Goods placement and movement device for high-height shelving and high-height shelving

Abstract

This goods placement and movement device for a shelf comprises a lifting component (1), movement components (2) movablely arranged on the movement rails (100), and at least two floating components (3) arranged at intervals along the height of the lifting component (1). The floating component (3) comprises a rigid support (31) and elastic components (32). The lifting component (1) is arranged on the rigid supports (31), and the elastic component (32) is arranged between the rigid support (31) and the movement component (2). The adaptive change in the distance between the rigid support (31) and the movement components (2) in the vertical direction is achieved by the elastic components (32), preventing an inclined state of the lifting component (1) and jamming between the movement components (2) and the movement rails (100). Figure for the abstract: FIG. 4

Description

Title of the invention: Device for placing and moving goods for high-height shelving and high-height shelving. CROSS-REFERENCES OF RELEVANT APPLICATIONS

[0001] The present application claims priority from patent application 202411035773.3 filed on July 31, 2024 with the National Intellectual Property Office of China, the teachings of which are included herein in their entirety by reference. technical field

[0002] The present application relates to the field of warehousing and logistics technology, in particular a device for placing and moving goods for a high shelf and a high shelf. TECHNICAL CONTEXT

[0003] In the field of warehousing and logistics, shelving, as important installations for storing goods, provides organized storage space and also contributes to improving operational efficiency and the space utilization rate of a warehouse. Generally, existing shelving has a multi-layered structure and is equipped with a goods placement and movement device that can move along the shelves. For example, a goods placement and movement device that can move horizontally along the shelf is provided. The goods placement and movement device includes vertically arranged lifting rails and a placement and movement trolley arranged on the lifting rails.Thus, the placement and moving trolley can move horizontally and vertically to place goods at designated positions, or move goods from designated positions.

[0004] Because the existing shelves are relatively high and the lifting rails are therefore long, multiple travel rails must be arranged transversely on the shelf. Consequently, when the lifting rails move along the travel rails, the travel components of the plurality of travel rails will not be in the same straight vertical line, causing the lifting rails to tilt and thus resulting in a blockage between the travel components and the travel rails, affecting the horizontal operation of the lifting rails. DISCLOSURE OF THE INVENTION

[0005] A goods placement and movement device for a high shelf and a high shelf are provided in the embodiments of this application, in order to avoid the inclination of the lifting rails of the goods placement and movement device as much as possible, thus avoiding the problem of jamming between the movement components and the movement rails.

[0006] According to a first aspect of the embodiments of the present application, a goods placement and movement device for a high shelf is provided, wherein the goods placement and movement device is used on a high shelf comprising a plurality of goods storage areas arranged in a multi-layer arrangement, and the high shelf is provided with at least two horizontally arranged movement rails, and wherein the goods placement and movement device comprises: a lifting component; movement components arranged on the movement rails in a movable manner and at least two floating components arranged at an interval in one direction of height of the lifting component, and each floating component is connected to at least one movement component.

[0007] The floating component comprises a rigid support and elastic components. The lifting component is disposed on the rigid supports, and the elastic component is disposed between the rigid support and the displacement component. The elastic component is configured so that, in a vertical direction, the distance between the rigid support and the displacement component can be adaptively changed within a range of a first threshold.

[0008] According to one embodiment, the elastic component comprises an elastic element and a suspension rod. One end of the suspension rod is rotatably fixed to the rigid support, and the other end is connected to the displacement component. The elastic element is disposed between the rigid support and the body of the suspension rod.

[0009] According to one embodiment, the elastic element and the displacement component are on the same side in the vertical direction of the suspension rod.

[0010] According to one embodiment, the elastic component further includes an adjustment block which is disposed between the rigid support and the displacement component, and which is configured to adjust the value of the first threshold.

[0011] According to one embodiment, a positioning sensor is provided on the rigid support. The sensing end of the positioning sensor is oriented towards the travel rails, and a positioning mark is provided on one side of the travel rails oriented towards the positioning sensor. The positioning sensor is configured to detect the positioning mark in order to determine the position coordinates of the rigid support corresponding to the positioning sensor.

[0012] According to one embodiment, limiting components are provided on a rigid support. The limiting component can bear against or engage with the movement rails in a sliding manner. The limiting component is configured to limit the distance between the positioning sensor and the positioning mark in the horizontal direction.

[0013] According to one embodiment, the limiting component comprises a first limiting body and a second limiting body.

[0014] The first limiting body and the second limiting body bear against two opposite sides of the travel rails respectively, and one of the two opposite sides is provided with positioning marks.

[0015] According to one embodiment, the limiting component comprises a third limiting body, and a groove that engages with the third limiting body is provided on the travel rails. The groove is used to limit the distance between the positioning sensor and the positioning mark in the horizontal direction.

[0016] According to one embodiment, the goods placement and movement device further comprises a first controller electrically connected to the positioning sensors and the movement components.

[0017] The first controller is configured to:

[0018] - acquire the moments when all the positioning sensors detect the marks of positioning;

[0019] - determine a time difference between the instants when the sensors positioning of any two floating components detects positioning marks and a sequence of times when all positioning sensors detect positioning marks as a function of the times when all positioning sensors detect positioning marks; and

[0020] - if any time difference is greater than a second threshold, determine the displacement component that needs to be adjusted and the corresponding adjustment of a displacement speed according to the sequence of times when all positioning sensors detect the positioning marks.

[0021] According to one embodiment, the same floating component comprises two elastic components and is connected to the two displacement components, and the two displacement components are arranged respectively at two ends of the rigid support.

[0022] According to one embodiment, a laser radar (LIDAR) is provided on the lifting component, which is configured to detect point cloud data from the travel rails by taking the laser radar as a base point;

[0023] The goods placement and movement device further includes a second controller electrically connected to the laser radar and the movement components;

[0024] The second controller is configured to:

[0025] - acquire point cloud data of the movement rails detected by the laser radar;

[0026] - generate a contour profile of the travel rails based on the data of point cloud of movement rails;

[0027] - determine an angle of inclination of the contour profile of the travel rails in function of the contour profile of the movement rails, based on a horizontal plane where the laser radar is located; and

[0028] - determine the displacement component that needs to be adjusted and the adjustment corresponding to the speed of movement according to the angle of inclination of the contour profile of the movement rails.

[0029] According to one embodiment, the movement component comprises a movement wheel and a first drive mechanism. The movement wheel is arranged on the movement rails and is connected to an output shaft of the first drive mechanism, and the elastic component is connected to the first drive mechanism.

[0030] According to one embodiment, if multiple movement components are connected to the same floating component, there is at least one movement component which includes only the movement wheel disposed on the movement rails, and a rotating shaft of the movement wheel is connected to the floating component.

[0031] According to one embodiment, if the number of floating components is greater than or equal to three, there is at least one floating component whose movement component comprises only the movement wheel disposed on the movement rails, and a rotating shaft of the movement wheel is connected to the floating component.

[0032] According to one embodiment, the lifting component includes lifting rails, second drive mechanisms, and a platform for placing and moving goods.

[0033] The lifting rails are connected to rigid supports. The goods placement and movement platform slides along the lifting rails. Secondary drive mechanisms are connected to the goods placement and movement platform and are configured to drive the goods placement and movement platform to move along the lifting rails.

[0034] According to a second aspect of the embodiments of the present application, a high shelf is provided, which includes a plurality of storage areas of goods arranged in multilayer, at least two horizontally arranged movement rails, and the movement rails are provided on the goods placement and movement device according to the first aspect of the embodiments of this application.

[0035] A goods placement and movement device for a high shelf and a high shelf are provided in the embodiments of this application, wherein the goods placement and movement device comprises a lifting component, movement components arranged on the movement rails in a movable manner and at least two floating components arranged at an interval in a direction of height of the lifting component, each floating component being connected to at least one movement component; the floating component comprises a rigid support and elastic components, wherein the lifting component is arranged on the rigid support, and the elastic component is arranged between the rigid support and the movement component.According to the technical solution of this application, by positioning the elastic component vertically, a floating connection is formed between the rigid support and the moving component. When multiple moving components at different heights are not aligned vertically, the elastic component adaptively adjusts the distance between the rigid support and the moving component vertically. This minimizes the risk of the lifting component becoming tilted and prevents jamming between the moving component and the moving rails. While ensuring smooth operation of the moving component on the moving rails, the load capacity of the material handling and transport device is increased. BRIEF DESCRIPTION OF THE FIGURES

[0036] The technical solution to the present application will become clearer during the detailed description of the figures appended to the embodiments. It is evident that variations of the figures can be obtained by those skilled in the art without creative effort.

[0037] [Fig. 1] is a structural diagram of a high shelf equipped with a device for placing and moving goods supplied in the embodiments of the present application;

[0038] [Fig.2] is a structural diagram of another high shelf equipped with a device for placing and moving goods supplied in the embodiments of the present application;

[0039] [Fig.3] is a structural diagram of the high shelf of [Fig.2] from another point of view;

[0040] [Fig.4] is a structural diagram of the displacement component and the floating component provided in the embodiments of this application from a point of view;

[0041] [Fig.5] is a structural diagram of the displacement component and the floating component provided in the embodiments of this application from another point of view;

[0042] [Fig.6] is a partial structural diagram of the [Fig.3];

[0043] [Fig.7] is a structural diagram of the limiting component provided in the modes of fulfillment of this request;

[0044] [Fig.8] is a structural diagram of the travel rails provided in the embodiments of this application;

[0045] [Fig.9] is another structural diagram of the travel rails provided in the embodiments of this application;

[0046] [Fig. 10] is a structural diagram of the movement rails of the high-height shelf provided in the embodiments of this application;

[0047] [Fig. 11] is a structural diagram of a goods placement and movement platform provided in the embodiments of the present application.

[0048] References to the figures:

[0049] 1- Lifting component; 11 - Lifting rails; 12 - Second mechanism drive; 13 - Goods placement and movement platform; 131 - Conveyor belt; 132 - Conveyor belt drive motor; 133 - Bidirectional hook jaw; 134 - Hook fork lifting mechanism; 2 - Movement component; 21 - Movement wheel; 22 - First drive mechanism; 3 - Floating component; 31 - Rigid support; 32 - Elastic component; 321 - Elastic element; 322 - Suspension rod; 3221 - Slide; 323 - Adjustment block; 33 - Positioning sensor; 34 - Limiting component; 341 - First limiting body; 342 - Second limiting body; 343 - Third limiting body; 4 - Laser radar (LIDAR); 100 - Movement rails; 200 - Positioning mark; 300 - Groove. DETAILED DESCRIPTION OF THE INVENTION

[0050] Given a specific floor area for a shelf, increasing its storage capacity can improve its height. However, once the shelf height is increased, the length of the lifting rails must also be increased. Consequently, the length of the lifting rails is relatively high, requiring the use of multiple travel rails. arranged on the shelf. In this way, when the lifting rails move along the travel rails, there will be multiple travel components on the travel rails that are not in the same vertical straight line, causing the lifting rails to tilt. Furthermore, because the connection between the travel components and the lifting rails is rigid, and because the travel components have a certain length on the travel rails, and multiple travel components are generally arranged on the same travel rail, therefore, after the lifting rails tilt, the multiple travel components on the same travel rail will be in an inclined state, causing a blockage between the travel components and the travel rails, affecting the smooth operation of the travel components on the travel rails.Furthermore, when the lifting rails are inclined, the heavier the weight of the goods transported by the lifting rails, the greater the risk of the movement components becoming blocked on the lifting rails, which limits the load capacity of the goods placement and movement device.

[0051] To resolve the above-mentioned technical problems, according to a first aspect of the embodiments of the present application, a goods placement and movement device is provided. As shown in Figures 1, 2 and 3, the goods placement and movement device is to be used on a high shelf, wherein the high shelf comprises a plurality of goods storage areas arranged in a multi-layer configuration, and each layer of the goods storage area can be provided with a plurality of compartments, and the goods placement and movement device allows the goods to be placed in the compartments, or moved out of the compartments, and the high shelf is provided with at least two horizontally arranged movement rails 100.For example, as shown in Figures 2 and 3, the high shelf is provided with two horizontally arranged movement rails 100, and as shown in [Fig. 1], the high shelf is provided with three horizontally arranged movement rails 100.

[0052] As shown in Figures 1 and 2, the goods placement and movement device comprises a lifting component 1, movement components 2, and at least two floating components 3. The movement component 2 is arranged to be mobile on the movement rails 100, and at least two floating components 3 are arranged at intervals in a vertical direction of the lifting component 1, and each floating component 3 is connected to at least one displacement component 2; in which, the number of floating components 3 is less than or equal to the number of displacement rails 100.

[0053] The floating component 3 comprises a rigid support 31 and elastic components 32. The lifting component 1 is arranged on the rigid supports 31. For example, the lifting component 1 comprises two column structures, and the two column structures are arranged respectively at each end of the rigid support 31. The elastic component 32 is arranged between the rigid support 31 and the displacement component 2, and the elastic component 32 is configured so that, in a vertical direction, the distance between the rigid support 31 and the displacement component 2 can change adaptively within a range of a first threshold.

[0054] Specifically, a cavity structure is disposed in the rigid support 31, and the elastic component 32 is disposed in the cavity. In order to achieve that the distance between the rigid support 31 and the displacement component 2 can be adaptively changed within the range of the first threshold, in the actual application, the elastic component 32 is configured so that the direction of an elastic force in the elastic component 32 is vertical, or the elastic force has a component in the vertical direction. Thus, a floating connection is formed between the displacement component 2 and the lifting component 1.That is to say, in the vertical direction, the movement component 2 rests against the movement rails 100, and when multiple movement components 2 at different heights are not in the same vertical line, the elastic component 32 is used to achieve the adaptive change of the distance between the rigid support 31 and the movement component 2 in the vertical direction, in order to avoid as much as possible an inclined state of the lifting component 1, and further to avoid the problem of blocking between the movement component 2 and the movement rails 100. At the same time, while ensuring that the movement component 2 operates smoothly on the movement rails 100, the load-bearing capacity of the goods placement and movement device is increased.

[0055] A device for placing and moving goods on a high shelf, provided in the embodiments of this application, comprises a lifting component 1, moving components 2, and at least two floating components 3. The moving component 2 is movable on the moving rails 100, and at least two floating components 3 are arranged at intervals in one direction of the height of the lifting component 1, with each floating component 3 connected to at least one moving component 2. The floating component 3 comprises a rigid support 31 and elastic components 32. The lifting component 1 is arranged on the rigid supports 31, and the elastic component 32 is arranged between the rigid support 31 and the moving component 2. According to the solution provided in the embodiments of this application, in the vertical direction, by arranging the elastic component 32, a floating connection is formed between the rigid support 31 and the displacement component 2, which makes it possible to avoid the blockage between the displacement component 2 and the displacement rails 100 caused by the inclination of the lifting component 1 when the displacement component 2 is rigidly connected with the lifting component 1.

[0056] According to certain embodiments of the present application, as shown in [Fig. 4], the elastic component 32 comprises an elastic element 321 and a suspension rod 322, one end of the suspension rod 322 is rotatably fixed to the rigid support 31, and the other end is connected to the displacement component 2. The elastic element 321 is disposed between the rigid support 31 and the body of the suspension rod 322. Specifically, as shown in [Fig. 4], the suspension rod 322 is provided with a notch for engaging the elastic element 321, and the elastic element 321 and the displacement component 2 are on the same side of the suspension rod 322 in the vertical direction, so that the elastic element 321 is in a compressed state. The elastic element 321 in the compressed state can effectively absorb the vibrations and impact energy generated during the movement of the displacement component 2.Of course, in the actual application process, the elastic element 321 and the displacement component 2 can also be arranged on different sides of the suspension rod 322 in the vertical direction, so that the elastic element 321 is in a stretched state. According to the embodiments of the present application, preferably, the elastic element 321 is configured in a compressed state, and specifically, the elastic element 321 can be configured as a spring.

[0057] According to certain embodiments of the present application, the suspension rod 322 and the elastic element 321 are used. By placing the elastic element 321 in the middle area of ​​the body of the suspension rod 322, the suspension rod 322 and the elastic element 321 form a lever structure. In this way, the value of the first threshold can be effectively increased. Of course, in the actual application process, the elastic component 32 may consist solely of the elastic element 321, and the elastic element 321 may be directly positioned between the rigid support 31 and the displacement component 2.

[0058] As shown in [Fig.4], the suspension rod 322 is further provided with a slide 3221, in which a limiting rod is fixedly arranged on the rigid support 31, and the limiting rod is in the slide 3221, so that when the suspension rod 322 moves in the vertical direction, the stability of the movement of the suspension rod 322 is guaranteed by cooperation between the slide 3221 and the limiting rod.

[0059] As shown in [Fig. 4], the elastic component 32 further includes an adjustment block 323, which is arranged between the rigid support 31 and the displacement component 2. In this way, the value of the first threshold can be adjusted by installing adjustment blocks 323 of different sizes in the vertical direction. Of course, the value of the first threshold can also be adjusted to 0 using the adjustment block 323 if necessary. Thus, the connection between the rigid support 31 and the displacement component 2 is switched between a rigid and a floating connection, thereby forming a compatible design. In the actual application process, the suspension rod 322 can be omitted, while the elastic element 321 can be directly arranged between the rigid support 31 and the displacement component 2.

[0060] As shown in [Fig. 5], according to certain embodiments of the present application, a positioning sensor 33 is disposed on the rigid support 31, and one sensing end of the positioning sensor 33 is oriented towards the travel rails 100. As shown in Figures 5 and 10, positioning marks 200 are disposed on one side of the travel rails 100 oriented towards the positioning sensor 33, and the positioning sensor 33 is used to detect the positioning mark 200. In this way, when the travel component 2 moves along the travel rails 100, the positioning sensor 33 detects the positioning mark 200 in order to determine the position coordinates of the positioning sensor 33, that is, to determine the position coordinates of the rigid support 31 provided with the positioning sensor 33.

[0061] On this basis, the goods placement and movement device further includes a first controller which is electrically connected to the positioning sensor 33 and the movement components 2, and is configured to execute steps S101 to S103.

[0062] Step S101, acquire times when all the positioning sensors 33 detect the positioning marks 200.

[0063] According to the embodiments of the present application, a positioning sensor 33 is disposed on a rigid support 31, and a plurality of positioning marks 200 are arranged on the travel rails 100, and the plurality of positioning marks 200 are arranged at regular intervals. For example, the distance between two adjacent positioning marks 200 is 200 to 500 mm. The positioning marks 200 on the plurality of travel rails 100 are arranged coaxially in the vertical direction, in order to ensure that the positioning marks 200 detected by all the positioning sensors 33 for a predefined period are on the same vertical line. The positioning marks 200 can be configured as a hole-shaped structure, and consequently, the positioning sensor 33 is a photoelectric sensor, in order to that, when the sensing end of the positioning sensor 33 is aligned with the hole-shaped structure, the sensing signal of the photoelectric sensor changes, thus determining that the positioning sensor 33 is at the position of the positioning mark 200. It should be noted that the cross-section of the hole-shaped structure is greater than the sensing surface of the positioning sensor 33 on the displacement rails 100, so that the hole-shaped structure is always within the sensing range of the positioning sensor 33 when the rigid support 31 is inclined.

[0064] Step S102, determine the time difference between the instants when the positioning sensors 33 of any two floating components 3 detect the positioning marks 200 as a function of the instants when all the positioning sensors 33 detect the positioning marks 200, and a sequence of instants when all the positioning sensors 33 detect the positioning marks 200.

[0065] When multiple displacement components 2 at different heights are not located on the same vertical line, because the lifting component 1 is a rigid structure, in the actual application process it is also possible to determine only the time difference between the instants when the two positioning sensors 33 detect the positioning marks 200. The two positioning sensors 33 are respectively the two positioning sensors 33 at the highest and lowest levels in the vertical direction. Of these, taking the direction of displacement of the displacement component 2 as the forward direction, the positioning sensor 33 that first detects the positioning mark 200 is in a more forward position.

[0066] Step S103, if any time difference is greater than a second threshold, determine the displacement component 2 needing to be adjusted and the amount of adjustment of the corresponding displacement speed as a function of the sequence of instants when all the positioning sensors 33 detect the positioning marks 200.

[0067] In which, to determine the displacement component 2 requiring adjustment, the displacement component 2 in the forward position can be adjusted. For example, the displacement speed of the displacement component 2 in the forward position is reduced, and this continues for a predetermined time. The displacement component 2 in the rear position can also be adjusted; for example, the displacement speed of the displacement component 2 in the rear position is increased, and this continues for a predetermined time. In the actual application process, due to the constraint of the overall structure of the goods placement and displacement device, the positions of the multiple displacement components 2 in the horizontal direction will not differ. greatly. Thus, when adjusting the speed of the moving component 2, a fine adjustment can be selected, and after the adjustment, the positioning sensor 33 is used again to detect the positioning mark 200. During the horizontal movement process of the lifting component 1, the relative positions of the multiple moving components 2 will be corrected several times to avoid the tilted state of the lifting component 1 as much as possible.

[0068] In order to control the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction to ensure the detection accuracy of the positioning sensor 33, according to one embodiment of the present application, a limiting component 34 is arranged on the rigid support 31.The limiting component 34 rests against or engages with the displacement rails 100 in a sliding manner, so that, when the limiting component 34 moves with the rigid support 31, the positioning sensor 33 moves towards or away from the displacement rails 100 in the horizontal direction to control the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction.

[0069] For example, the limiting component 34 comprises a first limiting body 341 and a second limiting body 342. As shown in [Fig. 5], the first limiting body 341 is disposed on the rigid support 31 and bears against the travel rails 100. As shown in [Fig. 6], the second limiting body 342 is disposed on the rigid support 31 and bears against the travel rails 100. That is to say, the first limiting body 341 and the second limiting body 342 bear against two opposite sides of the travel rails 100 respectively, and one of the two opposite sides is provided with the positioning marks 200. In this way, the first limiting body 341 and the second limiting body 342 form the limiting component 34 which engages with the travel rails 100, so that the sensor of positioning 33 is controlled to approach or move away from the movement rails in the horizontal direction.The first limiting body 341 and the second limiting body 342 can be a slider or a rotating wheel.

[0070] By another example, as shown in [Fig. 7], the limiting component 34 includes a third limiting body 343. A groove 300 which engages with the third limiting body 343 is disposed on the displacement rails 100, and the groove 300 is used to limit the horizontal distance between the positioning sensor 33 and the positioning mark 200. In this way, the limiting component 34 is engaged in the groove 300, thus limiting the positioning sensor 33 to approach or move away from the displacement rails 100 in the horizontal direction.

[0071] As shown in [Fig. 4], according to certain embodiments of the present application, the same floating component 3 comprises two elastic components 32, The same floating component 3 is connected to two moving components 2. The two moving components 2 are positioned at each end of the rigid support 31. It should be noted that when multiple moving components 2 at different heights are not aligned vertically, the distances between the same floating component 3 and the two moving components 2 are not identical. That is, under the influence of the elastic component 32, the rolling cooperation between the two moving components 2 and the moving rails 100 can be effectively ensured. In this case, the rigid support 31 is in an inclined position, thus preventing the tilting of the lifting component 1 as much as possible.

[0072] Because the positioning marks 200 are arranged at regular intervals, there is a certain time interval when detecting the positions of multiple movement components 2 at different heights. Furthermore, when multiple movement components 2 are not in the same vertical line and the horizontal positional deviation is small, the lifting component 1 may still be in a vertical state due to the action of the floating component 3. On this basis, in order to achieve real-time detection of the inclined state of the lifting component 1, in particular real-time detection of the inclined state of the lifting component 1 in the case where the movement rails 100 are straight rails, as shown in [Fig. 3], laser radars (LIDAR) 4 are arranged on the lifting component 1.The laser radar 4 is configured to detect point cloud data from the 100 travel rails, using the laser radar 4 as its base point. The laser radar 4 is positioned on a column of the lifting component 1, preferably in the middle of the column. This means that when the lifting component 1 is in a vertical position, the laser radar 4 is equidistant from the upper and lower sides of the 100 travel rails. The number of installed laser radars 4 is related to the number of 100 travel rails, and it is necessary to ensure that laser radars 4 are positioned between any two 100 travel rails.

[0073] The goods placement and movement device further includes a second controller electrically connected to the laser radars 4 and the movement components 2. In the actual application process, the first and second controllers may be different units of the same device, or different devices. The second controller is configured to perform steps S201 to S204.

[0074] Step S201, acquire the point cloud data of the displacement rails 100 detected by the laser radar 4.

[0075] Once the point cloud data of the 100 displacement rails has been acquired, necessary processing of the point cloud data is also performed, including, for example, preprocessing of the point cloud data, in which Denoising and filtering processes are applied to the original laser radar point cloud data to improve data quality. Another example is subsampling of the point cloud data, in which, to reduce computational load, key points are retained, or voxelization is performed.

[0076] Step S202, generate a contour profile of the displacement rails 100 based on the point cloud data of the displacement rails 100.

[0077] Arranging the generation of the contour profile of the displacement rails 100 also includes necessary generation means, for example, contour extraction, in which the potential contour profile is extracted by a clustering algorithm based on the density, curvature, or other geometric characteristics of the point cloud data. Another example is contour profile fitting, in which the extracted contour profile point cloud data can be fitted using a mathematical model to form a smooth contour profile. Yet another example is contour profile optimization, in which the extracted contour profile is further readjusted by resampling, smoothing processing, or using a more complex mathematical model to eliminate noise or unwanted curvature.

[0078] Step S203, determine an angle of inclination of the contour profile of the displacement rails 100 as a function of the contour profile of the displacement rails 100, based on a horizontal plane where the laser radar 4 is located.

[0079] It should be noted that, since the lifting rails 11 are high-height shelf rails, their height is considerable; for example, the height of the lifting rails 11 is generally greater than 10 m. The goods placement and movement platform 13, which supports the goods, will move up and down on the lifting rails 11, causing some deformation of the lifting rails 11. This deformation results in the contour profiles of the two movement rails detected by the laser radar 4 being non-parallel. In the actual application process, it is sufficient to adjust the direction of inclination of the movement rails 100 and the angle of inclination to a predefined precision based on the contour profiles of the two movement rails 100.

[0080] Step S204, determine the displacement component 2 which needs to be adjusted and an amount of adjustment of a corresponding displacement speed as a function of the angle of inclination of the contour profile of the displacement rails 100.

[0081] According to the technical solution provided in the embodiments of this application, the angle of inclination of the travel rails 100 relative to the horizontal plane is detected in real time by the laser radar 4 and the second controller. Thus, the position of the lifting component 1 is corrected in real time by controlling the travel speeds of multiple travel components 2. As As shown in Figures 4 and 5, according to certain embodiments of the present application, the displacement component 2 comprises a displacement wheel 21 and a first drive mechanism 22. The displacement wheel 21 is disposed on the displacement rails 100, and is connected to an output shaft of the first drive mechanism 22. The elastic component 32 is connected to the first drive mechanism 22.

[0082] The first drive mechanism 22 comprises a motor and a gearbox. In the actual application process, when multiple movement components 2 are arranged on the same rigid support 31, the multiple movement components 2 can be driven by a single motor; that is, the multiple movement components 2 are driven by one motor. Alternatively, it is also possible to use a plurality of motors; that is, each movement component 2 is provided with an independent motor to achieve the drive.

[0083] According to certain embodiments of the present application, if there are multiple movement components 2 connected to the same floating component 3, some of the movement components 2 may be configured as a non-driven structure, in which the non-driven structure means that the movement component 2 itself does not provide any driving power. That is, as shown in [Fig. 8], there is at least one movement component 2 that comprises only the drive wheel 21, and the drive wheel 21 is arranged on the drive rails 100. A rotating shaft of the drive wheel 21 is connected to the floating component 3; that is, the movement component 2 is a driven structure, and in the horizontal movement process of the goods placement and movement device, it moves along the drive rails 100 in a rolling manner to follow the floating component 3.

[0084] Furthermore, if the number of floating components 3 is greater than or equal to three, the displacement component 2 in the middle of the vertical height can be defined as a non-driving structure. That is to say, as shown in [Fig. 9], at least one displacement component 2 on the floating component 3 comprises only the displacement wheel 21 arranged on the displacement rails 100, and a rotating shaft of the displacement wheel 21 is connected to the floating component 3.

[0085] It should be noted that the aforementioned displacement component 2 comprises only the displacement wheel 21, meaning that the displacement component 2 does not include the drive motor, thus forming the displacement component of the non-motorized mechanism. Therefore, the resistance to horizontal movement of the goods placement and movement device can be reduced while improving the utilization rate of the drive force of the goods placement and movement device.

[0086] As shown in Figures 1, 2 and 3, according to certain embodiments of the present application, the lifting component 1 comprises lifting rails 11, secondary drive mechanisms 12 and a goods placement and movement platform 13. The lifting rails 11 are connected to rigid supports 31. The goods placement and movement platform 13 is slidably arranged on the lifting rails 11. The secondary drive mechanisms 12 are connected to the goods placement and movement platform 13, and are configured to drive the goods placement and movement platform 13 to move along the lifting rails 11.

[0087] The second drive mechanism 12 comprises a power device and a transmission device. For example, the power device comprises a motor and a gearbox that cooperate with each other. The transmission device comprises a synchronous belt and a belt pulley that cooperate with each other, or a drive chain and a chain sprocket.

[0088] As shown in [Fig. 11], the goods placement and handling platform 13 comprises a conveyor belt 131, a conveyor belt drive motor 132, a bidirectional hook jaw 133, a hook fork lifting mechanism 134, and a hook jaw moving mechanism. The conveyor belt 131 is arranged on a drive wheel connected via the conveyor belt drive motor 132 and is used to transport goods to the goods placement and handling platform 13, or to unload goods from the goods placement and handling platform 13.The bidirectional hook jaw 133 is connected to the hook fork lifting mechanism 134 and the hook jaw movement mechanism, in order to control the bidirectional hook jaw 133 to raise or lower using the hook fork lifting mechanism 134, and to control the bidirectional hook jaw 133 to move horizontally using the hook jaw movement mechanism. The bidirectional hook jaw 133 is used to hook and / or secure goods.

[0089] According to a second aspect of the embodiments of this application, a high shelf is provided, as shown in Figures 1 and 2. The high shelf comprises a plurality of storage areas for goods arranged in a multi-layer configuration, and the high shelf is provided with at least two horizontally arranged travel rails 100. The goods placement and movement device according to the first aspect of the embodiments of this application is arranged on the travel rails 100.

[0090] A device for placing and moving goods on a high shelf, provided in the embodiments of this application, comprises a lifting component 1, moving components 2 arranged movably on the moving rails 100, and at least two floating components 3, arranged at intervals in a vertical direction along the lifting component 1, each floating component 3 being connected to at least one moving component 2. The floating component 3 comprises a rigid support 31 and elastic components 32. The lifting component 1 is arranged on the rigid supports 31, and the elastic component 32 is arranged between the rigid support 31 and the moving component 2. By applying the technical solution of this application, by arranging the elastic component 32 vertically, a floating connection is formed between the rigid support 31 and the moving component 2.When multiple movement components 2 at different heights are not in the same vertical line, the elastic component 32 performs an adaptive change of the distance between the rigid support 31 and the movement component 2 in the vertical direction, which makes it possible to avoid as much as possible an inclined state of the lifting component 1 and to avoid the phenomenon of blocking between the movement component 2 and the movement rails 100. While ensuring smooth operation of the movement component 2 on the movement rails 100, the load capacity of the goods placement and movement device is increased.

[0091] The above embodiments further explain in detail the objectives, technical solutions, and beneficial effects of this application. It will be understood that the above embodiments are only specific embodiments and should not be used to limit the scope of protection of this application. Any modifications, equivalent replacements, and improvements based on the technical solutions of this application must be included within the scope of protection of this application.

Claims

1. Demands A goods placement and movement device for a shelf, used on a shelf, the shelf comprising a plurality of goods storage areas arranged in a multi-layer, and the shelf being provided with at least two horizontally arranged movement rails (100), characterized in that the goods placement and movement device comprises: a lifting component (1), movement components (2) arranged on the movement rails (100) in a movable manner and at least two floating components (3) arranged at intervals in a vertical direction of the lifting component (1), each floating component (3) being connected to at least one movement component (2);the floating component (3) includes a rigid support (31) and elastic components (32), the lifting component (1) is disposed on the rigid supports (31), the elastic component (32) is disposed between the rigid support (31) and the displacement components (2), and the elastic component (32) is configured so that, in a vertical direction, the distance between the rigid support (31) and the displacement component (2) can change adaptively within a range of a first threshold; a positioning sensor (33) is disposed on the rigid support (31), one sensing end of the positioning sensor (33) is oriented towards the displacement rails (100), positioning marks (200) are disposed on one side of the displacement rails (100) oriented towards the positioning sensor (33), and the positioning sensor (33) is used to detect the positioning mark (200) in order to determine position coordinates of the rigid support (31) corresponding to the positioning sensor (33); in which the goods placement and movement device further comprises a first controller electrically connected to the positioning sensors (33) and the movement components (2); in which the first controller is configured to: - acquire times when all positioning sensors (33) detect positioning marks (200); - determine a time difference between the instants when the positioning sensors (33) of any two floating components (3) detect the positioning marks (200) as a function of the instants when all the positioning sensors (33) detect the positioning marks (200), and a sequence of instants when all the positioning sensors (33) detect the positioning marks (200); - if any time difference is greater than a second threshold, determine the displacement component (2) needing to be adjusted and a corresponding amount of adjustment of the displacement speed as a function of the sequence of instants when all the positioning sensors (33) detect the positioning marks (200).

2. A goods placement and movement device for a shelf according to claim 1, characterized in that the elastic component (32) comprises an elastic element (321) and a suspension rod (322), one end of the suspension rod (322) is rotatably fixed on the rigid support (31), the other end is connected to the movement component (2), and the elastic element (321) is disposed between the rigid support (31) and a body of the suspension rod (322).

3. A goods placement and movement device for a shelf according to claim 2, characterized in that the elastic component (32) further comprises an adjustment block (323), the adjustment block (323) is disposed between the rigid support (31) and the movement component (2), and the adjustment block (323) is used to adjust a value of the first threshold.

4. A goods placement and movement device for a shelf according to claim 1, characterized in that limiting components (34) are arranged on the rigid support (31); the limiting component (34) rests against or engages with the movement rails (100) in a sliding manner, and the limiting component (34) is used to limit a distance between the positioning sensor (33) and the positioning mark (200) in the horizontal direction; wherein the limiting component (34) comprises a first limiting body (341) and a second limiting body (342); the first limiting body (341) and the second limiting body (342) limitation (342) rest against two opposite sides of the travel rails (100) respectively, and one of the two opposite sides is provided with the positioning marks (200); or the limitation component (34) includes a third limitation body (343), and a groove (300) which engages with the third limitation body (343) is disposed on the travel rails (100), and the groove (300) is used to limit a distance between the positioning sensor (33) and the positioning mark (200) in the horizontal direction.

5. A goods placement and movement device for a shelf according to claim 1, characterized in that a laser radar (4) is disposed on the lifting component (1), the laser radar is used to detect point cloud data of the movement rails (100) taking the laser radar (4) as a base point; in which the goods placement and movement device further comprises a second controller electrically connected to the laser radar (4) and the movement components (2); in which the second controller is configured to: - acquire point cloud data of the movement rails (100) detected by the laser radar (4); - generate a contour profile of the movement rails (100) as a function of the point cloud data of the movement rails (100);- determine an angle of inclination of the contour profile of the displacement rails (100) as a function of the contour profile of the displacement rails (100) based on a horizontal plane where the laser radar (4) is located; and - determine the displacement component (2) to be adjusted and a corresponding amount of adjustment of the displacement speed as a function of the angle of inclination of the contour profile of the displacement rails (100).

6. A device for placing and moving goods on a shelf according to claim 1, characterized in that the movement component (2) comprises a moving wheel (21) and a first drive mechanism (22), the moving wheel (21) is disposed on the moving rails (100) and is connected to a shaft output of the first drive mechanism (22), and the elastic component (32) is connected to the first drive mechanism (22).

7. A goods placement and movement device for a shelf according to claim 1, characterized in that, if multiple movement components (2) are connected to the same floating component (3), there is at least one movement component (2) which comprises only the movement wheel (21) disposed on the movement rails (100) and a rotating shaft of the movement wheel (21) is connected to the floating component (3).

8. A goods placement and movement device for a shelf according to claim 1, characterized in that, if the number of floating components (3) is greater than or equal to three, there is at least one floating component (3) whose movement component (2) comprises only the movement wheel (21), the movement wheel (21) is disposed on the movement rails (100) and a rotating shaft of the movement wheel (21) is connected to the floating component (3).

9. A goods placement and movement device for a shelf according to claim 1, characterized in that the lifting component (1) comprises lifting rails (11), second drive mechanisms (12) and a goods placement and movement platform (13); wherein the lifting rails (11) are connected to the rigid supports (31), and the goods placement and movement platform (13) is slidably arranged on the lifting rails (11), and the second drive mechanisms (12) are connected to the goods placement and movement platform (13), and configured to drive the goods placement and movement platform (13) to move along the lifting rails (11).

10. Shelf, characterized in that it comprises a plurality of goods storage areas arranged in a multilayer, and the shelf is provided with at least two horizontally arranged movement rails (100), and the goods placement and movement device according to any one of claims 1 to 9 is arranged on the movement rails (100).

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