Multi-motor driving type compact shelving moving column

Abstract

The utility model discloses a multi-motor driving type compact shelving moving column, a compact shelving moving column chassis is provided with at least two driving motors, at least two motor driving output shafts and at least two compact shelving chassis rollers, and the motor driving output shaft of each driving motor is respectively provided with a corresponding compact shelving chassis roller; when the two driving motors are adopted, the two driving motors, the corresponding motor driving output shafts and the compact shelving chassis rollers are respectively distributed at two end head areas close to the length direction of the compact shelving moving column; and when more than two driving motors are adopted, except that the two driving motors are respectively distributed and mounted at two end head areas close to the length direction of the movable column of the compact shelving, the other driving motors, the corresponding motor driving output shafts and the compact shelving chassis rollers are uniformly distributed and arranged at a position area between the two driving motors. Driving power of the driving motor can be reduced, working intensity of the driving motor is reduced, and working stability of the compact shelving moving column is improved.

Description

Technical Field

[0001] This utility model relates to a mobile shelving unit, and more particularly to a motor-driven mobile shelving unit moving column. Background Technology

[0002] Mobile shelving units are widely used in government agencies, enterprises, and other organizations for the intensive storage and management of books, archives, financial documents, samples, and other items due to their higher storage capacity and more efficient space-saving effect compared to traditional bookshelves, shelves, or filing cabinets. Existing electric mobile shelving units typically consist of several sets of steel rails placed on the ground, combining one or more fixed columns and several sets of movable columns into a single unit. A single drive motor at the bottom of the unit controls steel wheels to roll and move the column along the rails, opening the aisles between adjacent columns. Finally, the desired movable column is opened manually, allowing managers or users to enter the aisles to store or retrieve items – a high-density storage facility. Because existing mobile shelving units use a single motor to drive and control steel wheels, and this single motor is designed to power the shelving unit and the stored files, the overall weight of the mobile shelving unit is high. This results in a high power requirement for the individual motor, leading to high workload and potential safety hazards such as motor failure. Furthermore, the complex drive transmission and control structure of the single motor can affect the operational stability of the mobile shelving unit. Additionally, to increase storage capacity, mobile shelving units are often made longer, both in terms of the mobile and fixed columns, further increasing the overall weight and making them more susceptible to the aforementioned drive motor problems.

[0003] Patent No. ZL202310706934.6, published on August 11, 2023, discloses a mobile shelving unit with a locking function, relating to the field of mobile shelving technology. Specifically, it is a mobile shelving unit with a locking function, comprising a mobile shelving body and a mounting base installed on the lower surface of the mobile shelving body. Two symmetrically arranged walking grooves are located below the mounting base, and a limit block is provided at the lower end of the mounting base. The interior of the mobile shelving body has several placement cavities, and the side walls of the mobile shelving body have sealing grooves. Sealing gaskets are connected inside the sealing grooves, and the mounting base and the mobile shelving body are integrally fixed. This mobile shelving unit with a locking function can push friction components to move under the compression of the locking spring, causing the friction components to insert into the inner wall of the friction groove. Under the action of friction, the two wheels are locked, thus preventing the user from easily pushing the mobile shelving unit when storing it. This solution also uses a single dual-axis motor to drive the movement of the mobile shelving unit, and still suffers from the aforementioned problems. Utility Model Content

[0004] This utility model addresses the problems of existing mobile shelving units where a single drive motor requires high driving power, has high operating intensity, and is prone to motor failure, which can affect the stability of the mobile shelving unit. It provides a multi-motor driven mobile shelving unit that reduces the driving power and operating intensity of the single drive motor, thereby improving the stability of the mobile shelving unit.

[0005] The specific technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a multi-motor driven mobile shelving unit, comprising a mobile shelving unit, characterized in that: the chassis of the mobile shelving unit is provided with at least two drive motors, at least two motor drive output shafts, and at least two mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers, and each drive motor's corresponding motor drive output shaft is respectively connected to a corresponding mobile shelving unit chassis rolling bearing or mobile shelving unit chassis roller; when using two drive motors, the two drive motors and their corresponding motor drive output shafts, mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers are respectively distributed at both ends of the mobile shelving unit along its length; when using more than two drive motors, in addition to the two drive motors being respectively distributed at both ends of the mobile shelving unit along its length, the remaining drive motors and their corresponding motor drive output shafts, mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers are evenly distributed in the area between the two drive motors. The multi-drive motor-driven mobile shelving unit solution distributes the power required to move the entire mobile shelving unit and its stored materials across multiple drive motors. This reduces the drive power and workload of the drive motors, and improves the stability of the mobile shelving unit. Furthermore, even if a single drive motor fails during the operation of the mobile shelving unit, it can still effectively continue to perform emergency movement tasks to a certain extent, preventing the inability of a single drive motor to perform emergency movement tasks after a failure.

[0006] Preferably, at least two parallel floor rails are laid on the ground beneath the chassis of the mobile shelving unit. The length direction of these two parallel floor rails is spatially perpendicular to the length direction of the mobile shelving unit. At least two rolling bearings or rollers on the chassis of the mobile shelving unit correspond and cooperate with the at least two floor rails. This improves the versatility and effectiveness of the mobile shelving unit under multi-drive motor control in various application scenarios.

[0007] Preferably, the central axis of the motor drive output shaft of each drive motor is on the same central axis. This improves the smoothness and effectiveness of the drive movement of the mobile shelving unit.

[0008] Preferably, the ground area beneath the chassis of the mobile shelving unit is a flat surface without any ground tracks. At least two laser rangefinders or lidar are installed on the side of the chassis along the length of the mobile shelving unit or on the outer side of the partition plate of the same row. These laser rangefinders detect the movement distance of the mobile shelving unit relative to the fixed column or the adjacent preceding column, and provide feedback to adjust and control the speed of each drive motor, ensuring that the mobile shelving unit and its chassis rolling bearings or rollers maintain trackless translational movement. This improves the effectiveness of the mobile shelving unit under multi-drive motor control in various application scenarios. The solution eliminates the need for ground-mounted tracks for the mobile shelving units. Instead, laser sensors are used to detect and monitor the movement of the mobile shelving unit, effectively controlling its speed and enabling trackless movement to open or close the shelving unit's passageways. This effectively avoids the derailment problems associated with ground-mounted tracks, resulting in more stable operation, a simpler structure, and significantly easier cleaning of the floor beneath the shelving units. The mobile shelving units are safe and efficient to use.

[0009] Preferably, the rollers on the mobile shelving unit are made of steel and have radial rolling elements perpendicular to the central axis of the motor drive output shaft. These radial rolling elements can be cylindrical with a single flat outer rolling surface, or cylindrical with two flat outer rolling surfaces. The cylindrical rolling elements can be straight cylindrical, have a downwardly sloping narrowing side, or have an outwardly arc-shaped convex side. This design improves the smoothness and stability of the mobile shelving unit's movement during the unguided opening or closing of the mobile shelving unit's passageway.

[0010] Preferably, the laser ranging sensor is a laser ranging sensor with an RS232 interface, RS485 interface, or TTL interface. This improves the effectiveness of network transmission of detection and control data from the laser ranging sensor, enhances the effectiveness of network transmission control when the mobile shelving unit moves to open or close the shelving unit's passageway, and improves the effectiveness of IoT interconnection control when the mobile shelving unit moves to open or close the shelving unit's passageway without track navigation.

[0011] Preferably, a side-top laser rangefinder is installed on the top of the short side of the mobile shelving unit, on the same side as the short side of the unit. This sensor detects the lateral distance between the short side of the mobile shelving unit and the wall, reference baffle, or reference barrier it faces, and provides feedback to adjust and control the system to maintain this distance. This improves the smoothness and effectiveness of the mobile shelving unit's movement along its length when opening or closing the aisle without track navigation.

[0012] Preferably, the mobile shelving unit's chassis is equipped with a side drive motor and a side motor drive output shaft, with side chassis rollers mounted on the side motor drive output shaft. A side-top laser rangefinder is connected to the side drive motor for detection, feedback, and control. The drive motor control circuit adjusts the side drive motor's speed and working direction in real time based on the side distance feedback data. This improves the smoothness and effectiveness of the mobile shelving unit's movement along its length when opening or closing the shelving unit's passageway without track navigation.

[0013] Preferably, each drive motor is equipped with a reducer or gearbox, or, based on the reducer or gearbox, a synchronous transmission sprocket is configured to transmit power to the rolling bearings or rollers of the mobile shelving chassis. This improves the stability and effectiveness of the drive and rolling control of the rolling bearings or rollers of the mobile shelving chassis.

[0014] Preferably, each drive motor drives two or three mobile shelving unit chassis rolling bearings or rollers. When using two rolling bearings or rollers, the center line connecting the two bearings or rollers is perpendicular to the length of the mobile shelving unit or arranged obliquely with a certain degree of spatial misalignment. When using three rolling bearings or rollers, they are arranged in an isosceles triangle or a regular triangle along the length of the mobile shelving unit. This better distributes the support points of the mobile shelving unit, reduces the load-bearing capacity of the rollers themselves, lowers the chassis support strength, and improves the stability, reliability, and effectiveness of the support provided by the rollers or bearings, thus enhancing the overall support performance of the mobile shelving unit.

[0015] Preferably, at least two positioning switches are provided on the side of the mobile shelving unit's chassis on the side facing either the fixed mobile shelving unit or the preceding mobile shelving unit. These positioning switches detect the closing / closing signal of the mobile shelving unit and feed it back to the drive motor control circuit. This improves the smoothness and effectiveness of the mobile shelving unit's movement during opening and closing, preventing potential collisions during closing.

[0016] The beneficial effects of this utility model are as follows: The multi-drive motor-driven mobile shelving unit solution distributes the driving power required to move the entire mobile shelving unit and its stored materials across multiple drive motors. This reduces the driving power and workload of the drive motors, improving the stability of the mobile shelving unit. Furthermore, even if a single drive motor fails during operation, the unit can still effectively continue its emergency movement tasks, preventing the unit from being unable to perform its emergency movement duties after a single motor malfunctions. It also effectively avoids the derailment problem associated with ground-rail systems, resulting in more stable operation, a simpler structure, and significantly easier cleaning of the floor beneath the shelving unit. The mobile shelving unit is safe and effective to use. Attached image description:

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 This is a schematic diagram of the structure of the multi-motor driven mobile shelving unit of this utility model.

[0019] Figure 2 This is a schematic diagram of the structure of the multi-motor driven mobile shelving unit of this utility model, which drives the chassis rolling bearing or chassis rollers.

[0020] Figure 3 This is a schematic diagram of the chassis rollers in the multi-motor driven mobile shelving unit of this utility model.

[0021] Figure 4 This is a schematic diagram of an application site structure for the multi-motor driven mobile shelving unit of this utility model.

[0022] Figure 5 This is a schematic diagram of another application site structure for the multi-motor driven mobile shelving unit of this utility model. Detailed Implementation

[0023] Example 1:

[0024] Figure 1 , Figure 2 , Figure 3 , Figure 4In the illustrated embodiment, a multi-motor driven mobile shelving unit includes a mobile shelving unit 10. The chassis of the mobile shelving unit 10 is equipped with at least two drive motors 30, at least two motor drive output shafts 31, and at least two mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers 32. Each drive motor 30 has a corresponding mobile shelving unit chassis rolling bearing or mobile shelving unit chassis roller 32 connected to its corresponding motor drive output shaft 31. When two drive motors 30 are used (see...),... Figure 1 A), two drive motors 30 and their corresponding motor drive output shafts 31, and the rolling bearings or rollers 32 of the mobile shelving chassis are respectively distributed at both ends of the mobile shelving moving column along the length of the column (although... Figure 1 As shown in A, the chassis rolling bearing or chassis roller 32 is positioned at the end of the mobile shelving unit's moving column relative to the drive motor 30, but it can also be used at... Figure 1 (As shown in B, the installation method is the opposite direction, i.e., the drive motor 30 is installed at the inner end of the mobile shelving unit relative to the chassis rolling bearing or chassis roller 32). When using two or more drive motors, in addition to the two drive motors being respectively installed at the two end areas along the length of the mobile shelving unit, the remaining drive motors and their corresponding motor drive output shafts, mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers are evenly distributed in the area between the two drive motors. The central axis of the motor drive output shaft 31 of each drive motor 30 is on the same central axis.

[0025] At least two parallel mobile shelving ground rails 70 are laid on the ground beneath the chassis of the mobile shelving unit 10. The length direction of these at least two parallel mobile shelving ground rails 70 is spatially perpendicular to the length direction of the mobile shelving unit 10 (see...). Figure 4 At least two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are respectively matched with at least two mobile shelving ground rails 70.

[0026] The rollers 32 of the mobile shelving chassis are made of steel and have radial rolling elements perpendicular to the central axis of the motor drive output shaft 31. The radial rolling elements are cylindrical rolling elements with a flat outer rolling circumferential surface 32E (see...). Figure 3 A). Or a cylindrical rolling element with double flat outer rolling surfaces (see...). Figure 3 D); the cylindrical rolling element is a flat cylindrical rolling element with a flat side surface 32A (see Figure 3 A) A cylindrical rolling element with a downwardly sloping, narrowed side surface 32B (see...) Figure 3 B) or a cylindrical rolling element with an outer arc-shaped convex side 32C (see Figure 3 C), wherein the cylindrical rolling element has a double flat outer rolling circumference (see Figure 3The columnar side surface of D) can adopt the shape structure of a flat side surface 32A, a downwardly sloping and narrowed side surface 32B, or an outwardly curved and convex side surface 32C.

[0027] Each drive motor drives two or three mobile shelving unit chassis rolling bearings or rollers. When using two mobile shelving unit chassis rolling bearings or rollers, the center line connecting the two rolling bearings or rollers is perpendicular to the length of the mobile shelving unit's moving column, or it is a diagonal distribution structure with a certain degree of spatial misalignment. When using three mobile shelving unit chassis rolling bearings or rollers, the three rolling bearings or rollers are arranged in an isosceles triangle or ordinary triangle position along the length of the mobile shelving unit's moving column. More specific technical solutions are described below.

[0028] Each drive motor 30 is equipped with a reducer or gearbox (the reducer or gearbox is not shown in the figure, but you can refer to or borrow the installation configuration scheme of the reducer or gearbox and drive motor in the prior art). Based on the reducer or gearbox, a synchronous transmission sprocket is configured. The synchronous transmission sprocket transmits the connecting mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32. Each drive motor 30 synchronously drives two connecting mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 (see...). Figure 2 A, Figure 2 B), or three synchronously driven links are used for the rolling bearings of the mobile shelving chassis or the rollers of the mobile shelving chassis 32 (see B). Figure 2 C Figure 2 D); Each drive motor 30's synchronous transmission sprocket includes two synchronous transmission chains 33 and two synchronous transmission output shafts 34. Two drive output shaft drive sprockets are mounted and connected to the motor drive output shaft 31. Each of the two drive output shaft drive sprockets is connected to a drive output driven sprocket via its corresponding synchronous transmission chain 33. The drive output driven sprocket is mounted and connected to the synchronous transmission output shaft 34. The synchronous transmission output shaft 34 is equipped with a mobile shelving chassis rolling bearing or a mobile shelving chassis roller 32. When each drive motor 30 synchronously drives two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32, the spatial distribution of these two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 can be achieved using the following two schemes: the radial center planes of the two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are on the same vertical center plane (see...). Figure 2 A, that is, at the same position along the length of the mobile shelving unit; or the radial center surfaces of the two mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers 32 are offset from each other along the length of the mobile shelving unit and have a certain degree of spatial separation (see...). Figure 2 (B) This can better meet the requirements of improving the stability of the mobile shelving chassis support and the translational stability of the mobile shelving unit when it is not guided by tracks.

[0029] When each drive motor 30 synchronously drives three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32, the spatial distribution of these three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 can be achieved using the following two schemes: Two of the mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are respectively installed and connected to two synchronous transmission output shafts 34 via two synchronous transmission chains 33 and two synchronous transmission output shafts 34; the third mobile shelving chassis rolling bearing or mobile shelving chassis roller 32 is installed and connected to the motor drive output shaft 31, and the radial center planes of these two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are on the same vertical center plane (see...). Figure 2 C, that is, at the same position along the length of the mobile shelving unit's moving column), the third mobile shelving unit's chassis rolling bearing or mobile shelving unit's chassis roller 32 and the radial center planes of the above two mobile shelving unit's chassis rolling bearings or mobile shelving unit's chassis roller 32 are offset from each other along the length of the mobile shelving unit's moving column and have a certain degree of spatial separation (see Figure 2 C), forming a structure in which three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are distributed in an isosceles triangle along the length of the mobile shelving moving column (see...). Figure 2 C); or two of the mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are respectively installed and connected to two synchronous conveyor output shafts 34 via two synchronous conveyor chains 33 and two synchronous conveyor output shafts 34, and the radial center surfaces of the two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are offset from each other along the length of the mobile shelving moving column and have a certain degree of spatial separation (see Figure 2 D), and the third mobile shelving chassis rolling bearing or mobile shelving chassis roller 32 is installed and connected to the motor drive output shaft 31. The radial center planes of the third mobile shelving chassis rolling bearing or mobile shelving chassis roller 32 and the above two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are all staggered from each other along the length of the mobile shelving moving column and have a certain degree of spatial separation (see Figure 2 D), forming a structure in which three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are distributed in a common triangle along the length of the mobile shelving moving column (see...). Figure 2D); This better satisfies the need to improve the stability of the mobile shelving chassis support and the translational stability of the mobile shelving unit when it is not tracked. The three rolling bearings or rollers 32 of the mobile shelving chassis driven by each drive motor better distribute the supporting balance force in the length direction of the mobile shelving unit. This is also more suitable for applications that require longer mobile shelving units to improve the stability of the mobile shelving chassis support and the translational stability of the mobile shelving unit when it is not tracked.

[0030] At least two positioning switches are provided on the side of the mobile shelving unit chassis of the mobile shelving unit facing the fixed mobile shelving unit or the mobile shelving unit in front of it. The positioning switches are used to detect the closing positioning signal of the mobile shelving unit and feed back the detected positioning signal to the drive motor control circuit.

[0031] Example 2:

[0032] Figure 1 , Figure 2 , Figure 3 , Figure 5 In the embodiment shown, the ground area below the chassis of the mobile shelving unit 10 uses a trackless mobile shelving unit with a flat ground 60 (see [reference needed]). Figure 5 At least two laser rangefinders or lidar 20 are provided on the chassis side 11 along the length of the dense moving column 10 or on the outer side of the partition plate of the same row; the at least two laser rangefinders 20 are used to detect and coordinate with the fixed column 40 of the mobile shelving unit (see...). Figure 5 The movement distance A of the mobile shelving unit 10 and its adjacent preceding column is controlled by feedback adjustment to keep the speed of each drive motor 30 consistent, thus enabling the mobile shelving unit 10 and its chassis rolling bearings or chassis rollers 32 to maintain trackless translational movement. Because the track-laying scheme is effectively eliminated, the ground beneath the trackless mobile shelving unit chassis maintains overall consistency with the site ground 60 (see...). Figure 4 This design avoids derailment, ensures more stable operation, has a simple structure, and makes cleaning the floor beneath the mobile shelving unit (60cm) and its trackless navigation chassis extremely convenient and safer. The laser rangefinder uses a laser rangefinder with an RS232, RS485, or TTL interface. Other aspects are the same as in Example 1.

[0033] Example 3:

[0034] Figure 1 , Figure 2 , Figure 3 , Figure 5In the illustrated embodiment, a side-top laser ranging sensor 12 is provided on the top of the short side 21 of the densely moving column in the same lateral direction. The side-top laser ranging sensor is used to detect the short side 21 of the densely moving column and the wall or reference baffle 50 that it faces (see [reference image]). Figure 5 The side distance B of the mobile shelving unit is monitored and adjusted to ensure that the side distance B between the short side of the mobile shelving unit and the wall, reference baffle, or reference barrier remains constant. The mobile shelving unit chassis is equipped with a side drive motor and a side motor drive output shaft, with side chassis rollers mounted on the side motor drive output shaft. A side-top laser rangefinder is connected to the side drive motor detection feedback control, and the drive motor control circuit adjusts the speed and working direction of the side drive motor in real time based on the side distance feedback data. Of course, if the side distance detected by the side-top laser rangefinder remains constant, the side drive motor will not start; only the drive motor 20 performs its task according to the mobile shelving unit's task requirements. Everything else is the same as in Embodiment 2.

[0035] In the description of the positional relationship in this utility model, terms such as "inner", "outer", "upper", "lower", "left", and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0036] The above content and structure describe the basic principles, main features, and advantages of this utility model, which should be understood by those skilled in the art. The examples and descriptions above are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-motor driven compact shelving mobile row comprising a compact shelving mobile row, characterized by: The mobile shelving unit chassis is equipped with at least two drive motors, at least two motor drive output shafts, and at least two mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers. Each drive motor has a corresponding mobile shelving unit chassis rolling bearing or mobile shelving unit chassis roller connected to its corresponding motor drive output shaft. When two drive motors are used, the two drive motors and their corresponding motor drive output shafts, mobile shelving unit chassis rolling bearings, or mobile shelving unit chassis rollers are respectively distributed at both ends of the mobile shelving unit along its length. When more than two drive motors are used, except for the two drive motors that are respectively distributed at both ends of the mobile shelving unit along its length, the remaining drive motors and their corresponding motor drive output shafts, mobile shelving unit chassis rolling bearings, or mobile shelving unit chassis rollers are evenly distributed in the area between the two drive motors.

2. A multi-motor driven mobile shelving array according to claim 1, wherein: At least two parallel mobile shelving ground rails are laid in the ground area below the mobile shelving unit chassis. The length direction of the at least two parallel mobile shelving ground rails is perpendicular to the length direction of the mobile shelving unit in space. At least two mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers are respectively matched with the at least two laid mobile shelving unit chassis ground rails.

3. The multi-motor driven mobile shelving array according to claim 1, wherein: The central axis of the motor drive output shaft of each drive motor is on the same central axis.

4. The multi-motor driven mobile shelving array according to claim 1, wherein: The ground area below the chassis of the mobile shelving unit adopts a flat ground without ground tracks. At least two laser rangefinders or lidar are installed on the side of the chassis along the length of the mobile shelving unit or on the outer side of the partition plate of the same row. The at least two laser rangefinders are used to detect the moving distance of the mobile shelving unit relative to the fixed column or the adjacent preceding column, and to provide feedback to adjust and control the speed of each drive motor to keep the speed of each drive motor consistent, so that the mobile shelving unit and its chassis rolling bearings or chassis rollers can maintain trackless navigation and translation.

5. The multi-motor driven mobile shelving unit according to claim 1, 2, or 4, characterized in that: The rollers of the mobile shelving chassis are made of steel and have radial rolling elements perpendicular to the central axis of the motor drive output shaft. The radial rolling elements are either cylindrical rolling elements with a single flat outer rolling surface or cylindrical rolling elements with double flat outer rolling surfaces. The cylindrical rolling elements are either straight cylindrical rolling elements, cylindrical rolling elements with downwardly sloping and narrowed sides, or cylindrical rolling elements with outwardly arc-shaped convex sides.

6. A multi-motor driven mobile shelving array according to claim 4, wherein: The laser ranging sensor mentioned above uses a laser ranging sensor with an RS232 interface, an RS485 interface, or a TTL interface.

7. A multi-motor driven mobile shelving array according to claim 4, wherein: A side-top laser ranging sensor is provided on the top of the short side of the densely moving column in the same lateral direction. The side-top laser ranging sensor is used to detect the lateral distance between the short side of the densely moving column and the side of the frame facing the wall, reference baffle, or reference barrier, and to provide feedback adjustment control to keep the lateral distance between the short side of the densely moving column and the facing wall or reference baffle constant.

8. A multi-motor driven mobile shelving array according to claim 4, wherein: The mobile shelving unit is equipped with a side drive motor and a side motor drive output shaft. Side chassis rollers are installed on the side motor drive output shaft. The side top laser rangefinder is connected to the side drive motor detection feedback control. The drive motor control circuit controls and adjusts the speed and working direction of the side drive motor in a timely manner according to the side distance feedback data.

9. The multi-motor driven mobile shelving array according to claim 1, wherein: Each drive motor is equipped with a reducer or a gearbox, or is equipped with a synchronous transmission sprocket on the basis of a reducer or gearbox. The synchronous transmission sprocket transmits to the rolling bearings or rollers of the mobile shelving chassis.

10. The multi-motor driven mobile shelving array according to claim 1, wherein: Each drive motor drives two or three mobile shelving chassis rolling bearings or mobile shelving chassis rollers. When two mobile shelving chassis rolling bearings or mobile shelving chassis rollers are used, the center line connecting the two mobile shelving chassis rolling bearings or mobile shelving chassis rollers is perpendicular to the length of the mobile shelving movement column or is a diagonal distribution structure with a certain degree of staggered spatial distance. When three mobile shelving chassis rolling bearings or mobile shelving chassis rollers are used, the three mobile shelving chassis rolling bearings or mobile shelving chassis rollers are arranged in an isosceles triangle or ordinary triangle position distribution structure along the length of the mobile shelving movement column.

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