Freight gantry and warehousing system
By introducing a staggered walking drive structure and vibration reduction design into the freight gantry, combined with a lifting synchronous belt, the problem of insufficient stability and reliability of existing freight gantry in high-density warehousing systems is solved, achieving efficient storage, retrieval and transportation of cargo containers.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- WUXI QUICKTRON INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-07-17
- Publication Date
- 2026-07-03
Smart Images
Figure CN224449004U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of warehousing system technology, and particularly to a freight gantry and warehousing system. Background Technology
[0002] To increase the storage density of containers, modern automated warehousing systems typically employ high-level, densely packed racks. Accessing containers on these racks usually requires the use of Automated Guided Vehicles (AGVs) to move them within the warehouse area. However, with the increasing demands for container storage, allocation, and handling within individual racks and adjacent rack groups in warehousing systems, the operational efficiency of traditional AGVs is no longer sufficient to meet actual needs.
[0003] Installing freight masts on warehouse racks can improve freight efficiency. However, due to factors such as rack installation precision, warehouse floor flatness, motor synchronization, weight differences of different cargo boxes, and variations in actual load, the stability and reliability of existing freight mast structures are still insufficient, necessitating improvements to the freight mast installation structure to meet the demands of modern warehousing and freight. Furthermore, with increased rack density and reduced spacing between racks, it is necessary to design freight mast structures capable of transporting cargo boxes on adjacent racks. Utility Model Content
[0004] This application is made in view of the aforementioned state of the prior art. The purpose of this application is to provide a highly reliable and stable freight gantry that can adapt to the warehousing and freight needs of high-bay racking systems.
[0005] This application also provides a warehousing system including the aforementioned freight gantry.
[0006] This application provides a freight gantry, which is installed on a shelf to transfer cargo boxes, including multiple traveling devices, lifting devices, cargo box storage and retrieval devices, and a frame structure.
[0007] The frame structure includes at least two vertical supports and at least two horizontal supports, wherein the two vertical supports and the two horizontal supports form a rectangular frame structure.
[0008] The walking device includes a walking drive structure and a vibration damping structure, wherein the walking drive structure is connected to the vertical support rod via the vibration damping structure.
[0009] Two adjacent walking devices are staggered in the height direction, and adjacent walking drive structures are respectively mounted on different vertical support rods.
[0010] The lifting device is connected to the cargo container storage and retrieval device, and the lifting device can drive the cargo container storage and retrieval device to move in the height direction of the frame structure.
[0011] In at least one possible implementation, the lifting device includes a lifting drive structure and a lifting synchronization structure, wherein the lifting synchronization structure includes a synchronization shaft, multiple synchronization pulleys, and two synchronization belts.
[0012] At least one synchronous pulley is provided at each end of the two vertical support rods. The lifting drive structure connects the two synchronous pulleys at one end of the frame structure in the height direction via the synchronous shaft. The two synchronous belts mesh with the synchronous pulleys at both ends of the vertical support rods.
[0013] In at least one possible implementation, the container storage and retrieval device includes a base frame and a two-way container retrieval section.
[0014] At least a portion of the bidirectional box-retrieving section is located on the upper part of the base frame.
[0015] The bidirectional box-retrieving section can move bidirectionally along a direction perpendicular to the plane of the frame structure, for moving boxes to the base frame or placing boxes into the shelf.
[0016] In at least one possible implementation, the bidirectional container retrieval section of the container storage and retrieval device includes a single-depth container retrieval section and a double-depth container retrieval section.
[0017] The base frame and the single-depth extraction box section are arranged adjacent to each other.
[0018] The double-deep retrieval section has a greater stroke in the direction perpendicular to the plane of the frame structure than the single-deep retrieval section.
[0019] In at least one possible implementation, the single-depth container handling section includes a single-depth translation mechanism, a single-depth lifting mechanism, and a single-depth container contact section.
[0020] The single-depth lifting mechanism is connected to the single-depth translation mechanism, enabling the single-depth lifting mechanism to move bidirectionally along a direction perpendicular to the plane of the frame structure.
[0021] The single-depth cargo box contact part is connected to the single-depth lifting mechanism, enabling the single-depth cargo box contact part to move along the height direction of the frame structure.
[0022] In at least one possible implementation, the single-depth container loading section further includes a contact rotation mechanism, wherein the single-depth container contact section is connected to the single-depth lifting mechanism via the contact rotation mechanism, so that the single-depth container contact section can rotate in the vertical plane of the plane on which the frame structure is located.
[0023] In at least one possible implementation, the double-deep container handling section includes two double-deep container contact portions and a double-deep translation mechanism.
[0024] The two double-deep cargo box contact portions are respectively located at both ends of the double-deep translation mechanism, enabling the double-deep cargo box contact portions to move bidirectionally in a direction perpendicular to the plane of the frame structure.
[0025] In at least one possible implementation, the base frame is provided with a conveying section, which is capable of driving the cargo box to move bidirectionally in a direction perpendicular to the plane of the frame structure.
[0026] In at least one possible implementation, the walking device further includes a driven structure, wherein the driven structure and the walking drive structure of a walking device are respectively mounted on different vertical support rods.
[0027] In at least one possible implementation, the freight gantry further includes a timing belt connector, wherein the timing belt is an open timing belt.
[0028] The cargo box storage and retrieval device is connected to the synchronous belt connecting part and can move along with the synchronous belt connecting part in the height direction of the frame structure.
[0029] The timing belt connection includes two timing belt engagement parts and a timing belt tensioning part.
[0030] The two synchronous belt meshing parts respectively mesh with the two ends of the open synchronous belt. The two ends of the synchronous belt tensioning part are respectively connected to the two synchronous belt meshing parts and can adjust the distance between the two synchronous belt meshing parts, thereby adjusting the tension of the synchronous belt.
[0031] In at least one possible implementation, the freight gantry further includes an electrical control unit comprising a current collector and a sliding contact line, the sliding contact line being arranged along the extension direction of the transverse support, the sliding contact line being connected to an external power supply line, the current collector being electrically connected to the sliding contact line, and the current collector being capable of sliding along the sliding contact line.
[0032] In at least one possible implementation, the electronic control unit further includes a cable chain connected to the cargo container storage and retrieval device to supply power to the device.
[0033] A portion of the cable chain is also connected to the vertical support rod near the electronic control unit, enabling at least a portion of the cable chain to move along the extension direction of the vertical support rod with the cargo container storage and retrieval device.
[0034] This application also provides a storage system including a rack and the aforementioned freight gantry, wherein the rack is provided with a plurality of tracks extending in a horizontal direction, and the traveling device is disposed on the tracks and is capable of moving along the tracks.
[0035] In at least one possible implementation, the storage system includes a plurality of said racks, with only one said freight mast located on the opposite face of two adjacent said racks separated by said freight mast, for moving the cargo boxes placed on the two said racks.
[0036] In at least one possible implementation, the shelf is a double-deep shelf, and the opposite sides of the shelf in the depth direction are provided with the freight mast, which is the aforementioned freight mast with a double-deep box retrieval section.
[0037] The freight gantry and warehousing system provided in this application improves the arrangement of its walking device compared to the prior art. By setting adjacent walking drive devices on different vertical supports and adding a vibration damping structure, the stability and reliability of the freight gantry can be further improved. Attached Figure Description
[0038] Figure 1 This is a schematic diagram of the structure of a warehousing system according to one embodiment of this application.
[0039] Figure 2 This is a structural schematic diagram of a freight gantry according to one embodiment of this application.
[0040] Figure 3 This is a structural schematic diagram of a freight gantry according to one embodiment of this application from another perspective.
[0041] Figure 4 This is a schematic diagram of the structure of a walking device according to one embodiment of this application.
[0042] Figure 5 This is a structural schematic diagram of a lifting device according to one embodiment of this application.
[0043] Figure 6 This is a schematic diagram of a cargo container storage and retrieval device according to one embodiment of this application.
[0044] Figure 7 This is a schematic diagram of the structure of a single-depth extraction box according to one embodiment of this application.
[0045] Figure 8 This is a partial structural schematic diagram of a freight gantry according to one embodiment of this application.
[0046] Figure 9 This is a schematic diagram of the structure of a timing belt connector according to one embodiment of this application.
[0047] Figure 10 This is a schematic diagram of the structure of the electronic control unit according to one embodiment of this application.
[0048] Explanation of reference numerals in the attached figures
[0049] 100 freight gantry
[0050] 110 Walking device
[0051] 111 Walking drive structure
[0052] 112 Driven Structure
[0053] 113 Vibration-damping structure
[0054] 120 lifting device
[0055] 121 Lifting Drive Structure
[0056] 1211 motor
[0057] 1212 speed reducer
[0058] 122 Lifting Synchronous Structure
[0059] 1221 Synchronous Shaft
[0060] 1222 Synchronous pulley
[0061] 1223 Synchronous Belt
[0062] 130 Cargo Container Storage and Retrieval Device
[0063] 131 base frame
[0064] 1311 Conveying Department
[0065] 132 Single-depth box section
[0066] 1321 Single-depth translation mechanism
[0067] 1322 Single-depth lifting mechanism
[0068] 1323 Single-depth cargo box contact area
[0069] 1324 Contact Part Rotation Mechanism
[0070] 133 Double-deep drawer section
[0071] 1331 Double-deep cargo box contact area
[0072] 1332 Double-depth translation mechanism
[0073] 140 Frame Structure
[0074] 141 Vertical support rod
[0075] 142 Horizontal support rod
[0076] 150 Synchronous Belt Connector
[0077] 151 Synchronous belt engagement section
[0078] 152 Synchronous belt tensioning section
[0079] 160 Electrical Control Department
[0080] 161 Current collector
[0081] 162 Sliding contact line
[0082] 163 Cable Chain
[0083] 200 shelves
[0084] 210 orbit
[0085] 300 cargo boxes Detailed Implementation
[0086] Exemplary embodiments of this application are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are for teaching those skilled in the art how to implement this application only, and are not intended to exhaustively describe all possible methods of this application, nor to limit the scope of this application.
[0087] Embodiments of this application provide a freight gantry 100, such as Figure 1 As shown, it can be installed on shelves, especially double-deep shelves (also known as double-position shelves or double-depth shelves, which can have two storage locations side by side), and can move and transport boxes on double-deep shelves.
[0088] Specifically, such as Figure 1 , Figure 2 and Figure 3 As shown, the freight gantry 100 may include multiple traveling devices 110, lifting devices 120, cargo container storage and retrieval devices 130, and a frame structure 140. In this application, reference is made to... Figure 1 The Z-axis is the height direction, and the X-axis is the depth direction (that is, the direction perpendicular to the plane where the frame structure 140 is located).
[0089] like Figure 2 and Figure 3 As shown, the frame structure 140 may include at least two vertical supports 141 and at least two horizontal supports 142, and the two vertical supports 141 and the two horizontal supports 142 may form a rectangular frame structure. It is understood that the frame structure 140 may also be provided with more vertical supports 141 or more horizontal supports 142 to enhance the stability of the frame structure 140. For example, as... Figure 2 and Figure 3As shown, the frame structure 140 can be provided with four horizontal support rods 142 at intervals. It is understood that the shapes of the multiple vertical support rods 141 and the multiple horizontal support rods 142 do not have to be exactly the same, in order to adapt to the actual needs of different parts. For example, the horizontal support rod 142 at the bottom of the frame structure 140 can form a structure that avoids the lifting device 120.
[0090] like Figure 2 , Figure 3 and Figure 4 As shown, the walking device 110 may include a walking drive structure 111 and a vibration damping structure 113. The walking drive structure 111 can be connected to the vertical support rod 141 via the vibration damping structure 113 and is mounted on a horizontally extending track 210 on the shelf 200. For example, the walking drive structure 111 may include a motor and drive wheels. It is understood that due to various factors such as shelf installation accuracy, warehouse floor flatness, motor operation synchronization, weight differences of different cargo boxes, and actual load variations, the freight gantry 100 may experience a certain degree of vibration when moving horizontally along the shelf 200, thereby affecting the freight gantry's transport speed and transport accuracy. In this embodiment, the vibration damping structure 113 is provided in the walking device 110 to minimize the overall vibration of the freight gantry transmitted to the walking drive structure 111.
[0091] Furthermore, among the multiple walking devices 110, adjacent walking devices 110 can be staggered in the height direction. Also, adjacent walking drive structures 111 can be respectively mounted on different vertical support rods 141, such as... Figure 2 and Figure 3 As shown, the walking drive structure 111 of the two walking devices 110 can be installed on the two vertical support rods 141 on the left and right sides respectively.
[0092] Preferably, the walking device 110 may further include a driven structure 112, wherein the driven structure 112 and the walking drive structure 111 of the walking device 110 may be respectively mounted on different vertical support rods 141. More preferably, the walking device 110 may further include a guide wheel disposed in a groove below the track 210, wherein the axis of the guide wheel may be perpendicular to the axis of the drive wheel of the walking drive structure 111, and the guide wheel may move along the inner wall of the groove below the track 210.
[0093] like Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the lifting device 120 may include a lifting drive structure 121 and a lifting synchronization structure 122. The lifting synchronization structure 122 includes a synchronization shaft 1221, multiple synchronization pulleys 1222, and two synchronization belts 1223. For example, the lifting drive structure 121 may include a motor 1211 and a reducer 1212. It is understood that the term "synchronous belt" in this embodiment should be interpreted in the broadest sense; for example, a synchronous belt may include a synchronization chain, etc.
[0094] Specifically, such as Figure 4 and Figure 5 As shown, at least two vertical support rods 141 can each be equipped with a synchronous pulley 1222 at both ends. The lifting drive structure 121 (especially its reducer 1212) can be connected to the two synchronous pulleys 1222 at one end (especially the bottom end) of the frame structure 140 in the height direction via a synchronous shaft 1221. Two synchronous belts 1223 can be respectively encircled around the two vertical support rods 141 and mesh with the synchronous pulleys 1222 at both ends of the vertical support rods 141, so that the synchronous belts 1223 can move around the vertical support rods 141. The synchronous belts 1223 can be connected to the cargo container storage and retrieval device 130, so that the lifting drive structure 121 can drive the cargo container storage and retrieval device 130 to move in the height direction of the frame structure 140 via the synchronous shaft 1221, the synchronous pulleys 1222, and the synchronous belts 1223.
[0095] Preferred, such as Figure 8 and Figure 9 As shown, the freight gantry 100 may further include a timing belt connector 150. The timing belt 1223 may be an open timing belt. The cargo container storage and retrieval device 130 may be connected to the timing belt connector 150 and may move with the timing belt connector 150 in the height direction of the frame structure 140. The timing belt connector 150 includes two timing belt engagement parts 151 and a timing belt tensioning part 152. The two timing belt engagement parts 151 may engage with both ends of the open timing belt to form a closed loop. The two ends of the timing belt tensioning part 152 may be connected to the two timing belt engagement parts 151 respectively and may adjust the distance between the two timing belt engagement parts 151, thereby adjusting the overall tension of the timing belt 1223. For example, the timing belt tensioning part 152 may include an adjusting screw, and the timing belt engagement parts 151 may have adjusting threads. The distance between the two timing belt engagement parts 151 may be adjusted by rotating the adjusting screw.
[0096] Furthermore, such as Figure 6 , Figure 7 and Figure 8As shown, the cargo container storage and retrieval device 130 may include a base frame 131 and a bidirectional cargo container retrieval section. At least a portion of the bidirectional cargo container retrieval section may be disposed on the upper part of the base frame 131. The bidirectional cargo container retrieval section is capable of bidirectional movement in a direction perpendicular to the plane of the frame structure 140 (e.g., a plane extending along the height direction) (e.g., the depth direction of the shelf 200) to move cargo containers to the base frame 131. When the base frame 131 carries a cargo container, the cargo container can be transported and moved via the traveling device 110 and the lifting device 120. Furthermore, by adjusting the movement direction of the bidirectional cargo container retrieval section, the cargo container can be selectively transported to the shelves 200 on both sides of the freight mast 100 (the freight mast is connected to only one of the shelves).
[0097] Furthermore, the bidirectional retrieval section of the cargo box storage and retrieval device 130 includes a single-depth retrieval section 132 and a double-depth retrieval section 133. The single-depth retrieval section 132 can be used to retrieve cargo boxes in a single-depth position on the shelf 200, and the double-depth retrieval section 133 can be used to retrieve cargo boxes in a double-depth position on the shelf 200. In particular, after the cargo box is moved to a single-depth position by the double-depth retrieval section 133, it can be moved to the base frame 131 by the single-depth retrieval section 132. The travel distance of the double-depth retrieval section 133 in the plane perpendicular to the frame structure 140 (e.g., the depth direction of the shelf 200) can be greater than that of the single-depth retrieval section 132. Preferably, based on the need to retrieve cargo boxes in double-depth positions, the travel distance of the double-depth retrieval section 133 can be twice (including approximately twice) the travel distance of the single-depth retrieval section 132.
[0098] The base frame 131 can be arranged adjacent to the single-depth box-retrieving section 132 to facilitate the single-depth box-retrieving section 132 in moving the box to the base frame 131. Preferably, the base frame 131 can be provided with a conveyor section 1311, which can drive the box to move bidirectionally in a direction perpendicular to the plane of the frame structure 140 (e.g., the depth direction of the shelf 200), so that the single-depth box-retrieving section 132 only needs to move the box to the edge of the base frame 131 and contact the conveyor section 1311, after which the conveyor section 1311 moves the box to the middle (including approximately the middle) of the base frame 131. Exemplarily, the conveyor section 1311 can be a conveyor belt provided on both sides of the base frame 131. In another possible example, the conveyor section 1311 can also include structures such as conveyor rollers. More preferably, the two ends of the conveyor section 1311 in the direction perpendicular to the plane of the frame structure 140 can be provided with stroke guides to correct the posture and transport direction of the box.
[0099] like Figure 7As shown, the single-depth container retrieval unit 132 may further include a single-depth translation mechanism 1321, a single-depth lifting mechanism 1322, and a single-depth container contact part 1323. The single-depth container contact part 1323 can be used to contact the container and drive it to move. For example, the single-depth container contact part 1323 can be a hook-shaped structure, a suction cup structure, etc. The single-depth lifting mechanism 1322 can be connected to the single-depth translation mechanism 1321, enabling the single-depth lifting mechanism 1322 to move bidirectionally in a direction perpendicular to the plane of the frame structure 140. The single-depth container contact part 1323 can be connected to the single-depth lifting mechanism 1322, enabling the single-depth container contact part 1323 to move along the height direction of the frame structure 140. Through the cooperation of the single-depth translation mechanism 1321 and the single-depth lifting mechanism 1322, the single-depth container retrieval unit 132 can achieve free access to containers on both sides in the depth direction. For example, the single-depth translation mechanism 1321 and the single-depth lifting mechanism 1322 may respectively include a motor, a transmission belt and a slide rail structure.
[0100] Furthermore, the single-depth cargo box retrieving section 132 may also include a contact rotation mechanism 1324. The single-depth cargo box contact section 1323 can be connected to the single-depth lifting mechanism 1322 via the contact rotation mechanism 1324, allowing the single-depth cargo box contact section 1323 to rotate in the vertical plane of the plane containing the frame structure 140. The contact rotation mechanism 1324 allows the single-depth cargo box contact section 1323 to rotate when the cargo box is already on the base frame 131, thus avoiding the cargo box and moving to the other side of the cargo box.
[0101] like Figure 6 As shown, the double-deep container retrieval unit 133 may include two double-deep container contact portions 1331 and a double-deep translation mechanism 1332. The two double-deep container contact portions 1331 may be respectively disposed at both ends of the double-deep translation mechanism 1332, enabling the double-deep container contact portions 1331 to move bidirectionally in a direction perpendicular to the plane of the frame structure 140. The double-deep translation mechanism 1332 may include a motor, two sets of transmission belts, and slide rails. It can be understood that, in the above example, the double-deep container contact portions 1331 can be adjusted in height along with the overall container storage and retrieval device 130.
[0102] Furthermore, in some examples, the double-deep retrieval section 133 can also be replaced by a multi-deep retrieval section, that is, its bidirectional travel relative to the single-deep retrieval section is further increased.
[0103] In another possible example, the double-deep box-retrieving section 133 may also be provided with a double-deep lifting mechanism and a double-deep contact section rotation mechanism.
[0104] Furthermore, such as Figure 10As shown, the freight gantry 100 may further include an electrical control unit 160, which may include a current collector 161 and a sliding contact line 162. The sliding contact line 162 may be arranged along the extension direction of the transverse support 142, and the sliding contact line 162 may be relatively fixed to the rack 200. The sliding contact line 162 may be connected to an external power supply line, the current collector 161 may form an electrical connection with the sliding contact line 162, and the current collector 161 may slide along the sliding contact line 162 to provide power to the freight gantry during its movement.
[0105] Preferably, the electrical control unit 160 may further include a cable chain 163, which can be connected to the cargo container storage and retrieval device 130 to supply power to the cargo container storage and retrieval device 130. A portion of the cable chain 163 may also be connected to a vertical support rod 141 near the electrical control unit 160, allowing at least a portion of the cable chain 163 to move with the cargo container storage and retrieval device 130 in the extending direction of the vertical support rod 141. This power supply design of the freight gantry avoids the need for a heavy battery in the freight gantry (especially its cargo container storage and retrieval device) while providing a continuous power supply. However, it is not excluded that the freight gantry 100 may be equipped with a battery to prevent power outages during equipment operation.
[0106] This application also provides a storage system, which may include a rack 200 and the aforementioned freight gantry 100. The rack 200 may be provided with a plurality of tracks 210 extending in a horizontal direction, and the traveling device 110 of the freight gantry 100 may be provided on the tracks 210 and be able to move along the tracks 210.
[0107] The warehousing system may include multiple shelves 200. Only one freight mast may be set on the opposite side of two adjacent shelves 200 separated by a freight mast. The cargo boxes 300 placed on the opposite shelves 200 can be moved by the bidirectional cargo box retrieval function of the cargo box storage and retrieval device in the freight mast.
[0108] Preferably, the shelf 200 can be a double-deep shelf, and the opposite sides of the shelf 200 in the depth direction are provided with a freight mast 100. The freight mast 100 of the storage system can be the aforementioned freight mast provided with a double-deep box-retrieving section 133.
[0109] The following is a brief description of some of the beneficial effects of the above-described embodiments of this application.
[0110] The freight gantry and warehousing system provided in this application includes a cargo box retrieval device capable of picking up, placing, and transporting cargo boxes on adjacent shelves. This cargo box retrieval device includes a bidirectional retrieval section capable of bidirectional movement along a plane perpendicular to the freight gantry. The freight gantry provided in this application improves upon existing technologies by resolving the arrangement of its traveling and lifting devices, further enhancing its stability and reliability. Furthermore, this embodiment also provides a freight gantry equipped with a double-deep retrieval section 133, enabling the transport of goods between double-deep shelves on both sides, further improving cargo transport efficiency.
[0111] It is understood that, in this application, when the number of parts or components is not specifically limited, the number can be one or more, where multiple refers to two or more. For cases where the number of parts or components shown in the drawings and / or described in the specification is, for example, two, three, four, etc., this specific number is generally exemplary and not restrictive, and can be understood as multiple, i.e., two or more; however, this does not mean that this application excludes the case of one.
[0112] It should be understood that the above embodiments are merely exemplary and are not intended to limit this application. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this application without departing from the scope of this application.
Claims
1. A freight gantry, mounted on a shelf for transferring cargo containers, characterized in that, It includes multiple walking devices, lifting devices, cargo container storage and retrieval devices, and a frame structure. The frame structure includes at least two vertical supports and at least two horizontal supports, wherein the two vertical supports and the two horizontal supports form a rectangular frame structure. The walking device includes a walking drive structure and a vibration damping structure, wherein the walking drive structure is connected to the vertical support rod via the vibration damping structure. Two adjacent walking devices are staggered in the height direction, and adjacent walking drive structures are respectively mounted on different vertical support rods. The lifting device is connected to the cargo container storage and retrieval device, and the lifting device can drive the cargo container storage and retrieval device to move in the height direction of the frame structure.
2. The freight gantry according to claim 1, characterized in that, The lifting device includes a lifting drive structure and a lifting synchronization structure. The lifting synchronization structure includes a synchronous shaft, multiple synchronous pulleys, and two synchronous belts. At least one synchronous pulley is provided at each end of the two vertical support rods. The lifting drive structure connects the two synchronous pulleys at one end of the frame structure in the height direction via the synchronous shaft. The two synchronous belts mesh with the synchronous pulleys at both ends of the vertical support rods.
3. The freight gantry according to claim 1, characterized in that, The cargo container storage and retrieval device includes a base frame and a two-way container retrieval section. At least a portion of the bidirectional box-retrieving section is located on the upper part of the base frame. The bidirectional box-retrieving section can move bidirectionally along a direction perpendicular to the plane of the frame structure, for moving boxes to the base frame or placing boxes into the shelf.
4. The freight portal according to claim 3, wherein, The bidirectional container retrieval section of the cargo container storage and retrieval device includes a single-depth container retrieval section and a double-depth container retrieval section. The base frame and the single-depth extraction box section are arranged adjacent to each other. The double-deep retrieval section has a greater stroke in the direction perpendicular to the plane of the frame structure than the single-deep retrieval section.
5. The freight portal according to claim 4, wherein, The single-depth container handling section includes a single-depth translation mechanism, a single-depth lifting mechanism, and a single-depth container contact section. The single-depth lifting mechanism is connected to the single-depth translation mechanism, enabling the single-depth lifting mechanism to move bidirectionally in a direction perpendicular to the plane of the frame structure. The single-depth cargo box contact part is connected to the single-depth lifting mechanism, enabling the single-depth cargo box contact part to move along the height direction of the frame structure.
6. The freight portal according to claim 5, wherein, The single-depth container handling section also includes a contact rotation mechanism. The single-depth container contact part is connected to the single-depth lifting mechanism via the contact rotation mechanism, so that the single-depth container contact part can rotate in the vertical plane of the plane where the frame structure is located.
7. The freight door rack of claim 4, wherein, The double-deep container handling section includes two double-deep container contact areas and a double-deep translation mechanism. The two double-deep cargo box contact portions are respectively located at both ends of the double-deep translation mechanism, enabling the double-deep cargo box contact portions to move bidirectionally in a direction perpendicular to the plane of the frame structure.
8. The freight door rack of claim 3, wherein, The base frame is equipped with a conveying unit, which can drive the cargo box to move bidirectionally in a direction perpendicular to the plane of the frame structure.
9. The freight door rack of claim 1, wherein, The walking device also includes a driven structure, wherein the driven structure and the walking drive structure of a walking device are respectively mounted on different vertical support rods.
10. The freight door rack of claim 2, wherein, It also includes a timing belt connector, wherein the timing belt is an open timing belt. The cargo box storage and retrieval device is connected to the synchronous belt connecting part and can move along with the synchronous belt connecting part in the height direction of the frame structure. The timing belt connection includes two timing belt engagement parts and a timing belt tensioning part. The two synchronous belt meshing parts respectively mesh with the two ends of the open synchronous belt. The two ends of the synchronous belt tensioning part are respectively connected to the two synchronous belt meshing parts and can adjust the distance between the two synchronous belt meshing parts, thereby adjusting the tension of the synchronous belt.
11. The freight door rack of claim 1, wherein, It also includes an electrical control unit, which includes a current collector and a sliding contact line. The sliding contact line is arranged along the extension direction of the transverse support rod and is connected to an external power supply line. The current collector is electrically connected to the sliding contact line and is capable of sliding along the sliding contact line.
12. The freight portal according to claim 11, characterized in that The electrical control unit also includes a cable chain, which is connected to the cargo container storage and retrieval device to supply power to the device. A portion of the cable chain is also connected to the vertical support rod near the electronic control unit, enabling at least a portion of the cable chain to move along the extension direction of the vertical support rod with the cargo container storage and retrieval device.
13. A warehousing system characterized by The device includes a rack and a freight gantry as described in any one of claims 1 to 12, the rack being provided with a plurality of tracks extending in a horizontal direction, and the traveling device being disposed on the tracks and capable of moving along the tracks.
14. The warehousing system according to claim 13, characterized in that, The system includes multiple shelves, with only one freight gantry located on the opposite side of two adjacent shelves separated by the freight gantry, for moving the cargo boxes placed on the two shelves.
15. The warehousing system according to claim 13, characterized in that, The shelf is a double-deep shelf, and the opposite sides of the shelf in the depth direction are provided with the freight mast, which is the freight mast according to any one of claims 4 to 7.