0035] In some implementations, a connection interface is formed on the second track, the first track is built within the connection interface, and the running surface of the second track is higher than the running surface of the first track;

[0036] At least three second traveling wheels are spaced apart on the second fixed seat along the extension direction of the second track; when the transfer vehicle travels on the second track, when one of the second traveling wheels passes the docking interface, at least another second traveling wheel comes into contact with the running surface of the second track.

[0037] In some implementations, at least three second driving wheels include at least two driving wheels and at least one driven wheel, and the second drive mechanism is connected to at least two driving wheels;

[0038] When one of the driving wheels or driven wheels passes the interface, at least one driving wheel comes into contact with the running surface of the second track.

[0039] In some implementations, one end of the second fixed seat is formed with a clearance notch, which is configured to avoid the first drive mechanism;

[0040] One sidewall of the clearance notch engages with the fixing component of the first fixing seat, and the other sidewall of the clearance notch engages with the movable component of the first fixing seat.

[0041] In some implementations, a second positioning structure is provided on the second fixed base, and a second driving mechanism is provided on the second positioning structure;

[0042] The second positioning structure is staggered from the clearance gap.

[0043] In some implementations, the second positioning structure is an installation channel that extends through the second fixed base along the extension direction of the first track, the second drive mechanism is disposed in the installation channel, and the second traveling wheel connected to the second drive mechanism is located at the outer port of the installation channel.

[0044] In some implementations, a guide wheel is also provided on the second fixed seat, and the guide wheel is configured to roll along the side wall of the support frame when the transfer vehicle travels to one side of the support frame on the second track;

[0045] The support frame is used to support items.

[0046] In some implementations, the first and second fixing bases together enclose an installation area, which is configured to house the functional components of the transfer vehicle.

[0047] In some implementations, at least one second mounting base has a recessed area on the side facing the mounting area, and the recessed area is configured as a clearance function.

[0048] In some implementations, at least one second fixing seat has a fixing plate on the side facing the installation area, and the surface of the fixing plate facing the installation area is a flat surface;

[0049] The mounting plate is configured to fix the functional components.

[0050] In some implementations, a mounting plate is also included, at least a portion of which is located in the mounting area and fixed to at least one of the first and second fixing seats;

[0051] The functional components are mounted on the mounting plate.

[0052] In some implementations, at least one first traveling wheel is provided with a chamfer, which mates with the sidewall of the first track; and / or,

[0053] At least one of the second traveling wheels is provided with a chamfer, which mates with the sidewall of the second track.

[0054] In some implementations, the transfer vehicle performs the following actions upon receiving a pick-up and return task:

[0055] The first drive mechanism drives the first traveling wheel to travel along the first track, so that the transfer vehicle can travel in the alley until it reaches the cargo lane where the target object is located.

[0056] The lifting drive mechanism of the transfer vehicle drives the movable part of the first fixed seat to rise relative to the fixed part until the second traveling wheel contacts the second track, and the first traveling wheel disengages from the first track;

[0057] The second drive mechanism drives the second traveling wheel to travel along the second track, so that the transfer vehicle can travel in the cargo lane until it reaches the target storage location.

[0058] The transfer vehicle is used for picking up and returning items.

[0059] This application also provides a warehousing system, including:

[0060] The vehicle includes a first track and a second track that are intersected;

[0061] As described above, the transfer vehicle has its first traveling wheel traveling along the first track and its second traveling wheel traveling along the second track.

[0062] In some implementations, an interface is formed on the second track, the first track is built within the interface, and the running surface of the second track is higher than the running surface of the first track;

[0063] The second traveling wheel is provided with a chamfer. When the second traveling wheel travels along the second track, the chamfer engages with the side wall of the second track. When the second traveling wheel passes the interface, the chamfer is located in the space above the running surface of the first track in the interface.

[0064] The transfer vehicle and warehousing system provided in this application embodiment configures corresponding drive mechanisms for the first and second traveling wheels that travel in different directions. That is, the first traveling wheel is driven by the first drive mechanism, and the second traveling wheel is driven by the second drive mechanism. In this way, the first traveling wheel and the first drive mechanism can be separated from the structure of the second traveling wheel and the second drive mechanism. For example, the first traveling wheel and the first drive mechanism can be set on the first fixed seat and serve as the first module, and the second traveling wheel and the second drive mechanism can be set on the second fixed seat and serve as the second module. The second module is independent of the first module. The first module and the second module can be detachably connected by detachably connecting the first fixed seat and the second fixed seat. During the assembly process, the first drive mechanism and the first traveling wheel can be pre-positioned and assembled on the first fixed seat, and the second drive mechanism and the second traveling wheel can be pre-positioned and assembled on the second fixed seat. When the first fixed seat and the second fixed seat are connected, the height difference between each traveling wheel can be guaranteed. Moreover, the first fixed seat and the second fixed seat can be mass-produced. Compared with the assembly method in related technologies that requires fixing the drive motor and transmission structure to the base through multiple fixed components and then fixing the traveling wheel to the transmission structure, the structure and assembly of the transfer vehicle of this application are simpler and can guarantee assembly accuracy. Attached Figure Description

[0065] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in one embodiment of this application;

[0067] Figure 2 This is a schematic diagram of the cooperation structure between the track and the transfer vehicle provided in one embodiment of this application;

[0068] Figure 3 yes Figure 2 A partial schematic diagram of point A in the middle;

[0069] Figure 4 This is a schematic diagram of the structure of one type of transfer vehicle provided in an embodiment of this application;

[0070] Figure 5 This is a partial structural schematic diagram of one embodiment of a transfer vehicle provided in this application;

[0071] Figure 6 yes Figure 5 Top view;

[0072] Figure 7 yes Figure 5 A structural diagram of the first module;

[0073] Figure 8 yes Figure 7 Assembly diagram of the moving parts and the first drive mechanism;

[0074] Figure 9 yes Figure 6 A partial schematic diagram at point B in the middle;

[0075] Figure 10 This is a partial structural schematic diagram of another transfer vehicle provided in one embodiment of this application;

[0076] Figure 11 yes Figure 10 A structural diagram of the first module.

[0077] Explanation of reference numerals in the attached figures:

[0078] 10-Vehicle; 100-First track; 101-First track assembly; 200-Second track; 201-Second track assembly; 300-Roadway; 400-Freight channel; 500-Intersection; 100a-First running surface; 200a-Second running surface; 210-Second track body; 220-Support frame; 220a-Support surface; 230-Matching interface; 230a-Matching groove;

[0079] P - item;

[0080] 60-Transfer vehicle; 61-First fixed seat; 62-First traveling wheel; 63-First drive mechanism; 64-Lifting drive mechanism; 65-Second fixed seat; 66-Second traveling wheel; 67-Second drive mechanism; 68-Mounting plate; 68a-Mounting area; 69-Functional component; 70-Guide wheel; 601-First module; 602-Second module;

[0081] 611-Fixed component; 612-Moving component; 613-First positioning structure; 614-Mounting position; 615-First guide component; 615a-First slider; 616-Second guide component; 616a-Second slider; 617-First slide groove; 618-Second slide groove; 619-Protrusion; 6121-Guide cavity; 612a-Guide groove; 621-Chamfer; 631-First drive motor; 641-Lifting drive motor; 642-Lifting transmission structure; 651-Avoidance notch; 652-Second positioning structure; 653-Recessed area; 654-Fixed plate; 661-Driving wheel; 662-Driven wheel; 671-Second drive motor;

[0082] 6131 - Positioning cavity; 613a - Positioning hole; 6141 - Mounting notch; 6142 - Mounting hole; 6421 - Cam; 6422 - Connecting shaft; 6521 - Mounting channel. Detailed Implementation

[0083] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0084] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0085] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0086] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0087] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0088] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application. (Refer to...) Figure 1 As shown in the figure, this application provides a warehousing system, including a carrier 10 and a transfer vehicle 60.

[0089] In some examples, the carrier 10 can be a rack with multiple storage locations, each level of the rack having an aisle 400, on which storage locations are set. The aisles 400 can extend along a second direction of the rack. It is understood that each level of the rack can have multiple aisles 400 spaced apart along a first direction, with multiple storage locations spaced apart on each aisle 400, thus increasing the storage density of each level of the rack.

[0090] In some examples, each shelf level may have an aisle 300 extending along a first direction to communicate with a plurality of aisles 400 arranged along the first direction. Exemplarily, each shelf level may have a plurality of aisles 300 spaced apart along a second direction. Each storage location has at least one aisle 300 on one side, allowing an item P retrieved from any storage location to be moved out through the aisle 300 on one side.

[0091] It should be noted that item P includes, but is not limited to, goods, original boxes or packages containing goods, containers containing goods or original boxes, etc., wherein containers may include, but are not limited to, bins, pallets, etc.

[0092] Reference Figure 1As shown, for example, there may be one or two storage locations between two adjacent aisles 300. Taking two storage locations as an example, an item P in one storage location can be moved out of the left aisle 300, and an item P in the other storage location can be moved out of the right aisle 300.

[0093] Figure 2 This is a schematic diagram of the cooperation structure between the track and the transfer vehicle according to an embodiment of this application. (Refer to...) Figure 1 and Figure 2 As shown, in some examples, to enable the transfer vehicle 60 to move stably along the aisles 400 and 300, the vehicle 10 further includes a first track 100 and a second track 200. The first track 100 is disposed on one of the aisles 300 and 400 of the vehicle 10, and the second track 200 is disposed on the other. The transfer vehicle 60 travels along the first track 100 and the second track 200 on each shelf.

[0094] For example, a first track 100 is provided in aisle 300 for the transfer vehicle 60 to travel within aisle 300. A second track 200 is provided in cargo aisle 400 for the transfer vehicle 60 to travel within cargo aisle 400.

[0095] For ease of description, the following description will use the example of the first track 100 being located in the aisle 300 and the second track 200 being located in the cargo aisle 400 to illustrate the specific structure of the tracks. Of course, the improved track structure of this embodiment can also be adapted to the scheme of the first track 100 being located in the cargo aisle 400 and the second track 200 being located in the aisle 300, which will not be elaborated here.

[0096] For example, the transfer vehicle 60 includes first traveling wheels 62, which can roll along a first track 100 so that the transfer vehicle 60 can travel along the first track 100. The first track 100 can extend in a first direction.

[0097] In some examples, each tunnel 300 has two first tracks 100, which are spaced apart along the width direction (e.g., a second direction) of the tunnel 300. The two first tracks 100 are configured to allow two opposing first wheels 62 of a transfer vehicle 60 to travel. For example, the first wheels 62 on opposite sides of the transfer vehicle 60 along the second direction can both be supported on the corresponding first tracks 100 and travel along the first tracks 100 in the first direction. For ease of description, the two first tracks 100 that mate with the same transfer vehicle 60 on a tunnel 300 can be referred to as a first track group 101.

[0098] It should be noted that in some examples, the first track 100 can be installed on the frame of each shelf layer. For example, the first track 100 can be detachably installed on the frame of each shelf layer to improve the assembly stability of the first track 100 on the shelf and to facilitate the assembly and disassembly of the first track 100.

[0099] In other examples, the first track 100 can directly serve as the frame for each layer of the shelving; that is, a set of first tracks 101 directly forms an aisle 300 for each layer of the shelving. This simplifies the manufacturing and assembly process of the shelving.

[0100] In some examples, the second track 200 is provided on either the aisle 300 or the cargo channel 400 of the vehicle 10. For example, the second track 200 is provided on the cargo channel 400 to allow the transfer vehicle 60 to travel within the cargo channel 400. For example, the transfer vehicle 60 includes second wheels 66, which travel on the second track 200 to reach and dock with a storage location in the cargo channel 400 to retrieve or return item P.

[0101] The second track 200 can extend along a second direction. Exemplarily, the shelf may include a support frame 220, the support surface 220a of which supports the item 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 the running surface of the second track 200 (hereinafter referred to as the second running surface 200a), so that a running space is formed between the support surface 220a and the second running surface 200a, allowing the transfer vehicle 60 to smoothly move under the storage location. In some examples, the transfer vehicle 60 may include a support member that can be raised and lowered relative to the base of the transfer vehicle 60. When the empty transfer vehicle 60 reaches the storage location below along the second track 200, the support can be controlled to rise until it lifts the item P on the storage location. Then, the transfer vehicle 60 carrying the item P continues to run along the second track 200 in the cargo aisle 400 until it reaches the nearby aisle 300, and removes the item P from the shelf from the aisle 300 to complete the retrieval process.

[0102] When the transfer vehicle 60 carrying item P arrives at the storage location along the second track 200, the support can be lowered so that item P on the support descends to contact the support surface 220a of the support frame 220. The support then continues to descend, detaching from item P, completing the return process. The transfer vehicle 60 can then travel along the second track 200 from the cargo aisle 400 to the aisle 300, preparing for the next task.

[0103] In some examples, each cargo lane 400 has two second tracks 200, which are spaced apart along the width direction (e.g., the first direction) of the cargo lane 400. Thus, the second wheels 66 of the transfer vehicle 60 on opposite sides along the first direction can be supported on the corresponding second tracks 200 and travel along the second tracks 200 in the second direction. For ease of description, the two second tracks 200 on a cargo lane 400 that cooperate with the same transfer vehicle 60 can be referred to as a second track group 201.

[0104] It should be noted that in some examples, the second track 200 can be installed on the frame of each shelf layer. For example, the second track 200 can be detachably installed on the frame of each shelf layer to improve the assembly stability of the second track 200 on the shelf and to facilitate the assembly and disassembly of the second track 200.

[0105] In other examples, the second track 200 can directly serve as the frame for each shelf layer; that is, a set of second tracks 201 directly forms a channel 400 for each shelf layer. This simplifies the manufacturing and assembly process of the shelf. For example, the second track 200 includes a second track body 210 and a support frame 220. The upper surface of the second track body 210 is a second running surface 200a. The support frame 220 can extend upward from the outer long side of the running surface of the second track 200, and its top surface can serve as a support surface 220a for supporting an item P.

[0106] In some examples, the first track 100 and the second track 200 are arranged to cross each other, that is, the first track 100 and the second track 200 have an overlapping support area, which allows the transfer vehicle 60 to switch between the lane 300 and the cargo lane 400.

[0107] Figure 3 yes Figure 2 A partial schematic diagram at point A. (Refer to...) Figure 3 As shown, in some examples, a mating interface 230 may be formed on the second track 200, and the first track 100 passes through the mating interface 230. The mating interface 230 includes two opposing sidewalls, both of which face the first track 100. The sidewalls of the mating interface 230 facing the first track 100 may be referred to as the mating walls of the second track 200.

[0108] For example, the interface 230 can be a mating groove 230a formed by the inward recess of the second track 200, with the first track 100 set inside the mating groove 230a. The mating groove 230a includes two oppositely arranged groove walls, both of which face the first track 100. The groove wall of the mating groove 230a facing the first track 100 can be referred to as the mating wall of the second track 200.

[0109] For example, the second track 200 can be configured as at least two second sub-tracks, which can be spaced apart along a second direction. The gap between the end walls of the two second sub-tracks serves as an interface 230. The first track 100 is positioned between the end walls of the two second sub-tracks facing each other. One end wall of the second sub-track can be fixed to one side wall of the first track 100 by screws or similar means, and the other end wall of the second sub-track can be fixed to the other side wall of the first track 100 by screws or similar means, so that the first track 100 and the second track 200 are cross-connected. It should be noted that the side wall of the first track 100 used for connecting with the second track 200 is the side wall of the first track 100 facing each other along the second direction.

[0110] This application uses the example of a docking groove 230aa on the second track 200 for illustration.

[0111] In the example above, the end wall of the second sub-track facing the first track 100 is the docking wall of the second track 200.

[0112] This application embodiment does not restrict the docking method between the first track 100 and the second track 200.

[0113] It should be noted that when the transfer vehicle 60 travels along the first track 100, the first traveling wheel 62 of the transfer vehicle 60 contacts the running surface of the first track 100, i.e., the first running surface 100a, and rolls along the first running surface 100a. At the same time, when the transfer vehicle 60 passes the second track 200, the second traveling wheel 66 of the transfer vehicle 60 must ensure that it does not interfere with the second track 200.

[0114] When the transfer vehicle 60 travels along the second track 200, the second traveling wheel 66 of the transfer vehicle 60 contacts the second running surface 200a and rolls along the second running surface 200a. At the same time, when the transfer vehicle 60 passes the first track 100, the first traveling wheel 62 of the transfer vehicle 60 must ensure that it does not interfere with the first track 100.

[0115] When the transfer vehicle 60 runs along the first track 100 to the intersection 500 and prepares to move along the second track 200, it is necessary to control the first traveling wheel 62 to disengage from the first track 100 and the second traveling wheel 66 to contact the second running surface 200a, so that when the second traveling wheel 66 moves along the second running surface 200a, the first traveling wheel 62 will not interfere with the first track 100.

[0116] When the transfer vehicle 60 runs along the second track 200 to the intersection 500 and is about to move along the first track 100, it is necessary to control the second traveling wheel 66 to disengage from the second track 200 and the first traveling wheel 62 to contact the first running surface 100a, so that when the first traveling wheel 62 moves along the first running surface 100a, the second traveling wheel 66 will not interfere with the second track 200.

[0117] It is understandable that when the transfer vehicle 60 switches between the first track 100 and the second track 200, the first traveling wheel 62 can be controlled to move up and down relative to the second traveling wheel 66, or the second traveling wheel 66 can be controlled to move up and down relative to the first traveling wheel 62, or the first traveling wheel 62 and the second traveling wheel 66 can be controlled to move up and down respectively, as long as one of the traveling wheels can contact the corresponding track and the other traveling wheel can disengage from the corresponding track.

[0118] In some examples, a lifting drive mechanism 64 is provided in the transfer vehicle 60, which can drive the first traveling wheel 62 to move up and down relative to the second traveling wheel 66 in the height direction of the transfer vehicle 60, so that the transfer vehicle 60 switches between at least a first state and a second state.

[0119] In the first state, the first traveling wheel 62 is in contact with the first running surface 100a and can roll along the first running surface 100a, while the second traveling wheel 66 is higher than the second track 200. In the second state, the first traveling wheel 62 is higher than the first track 100, and the transfer vehicle 60 is lower than the support surface 220a of the support frame 220. The second traveling wheel 66 is in contact with the second running surface 200a and can roll along the second running surface 200a. In the first state, the axis of the first traveling wheel 62 is in a first position, and in the second state, the axis of the first traveling wheel 62 is in a second position.

[0120] In some examples, the lifting drive mechanism 64 can also simultaneously drive the support component to rise and fall while driving the first traveling wheel 62 to rise and fall, thereby simplifying the structure and improving the working efficiency of the transfer vehicle 60. For example, the first traveling wheel 62 can be fixed to the support component, and the support component can be movably mounted on the base. The lifting drive mechanism 64 can be connected to the first traveling wheel 62 and drive the support component to rise and fall by driving the first traveling wheel 62. Alternatively, the lifting drive mechanism 64 can be connected to the support component so that driving the support component to rise and fall can drive the first traveling wheel 62 to rise and fall.

[0121] The following describes the coordination between the transfer vehicle 60 and the rails on the shelf, focusing on the processes of picking up and returning boxes.

[0122] Box retrieval process:

[0123] After receiving the box retrieval instruction, the transfer vehicle 60 located in the aisle 300 near the target box can travel along the first track 100 in the aisle 300 until it reaches the cargo channel 400 where the target box is located (i.e., the target cargo channel 400). When the transfer vehicle 60 is located at the intersection 500 of the first track 100 and the second track 200, the drive structure can drive the first traveling wheel 62 to rise until the transfer vehicle 60 switches from the first state to the second state. Then, the second traveling wheel 66 rolls along the second running surface 200a, so that the transfer vehicle 60 travels on the cargo channel 400.

[0124] When the transfer vehicle 60 reaches the bottom of the target box, the drive structure can drive the support to move upward until the support lifts the target box. The second traveling wheel 66 continues to drive the transfer vehicle 60 to roll along the second track 200 until it reaches the aisle 300. That is, when the transfer vehicle 60 is located at the intersection 500 of the first track 100 and the second track 200, the drive structure can drive the first traveling wheel 62 to descend until the transfer vehicle 60 switches to the first state. Then the first traveling wheel 62 rolls along the first running surface 100a, so that the transfer vehicle 60 drives the target box to move on the aisle 300 to remove the target box from the shelf.

[0125] For ease of description below, the state of the transfer vehicle 60 when the support is carrying the target box on the cargo channel 400 can be referred to as the third state. It can be understood that when the transfer vehicle 60 is carrying the target box on the cargo channel 400, the height of the support is the first height; when the transfer vehicle 60 is carrying the target box on the aisle 300, the height of the support is the second height. The first height can be greater than or equal to the second height.

[0126] It is understandable that when the first traveling wheel 62 is set on the support, the height of the first traveling wheel 62 when the transfer vehicle 60 travels along the second track 200 is higher than the height of the transfer vehicle 60 when it travels along the first track 100. Therefore, when the first traveling wheel 62 is set on the support, the first height is greater than the second height. That is, the state of the transfer vehicle 60 carrying the target box when it runs in the cargo channel 400 is the third state, and the state when it runs in the aisle 300 can be the first state.

[0127] When the first traveling wheel 62 is mounted on the support, the drive structure raises the axis of the first traveling wheel 62 to the third position, causing the support to lift the target box and travel along the second track 200 of the cargo channel 400. Therefore, when the transfer vehicle 60 is in the third state, the height of the axis of the first traveling wheel 62 is higher than the height of the transfer vehicle 60 in the second state; that is, the third position is higher than the second position.

[0128] Of course, when the first traveling wheel 62 and the supporting component are independent of each other, that is, when the lifting and lowering of the first traveling wheel 62 does not affect the height of the supporting component, the first height can be equal to or greater than the second height.

[0129] Returning the box process:

[0130] The transfer vehicle 60, loaded with the target box, can travel along the first track 100 on the aisle 300 based on the box return instruction, until it reaches the cargo channel 400 where the target box is located (i.e., the target cargo channel 400). When the transfer vehicle 60 is located at the intersection 500 of the first track 100 and the second track 200, the lifting drive mechanism 64 can drive the first traveling wheel 62 to rise until the transfer vehicle 60 switches from the first state to the third state. That is, the lifting drive mechanism 64 lifts the first traveling wheel 62 to the third position, so that the target box on the support is located in the horizontal extension space above the support surface 220a. Then, the second traveling wheel 66 rolls along the second running surface 200a, so that the transfer vehicle 60 travels on the cargo channel 400.

[0131] When the transfer vehicle 60 transports the target box to the storage location, the lifting drive mechanism 64 can drive the support member to move downward, so that the target box on the support member is supported on the support surface 220a of the support frame 220, and the support member continues to descend, so that the support member is detached from the item P, and the transfer vehicle 60 switches from the third state to the second state, that is, the first traveling wheel 62 descends from the third position to the second position, and then the second traveling wheel 66 continues to drive the transfer vehicle 60 to roll along the second track 200 and move to the aisle 300, and then remove the target box from the shelf.

[0132] In some examples, the shelves may be equipped with lifting structures such as elevators. The transfer cart 60 can move along the height of the shelves under the drive of the elevator, switching between different shelves and the ground. For example, after the transfer cart 60 retrieves a target box from the target shelf, it can descend to the ground under the drive of the elevator and hand it over to other robots, who then transfer the target box to a workstation or other location for picking operations. Alternatively, after descending to the ground, the transfer cart 60 can directly carry the target box to the workstation for picking. Based on the above, it is clear that the transfer cart 60 needs to operate stably along the first track 100 or the second track 200 to stably transport the target box from the aisle 300 to the corresponding target storage location on the cargo aisle 400, or to transport the target box from the target storage location from the cargo aisle 400 to the aisle 300.

[0133] In related technologies, the first traveling wheel 62 and the second traveling wheel 66 share a common drive structure, which simultaneously enables the traveling of all the first traveling wheels 62 and the second traveling wheels 66. Specifically, the drive structure includes a drive motor and a transmission structure. All the first traveling wheels 62 and the second traveling wheels 66 are connected to the transmission structure. The drive motor drives the transmission structure to move, thereby causing the entire first traveling wheel 62 and the second traveling wheel 66 to travel on their respective tracks in different states.

[0134] Understandably, because the rolling shafts of the first traveling wheel 62 and the second traveling wheel 66 extend in different directions and are located on different sides of the transfer vehicle 60, the transmission structure needs to extend to different side walls of the transfer vehicle 60 to connect with the first traveling wheel 62 and the second traveling wheel 66. For example, if the transmission structure is a belt drive structure, a portion of the synchronous belt of the belt drive structure needs to be located on the side where the first traveling wheel 62 is located, and another portion of the synchronous belt of the belt drive structure needs to be located on the side where the second traveling wheel 66 is located. This means that the synchronous belt, drive wheel, and driven wheel 662 need to be assembled on the base of the transfer vehicle 60 through multiple fixing structures. In addition, the first traveling wheel 62 and the second traveling wheel 66 also need to be assembled at different positions on the synchronous belt. The assembly of the entire structure needs to follow a specific sequence, and the fixing structures need to be assembled step by step. This makes the overall structure of the transfer vehicle 60 complex and involves many assembly steps.

[0135] In addition, each part of the drive structure and components such as the first traveling wheel 62 need to be assembled on the base one by one, and the relative position difference between each component must be ensured, such as the difference in the axle height between each traveling wheel and the difference in the height between each traveling wheel and the frame. This makes it impossible to guarantee the assembly accuracy when each component is assembled on the base independently. In other words, in order to ensure the assembly accuracy, the assembly difficulty of the transfer vehicle 60 will increase.

[0136] Based on this, this application configures corresponding drive mechanisms for the first traveling wheel 62 and the second traveling wheel 66 that travel in different directions. That is, the first traveling wheel 62 is driven by the first drive mechanism 63, and the second traveling wheel 66 is driven by the second drive mechanism 67. In this way, the first traveling wheel 62 and the first drive mechanism 63 can be separated from the structure of the second traveling wheel 66 and the second drive mechanism 67. For example, the first traveling wheel 62 and the first drive mechanism 63 can be set on the first fixed base 61 and serve as the first module 601, and the second traveling wheel 66 and the second drive mechanism 67 can be set on the second fixed base 65 and serve as the second module 602. The second module 602 is independent of the first module 601. The first fixed base 61 and the second fixed base 65 are detachably connected, thereby realizing the detachable connection between the first module 601 and the second module 602. During assembly, the first drive mechanism 63 and the first traveling wheel 62 can be pre-positioned and assembled on the first fixed base 61, and the second drive mechanism 67 and the second traveling wheel 66 can be pre-positioned and assembled on the second fixed base 65. After the first fixed base 61 and the second fixed base 65 are connected, the height difference between each traveling wheel can be guaranteed. Moreover, the first fixed base 61 and the second fixed base 65 can be mass-produced. Compared with the assembly method in related technologies that requires fixing the drive motor and transmission structure to the base through multiple fixed components and then fixing the traveling wheel to the transmission structure, the structure and assembly of the transfer vehicle 60 of this application are simpler and can guarantee assembly accuracy.

[0137] The structure of the transfer vehicle 60 provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0138] Figure 4 This is a schematic diagram of the structure of one type of transfer vehicle provided in an embodiment of this application. Figure 5 This is a partial structural schematic diagram of one embodiment of a transfer vehicle provided in this application. Figure 6 yes Figure 5 A top view. (Refer to...) Figures 4 to 6 As shown, this application embodiment provides a transfer vehicle 60, including a first fixed base 61, first traveling wheels 62, and a first drive mechanism 63. The first drive mechanism 63 is connected to the first traveling wheels 62 and configured to drive the first traveling wheels 62 along the first track 100 of the carrier 10. Both the first traveling wheels 62 and the first drive mechanism 63 are disposed on the first fixed base 61, such that the first fixed base 61, the first traveling wheels 62, and the first drive mechanism 63 form a first module 601.

[0139] In some examples, the first module 601 can be pre-assembled. For instance, when assembling the transfer vehicle 60, the first traveling wheel 62 and the first drive mechanism 63 can be pre-assembled onto the first fixed base 61. Specifically, the first drive mechanism 63 can be fixed onto the first fixed base 61, and the first traveling wheel 62 can be fixed onto the first drive mechanism 63, so that it can rotate around its own axis under the drive of the first drive mechanism 63, thereby enabling the first traveling wheel 62 to travel on the first running surface 100a of the first track 100.

[0140] The transfer vehicle 60 also includes a second fixed base 65, a second traveling wheel 66, and a second drive mechanism 67. The second drive mechanism 67 is connected to the second traveling wheel 66 and configured to drive the second traveling wheel 66 along the second track 200. Both the second traveling wheel 66 and the second drive mechanism 67 are mounted on the second fixed base 65, forming a second module 602. This second module 602 can be pre-assembled. For example, when assembling the transfer vehicle 60, the second traveling wheel 66 and the second drive mechanism 67 can be assembled onto the second fixed base 65 first. Specifically, the second drive mechanism 67 can be fixed to the second fixed base 65, and the second traveling wheel 66 can be fixed to the second drive mechanism 67, allowing it to rotate around its own axis under the drive of the second drive mechanism 67, thereby enabling the second traveling wheel 66 to travel on the second running surface 200a of the second track 200.

[0141] The first fixing seat 61 and the second fixing seat 65 are detachably connected.

[0142] It is understood that the first drive mechanism 63 is only used to drive the first traveling wheel 62, and the second drive mechanism 67 is only used to drive the second traveling wheel 66. Thus, the structure of the first drive mechanism 63 and the second drive mechanism 67 is simpler than the drive structure in the related technology. The independent first drive mechanism 63 and the second drive mechanism 67 can be set on different sides of their respective transfer vehicles 60 and connected to the corresponding traveling wheels.

[0143] For example, the first drive mechanism 63 can be connected to the first traveling wheel 62 and directly mounted on the first fixed seat 61, and the second drive mechanism 67 can be connected to the second traveling wheel 66 and directly fixed on the second fixed seat 65. When assembling the transfer vehicle 60, only the pre-assembled first fixed seat 61 and second fixed seat 65 need to be assembled to complete the assembly of the traveling wheels and drive mechanisms in both directions.

[0144] Compared to assembling the first traveling wheel 62, the second traveling wheel 66, the first drive mechanism 63, and the second drive mechanism 67 one by one onto the base of the transfer vehicle 60, the first fixed seat 61 and the second fixed seat 65 in this embodiment allow for pre-positioning and assembling of each traveling wheel and drive mechanism. Thus, by simply connecting the first fixed seat 61 and the second fixed seat 65, the horizontal distance and axle height difference between the first traveling wheel 62 and the second traveling wheel 66 can be guaranteed. The modular design of the transfer vehicle 60 in this embodiment improves the overall assembly efficiency of the transfer vehicle 60.

[0145] In some examples, there can be one first fixed seat 61. Two sets of first traveling wheels 62 are provided at intervals along the extension direction of the second track 200, i.e., the second direction. The two sets of first traveling wheels 62 can share a first drive mechanism 63, i.e., the first drive mechanism 63 can synchronously drive the two sets of first traveling wheels 62 to travel along the first track 100.

[0146] Similarly, there can be one second fixed seat 65. Two sets of second traveling wheels 66 are provided at intervals along the extension direction of the first track 100, i.e., the first direction. The two sets of second traveling wheels 66 can share a second drive mechanism 67, i.e., the second drive mechanism 67 can synchronously drive the two sets of second traveling wheels 66 to travel along the second track 200.

[0147] In the above example, the first fixed base 61, two sets of first traveling wheels 62, and a first drive mechanism 63 form the first module 601, and the second fixed base 65, two sets of second traveling wheels 66, and a second drive mechanism 67 form the second module 602. After the first fixed base 61 and the second fixed base 65 are assembled, the overall assembly of the two sets of first traveling wheels 62, the two sets of second traveling wheels 66, the first drive mechanism 63, and the second drive mechanism 67 can be achieved.

[0148] In some other examples, the first fixed seat 61 may include two, and the two first fixed seats 61 may be spaced apart along the second direction, with each first fixed seat 61 having a first traveling wheel 62.

[0149] In some examples, the first traveling wheels 62 on the two first fixed seats 61 can share a first drive mechanism 63, that is, the first drive mechanism 63 drives the two sets of first traveling wheels 62 to travel along the first track 100.

[0150] In other examples, a first drive mechanism 63 may be provided on each first fixed base 61, and the first drive mechanism 63 on each first fixed base 61 is configured to drive the first traveling wheel 62 on the same side. Here, the first traveling wheel 62 on the same side as the first drive mechanism 63 refers to the first traveling wheel 62 located on the same first fixed base 61 as the first drive mechanism 63. In other words, the first traveling wheel 62 on one first fixed base 61 is driven by the first drive mechanism 63 provided on that first fixed base 61, and the first traveling wheel 62 on the other first fixed base 61 is driven by the first drive mechanism 63 provided on that first fixed base 61.

[0151] Thus, one of the first fixed seats 61 and the first traveling wheel 62 and the first drive mechanism 63 mounted thereon can form a first module 601, and the other first fixed seat 61 and the first traveling wheel 62 and the first drive mechanism 63 mounted thereon can form another first module 601. That is, the first traveling wheels 62 on different sides are driven by their respective first drive mechanisms 63, so that the two sets of first traveling wheels 62 can form their own independent first modules 601. In this way, the two first modules 601 can be pre-assembled. For example, one set of first drive mechanism 63 and first traveling wheel 62 can be assembled on one of the first fixed seats 61 to form one first module 601, and the other set of first drive mechanism 63 and first traveling wheel 62 can be assembled on another first fixed seat 61 to form a second module 602. Then, the two first modules 601 can be assembled on the second fixed seat 65 to complete the assembly of the two sets of first traveling wheels 62 and the second traveling wheel 66, etc., making the assembly of the two sets of first traveling wheels 62 and the first drive mechanism 63 simpler and more convenient.

[0152] In some examples, each first fixed seat 61 may be provided with a first traveling wheel 62. The first traveling wheel 62 may be located in the middle area of ​​the first fixed seat 61 to ensure the support balance of the first traveling wheel 62 on the first fixed seat 61. The first drive mechanism 63 on each first fixed seat 61 may drive the corresponding first traveling wheel 62 to travel, so that the two opposite first traveling wheels 62 of the transfer vehicle 60 travel on the two first tracks 100.

[0153] In other examples, each first fixed seat 61 may be provided with at least two first traveling wheels 62, and the at least two first traveling wheels 62 are spaced apart along the extension direction of the first track 100. The second drive mechanism 67 on each first fixed seat 61 can drive the corresponding at least two first traveling wheels 62 to travel, so that the two sets of first traveling wheels 62 of the transfer vehicle 60 are arranged opposite to each other and travel on the two first tracks 100.

[0154] For example, each first fixed seat 61 may be provided with two first traveling wheels 62, one of which is located at one end of the first fixed seat 61 and the other is located at the other end of the first fixed seat 61. One first drive mechanism 63 can drive the two first traveling wheels 62 on the same side of the first fixed seat 61 to travel along one of the first tracks 100, and the other first drive mechanism 63 can drive the two first traveling wheels 62 on the same side of the first fixed seat 61 to travel along the other first track 100.

[0155] Each first fixed seat 61 is provided with multiple first traveling wheels 62, which can improve the support stability of the transfer vehicle 60 on the first track 100, thereby improving the running stability of the transfer vehicle 60 on the first track 100.

[0156] It should be noted that when multiple first traveling wheels 62 are arranged along the extension direction of the first track 100, the technical solution of this application embodiment is that the first drive mechanism 63 is independent of the second drive mechanism 67 and assembled with the multiple first traveling wheels 62 on the first fixed seat 61 to form the first module 601, which further highlights the significant improvement in the assembly efficiency of the entire transfer vehicle 60. That is, it is not necessary to position the multiple first traveling wheels 62 one by one on the base, nor is it necessary to assemble the drive mechanisms that drive the multiple first traveling wheels 62 one by one on the base. This application only needs to pre-assemble the multiple first traveling wheels 62 and the first drive mechanism 63 on the first fixed seat 61, and then assemble the first fixed seat 61 on the second fixed seat 65 to complete the relative positioning and assembly of the first traveling wheels 62 and the second traveling wheels 66.

[0157] In some examples, when each first fixed base 61 is provided with at least two first traveling wheels 62, each first drive mechanism 63 may include at least two first drive motors 631, one of which is connected to one of the first traveling wheels 62, and the other of which is connected to the other first traveling wheel 62. In other words, the first drive mechanism 63 may include multiple first drive motors 631, and the multiple first drive motors 631 may be configured in a one-to-one correspondence with the multiple first traveling wheels 62, that is, each first drive motor 631 directly drives the corresponding first traveling wheel 62. In this way, the structure of the first drive mechanism 63 and the assembly structure between it and each of the first traveling wheels 62 can be simplified, and the assembly process between the first drive mechanism 63 and the first fixed base 61 can also be simplified.

[0158] For example, when assembling the first module 601, multiple first wheels 62 can be positioned on the first fixed base 61, and then each first drive motor 631 can be connected to the corresponding first wheel 62, and then the first drive motor 631 can be fixed on the first fixed base 61.

[0159] The first drive motor 631 can be fixed to the first fixed base 61 by screws, bolts or snap-fit. This application embodiment does not limit the assembly structure between the first drive motor 631 and the first fixed base 61.

[0160] In other examples, each first drive mechanism 63 may include a first transmission structure and a first drive motor 631 connected to the first transmission structure, and at least two first wheels 62 connected to the first transmission structure; the first transmission structure is configured to drive at least two first wheels 62 to move under the drive of the first drive motor 631.

[0161] A first drive motor 631 drives the first transmission structure to move, thereby enabling multiple first traveling wheels 62 to move under the drive of the first transmission structure. This reduces the power consumption of the first drive mechanism 63 and makes it easier to control the torque output from the first drive motor 631 to the corresponding first traveling wheel 62, thus ensuring that the first traveling wheel 62 can move at a preset speed and extending the life of the first drive motor 631.

[0162] For example, the first transmission structure can be a pulley structure, a gear and rack structure, etc. The embodiments of this application do not limit the configuration of the first transmission structure.

[0163] For example, the first transmission structure includes a drive wheel and a driven wheel 662 spaced apart on the first fixed base 61 along the first direction. A transmission belt is sleeved on the drive wheel and the driven wheel 662, and the transmission belt is sleeved on a plurality of first traveling wheels 62. The drive wheel is connected to a first drive motor 631. Thus, the first drive motor 631 can drive the drive wheel to rotate, causing the transmission belt and the driven wheel 662 to rotate. The transmission belt can drive the plurality of first traveling wheels 62 to rotate around their own axis.

[0164] For example, the transmission belt can be a belt, and the belt and the rolling surface of the first traveling wheel 62 transmit force through friction. The transmission belt can also be a chain, and the rolling surface of the first traveling wheel 62 can have teeth. The chain can mesh with the teeth of the first traveling wheel 62 to drive the first traveling wheel 62 to rotate. This application embodiment does not limit the transmission belt structure, as long as it can ensure that the first traveling wheel 62 can rotate.

[0165] In some examples, at least one first traveling wheel 62 may be provided with a chamfer 621, which mates with the sidewall of the first track 100. The chamfer 621 may be provided on at least one first traveling wheel 62 of the transfer vehicle 60, and the sidewall of the first track 100 may be, for example, the inner sidewall, i.e., the sidewall facing into the aisle 300 (see reference). Figure 3The track (shown in the diagram) is configured to engage with the chamfered edge 621 of the first traveling wheel 62 as the first traveling wheel 62 travels along the first running surface 100a to stop the first traveling wheel 62. For example, the chamfered edge 621 of the first traveling wheel 62 abuts against the inner wall of the first track 100, so that when the first traveling wheel 62 travels along the first track 100, the inner wall of the first track 100 acts as a stop and guide for the first traveling wheel 62, ensuring that the first traveling wheel 62 does not travel in a direction deviating from the extension direction of the first track 100.

[0166] For example, a chamfer 621 can be provided on at least one first traveling wheel 62 on each first fixed seat 61 to ensure that each set of first traveling wheels 62 can travel along the corresponding first running surface 100a. For example, a chamfer 621 can be provided on all first traveling wheels 62 on each first fixed seat 61.

[0167] Of course, in some examples, at least one long side of the running surface of the first track 100 may have a stop edge extending upwards, the stop edge being configured to stop the first traveling wheel 62 of the transfer vehicle 60. In this way, it is not necessary to provide a chamfer 621 on the first traveling wheel 62.

[0168] For example, guards can be provided on both long sides of the first running surface 100a of the first track 100 so that the first traveling wheel 62 is confined between the two guards, thereby enabling it to travel stably along the first running surface 100a without falling off the first track 100.

[0169] In some examples, the second fixing seat 65 may include two, and the two second fixing seats 65 may be spaced apart along the first direction, with each second fixing seat 65 having a second traveling wheel 66.

[0170] In some examples, the second traveling wheels 66 on the two second fixed seats 65 can share a second drive mechanism 67, that is, the second drive mechanism 67 drives the two sets of second traveling wheels 66 to travel along the second track 200.

[0171] In other examples, a second drive mechanism 67 may be provided on each second fixed base 65. The second drive mechanism 67 on each second fixed base 65 is configured to drive the second traveling wheel 66 on the same side. The second traveling wheel 66 on the same side of the second drive mechanism 67 refers to the second traveling wheel 66 located on the same second fixed base 65 as the second drive mechanism 67. In other words, the second traveling wheel 66 on one second fixed base 65 is driven by the second drive mechanism 67 on that second fixed base 65, and the second traveling wheel 66 on the other second fixed base 65 is driven by the second drive mechanism 67 on that second fixed base 65.

[0172] Thus, one of the second fixed seats 65 and the second traveling wheel 66 and the second drive mechanism 67 mounted thereon can form a second module 602, and the other second fixed seat 65 and the second traveling wheel 66 and the second drive mechanism 67 mounted thereon can form another second module 602. That is, the second traveling wheels 66 on different sides are driven by their respective second drive mechanisms 67, so that the two sets of second traveling wheels 66 can form their own independent second modules 602. In this way, the two second modules 602 can be pre-assembled. For example, one set of second drive mechanisms 67 and second traveling wheels 66 can be assembled on one of the second fixed seats 65 to form one second module 602, and the other set of second drive mechanisms 67 and second traveling wheels 66 can be assembled on another second fixed seat 65 to form another second module 602. Then, the two second modules 602 can be assembled on the first fixed seat 61, thus completing the assembly of the two sets of second traveling wheels 66 and the first traveling wheel 62, making the assembly of the two sets of second traveling wheels 66 and the second drive mechanism 67 simpler and more convenient.

[0173] For example, after the two second modules 602 are assembled, they can be respectively assembled onto the two first modules 601. Exemplarily, the two first modules 601 are spaced apart along a second direction, and each first module 601 includes a first end and a second end, with the first ends of the two first modules 601 located on the same side (e.g., ...). Figure 6 The lower side of the two first modules 601 are located on the same side (e.g., on the lower side). Figure 6 (on the upper side), one of the second modules 602 is assembled on the lower side of the two first modules 601, for example, the second fixing seat 65 of the second module 602 is connected to the first end of the two first fixing seats 61, and the other second module 602 is assembled on the upper side of the two first modules 601, for example, the second fixing seat 65 of the second module 602 is connected to the second end of the two first fixing seats 61.

[0174] In some examples, each second fixed seat 65 may be provided with a second traveling wheel 66. A second traveling wheel 66 may be located in the middle area of ​​the second fixed seat 65 to ensure the support balance of the second traveling wheel 66 on the second fixed seat 65. The second drive mechanism 67 on each second fixed seat 65 may drive the corresponding second traveling wheel 66 to travel, so that the two opposite second traveling wheels 66 of the transfer car 60 travel on the two second tracks 200.

[0175] In other examples, each second fixed seat 65 may be provided with at least two second traveling wheels 66, which are spaced apart along the extension direction of the second track 200. The second drive mechanism 67 on each second fixed seat 65 can drive the corresponding at least two second traveling wheels 66 to travel, so that the two sets of second traveling wheels 66 of the transfer vehicle 60 are arranged opposite each other on the two second tracks 200.

[0176] For example, each second fixed seat 65 may be provided with two second traveling wheels 66, one of which is located at one end of the second fixed seat 65 and the other is located at the other end of the second fixed seat 65. One second drive mechanism 67 can drive the two second traveling wheels 66 on the second fixed seat 65 to travel along one of the second tracks 200, and the other second drive mechanism 67 can drive the two second traveling wheels 66 on the second fixed seat 65 to travel along the other second track 200.

[0177] Each second fixed seat 65 is provided with multiple second traveling wheels 66, which can improve the support stability of the transfer vehicle 60 on the second track 200, thereby improving the running stability of the transfer vehicle 60 on the second track 200.

[0178] It should be noted that when multiple second traveling wheels 66 are arranged along the extension direction of the second track 200, the technical solution of this application embodiment is that the second drive mechanism 67 is an independent second drive mechanism 67, and is assembled with multiple second traveling wheels 66 on the second fixed seat 65 to form the second module 602, which further highlights the significant improvement in the assembly efficiency of the entire transfer vehicle 60. That is, it is not necessary to position multiple second traveling wheels 66 one by one on the base, nor is it necessary to assemble the drive mechanism driving multiple second traveling wheels 66 one by one on the base. This application only needs to pre-assemble multiple second traveling wheels 66 and the second drive mechanism 67 on the second fixed seat 65, and then assemble the second fixed seat 65 on the second fixed seat 65 to complete the relative positioning and assembly of the second traveling wheels 66.

[0179] In some examples, when each second fixed base 65 is provided with at least two second traveling wheels 66, each second drive mechanism 67 may include at least two second drive motors 671, one of which is connected to one of the second traveling wheels 66, and the other of which is connected to the other second traveling wheel 66. In other words, the second drive mechanism 67 may include multiple second drive motors 671, and the multiple second drive motors 671 may be configured in a one-to-one correspondence with the multiple second traveling wheels 66, that is, each second drive motor 671 directly drives the corresponding second traveling wheel 66. In this way, the structure of the second drive mechanism 67 and the assembly structure between it and each of the second traveling wheels 66 can be simplified, and the assembly process between the second drive mechanism 67 and the second fixed base 65 can also be simplified.

[0180] For example, when assembling the second module 602, multiple second traveling wheels 66 can be positioned on the second fixed base 65, and then each second drive motor 671 can be connected to the corresponding second traveling wheel 66, and then the second drive motor 671 can be fixed on the second fixed base 65.

[0181] The second drive motor 671 can be fixed to the second fixed base 65 by screws, bolts or snap-fit. This application embodiment does not restrict the assembly structure between the second drive motor 671 and the second fixed base 65.

[0182] In other examples, each second drive mechanism 67 may include a second transmission structure and a second drive motor 671 connected to the second transmission structure, and at least two second wheels 66 connected to the second transmission structure; the second transmission structure is configured to drive at least two second wheels 66 to move under the drive of the second drive motor 671.

[0183] A second drive motor 671 drives the second transmission structure to move, thereby enabling multiple second traveling wheels 66 to move under the drive of the second transmission structure. This reduces the power consumption of the second drive mechanism 67 and makes it easier to control the torque output from the second drive motor 671 to the corresponding second traveling wheel 66, thus ensuring that the second traveling wheel 66 can move at a preset speed and extending the life of the second drive motor 671.

[0184] The second transmission structure can be configured in the same way as the first transmission structure described above, and will not be repeated here.

[0185] In order to enable the transfer vehicle 60 to switch between the operation of the first track 100 and the second track 200, in some examples, the lifting drive mechanism 64 can drive the first traveling wheel 62 to rise and fall relative to the second traveling wheel 66, so that the transfer vehicle 60 can switch between any two states among the first state, the second state and the third state.

[0186] Figure 7 yes Figure 5 A structural diagram of the first module. Figure 8 yes Figure 7 Assembly diagram of the moving parts and the first drive mechanism. (Refer to...) Figures 6 to 8 As shown, in some examples, the first fixed base 61 may include a fixed member 611 and a movable member 612. The fixed member 611 is detachably connected to the second fixed base 65, and the movable member 612 can be raised and lowered relative to the fixed member 611 and the second fixed base 65. The first traveling wheel 62 and the first drive mechanism 63 are disposed on the movable member 612.

[0187] The lifting drive mechanism 64 is connected to the movable part 612 to drive the movable part 612 to rise and fall relative to the fixed part 611 and the second fixed seat 65, so that the first traveling wheel 62 rises and falls relative to the second traveling wheel 66.

[0188] When the transfer vehicle 60 in this embodiment receives a pick-up and return task, it performs the following actions:

[0189] The first drive mechanism 63 drives the first traveling wheel 62 to travel along the first track 100, so that the transfer vehicle 60 travels in the alley 300 until it reaches the cargo channel 400 where the target object is located.

[0190] The lifting drive mechanism 64 drives the movable part 612 of the first fixed seat 61 to rise relative to the fixed part 611 until the second traveling wheel 66 contacts the second track 200, and the first traveling wheel 62 disengages from the first track 100.

[0191] The second drive mechanism 67 drives the second traveling wheel 66 to travel along the second track 200, so that the transfer vehicle 60 travels within the cargo channel 400 until it reaches the target storage location;

[0192] The transfer vehicle 60 performs the action of picking up and returning items.

[0193] Taking the box retrieval process as an example, after receiving the box retrieval instruction, the transfer vehicle 60 located in the aisle 300 near the target box can drive the first driving mechanism 63 to drive the first traveling wheel 62 to travel along the first track 100 in the aisle 300 until it reaches the cargo channel 400 where the target box is located (i.e., the target cargo channel 400). When the transfer vehicle 60 is located at the intersection 500 of the first track 100 and the second track 200, the lifting driving mechanism 64 can drive the movable part 612 to rise, so that the first traveling wheel 62 rises to disengage from the first track 100, so as to switch from the first state to the second state. Then, the second driving mechanism 67 can drive the second traveling wheel 66 to roll along the second running surface 200a, so that the transfer vehicle 60 travels in the cargo channel 400.

[0194] When the transfer vehicle 60 reaches the bottom of the target box, the lifting drive mechanism 64 can drive the support to move upward until the support lifts the target box. The transfer vehicle 60 switches from the second state to the third state. The second traveling wheel 66 continues to drive the transfer vehicle 60 to roll along the second track 200 until it reaches the aisle 300. That is, when the transfer vehicle 60 is located at the intersection 500 of the first track 100 and the second track 200, the lifting drive mechanism 64 can drive the first traveling wheel 62 to descend through the movable part 612 until the transfer vehicle 60 switches to the first state. Then the first traveling wheel 62 rolls along the first running surface 100a, so that the transfer vehicle 60 drives the target box to move on the aisle 300 to remove the target box from the shelf.

[0195] In some examples, the support can be positioned on top of the movable part 612, so that the lifting drive structure can lift the support when it lifts the movable part 612.

[0196] In other examples, the movable part 612 can be directly used as a support to support the target box, thus simplifying the structure and assembly process of the first module 601.

[0197] Taking the return process as an example, the transfer vehicle 60 loaded with the target box can control the first drive mechanism 63 to work based on the return command, so as to drive the first traveling wheel 62 to travel along the first track 100 on the lane 300 until it travels to the cargo lane 400 where the target box is located (i.e., the target cargo lane 400). When the transfer vehicle 60 is located at the intersection 500 of the first track 100 and the second track 200, the lifting drive mechanism 64 can drive the movable part 612 to rise relative to the fixed part 611, so that the first traveling wheel 62 rises until the transfer vehicle 60 switches from the first state to the third state, that is, the lifting drive mechanism 64 lifts the first traveling wheel 62 to the third position, so that the target box on the support is located in the horizontal extension space above the support surface 220a. Then the second drive mechanism 67 can drive the second traveling wheel 66 to roll along the second running surface 200a, so that the transfer vehicle 60 travels on the cargo lane 400.

[0198] When the transfer vehicle 60 transports the target box to the storage location, the lifting drive mechanism 64 can drive the support member to move downward, so that the target box on the support member is supported on the support surface 220a of the support frame 220, and the support member continues to descend, so that the support member is detached from the item P, and the transfer vehicle 60 switches from the third state to the second state, that is, the first traveling wheel 62 descends from the third position to the second position, and then the second driving second traveling wheel 66 continues to drive the transfer vehicle 60 to roll along the second track 200 and move to the aisle 300, and then remove the target box from the shelf.

[0199] In the above example, by configuring the first fixed base 61 to include a fixed component 611 and a movable component 612, it ensures that the first fixed base 61 can be integrated with the first traveling wheel 62 to form the first module 601, facilitating assembly. Furthermore, it ensures that the movable component 612, which is used to fix the first traveling wheel 62, can rise and fall relative to the second fixed base 65, thereby making the first traveling wheel 62 equivalent to the second traveling wheel 66 rising and falling, allowing the transfer vehicle 60 to switch between different states. Additionally, the fixed component 611 ensures the stability of the assembly between the first fixed base 61 and the second fixed base 65.

[0200] Of course, the embodiments of this application do not exclude the following two configuration methods. First: The first fixed base 61 can be raised and lowered relative to the second fixed base 65, and the lifting drive mechanism 64 can drive the entire first fixed base 61 to rise and fall, thereby driving the first traveling wheel 62 to rise and fall, which is equivalent to the second traveling wheel 66. Second: The first traveling wheel 62 and the first drive mechanism 63 can be movably mounted on the first fixed base 61, and the lifting drive mechanism 64 can be directly connected to the first traveling wheel 62 or the first drive mechanism 63 to drive the first traveling wheel 62 to rise and fall, which is equivalent to the second traveling wheel 66.

[0201] Reference Figure 7 As shown, in some examples, a portion of the lifting drive mechanism 64 is located on the fixed member 611, and another portion of the lifting drive mechanism 64 cooperates with the movable member 612 to drive the movable member 612 to move. In other words, by setting the lifting drive mechanism 64 on the first fixed seat 61, the lifting drive mechanism 64, the first traveling wheel 62, and the first drive mechanism 63 can together with the first fixed seat 61 to form the first module 601. When assembling the transfer vehicle 60, the lifting drive mechanism 64 and other components can be pre-assembled on the first fixed seat 61, and then the first fixed seat 61 can be fixed on the second fixed seat 65, thus realizing the assembly of the entire traveling structure of the transfer vehicle 60, which is relatively convenient for assembly and disassembly.

[0202] Of course, this application embodiment does not exclude the possibility of mounting the lifting drive mechanism 64 on other structural components (such as the mounting plate 68 mentioned below).

[0203] In some examples, the lifting drive mechanism 64 can be a lifting drive motor 641 (e.g., a first lifting drive motor), which is fixed to the fixed member 611 and has its output shaft connected to the movable member 612 to drive the movable member 612 to move up and down relative to the fixed member 611.

[0204] It is understood that the first lifting drive motor 641 can be a linear motor to directly lift or lower the movable part 612. The output shaft of the first lifting drive motor 641 extends in the same direction as the lifting direction of the movable part 612.

[0205] In other examples, the lifting drive mechanism 64 may include a lifting drive motor 641 (e.g., a second lifting drive motor 641) and a lifting transmission structure 642. The lifting drive motor 641 is disposed on the fixed member 611, and the lifting transmission structure 642 is connected to the lifting drive motor 641 and coupled to the movable member 612. The lifting transmission structure 642 is configured to drive the movable member 612 to lift and lower under the drive of the lifting drive motor 641.

[0206] The lifting transmission structure 642 can control the speed at which the second lifting drive motor 641 outputs to the movable part 612, so that the movable part 612 lifts and lowers at a preset speed.

[0207] In some examples, the second lifting drive motor 641 can be a rotary motor, and the lifting transmission structure 642 can be a gear and rack meshing structure. For example, the gear is connected to the rotary motor, the rack meshes with the gear, and the rack is connected to the movable part 612. When the rotary motor drives the gear to rotate, the gear drives the rack to move up and down, thereby driving the movable part 612 to move up and down, which is equivalent to the fixed part 611.

[0208] Reference Figure 7 As shown, in some other examples, the lifting transmission structure 642 may further include a cam 6421 and a connecting shaft 6422. The cam 6421 is connected to the lifting drive motor 641 to rotate under the drive of the lifting drive motor 641; the connecting shaft 6422 is connected to the cam 6421, and at least a portion of the connecting shaft 6422 is located within a guide cavity 6121 on the movable member 612, and is movable within the guide cavity 6121. The lifting drive motor 641 is configured to drive the cam 6421 to rotate, thereby causing the connecting shaft 6422 to move within the guide cavity 6121, thereby abutting against the cavity wall of the guide cavity 6121, causing the movable member 612 to rise or fall.

[0209] The first position is where the cam 6421 is connected to the lifting drive motor 641, and the second position is where the cam 6421 is connected to the connecting shaft 6422. The first position and the second position are not coaxial, so that the cam 6421 can drive the connecting shaft 6422 to rotate around the first position during rotation, thereby having a component in the height direction of the movable part 412.

[0210] For example, the guide cavity 6121 can be a guide groove 612a formed inside the movable member 612 (see reference). Figure 8 (As shown), it can also be a guide hole that passes through the movable part 612.

[0211] The guide cavity 6121 can be a strip-shaped cavity, with the length direction of the strip-shaped cavity being the first direction. The walls of the strip-shaped cavity opposite each other along the height direction are horizontal walls, and the inner walls at both ends along the length direction can be arc-shaped walls, so that the connecting shaft 6422 can rotate along the arc-shaped wall to the horizontal wall and abut against the horizontal wall during the continued rotation, so that the movable part 612 can be raised and lowered.

[0212] The cam 6421 is connected to the output shaft of the rotary motor and rotates under the drive of the rotary motor. The output shaft of the rotary motor is not coaxial with the connecting shaft 6422. Thus, the connecting shaft 6422 can have a motion component in the height direction during the rotation of the cam 6421, so that the connecting shaft 6422 abuts against the groove wall of the guide groove 612a, thereby driving the movable part 612 to rise and fall in the height direction.

[0213] When setting up, the cam 6421 can be positioned between the fixed member 611 and the movable member 612 to avoid interference between the cam 6421 and the movable member 612 and the fixed member 611 during rotation.

[0214] Reference Figure 7 and Figure 8 As shown, in some examples, each first fixed seat 61 is provided with multiple cams 6421, and each cam 6421 is connected to a corresponding connecting shaft 6422. The multiple cams 6421 are spaced apart along the length direction of the first fixed seat 61, i.e., the first direction. Correspondingly, multiple guide cavities 6121 are spaced apart along the length direction of the movable member 612. Each connecting shaft 6422 extends into the corresponding guide cavity 6121 to synchronously drive the movable member 612 to rise and fall under the action of each cam 6421. The multiple cams 6421 and connecting shafts 6422 cooperate with multiple positions of the movable member 612, which can improve the stability of the movable member 612 during the rising and falling process and prevent the movable member 612 from tilting during the rising and falling process.

[0215] In some examples, multiple lifting drive motors 641 may be installed on each first fixed base 61. The number of lifting drive motors 641 is the same as the number of cams 6421. Each cam 6421 is driven by a lifting drive motor 641 to drive the corresponding connecting shaft 6422 to move within the guide cavity 6121 to push the movable part 612 up and down. The output shaft of the lifting drive motor 641 is not coaxial with the connecting shaft 6422.

[0216] In other examples, a lifting drive motor 641 may be provided on each first fixed seat 61, and multiple cams 6421 are connected by a transmission structure such as a transmission belt. The lifting drive motor 641 drives the transmission structure to move, so as to drive the multiple cams 6421 to rotate synchronously.

[0217] Of course, the lifting drive mechanism 64 in this embodiment of the application can also be configured in other ways, and no limitation is made here.

[0218] In some examples, there may be one lifting drive mechanism 64, which drives the movable parts 612 on the two first fixed seats 61 to rise and fall.

[0219] For example, the lifting drive mechanism 64 includes a lifting drive motor 641 and a lifting transmission structure 642. The lifting transmission structure 642 can be connected to two sets of first traveling wheels 62 so that the two sets of first traveling wheels 62 can be lifted and lowered synchronously under the drive of the lifting transmission structure 642.

[0220] For example, the lifting transmission structure 642 can be disposed between two first fixed seats 61, and the lifting drive motor 641 is fixed on the fixing member 611 of any one of the first fixed seats 61.

[0221] In other examples, the lifting drive mechanism 64 may include two, one of which is disposed on one of the first fixed bases 61 and configured to drive the movable member 612 on the corresponding first fixed base 61 to rise and fall. For example, a portion of one lifting drive mechanism 64 is disposed on the fixed member 611 of one of the first fixed bases 61, and another portion is disposed on the movable member 612 of the first fixed base 61, driving the movable member 612 to rise and fall in relation to the fixed member 611. The other lifting drive mechanism 64 is disposed on another first fixed base 61 and configured to drive the movable member 612 on the corresponding first fixed base 61 to rise and fall. For example, a portion of the other lifting drive mechanism 64 is disposed on the fixed member 611 of the other first fixed base 61, and another portion is disposed on the movable member 612 of the first fixed base 61, driving the movable member 612 to rise and fall in relation to the fixed member 611.

[0222] Thus, one of the first fixed seats 61 and the first traveling wheel 62, the first drive mechanism 63, and the first lifting drive mechanism 64 mounted thereon can form a first module 601, and the other first fixed seat 61 and the first traveling wheel 62, the first drive mechanism 63, and the lifting drive mechanism 64 mounted thereon can form another first module 601. That is, the first traveling wheels 62 on different sides achieve walking and lifting respectively through their respective first drive mechanisms 63 and lifting drive mechanisms 64, so that the two sets of first traveling wheels 62 and their corresponding drive mechanisms can form their own independent first modules 601. In this way, the two first modules 601 are pre-installed For example, one set of first drive mechanism 63, lifting drive mechanism 64 and first traveling wheel 62 can be assembled on one of the first fixed seats 61 to form one of the first modules 601. Another set of first drive mechanism 63, another lifting drive mechanism 64 and first traveling wheel 62 can be assembled on another first fixed seat 61 to form another first module 601. Then, the two first modules 601 can be assembled on the second fixed seat 65 to complete the assembly of the first traveling wheel 62 and drive mechanism and the second traveling wheel 66 and drive mechanism, making the assembly of the lifting drive mechanism 64 and each set of first traveling wheels 62 simpler and more convenient.

[0223] Figure 9 yes Figure 6 A partial schematic diagram at point B. (Refer to...) Figure 8 and Figure 9 As shown, the transfer vehicle 60 may include a first slide 617 and a first guide 615 that cooperates with the first slide 617. The first guide 615 is disposed on one of the movable member 612 and the fixed member 611, and the first slide 617 is disposed on the other of the movable member 612 and the fixed member 611. During the process of the movable member 612 moving up and down relative to the fixed member 611, the first guide 615 moves along the first slide 617.

[0224] For example, the first slide groove 617 extends along the lifting direction of the movable member 612 and can penetrate the end walls of the movable member 612 or the fixed member 611 along the height direction. For example, the first slide groove 617 is provided on the side of the fixed member 611 facing the movable member 612, and the first slide groove 617 penetrates the top and bottom surfaces of the fixed member 611 along the height direction. The first guide member 615 is provided on the side of the movable member 612 facing the fixed member 611 and extends at least partially into the first slide groove 617 and contacts the groove wall of the first slide groove 617. In this way, when the movable member 612 is lifted and lowered by the lifting drive mechanism 64, the first guide member 615 can move along the groove wall of the first slide groove 617, so that the movable member 612 can stably lift and lower along the height direction of the movable member 612 under the restriction of the first slide groove 617, without lateral deviation.

[0225] For example, the first guide member 615 may include, but is not limited to, a first slider 615a and a first pulley. When the first guide member 615 is the first slider 615a, the first slider 615a slides along the first groove 617. When the first guide member 615 is the first pulley, the first pulley rolls along the first groove 617.

[0226] In some examples, the transfer vehicle 60 includes a second chute 618 and a second guide 616 that cooperates with the second chute 618. The second guide 616 is disposed on one of the movable member 612 and the second fixed seat 65, and the second chute 618 is disposed on the other of the movable member 612 and the second fixed seat 65. During the lifting and lowering of the movable member 612 relative to the second fixed seat 65, the second guide 616 moves along the second chute 618.

[0227] For example, the second slide 618 extends along the lifting direction of the movable member 612 and can penetrate the end walls of the movable member 612 or the second fixed seat 65 in the height direction. For example, the second slide 618 is provided on the side of the movable member 612 facing the second fixed seat 65, and the second slide 618 penetrates the top and bottom surfaces of the movable member 612 in the height direction. The second guide member 616 is provided on the side of the second fixed seat 65 facing the movable member 612 and extends at least partially into the second slide 618 and contacts the groove wall of the second slide 618. In this way, when the movable member 612 is lifted and lowered by the lifting drive mechanism 64, the second guide member 616 can move along the groove wall of the second slide 618, so that the movable member 612 can stably lift and lower along the height direction of the movable member 612 under the restriction of the second slide 618, without lateral deviation.

[0228] For example, the second guide member 616 may include, but is not limited to, a second slider 616a and a second pulley. When the second guide member 616 is the second slider 616a, the second slider 616a slides along the second groove 618. When the second guide member 616 is the second pulley, the second pulley rolls along the second groove 618.

[0229] In some examples, the transfer vehicle 60 may include at least one of a first guide 615 and a second guide 616. For example, the transfer vehicle 60 may include a first guide 615 or a second guide 616, or both, to allow the movable member 612 to move vertically up and down in the height direction under the guidance of two sliders and corresponding grooves.

[0230] Reference Figure 6 and Figure 7As shown, in some examples, to facilitate more precise and faster assembly of the first traveling wheel 62 onto the first fixed seat 61, a first positioning structure 613 can be provided on the first fixed seat 61, and the first traveling wheel 62 can be positioned on the first positioning structure 613. Thus, when the first traveling wheel 62 is positioned on the first positioning structure 613, the first traveling wheel 62 can be temporarily positioned on the first fixed seat 61 to ensure that the first traveling wheel 62 is quickly positioned at the preset position of the first fixed seat 61. Then, the first drive mechanism 63 is assembled with the first traveling wheel 62, which can improve the accuracy of the height difference between the first traveling wheel 62 and the second traveling wheel 66 after the first fixed seat 61 and the second fixed seat 65 are assembled, without the need to measure the fixed area of ​​the first traveling wheel 62 each time it is assembled, thereby improving the assembly efficiency of the first module 601.

[0231] It is understood that the first positioning structure 613 may be a positioning mark set on the first fixed base 61, which may include, but is not limited to, a mark graphic or a mark color.

[0232] In some examples, the first positioning structure 613 can also be a positioning assembly part disposed on the first fixed seat 61. By disposing of the first traveling wheel 62 on the first positioning assembly part, the first traveling wheel 62 will not wobble when the first drive mechanism 63 is connected to it, thus ensuring a smooth connection between the first drive mechanism 63 and the first traveling wheel 62. This also ensures that the position of the first traveling wheel 62 on the first fixed seat 61 does not change when connected to the first drive mechanism 63, thereby improving the accuracy of the height difference between the first traveling wheel 62 and the second traveling wheel 66 after the first fixed seat 61 and the second fixed seat 65 are assembled.

[0233] In some examples, the first positioning assembly can be a plurality of circumferentially arranged protrusions on the surface of the first fixed base 61, and the first traveling wheel 62 can be engaged in the area enclosed by the plurality of protrusions. In other examples, the first positioning assembly can also be a positioning cavity 6131 formed on the first fixed base 61, and the first traveling wheel 62 is installed in the positioning cavity 6131.

[0234] In some examples, the positioning cavity 6131 can be a mounting groove recessed upward from the lower surface of the first fixed seat 61, and the first traveling wheel 62 is assembled in the mounting groove, so that the first traveling wheel 62 can be positioned on the first fixed seat 61.

[0235] Reference Figure 7As shown, in other examples, the positioning cavity 6131 extends through the first fixed base 61 along its height direction. That is, the positioning cavity 6131 can be a positioning hole 613a extending through the first fixed base 61. Thus, the first traveling wheel 62 can be fitted into the positioning hole 613a from either the bottom or top of the first fixed base 61. Exemplarily, the positioning hole 613a can be located on the movable part 612 of the first fixed base 61.

[0236] Alternatively, a mounting position 614 communicating with the positioning hole 613a can be provided on the first fixed base 61. At least a portion of the first drive mechanism 63 is disposed in the mounting position 614. For example, the mounting position 614 is used to assemble the first drive mechanism 63, such as a first drive motor 631. The mounting position 614 communicates with the positioning cavity 6131. ​​After the first drive motor 631 is disposed in the mounting position 614, one end of it, such as an output shaft, passes through the cavity wall of the positioning cavity 6131, for example, it can pass through the hole wall of the first positioning hole 613a, and connect to the first traveling wheel 62.

[0237] Reference Figure 7 As shown, in some examples, a mounting notch 6141 is formed on one side wall of the first fixed seat 61 near the positioning hole 613a. The mounting notch 6141 communicates with the positioning hole 613a and is configured as a mounting position 614. For example, at least a portion of the first drive mechanism 63 is located in the mounting notch 6141 and one end passes through the hole wall of the positioning hole 613a to connect with the first traveling wheel 62.

[0238] It should be noted that the mounting notch 6141 is located at one corner of the first fixed seat 61. Therefore, the mounting notch 6141 is a semi-enclosed mounting position 614. For example, the mounting notch 6141 only includes the intersecting sidewalls a and b. In this way, it is convenient for the first drive motor 631 to be fixed to the first fixed seat 61 and for its output to pass through the positioning hole 613a and connect with the first traveling wheel 62.

[0239] In a specific configuration, one end of the fixing member 611 of the first fixing base 61 can be retracted into the same side end of the movable member 612, so that the end face of the fixing member 611 and the inner surface of the movable member 612 exposed at the end of the fixing member 611 form an installation notch 6141. The end face of the fixing member 611 is sidewall a, and the inner surface of the movable member 612 exposed at the end of the fixing member 611 is sidewall b.

[0240] It is understandable that when two first traveling wheels 62 are provided on the first fixed base 61, the two first traveling wheels 62 can be respectively provided at both ends of the first fixed base 61. In this way, mounting notches 6141 can be formed at both ends of the first fixed base 61 along the first direction to provide corresponding first drive motors 631.

[0241] For example, the length of the movable member 612 is greater than the length of the fixed member 611, such that one end of the fixed member 611 is recessed into one end of the movable member 612 to form a mounting notch 6141 at that end of the fixed member 611, and the other end of the fixed member 611 is recessed into the other end of the movable member 612 to form a mounting notch 6141 at that end of the fixed member 611.

[0242] Figure 10 This is a partial structural schematic diagram of another transfer vehicle provided in one embodiment of this application. Figure 11 yes Figure 10 A structural diagram of the first module. (Refer to...) Figure 10 and Figure 11 As shown, in some other examples, the mounting position 614 can be a mounting hole 6142 provided on the first fixed base 61. It is understood that the mounting hole 6142 has a fully enclosed sidewall structure, that is, the mounting hole 6142 has walls on all four sides. In this way, the first drive mechanism 63, such as the first drive motor 631, can be stably fixed to the four walls of the mounting hole 6142, thereby improving the stability of the first drive motor 631 on the first fixed base 61. (Refer to...) Figure 3 As shown, in some examples, the operating surface of the second orbit 200 (second operating surface 200b) is higher than the operating surface of the first orbit 100 (first operating surface 100a).

[0243] As can be seen from the above, when the transfer vehicle 60 switches from the first state to the second state, that is, when the second traveling wheel 66 travels along the second track 200, the first traveling wheel 62 cannot interfere with the first track 100, so as to ensure that the entire transfer vehicle 60 travels along the second direction.

[0244] By setting the first running surface 100a of the first track 100 to be lower than the second running surface 200a of the second track 200, in the second state of the transfer vehicle 60, the axis of the second traveling wheel 66 and the axis of the first traveling wheel 62 can be at the same height. Therefore, it is not necessary to set the first traveling wheel 62 and the second traveling wheel 66 of the transfer vehicle 60 to a structure with a height difference in the initial state. It is only necessary to raise and lower the first traveling wheel 62 in different states, which can reduce the thickness of the transfer vehicle 60.

[0245] Additionally, a chamfer 621 can be provided on at least one second traveling wheel 66 of the transfer vehicle 60, and the sidewall of the second track 200, for example, the inner sidewall, i.e., the sidewall facing into the cargo channel 400 (see reference). Figure 3 The track (shown in the diagram) is configured to engage with the chamfered edge 621 of the second traveling wheel 66 as the second traveling wheel 66 travels along the second running surface 200a to stop the second traveling wheel 66. For example, the chamfered edge 621 of the second traveling wheel 66 abuts against the inner wall of the second track 200, so that when the second traveling wheel 66 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 66, ensuring that the second traveling wheel 66 does not travel in a direction deviating from the extension direction of the second track 200.

[0246] When the second traveling wheel 66 travels along the second track 200 and passes through the docking interface 230, such as the docking groove 230a, provided on the second track 200, the chamfer 621 is located in the space above the first running surface 100a of the first track 100 in the docking interface 230. That is, the chamfer 621 can pass through the groove above the first track 100 from one side of the docking groove 230a to the other side.

[0247] Reference Figure 5 As shown, in some examples, at least three second traveling wheels 66 are spaced apart on the second fixed base 65 along the extension direction of the second track 200. Thus, when one of the second traveling wheels 66 reaches the intersection 500 of the first track 100 and the second track 200 and passes through the docking groove 230a, at least one of the remaining second traveling wheels 66 can contact the running surface of the second track 200, mitigating the situation where the transfer vehicle 60 tilts forward or backward when passing through the docking groove 230a.

[0248] It should be noted that the at least three second traveling wheels 66 include at least two driving wheels 661 and at least one driven wheel 662. The driving wheels 661 are connected to the second drive mechanism 67, and the driven wheels 662 are not connected to the second drive mechanism 67. When one of the driving wheels 661 or the driven wheel 662 passes through the interface 230, at least one driving wheel 661 contacts the running surface of the second track 200.

[0249] Specifically, at least two of the at least three second traveling wheels 66 need to be connected to the second drive mechanism 67 to ensure that at least two second traveling wheels 66 are driving wheels 661. Thus, when one of the second traveling wheels 66 passes through the docking interface 230, such as the docking groove 230a, regardless of whether the driving wheel 661 or the driven wheel 662 is docked with the docking groove 230a, at least one second traveling wheel 66 will be the driving wheel 661 and will travel along the second track 200. This ensures that when the transfer vehicle 60 passes through the docking groove 230a, at least one driving wheel 661 can run along the second track 200 under the drive of the second drive mechanism 67, thereby driving the transfer vehicle 60 to travel stably along the second track 200 without the transfer vehicle 60 getting stuck or even stopping.

[0250] In some examples, at least three second traveling wheels 66 may be provided on one of the second fixed seats 65 and at least three second traveling wheels 66 may be provided on the other second fixed seat 65. In this way, when one of the second traveling wheels 66 on each side enters the docking groove 230a, at least one second traveling wheel 66 on each side can contact the second running surface 200a of the corresponding second track 200, thereby improving the stability of the transfer vehicle 60 when passing through the docking groove 230a.

[0251] For example, each second fixed seat 65 may be provided with four second traveling wheels 66, two of which are connected to the second drive mechanism 67 so that these two second traveling wheels 66 act as driving wheels 661, driving the transfer car 60 to move on the second track 200. The other two second traveling wheels 66 may not be connected to the second drive mechanism 67, and act as driven wheels 662, which can roll under the friction of the second running surface 200a.

[0252] For example, two second traveling wheels 66 serving as driving wheels 661 can be arranged between two second traveling wheels 66 serving as driven wheels 662. Of course, the arrangement order of the driving wheels 661 and driven wheels 662 is not limited in the embodiments of this application.

[0253] For example, a chamfer 621 can be provided on at least one second traveling wheel 66 on each second fixed seat 65 to ensure that each set of second traveling wheels 66 can travel along the corresponding second running surface 200a. For instance, a chamfer 621 can be provided on all second traveling wheels 66 on each second fixed seat 65.

[0254] For example, a chamfer 621 can be provided on the driven wheel 662 on each of the second fixed seats 65, but not on the driving wheel 661. Alternatively, a chamfer 621 can be provided on the driving wheel 661 on each of the second fixed seats 65, but not on the driven wheel 662. This application embodiment does not limit the location of the chamfer 621.

[0255] Of course, in some examples, at least one long side of the running surface of the second track 200 may have a stop edge extending upwards, which is configured to stop the second traveling wheel 66 of the transfer vehicle 60. In this way, it is not necessary to provide a chamfer 621 on the second traveling wheel 66.

[0256] For example, guards can be provided on both long sides of the second running surface 200a of the second track 200 so that the second traveling wheel 66 is confined between the two guards, thereby enabling it to travel stably along the second running surface 200a without falling off the second track 200.

[0257] Reference Figure 9 As shown, in some examples, one end of the second fixed seat 65 is formed with a clearance notch 651, which is configured to avoid the first drive mechanism 63.

[0258] For example, when the second fixing seat 65 is assembled on the first fixing seat 61, the clearance notch 651 on the second fixing seat 65 overlaps with the mounting notch 6141 on the first fixing seat 61.

[0259] It is understandable that the clearance notch 651 is set in a similar manner to the installation notch 6141 mentioned above, that is, it is set at one corner of the second fixing seat 65. Therefore, the clearance notch 651 is a semi-enclosed structure. For example, the clearance notch 651 only includes intersecting sidewalls c and d. One sidewall c of the clearance notch 651 cooperates with the fixing member 611 of the first fixing seat 61, and the other sidewall d of the clearance notch 651 cooperates with the movable member 612 of the first fixing seat 61.

[0260] In some examples, the first fixing seat 61 and the second fixing seat 65 can be connected by snap-fit, screw connection or other means. In this application embodiment, the connection method between the first fixing seat 61 and the second fixing seat 65 is not limited, as long as it facilitates quick assembly and disassembly between the first fixing seat 61 and the second fixing seat 65.

[0261] For example, a protrusion 619 can be provided on the first fixed seat 61 and a slot can be provided on the second fixed seat 65. The protrusion 619 can be locked in the slot to realize the assembly connection between the first fixed seat 61 and the second fixed seat 65, ensuring that the relative position of the first fixed seat 61 and the second fixed seat 65 is fixed.

[0262] In a specific configuration, the side wall c of the clearance notch 651 can be connected to the first fixing member 611 via a protrusion 619 and a slot to achieve assembly between the second fixing seat 65 and the fixing member 611. The side wall d of the clearance notch 651 and the movable member 612 of the first fixing seat 61 can be guided and engaged by the second slider 616a and the second slide groove 618, so that the movable member 612 can move up and down in relation to the second fixing seat 65.

[0263] Reference Figure 5 As shown, in some examples, a second positioning structure 652 is provided on the second fixed base 65, and a second drive mechanism 67 is provided on the second positioning structure 652. Thus, when the second drive mechanism 67 is provided on the second positioning structure 652, the second drive mechanism can be temporarily positioned on the second fixed base 65 to ensure that the second drive mechanism 67 is quickly positioned at a preset position on the second fixed base 65. Then, the second traveling wheel 66 is assembled with the second drive mechanism 67. This improves the accuracy of the height difference between the first traveling wheel 62 and the second traveling wheel 66 after the second fixed base 65 is assembled, eliminating the need to measure the fixed area of ​​the second traveling wheel 66 each time it is assembled, thereby improving the assembly efficiency of the second module 602.

[0264] It is understood that the second positioning structure 652 may be a positioning mark set on the second fixed base 65, which may include, but is not limited to, a positioning graphic or a positioning color.

[0265] In some examples, the second positioning structure 652 may also be a positioning assembly part disposed on the second fixed base 65. By disposing the second drive mechanism 67 on the second positioning assembly part, it is easier for the second drive mechanism 67 to be fixed to the second fixed base 65.

[0266] In some examples, the second positioning assembly can be a plurality of circumferentially arranged protrusions on the surface of the second fixed seat 65, and the second driving structure can be engaged in the area enclosed by the plurality of protrusions.

[0267] In other examples, the second positioning assembly can also be a positioning groove formed on the second fixed seat 65, in which the second drive mechanism 67 is assembled, thereby realizing the positioning and temporary assembly of the second drive mechanism 67.

[0268] In other examples, the second positioning assembly can be a mounting channel 6521 extending through the second fixed base 65 along the extension direction of the first track 100. A second drive mechanism 67 is disposed in the mounting channel 6521, and a second traveling wheel 66 connected to the second drive mechanism 67 is located at the outer port of the mounting channel 6521. Thus, the second drive mechanism 67, for example, a second drive motor 671, can be first assembled into the mounting channel 6521, and the output shaft of the second drive motor 671 can extend out of the outer port of the mounting channel 6521 and connect to the second traveling wheel 66. It is understood that the second traveling wheel 66 can be connected to the output shaft of the second drive motor 671 on the outside of the second fixed base 65 to facilitate the assembly of the second drive motor 671 and the second traveling wheel 66.

[0269] In some examples, the second positioning structure 652 is offset from the clearance notch 651 to provide more suitable installation space for the second drive mechanism 67. For example, the second positioning structure 652 and the clearance notch 651 may be spaced apart along the second direction.

[0270] For example, a positioning hole 613a can be provided on the side wall d of the clearance notch 651. The positioning hole 613a is used to assemble the driven wheel 662 in the second traveling wheel 66. For example, a driven wheel 662 can be provided on the clearance notches 651 at both ends of the second fixed seat 65, and two driving wheels 661 can be provided at intervals in the area between the two driven wheels 662. The two driving wheels 661 are connected to the second drive mechanism 67 provided on the second positioning structure 652.

[0271] In some examples, the second fixing seat 65 can be a hollow frame, and the mounting channel 6521 can be the internal cavity of the frame. The two ends of the mounting channel 6521 penetrate the two side walls of the frame along the first direction. The inner port of the mounting channel 6521 is the port facing the inside of the transfer vehicle 60 (i.e., the mounting area 68a below), and the outer port of the mounting channel 6521 is the port facing the outside of the transfer vehicle 60.

[0272] Reference Figure 5 As shown, in some examples, a guide wheel 70 may also be provided on the second fixed base 65. The rolling surface of the guide wheel 70 is configured to roll along the side wall of the support frame 220 on the second track 200. For example, the guide wheel 70 is configured to roll along the side wall of the support frame 220 when the transfer vehicle 60 travels to one side of the support frame 220 on the second track 200. Exemplarily, the guide wheel 70 may be provided on the outer surface of the side wall b of the notch 651 in the second fixed base 65, and the axis of rotation of the guide wheel 70 extends along the height direction of the second fixed base 65. The axis of rotation of the second traveling wheel 66 extends along a first direction.

[0273] The guide wheel 70 can roll along the inner surface of the support frame 220 when the transfer vehicle 60 passes the support frame 220, so that the two sides of the transfer vehicle 60 are supported on the inner surface of the support frame 220, thereby improving the stability of the transfer vehicle 60 at the storage location. Then, by lifting the carrier, such as the movable part 612 of the second fixed seat 65, the transfer vehicle 60 can be docked with the storage location on the support frame 220 to realize the picking and placing of the target box.

[0274] In addition, the guide wheels 70 roll along the inner surface of the support frame 220, also guiding the transfer vehicle 60. This prevents the transfer vehicle 60 from veering to the left or right while traveling along the cargo aisle 400, thus avoiding collisions with the support frame 220 and affecting the structural stability of the storage location. (Refer to...) Figure 4 As shown, in some examples, the first mounting base 61 and the second mounting base 65 together enclose the mounting area 68a, which is configured to mount the functional device 69 of the transfer vehicle 60.

[0275] It should be noted that functional device 69 may include, but is not limited to, devices such as batteries, control chips, and cooling fans.

[0276] For example, the two first fixing seats 61 and the two second fixing seats 65 can form a quadrilateral mounting area 68a, and the functional device 69 can be disposed within this mounting area 68a. In this way, the layout of the entire structure can be more reasonable and compact.

[0277] Reference Figure 5 As shown, a recessed area 653 may be formed on the side of at least one second mounting base 65 facing the mounting area 68a, and the recessed area 653 is configured to avoid the functional device 69. The recessed area 653 increases the size of the mounting area 68a, making it easier for the functional device 69 to be assembled in a suitable position.

[0278] Reference Figure 10 As shown, in some examples, the side of the second fixing base 65 facing the mounting area 68a may not have a recessed area. For example, a fixing plate 654 is provided on the side of the second fixing base 65 facing the mounting area 68a, and the side of the fixing plate 654 facing the mounting area 68a is flat. On the one hand, the setting of the fixing plate 654 can enhance the structural strength of the second fixing base 65. On the other hand, some functional devices 69 can be fixed on the fixing plate 654 to provide a suitable mounting surface for the functional devices 69.

[0279] In some examples, the functional component 69 can be directly fixed to the first fixed base 61 or the second fixed base 65 to reduce the number of parts in the transfer vehicle 60 and simplify the assembly process.

[0280] In other examples, the transfer vehicle 60 may also include a mounting plate 68, at least a portion of which is located in the mounting area 68a and fixed to at least one of a first fixing seat 61 and a second fixing seat 65, with a functional device 69 disposed on the mounting plate 68.

[0281] Thus, when assembling the transfer vehicle 60, the functional component 69 can be pre-assembled onto the mounting plate 68, so that the functional component 69 and the mounting plate 68 together form a third module. After the third module is assembled, the mounting plate 68 is assembled into the mounting area 68a and is detachably fixed to the first fixing seat 61 or the second fixing seat 65 by means of snap-fit, screw connection, or other methods, thereby realizing the assembly of the transfer vehicle 60. For example, the outer edge of the mounting plate 68 can extend to the bottom surface of the first fixing seat 61 and the second fixing seat 65 and connect to the bottom surface.

[0282] In some examples, the outer edge of the mounting plate 68 can be directly fixed to the inner sidewalls of the first fixing seat 61 and the second fixing seat 65. This application embodiment does not limit the fixing position of the mounting plate 68 relative to the first fixing seat 61 and the second fixing seat 65.

[0283] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A transfer vehicle, characterized in that, It includes a first fixed base (61), a first traveling wheel (62) and a first drive mechanism (63); the first drive mechanism (63) is connected to the first traveling wheel (62) and is configured to drive the first traveling wheel (62) to travel along the first track (100) of the vehicle (10); the first traveling wheel (62) and the first drive mechanism (63) are both disposed on the first fixed base (61); It also includes a second fixed base (65), a second traveling wheel (66), and a second drive mechanism (67); the second drive mechanism (67) is connected to the second traveling wheel (66) and is configured to drive the second traveling wheel (66) to travel along the second track (200); both the second traveling wheel (66) and the second drive mechanism (67) are disposed on the second fixed base (65); the first track (100) and the second track (200) are intersected; The first fixing seat (61) and the second fixing seat (65) are detachably connected.

2. The transfer vehicle according to claim 1, characterized in that, The first fixed seat (61) includes two, and the two first fixed seats (61) are arranged at intervals along the extension direction of the second track (200). Each first fixed seat (61) is provided with a first traveling wheel (62) and a first driving mechanism (63). The first driving mechanism (63) on each first fixed seat (61) is configured to drive the first traveling wheel (62) on the same side to run.

3. The transfer vehicle according to claim 2, characterized in that, Each of the first fixed seats (61) is provided with at least two first traveling wheels (62), and the at least two first traveling wheels (62) are spaced apart along the extension direction of the first track (100); The first drive mechanism (63) includes at least two first drive motors (631), one of which is connected to one of the first wheels (62), and the other of which is connected to the other first wheel (62); or, The first drive mechanism (63) includes a first transmission structure and a first drive motor (631). The first drive motor (631) is connected to the first transmission structure, and at least two first walking wheels (62) are connected to the first transmission structure. The first transmission structure is configured to drive at least two first walking wheels (62) to walk under the drive of the first drive motor (631).

4. The transfer vehicle according to claim 2, characterized in that, It also includes a lifting drive mechanism (64); The first fixed base (61) includes a fixed member (611) and a movable member (612). The fixed member (611) is detachably connected to the second fixed base (65). The movable member (612) can be raised and lowered relative to the fixed member (611) and the second fixed base (65). The first traveling wheel (62) and the first drive mechanism (63) are disposed on the movable member (612). The lifting drive mechanism (64) is connected to the movable part (612) to drive the movable part (612) to rise and fall relative to the fixed part (611) and the second fixed seat (65), so that the first traveling wheel (62) rises and falls relative to the second traveling wheel (66).

5. The transfer vehicle according to claim 4, characterized in that, A portion of the lifting drive mechanism (64) is located on the fixed member (611), and another portion of the lifting drive mechanism (64) cooperates with the movable member (612) to drive the movable member (612) to move.

6. The transfer vehicle according to claim 5, characterized in that, The lifting drive mechanism (64) includes a lifting drive motor (641) and a lifting transmission structure (642). The lifting drive motor (641) is disposed on the fixed member (611). The lifting transmission structure (642) is connected to the lifting drive motor (641) and coupled to the movable member (612). The lifting transmission structure (642) is configured to drive the movable part (612) to lift under the drive of the lifting drive motor (641).

7. The transfer vehicle according to claim 6, characterized in that, The lifting transmission structure (642) includes: A cam (6421) is connected to the lifting drive motor (641) to rotate under the drive of the lifting drive motor (641); A connecting shaft (6422) is connected to the cam (6421), at least a portion of which is located within a guide cavity (6121) on the movable member (612) and is movable within the guide cavity (6121); The lifting drive motor (641) is configured to drive the cam (6421) to rotate, thereby driving the connecting shaft (6422) to move within the guide cavity (6121), thereby abutting against the cavity wall of the guide cavity (6121) and causing the movable part (612) to rise and fall.

8. The transfer vehicle according to claim 5, characterized in that, The lifting drive mechanism (64) includes two, one of which is disposed on one of the first fixed seats (61) and is configured to drive the movable part (612) on the corresponding first fixed seat (61) to lift. Another of the lifting drive mechanisms (64) is disposed on another of the first fixed bases (61) and is configured to drive the movable part (612) on the same side to lift.

9. The transfer vehicle according to claim 4, characterized in that, The transfer vehicle includes a first chute (617) and a first guide (615) cooperating with the first chute (617). The first guide (615) is disposed on one of the movable member (612) and the fixed member (611), and the first chute (617) is disposed on the other of the movable member (612) and the fixed member (611). During the lifting and lowering of the movable member (612) relative to the fixed member (611), the first guide (615) moves along the first chute (617); and / or, The transfer vehicle includes a second chute (618) and a second guide (616) that cooperates with the second chute (618). The second guide (616) is disposed on one of the movable member (612) and the second fixed seat (65), and the second chute (618) is disposed on the other of the movable member (612) and the second fixed seat (65). During the lifting and lowering of the movable member (612) relative to the second fixed seat (65), the second guide (616) moves along the second chute (618).

10. The transfer vehicle according to claim 1, characterized in that, The first fixed base (61) is provided with a first positioning structure (613), and the first traveling wheel (62) is provided on the first positioning structure (613).

11. The transfer vehicle according to claim 10, characterized in that, The first positioning structure (613) is a positioning cavity (6131) formed on the first fixed seat (61). The first traveling wheel (62) is installed in the positioning cavity (6131). The first fixed seat (61) also has a mounting position. At least a portion of the first driving mechanism (63) is disposed in the mounting position. The mounting position communicates with the positioning cavity (6131). One end of the first driving mechanism (63) passes through the cavity wall of the positioning cavity (6131) and is connected to the first traveling wheel (62).

12. The transfer vehicle according to claim 11, characterized in that, The positioning cavity (6131) is a positioning hole (613a) that penetrates the first fixed seat (61) along the height direction of the first fixed seat (61); The first fixing base (61) has a mounting notch (6141) formed on one side wall near the positioning hole (613a), and the mounting notch (6141) is configured as the mounting position.

13. The transfer vehicle according to claim 1, characterized in that, The second fixed seat (65) includes two, and the two second fixed seats (65) are arranged at intervals along the extension direction of the first track (100). Each second fixed seat (65) is provided with a second traveling wheel (66) and a second drive mechanism (67). The second drive mechanism (67) on each second fixed seat (65) is configured to drive the second traveling wheel (66) on the same side to run.

14. The transfer vehicle according to claim 13, characterized in that, Each of the second fixed seats (65) is provided with at least two second traveling wheels (66), which are spaced apart along the extension direction of the second track (200); The second drive mechanism (67) includes at least two second drive motors (671), one of which is connected to one of the second wheels (66), and the other of which is connected to the other second wheel (66); or, The second drive mechanism (67) includes a second transmission structure and a second drive motor (671). The second drive motor (671) is connected to the second transmission structure, and at least two second walking wheels (66) are connected to the second transmission structure. The second transmission structure is configured to drive at least two second walking wheels (66) to walk under the drive of the second drive motor (671).

15. The transfer vehicle according to claim 14, characterized in that, A docking interface (230) is formed on the second track (200), the first track (100) is installed in the docking interface (230), and the running surface of the second track (200) is higher than the running surface of the first track (100); At least three second traveling wheels (66) are spaced apart on the second fixed seat (65) along the extension direction of the second track (200); when the transfer vehicle travels on the second track (200), when one of the second traveling wheels (66) passes the docking interface (230), at least another second traveling wheel (66) contacts the running surface of the second track (200).

16. The transfer vehicle according to claim 15, characterized in that, The at least three second traveling wheels (66) include at least two driving wheels (661) and at least one driven wheel (662), and the second drive mechanism (67) is connected to the at least two driving wheels (661); When one of the driving wheels (661) or the driven wheel (662) passes through the docking interface (230), at least one of the driving wheels (661) contacts the running surface of the second track (200).

17. The transfer vehicle according to claim 1, characterized in that, One end of the second fixed seat (65) is formed with a clearance notch (651), which is configured to avoid the first drive mechanism (63); One sidewall of the clearance notch (651) engages with the fixing member (611) of the first fixing seat (61), and the other sidewall of the clearance notch (651) engages with the movable member (612) of the first fixing seat (61).

18. The transfer vehicle according to claim 17, characterized in that, The second fixed base (65) is provided with a second positioning structure (652), and the second driving mechanism (67) is provided on the second positioning structure (652); The second positioning structure (652) is offset from the avoidance gap (651).

19. The transfer vehicle according to claim 18, characterized in that, The second positioning structure (652) is an installation channel (6521) that extends through the second fixed seat (65) along the extension direction of the first track (100). The second drive mechanism (67) is disposed in the installation channel (6521), and the second traveling wheel (66) connected to the second drive mechanism (67) is located at the outer port of the installation channel (6521).

20. The transfer vehicle according to claim 1, characterized in that, The second fixed seat (65) is also provided with a guide wheel (70), which is configured to roll along the side wall of the support frame (220) when the transfer vehicle travels to one side of the support frame (220) on the second track (200); The support frame (220) is used to support the item.

21. The transfer vehicle according to claim 1, characterized in that, The first fixing seat (61) and the second fixing seat (65) together enclose an installation area (68a), which is configured to install the functional components (69) of the transfer vehicle.

22. The transfer vehicle according to claim 21, characterized in that, At least one of the second mounting bases (65) has a recessed area (653) formed on the side facing the mounting area (68a), the recessed area (653) being configured to avoid the functional device (69).

23. The transfer vehicle according to claim 21, characterized in that, At least one of the second fixing bases (65) is provided with a fixing plate on the side facing the mounting area (68a), and the surface of the fixing plate facing the mounting area (68a) is a flat surface; The mounting plate is configured to fix the functional device (69).

24. The transfer vehicle according to claim 21, characterized in that, It also includes a mounting plate (68), at least a portion of which is located in the mounting area (68a) and fixed to at least one of the first fixing seat (61) and the second fixing seat (65); The functional device (69) is disposed on the mounting plate (68).

25. The transfer vehicle according to any one of claims 1-24, characterized in that, At least one of the first traveling wheels (62) is provided with a chamfer (621), the chamfer (621) engaging with the sidewall of the first track (100); and / or, At least one of the second traveling wheels (66) is provided with a chamfer (621), which engages with the sidewall of the second track (200).

26. The transfer vehicle according to any one of claims 1-24, characterized in that, When the transfer vehicle receives a pick-up and return task, it performs the following actions: The first drive mechanism (63) drives the first walking wheel (62) to walk along the first track (100) so that the transfer vehicle can walk in the alley until it reaches the cargo lane where the target object is located; The lifting drive mechanism (64) of the transfer vehicle drives the movable part (612) of the first fixed seat (61) to rise relative to the fixed part (611) until the second traveling wheel (66) contacts the second track (200) and the first traveling wheel (62) disengages from the first track (100). The second drive mechanism (67) drives the second walking wheel (66) to walk along the second track (200) so that the transfer vehicle can walk in the cargo channel until it reaches the target storage location; The transfer vehicle performs the actions of picking up and returning items.

27. A warehousing system, characterized in that, include: The vehicle (10) includes a first track (100) and a second track (200) arranged in an intersecting manner; The transfer vehicle (60) as described in any one of claims 1-26, wherein the first traveling wheel (62) of the transfer vehicle (60) travels along the first track (100), and the second traveling wheel (66) of the transfer vehicle (60) travels along the second track (200).

28. The warehousing system according to claim 27, characterized in that, A mating interface (230) is formed on the second track (200), and the first track (100) is installed in the mating interface (230). The running surface of the second track (200) is higher than the running surface of the first track (100). The second traveling wheel (66) is provided with a chamfer (621). When the second traveling wheel (66) travels along the second track (200), the chamfer (621) engages with the side wall of the second track (200). When the second traveling wheel (66) passes through the interface (230), the chamfer (621) is located in the space above the running surface of the first track (100) in the interface (230).

Images