Handling system

Abstract

The utility model discloses a carrying system relates to carrying system technical field, and carrying system includes the goods shelf of being equipped with track, carrying vehicle and positioning device, and carrying vehicle is configured as moving along the track, and positioning device includes radio frequency identification label, two -dimensional code label, first identifier and second identifier control unit, and radio frequency identification label and two -dimensional code label are established in track respectively, and first identifier and second identifier are established in carrying vehicle, and first identifier is used for reading the position information of radio frequency identification label record, and second identifier is used for reading the position information of two -dimensional code label record, and carrying vehicle reads the position information of radio frequency identification label record through first identifier to locate position, and / or, carrying vehicle reads the position information of two -dimensional code label record through second identifier to locate position. The carrying system of the utility model can provide multiple positioning mode for carrying vehicle to the position of self positioning, is favorable for improving the positioning accuracy, and the versatility is good.

Description

Technical Field

[0001] This utility model relates to the field of material handling systems, and in particular to a material handling system. Background Technology

[0002] With the development of the logistics industry, automated guided vehicles (AGVs) are used in warehousing and logistics systems to transport goods in order to improve warehousing efficiency. During the transportation process, AGVs need to identify their position on the shelves of the warehousing and logistics system, that is, to locate their own position in order to accurately transport the goods to the target location. However, in related technologies, the positioning methods of AGVs are limited, lack accuracy, and have poor versatility. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a handling system that provides multiple positioning methods for the handling vehicle to locate its own position, which helps improve positioning accuracy and has good versatility.

[0004] A handling system according to an embodiment of the present invention includes a shelf, including a track; a handling vehicle for carrying goods, the handling vehicle being configured to move along the track; and a positioning device including an RFID tag, a QR code tag, a first reader, and a second reader. The RFID tag and the QR code tag are respectively disposed on the track, and the first reader and the second reader are disposed on the handling vehicle. The first reader is used to read the location information recorded by the RFID tag, and the second reader is used to read the location information recorded by the QR code tag. The handling vehicle locates its position by reading the location information recorded by the RFID tag through the first reader, and / or by reading the location information recorded by the QR code tag through the second reader.

[0005] The handling system according to this utility model embodiment has at least the following beneficial effects: By installing a first reader for reading location information recorded by RFID tags and a second reader for reading location information recorded by QR code tags on the handling vehicle, the handling vehicle can locate its position on the shelf using the first and second readers, allowing it to run along a set path. The handling vehicle uses two different positioning methods to locate itself, which improves its positioning accuracy and provides good versatility.

[0006] According to some embodiments of the present invention, the track includes a first track and a second track, the first track and the second track are arranged perpendicularly, the transport vehicle is configured to move along the first track or the second track, the shelf is provided with a plurality of docking positions located on the first track or the second track, and each of the docking positions is provided with the radio frequency identification tag and the QR code tag.

[0007] According to some embodiments of the present invention, in each of the parking positions, the radio frequency identification tag and the QR code tag are respectively located on opposite sides of the parking position along the length direction of the first track or the length direction of the second track.

[0008] According to some embodiments of the present invention, the plurality of radio frequency identification tags are respectively located on the same side of the plurality of parking positions along the same direction.

[0009] According to some embodiments of the present invention, the plurality of QR code labels are respectively located on the same side of the plurality of parking positions along the same direction.

[0010] According to some embodiments of the present invention, the shelf includes a walking aisle and a storage aisle, the walking aisle and the storage aisle intersect at a reversing position, the positioning device further includes a sensing plate, a first sensor and a second sensor, the sensing plate is disposed at the reversing position, the first sensor and the second sensor are mounted on the transport vehicle, and the first sensor and the second sensor are arranged at intervals along the length direction of the walking aisle, the first sensor and the second sensor are configured to sense and cooperate with the sensing plate, when the transport vehicle moves to the reversing position and needs to reverse, the transport vehicle is configured to reverse when both the first sensor and the second sensor are triggered by the sensing plate.

[0011] According to some embodiments of the present invention, the transport vehicle includes a vehicle body, a lifting seat, and a lifting drive mechanism. The lifting seat is installed on the vehicle body and is used to carry goods. The lifting drive mechanism is connected to the lifting seat and is used to drive the lifting seat to rise and fall relative to the vehicle body. The first identifier and the second identifier are respectively disposed on the vehicle body or the lifting seat, and the first identifier and the second identifier are exposed on the bottom side of the transport vehicle.

[0012] According to some embodiments of the present invention, the number of lifting drive mechanisms is at least two. Each lifting drive mechanism includes a first drive component, a transmission shaft, and a lifting component. The lifting component is connected to the lifting seat and the transmission shaft respectively. The first drive component is connected to the transmission shaft and is used to drive the transmission shaft to rotate, so as to drive the lifting seat to rise and fall through the lifting component.

[0013] According to some embodiments of the present invention, the lifting assembly includes a swing arm, the swing arm includes a first end and a second end, the first end is fixedly connected to the transmission shaft, the second end is rotatably engaged with the lifting seat, and the rotation axis of the second end is parallel to the transmission shaft.

[0014] According to some embodiments of the present invention, the transport vehicle further includes a guide assembly, which includes a guide block and a slider. The guide block is installed on the vehicle body, and the guide direction of the guide block is set along the lifting direction of the lifting seat. The slider is connected to the lifting seat, and the slider slides in cooperation with the guide block along the guide direction.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a partial structural schematic diagram of the handling system in an embodiment of this utility model.

[0017] Figure 2 This is a schematic diagram of the bottom of the transport vehicle in an embodiment of this utility model; Figure 3 This is a schematic diagram of the structure of the transport vehicle in an embodiment of this utility model; Figure 4 This is a schematic diagram of the internal structure of the transport vehicle in an embodiment of this utility model; Figure 5 This is an exploded view of the transport vehicle in an embodiment of this utility model; Figure 6 yes Figure 5 Enlarged view of point A in the image; Figure 7 This is a schematic diagram of the connection between the vehicle body and the lifting drive mechanism in an embodiment of this utility model; Figure 8 yes Figure 7 Enlarged view of point B in the image; Figure label: Vehicle body 100; Lifting seat 200; mounting slot 210; tray 220; Lifting drive mechanism 300; first drive assembly 310; motor 311; reducer 312; transmission shaft 320; lifting assembly 330; swing arm 331; first end 3311; second end 3312; roller 332; Guide assembly 400; guide block 410; guide groove 411; slider 420; Detection component 500; sensor 510; sensing unit 520; Walking device 600; first walking wheel set 610; second walking wheel set 620; second drive assembly 630; first drive shaft 640; third drive assembly 650; second drive shaft 660; Shelving 700; First track 710; Second track 720; Walking aisle 730; Storage aisle 740; Stopping position 750; Reversing position 760; Positioning device 800; RFID tag 810; QR code tag 820; first reader 830; second reader 840; sensing sheet 850; first sensor 860; second sensor 870. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0019] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0020] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this utility model, unless otherwise explicitly defined, terms such as setting, installing, connecting, assembling, and cooperating should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0022] With the development of the logistics industry, in order to improve warehousing efficiency, warehousing and logistics systems use automated guided vehicles (AGVs) to transport goods. During the transportation of goods by AGVs, the AGVs need to identify their position on the shelves of the warehousing and logistics system, that is, to locate their own position so as to accurately transport the goods to the target location.

[0023] Among related technologies, automated guided vehicles (AGVs) have a single positioning method, insufficient accuracy, and poor versatility.

[0024] Therefore, referring to Figures 1 to 8 As shown, this utility model embodiment provides a handling system for automatically handling goods to achieve the storage or retrieval of goods. Reference Figure 1 As shown, the handling system includes a rack 700, a transport vehicle, and a positioning device 800. The transport vehicle is used to carry goods and can run on the rack 700 to achieve automated goods handling. The positioning device 800 is used to allow the transport vehicle to identify its position on the rack 700 so that the transport vehicle can run according to a set path.

[0025] Reference Figure 1 As shown, the shelf 700 includes multiple tracks, specifically, first tracks 710 and second tracks 720. The shelf 700 includes multiple first tracks 710 and multiple second tracks 720. Typically, the shelf 700 includes multiple storage levels, each consisting of two first tracks 710 and multiple second tracks 720. The first tracks 710 are arranged along a first direction, and the two first tracks 710 are arranged parallel to each other, forming a travel aisle 730 along the first direction. The upper surfaces of the two first tracks 710 are coplanar, and the plane containing them is the first travel plane. The multiple second tracks 720 are arranged along a second direction and are parallel to each other. The second direction is perpendicular to the first direction, i.e., the second tracks 720 are perpendicular to the first tracks 710. Every two second tracks 720 form a storage aisle 740 along the second direction. The upper surfaces of the multiple second tracks 720 are coplanar, and the plane containing the upper surfaces of every two second tracks 720 is the second travel plane. Multiple storage channels 740 are located on the same side of the travel aisle 730 along the width direction, and multiple storage channels 740 intersect with the travel aisle 730 respectively, so that the transport vehicle can change direction between the travel aisle 730 and the storage channels 740.

[0026] Reference Figure 1As shown, it can be understood that multiple stopping positions 750 are respectively provided in the walking aisle 730 and the storage aisle 740. The multiple stopping positions 750 in the walking aisle 730 are located on the first track 710 and arranged sequentially along the length of the first track 710, and the multiple stopping positions 750 in the storage aisle 740 are located on the second track 720 and arranged sequentially along the length of the second track 720. Among them, the stopping position 750 located at the intersection of the walking aisle 730 and the storage aisle 740 is the reversing position 760. It is easy to understand that when the transport vehicle moves to the reversing position 760, the transport vehicle can switch from the first track 710 to the second track 720, or from the second track 720 to the first track 710, that is, realize the reversing movement, which has good flexibility.

[0027] Reference Figure 1 and Figure 2 As shown, the positioning device 800 includes a radio frequency identification (RFID) tag 810, a QR code tag 820, a first reader 830, and a second reader 840. Typically, the transport vehicle also includes a control unit. The RFID tag 810 and QR code tag 820 are respectively installed in the docking positions 750 of the shelf 700. For example, the RFID tag 810 and QR code tag 820 are respectively mounted on the first track 710 or the second track 720 via brackets, and each docking position 750 is equipped with both an RFID tag 810 and a QR code tag 820. It is easy to understand that each RFID tag 810 and QR code tag 820 in each docking position 750 records the location information of that docking position 750.

[0028] Reference Figure 1 and Figure 2 As shown, the first identifier 830 and the second identifier 840 are respectively installed on the transport vehicle and exposed at the bottom of the transport vehicle. The first identifier 830 is used to identify the RFID tag 810; for example, the first identifier 830 is an RFID card reader. The second identifier 840 is used to identify the QR code tag 820; for example, the second identifier 840 is a QR code scanner. It is easy to understand that when the transport vehicle moves to any parking position 750, the first identifier 830 can identify the RFID tag 810 on the corresponding parking position 750, and the second identifier 840 can identify the QR code tag 820 on the corresponding parking position 750, thereby obtaining the location information of the transport vehicle. Specifically, at this time, the first identifier 830 is located above the RFID tag 810, and the second identifier 840 is located above the QR code tag 820.

[0029] Understandably, the control unit can be a microcontroller, a single-chip microcomputer, etc. The control unit is installed on the transport vehicle and is connected to the first identifier 830 and the second identifier 840 respectively. The control unit obtains the position information transmitted by the first identifier 830 or the second identifier 840, so that the transport vehicle can identify the radio frequency identification tag 810 through the first identifier 830, or identify the QR code tag 820 through the second identifier 840, or simultaneously locate its own position through the position information identified by the first identifier 830 and the second identifier 840.

[0030] Therefore, during operation on the shelf 700, the transport vehicle can obtain its own location information through two positioning methods: reading the RFID tag 810 via the first reader 830 or recognizing the QR code tag 820 via the second reader 840. This allows it to accurately transport goods along the set path, improving the positioning accuracy of the transport vehicle. Furthermore, it can adapt to different user positioning needs; for example, users can choose to use one or both positioning methods according to their own requirements, demonstrating good versatility. Moreover, when using two positioning methods, if one method fails, the transport vehicle can still locate itself using the other, improving fault tolerance.

[0031] Reference Figure 1 As shown, it can be understood that within each parking space 750, the RFID tag 810 and the QR code tag 820 are located on opposite sides of the parking space 750 along the length of the first track 710 or the length of the second track 720, respectively. This increases the distance between the RFID tag 810 and the QR code tag 820, facilitating installation and improving the identification and reading capabilities of the first reader 830 and the second reader 840, thereby enhancing positioning accuracy.

[0032] Reference Figure 1 As shown, it can be understood that within multiple docking positions 750, multiple RFID tags 810 are respectively located on the same side of the corresponding docking position 750 along the same direction. For example, each RFID tag 810 is located on the same side of the corresponding docking position 750 along a first direction, or each RFID tag 810 is located on the same side of the corresponding docking position 750 along a second direction. Therefore, the uniformity of the installation positions of multiple RFID tags 810 can be ensured, facilitating the assembly of the rack 700.

[0033] Reference Figure 1As shown, it can be understood that, similarly, within multiple docking positions 750, multiple QR code labels 820 are located on the same side of the corresponding docking position 750 along the same direction. For example, each QR code label 820 is located on the same side of the corresponding docking position 750 along a first direction, or each QR code label 820 is located on the same side of the corresponding docking position 750 along a second direction. Therefore, the uniformity of the installation positions of multiple QR code labels 820 can be guaranteed, facilitating the assembly of the shelving 700.

[0034] Reference Figure 1 and Figure 4 As shown, it can be understood that when the transport vehicle moves to the reversing position 760, to improve the accuracy of the transport vehicle's reversal from the travel channel 730 to the storage channel 740, the positioning device 800 also includes a sensing plate 850, a first sensor 860, and a second sensor 870. Specifically, the sensing plate 850 is a plate structure and is located within the reversing position 760, for example, installed on the first track 710 or the second track 720. The first sensor 860 and the second sensor 870 are respectively installed on the transport vehicle and exposed on the bottom of the transport vehicle. The first sensor 860 and the second sensor 870 can be laser sensors. When the sensing plate 850 blocks the light emitted by the first sensor 860 and the second sensor 870, the first sensor 860 and the second sensor 870 are triggered, that is, the first sensor 860 and the second sensor 870 can sense and cooperate with the sensing plate 850. The first sensor 860 and the second sensor 870 are arranged at intervals along the length of the walking channel 730, and the first sensor 860 and the second sensor 870 can be triggered simultaneously by the sensing sheet 850, and the first sensor 860 and the second sensor 870 are respectively connected to the control unit.

[0035] Understandably, the control unit is configured to control the reversing of the transport vehicle based on signals from the first sensor 860 and the second sensor 870. When the transport vehicle moves along the travel channel 730 and reaches the corresponding reversing position 760 according to the set path and needs to reverse, the transport vehicle confirms that it has moved to the corresponding reversing position 760 by recognizing the RFID tag 810 or the QR code tag 820. On this basis, only when the first sensor 860 and the second sensor 870 are simultaneously triggered by the sensing plate 850 will the control unit control the transport vehicle to reverse to the storage channel 740, that is, to switch the transport vehicle from the first track 710 to the second track 720, thereby enabling the transport vehicle to reverse accurately.

[0036] Reference Figures 3 to 5As shown, the transport vehicle includes a vehicle body 100, a lifting platform 200, and a lifting drive mechanism 300. A first identifier 830 and a second identifier 840 can be installed on either the vehicle body 100 or the lifting platform 200. The lifting platform 200 is slidably mounted on the vehicle body 100 in the vertical direction and can move relative to the vehicle body 100 in the vertical direction; the lifting direction of the lifting platform 200 is the vertical direction. Two support plates 220 are installed on the top of the lifting platform 200. The two support plates 220 move up and down with the lifting platform 200 and are used to support goods for lifting. There are two lifting drive mechanisms 300, each installed on the vehicle body 100 and connected to the lifting platform 200, so that the lifting platform 200 can be stably driven to rise and fall relative to the vehicle body 100 through the cooperation of the two lifting drive mechanisms 300.

[0037] Reference Figures 3 to 5 As shown, the lifting drive mechanism 300 specifically includes a first drive assembly 310, a drive shaft 320, and a lifting assembly 330. The drive shaft 320 is arranged horizontally and rotatably mounted on the vehicle body 100 via bearings. The lifting assembly 330 is connected to both the drive shaft 320 and the lifting seat 200. When the drive shaft 320 rotates, it drives the lifting assembly 330 to move, thereby causing the lifting seat 200 to move vertically. The first drive assembly 310 is mounted on the vehicle body 100 and connected to the drive shaft 320 to drive its rotation. Therefore, by driving the drive shaft 320 to rotate via the first drive assembly 310, the lifting seat 200 can be moved vertically, thus lifting the cargo.

[0038] Reference Figures 3 to 5 As shown, it can be understood that in the two lifting drive mechanisms 300, the two first drive components 310 drive the two transmission shafts 320 to rotate respectively, and the two transmission shafts 320 drive their respective lifting components 330 to move, so that all the lifting components 330 work together to drive the lifting seat 200 to move in the vertical direction.

[0039] Therefore, the two drive shafts 320 are directly driven by the two first drive components 310 respectively, eliminating the transmission mechanism connecting the two drive shafts 320, effectively improving the transmission efficiency between the first drive component 310 and the drive shaft 320, simplifying the overall structure of the lifting drive mechanism 300, effectively reducing transmission errors and failure rates, thereby improving the stability and reliability of the lifting process.

[0040] Understandably, since the two drive shafts 320 are not directly connected by a transmission mechanism, on the one hand, the assembly process can be optimized to a certain extent, reducing the number of steps in assembling the transmission mechanism; on the other hand, it avoids the assembly requirements that the two drive shafts 320 need to have high positional accuracy for connection with the transmission mechanism, thereby reducing the positional accuracy between the two drive shafts 320, thereby reducing the machining accuracy, effectively reducing the assembly difficulty and improving production efficiency.

[0041] Reference Figure 4 and Figure 5 As shown, each lifting drive mechanism 300 includes two lifting components 330. In each lifting drive mechanism 300, the two lifting components 330 are respectively connected to both ends of the drive shaft 320, and the two lifting components 330 are respectively connected to the lifting seat 200. Therefore, when the lifting drive mechanism 300 is running, the four lifting components 330 move and act together on the lifting seat 200, thereby increasing the number of points of action on the lifting seat 200 and improving the lifting stability of the lifting seat 200.

[0042] Reference Figure 4 and Figure 5 As shown, it can be understood that in the transport vehicle, the horizontal direction perpendicular to the drive shaft 320 is defined as the first direction, and the direction of the rotation axis of the drive shaft 320 is defined as the second direction.

[0043] Reference Figures 3 to 5 As shown, the transport vehicle also includes a traveling device 600, which includes a first traveling wheel set 610 and a second traveling wheel set 620. The first traveling wheel set 610 is mounted on the vehicle body 100 and includes multiple first traveling wheels. In this embodiment, there are eight first traveling wheels, divided into two groups and symmetrically arranged on both sides of the vehicle body 100 along a first direction. The lowest points of the eight first traveling wheels are on the same horizontal plane, and the four first traveling wheels on the same side are spaced apart along a second direction, with the rotation axes of the first traveling wheels arranged along the first direction.

[0044] Reference Figures 3 to 5 As shown, it can be understood that the second traveling wheel set 620 is installed on the lifting seat 200. Similarly, the second traveling wheel set 620 includes multiple second traveling wheels. In this embodiment, the number of second traveling wheels is eight. The eight second traveling wheels are divided into two groups and installed on both sides of the lifting seat 200 along the second direction and arranged symmetrically. The lowest points of the eight second traveling wheels are located on the same horizontal plane. The four second traveling wheels on the same side are arranged at intervals along the first direction, and the rotation axis of the second traveling wheels is arranged along the second direction.

[0045] Reference Figures 3 to 5As shown, the traveling device 600 also includes a second drive assembly 630, a first drive shaft 640, a third drive assembly 650, and a second drive shaft 660. The second drive assembly 630 and the first drive shaft 640 are respectively mounted on the vehicle body 100. The second drive assembly 630 is connected to two adjacent first traveling wheels of the first traveling wheel set 610 via the first drive shaft 640, and the two adjacent first traveling wheels are connected by gear transmission. The third drive assembly 650 and the second drive shaft 660 are respectively mounted on the lifting platform 200. Similarly, the third drive assembly 650 is connected to two adjacent second traveling wheels of the second traveling wheel set 620 via the second drive shaft 660, and the two adjacent second traveling wheels are connected by gear transmission. Therefore, by driving the first traveling wheels to rotate via the second drive assembly 630, the transport vehicle can be driven to move in the second direction; by driving the second traveling wheels to rotate via the third drive assembly 650, the transport vehicle can be driven to move in the first direction.

[0046] Reference Figure 4 As shown, the first drive assembly 310 includes a motor 311 and a reducer 312. The output end of the motor 311 is connected to the input end of the reducer 312, and the output end of the reducer 312 is connected to the drive shaft 320. This reduces the output speed of the first drive assembly 310 and increases the output torque, achieving speed reduction and torque increase. This, in turn, reduces the speed of the drive shaft 320, facilitating the control of the lifting seat 200's lifting and lowering. Simultaneously, it increases the output torque of the drive shaft 320, thereby increasing the load-bearing capacity of the lifting seat 200 and broadening its applicability. The structural composition of the second drive assembly 630 and the third drive assembly 650 can refer to the structural composition of the first drive assembly 310, and will not be repeated here.

[0047] Reference Figure 4 As shown, it can be understood that since the first drive assembly 310 directly drives the transmission shaft 320 to rotate, the transmission efficiency is high. Therefore, under the premise that the output capacity (such as output torque) of the transmission shaft 320 is the same, the power of the motor 311 can be reduced. Even if two motors 311 are used, the total power of the two motors 311 is reduced, which helps to reduce costs.

[0048] Understandably, to ensure the smooth lifting of the lifting platform 200 under the drive of the two lifting drive mechanisms 300, the motor 311 is configured as a servo motor. The servo motor is equipped with an encoder, which is connected to the control unit via an EtherCAT bus. Therefore, when the lifting drive mechanism 300 is running, the control unit controls the two motors 311 to run synchronously, which in turn controls the two drive shafts 320 to rotate synchronously. This synchronous rotation includes rotating in the same direction and starting to rotate at the same time. Thus, the two drive shafts 320 can drive multiple lifting components 330 to move synchronously, thereby enabling the lifting platform 200 to rise and fall smoothly and stably lift the goods.

[0049] Reference Figure 5 and Figure 6 As shown, the lifting assembly 330 includes a swing arm 331, which is elongated. The two ends of the swing arm 331 along its length are defined as a first end 3311 and a second end 3312. The first end 3311 of the swing arm 331 is fixedly connected to the end of the drive shaft 320. The second end 3312 of the swing arm 331 extends radially outward along the drive shaft 320 and is rotatably engaged with the lifting seat 200. For example, the second end 3312 of the swing arm 331 is connected to the lifting seat 200 via a rotating shaft or bearing, or via a rotating roller 332. It is readily understood that the axis of rotation of the second end 3312 of the swing arm 331 is parallel to the drive shaft 320. Therefore, when the motor 311 drives the transmission shaft 320 to rotate through the reducer 312, the transmission shaft 320 drives the swing arm 331 to rotate, causing the second end 3312 of the swing arm 331 to rotate around the transmission shaft 320. This results in the second end 3312 of the swing arm 331 being displaced in the vertical direction, which in turn drives the lifting seat 200 to move vertically. The structure is simple. Reference Figures 4 to 6As shown, to avoid the lifting seat 200 shifting horizontally during lifting, which could affect the lifting of goods or cause the transport vehicle to occupy too much space, the transport vehicle also includes a guide assembly 400. The guide assembly 400 is used to guide the lifting seat 200 vertically. Specifically, the guide assembly 400 includes guide blocks 410 and sliders 420. In this embodiment, the guide assembly 400 includes four guide blocks 410, all of which are fixedly installed on the vehicle body 100. Two guide blocks 410 are located on one side of the vehicle body 100 along the axial direction of the drive shaft 320, and the other two guide blocks 410 are located on the other side of the vehicle body 100 along the axial direction of the drive shaft 320. The two guide blocks 410 on the same side are arranged at intervals in a horizontal direction perpendicular to the drive shaft 320, and the two guide blocks 410 are located on opposite sides of the two drive shafts 320. The guide blocks 410 on both sides of the vehicle body 100 along the axial direction of the drive shaft 320 are symmetrically arranged, and the two guide blocks 410 on the same side are also symmetrically arranged.

[0050] Reference Figure 5 and Figure 6 As shown, it can be understood that, in the horizontal cross-section, the guide block 410 has an L-shaped outline. The L-shaped guide block 410 has guide grooves 411 arranged in the vertical direction. Thus, the guiding direction of the guide block 410 is vertical, that is, the direction of the guide block 410 is the same as the lifting direction of the lifting seat 200. The guide grooves 411 of the two guide blocks 410 located on the same side of the vehicle body 100 are arranged opposite each other.

[0051] Reference Figure 5 and Figure 6 As shown, it can be understood that the guide assembly 400 includes four sliders 420, which are fixedly installed on both sides of the lifting seat 200 along the axial direction of the drive shaft 320. Two sliders 420 are installed on each side of the lifting seat 200. The four sliders 420 are slidably installed in the guide grooves 411 of the four guide blocks 410. Therefore, through the cooperation of the four guide blocks 410 and the four sliders 420, it can be ensured that the lifting seat 200 moves in the vertical direction without horizontal displacement, which helps to improve the stability of the lifted goods.

[0052] Reference Figure 5 and Figure 6As shown, it can be understood that during the rotation of the swing arm 331 around the drive shaft 320, the second end 3312 of the swing arm 331 experiences both vertical displacement and horizontal position. To avoid interference between the movement of the swing arm 331 and the movement of the lifting seat 200, the lifting seat 200 is provided with four mounting slots 210, each corresponding to one of the four second ends 3312 of the swing arm 331. The mounting slots 210 are configured as elongated slots, with their length direction perpendicular to the lifting direction (i.e., vertical direction) of the lifting seat 200. In this embodiment, the length direction of the elongated slot is also perpendicular to the drive shaft 320. The second end 3312 of the swing arm 331 is accommodated in the mounting slot 210 and rotates with the lifting seat 200, and the second end 3312 of the swing arm 331 can slide along the mounting slot 210. Therefore, during the process of the drive shaft 320 driving the swing arm 331 to rotate and drive the lifting seat 200 to rise and fall, the second end 3312 of the swing arm 331 generates displacement in the vertical direction to drive the lifting seat 200 to move in the vertical direction. At the same time, the second end 3312 of the swing arm 331 slides along the mounting groove 210 to avoid interference between the movement of the swing arm 331 and the movement of the lifting seat 200. The structure is reasonable, simple, and easy to produce and assemble.

[0053] Reference Figure 5 and Figure 6 As shown, the lifting assembly 330 also includes a roller 332, which is rotatably mounted on the second end 3312 of the swing arm 331, and the axis of rotation of the roller 332 is parallel to the drive shaft 320. The roller 332 is accommodated in the mounting groove 210 and can slide along the mounting groove 210. Therefore, when the lifting seat 200 is driven to rise or fall, the rolling of the roller 332 can reduce the friction between the roller 332 and the lifting seat 200, which helps to improve the smoothness of the lifting seat 200's rise and fall.

[0054] In other embodiments, the lifting assembly 330 includes a cam or eccentric wheel connected to the end of the drive shaft 320, and the cam or eccentric wheel abuts against the downward-facing wall surface of the lifting seat 200. It is readily understood that the distance between the outer peripheral wall of the cam or eccentric wheel and the rotation axis of the drive shaft 320 is not equal at various points along the circumference of the drive shaft 320. Therefore, when the cam or eccentric wheel rotates with the drive shaft 320, the distance between the downward-facing wall surface of the lifting seat 200 and the rotation axis of the drive shaft 320 continuously changes in the vertical direction, thereby driving the lifting seat 200 to rise and fall.

[0055] It is understood that, along the lifting direction of the lifting seat 200, the lifting seat 200 has at least a first position and a second position. Specifically, the height of the second position is greater than the height of the first position. That is, when the lifting seat 200 is in the second position, its height relative to the vehicle body 100 is greater than when the lifting seat 200 is in the first position. Generally speaking, the first position is the lowest position within the lifting stroke range of the lifting seat 200, that is, the lifting seat 200 is in the reset state when it is in the first position.

[0056] In other embodiments, the lifting assembly 330 includes a rack and a gear. The rack is fixedly mounted on the lifting base 200 and arranged in the vertical direction, while the gear is fixedly mounted on the drive shaft 320 and meshes with the rack. Therefore, when the drive shaft 320 drives the gear to rotate, the lifting base 200 can be driven to rise or fall by the engagement of the gear and the rack.

[0057] It is easy to understand that after the lifting drive mechanism 300 continues to run, there may be a positional deviation between the two drive shafts 320. The positional deviation means that the initial position of the two drive shafts 320 in the rotation direction is different, which will cause the multiple lifting components 330 to move asynchronously, and thus cause the lifting seat 200 to jam or fail to lift.

[0058] Therefore, referring to Figure 7 and Figure 8 As shown, the lifting drive mechanism 300 also includes a detection component 500. Specifically, the detection includes a sensor 510 and a sensing unit 520. The sensor 510 is mounted on the vehicle body 100 and located below the drive shaft 320, while the sensing unit 520 is mounted on the drive shaft 320 and can rotate with it. The sensing unit 520 and the sensor 510 are in responsive cooperation, and there are positions on the movement trajectory of the sensing unit 520 where the sensing unit 520 and the sensor 510 are arranged correspondingly so that the sensor 510 is triggered by the sensing unit 520.

[0059] It is understood that in this embodiment, the sensing unit 520 is configured as a sheet structure and fixedly mounted on the drive shaft 320. Correspondingly, the sensor 510 is configured as a laser sensor and fixedly mounted on the vehicle body 100. When the sensing sheet 850 blocks the light beam emitted by the laser sensor, the laser sensor is triggered by the sensing sheet 850.

[0060] Understandably, sensor 510 is signal-connected to the control unit, which is configured to control the operation of two motors 311 based on the signals from sensor 510. The two sensors 510 are configured to be triggered by two sensing units 520 respectively when the lifting platform 200 is in the first position. That is, when the lifting platform 200 resets to the lowest position (i.e., the first position), the two sensors 510 are triggered, indicating that both drive shafts 320 have reset normally without deviation. Therefore, when the lifting platform 200 needs to be raised again, the control unit controls the two motors 311 to operate synchronously based on the signals from the two sensors 510, thereby ensuring that multiple lifting components 330 move synchronously, allowing the lifting platform 200 to rise stably to lift the goods.

[0061] It is easy to understand that when at least one of the two sensors 510 is not triggered, the control unit will not control the two motors 311 to operate if it does not receive signals from the two sensors 510. The control unit can report the fault to the user (such as controlling the alarm sound, controlling the alarm light to illuminate, or controlling the display screen to show a fault indication, etc.) and control the machine to stop until the fault is eliminated. Therefore, by cooperating with the control unit, the two detection components 500 can ensure the stable lifting of the lifting platform 200 and provide stability for lifting goods.

[0062] Reference Figures 1 to 3 As shown, it can be understood that the transport vehicle is configured to move on either the first track 710 or the second track 720. Specifically, the first set of wheels 610 is used to cooperate with the second track 720 to allow the transport vehicle to move along a second direction on the second track 720 (or storage channel 740), i.e., when the transport vehicle moves along the second direction, the first wheels contact the second travel plane and roll on the second track 720. Similarly, the second set of wheels 620 is used to cooperate with the first track 710 to allow the transport vehicle to move along a first direction on the first track 710 (or travel channel 730), i.e., when the transport vehicle moves along the first direction, the second wheels contact the first travel plane and roll on the first track 710. In other words, when the transport vehicle moves on the travel channel 730, the second travel wheel set 620 contacts the first track 710 and the second travel wheel rolls on the first track 710; when the transport vehicle moves on the storage channel 740, the first travel wheel set 610 contacts the second track 720 and the first travel wheel rolls on the second track 720.

[0063] Reference Figures 1 to 3As shown, it can be understood that when the transport vehicle moves to the intersection of the travel channel 730 and the storage channel 740, and the second travel wheel set 620 is in contact with the first track 710, when the first drive assembly 310 drives the lifting seat 200 to move upward and makes the height position of the second travel wheel set 620 higher than the height position of the first travel wheel set 610, the second travel wheel set 620 disengages from the first travel plane (i.e., it is not in contact with the first track 710), and the first travel wheel of the first travel wheel set 610 contacts the second track 720. At this time, the height position of the lifting seat 200 is the second position, so that the transport vehicle can move along the second track 720. In other words, the transport vehicle switches from the first track 710 to the second track 720, that is, the transport vehicle reverses direction.

[0064] Similarly, when the first traveling wheel set 610 is in contact with the second track 720, when the first drive assembly 310 drives the lifting seat 200 to move downward and makes the height position of the second traveling wheel set 620 lower than the height position of the first traveling wheel set 610, the first traveling wheel set 610 disengages from the second traveling plane (i.e., it is not in contact with the second track 720), and the second traveling wheel of the second traveling wheel set 620 contacts the first track 710. At this time, the height position of the lifting seat 200 is the first position, so that the transport vehicle can move along the first track 710. In other words, the transport vehicle is switched from the second track 720 to the first track 710, and the direction of the transport vehicle is also changed.

[0065] Therefore, in addition to lifting goods, the lifting platform 200 can also change the direction of the transport vehicle, improve the mobility of the transport vehicle, and facilitate the transport of goods to the target location.

[0066] Reference Figures 1 to 3 As shown, it can be understood that, generally speaking, the lifting platform 200 also includes a third position in the lifting direction, and the height of the third position is greater than the height of the second position. That is, when the lifting platform 200 is in the second position, the transport vehicle is on the second track 720. When the first drive assembly 310 drives the lifting platform 200 to move further upward, the lifting platform 200 can move to the third position. At this time, the height of the second travel wheel set is still higher than the height of the first travel wheel set 610, so the transport vehicle is still on the second track 720. It is easy to understand that when the lifting platform 200 moves from the second position to the third position, it can lift the goods on the lifting platform 200 so as to place the goods on the bracket in the storage channel 740, or lift the goods placed on the bracket in the storage channel 740 so as to retrieve the goods. It is easy to understand that when there is cargo on the pallet 220 of the lifting platform 200, the cargo will not come into contact with the first rail 710 or the second rail 720, regardless of whether the lifting platform 200 is in the first position, the second position or the third position, so as to prevent the cargo from obstructing the movement of the transport vehicle.

[0067] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A handling system, characterized in that, include: Shelves, including rails; A transport vehicle for carrying goods, the transport vehicle being configured to move along the track; The positioning device includes an RFID tag, a QR code tag, a first reader, and a second reader. The RFID tag and the QR code tag are respectively disposed on the track, and the first reader and the second reader are disposed on the transport vehicle. The first reader is used to read the location information recorded by the RFID tag, and the second reader is used to read the location information recorded by the QR code tag. The transport vehicle uses the first identifier to read the location information recorded by the RFID tag to locate its position, and / or the transport vehicle uses the second identifier to read the location information recorded by the QR code tag to locate its position.

2. The handling system according to claim 1, characterized in that: The track includes a first track and a second track, the first track being arranged perpendicular to the second track, the transport vehicle being configured to move along the first track or the second track, and the shelf having multiple docking positions located on the first track or the second track, each of the docking positions being equipped with the radio frequency identification tag and the QR code tag.

3. The handling system according to claim 2, characterized in that: In each of the parking spaces, the RFID tag and the QR code tag are located on opposite sides of the parking space along the length of the first track or the length of the second track.

4. The handling system according to claim 3, characterized in that: The multiple radio frequency identification tags are located on the same side of the multiple parking positions along the same direction.

5. The handling system according to claim 3, characterized in that: The multiple QR code labels are located on the same side of the multiple parking positions along the same direction.

6. The handling system according to claim 1 or 2, characterized in that: The shelf includes a walking aisle and a storage aisle, the walking aisle and the storage aisle intersect at a reversing position, the positioning device further includes a sensing plate, a first sensor and a second sensor, the sensing plate is disposed at the reversing position, the first sensor and the second sensor are mounted on the transport vehicle, and the first sensor and the second sensor are arranged at intervals along the length direction of the walking aisle, the first sensor and the second sensor are configured to sense and cooperate with the sensing plate, when the transport vehicle moves to the reversing position and needs to reverse, the transport vehicle is configured to reverse when both the first sensor and the second sensor are triggered by the sensing plate.

7. The handling system according to claim 1, characterized in that: The transport vehicle includes a vehicle body, a lifting seat, and a lifting drive mechanism. The lifting seat is installed on the vehicle body and is used to carry goods. The lifting drive mechanism is connected to the lifting seat and is used to drive the lifting seat to move up and down relative to the vehicle body. The first identifier and the second identifier are respectively located on the vehicle body or the lifting seat, and the first identifier and the second identifier are exposed on the bottom side of the transport vehicle.

8. The handling system according to claim 7, characterized in that: The number of lifting drive mechanisms is at least two. Each lifting drive mechanism includes a first drive component, a transmission shaft, and a lifting component. The lifting component is connected to the lifting seat and the transmission shaft, respectively. The first drive component is connected to the transmission shaft and is used to drive the transmission shaft to rotate, so as to drive the lifting seat to rise and fall through the lifting component.

9. The handling system according to claim 8, characterized in that: The lifting assembly includes a swing arm, which has a first end and a second end. The first end is fixedly connected to the drive shaft, and the second end is rotatably engaged with the lifting seat. The rotation axis of the second end is parallel to the drive shaft.

10. The handling system according to any one of claims 7 to 9, characterized in that: The transport vehicle also includes a guide assembly, which includes a guide block and a slider. The guide block is installed on the vehicle body and its guiding direction is set along the lifting direction of the lifting seat. The slider is connected to the lifting seat and slides with the guide block along the guiding direction.

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