High-rise rack cargo retrieval / loading device and high-rise rack

Abstract

This invention relates to the technical field of warehousing and logistics, and provides a cargo retrieval / loading device for a high-rise rack and a high-rise rack. The cargo retrieval / loading device comprises a lifting component, a traveling component, and at least two floating components. The traveling component is mounted to be movable on a travel rail, and the at least two floating components are spaced apart in the height direction of the lifting component. The floating component comprises a rigid support and an elastic component. The lifting component is mounted on the rigid support, and the elastic component is provided between the rigid support and the traveling component. According to the present invention, when multiple traveling components of different heights are not on the same vertical line, the elastic component enables adaptive changes in the vertical distance between the rigid support and the traveling component, thereby avoiding tilting of the lifting component as much as possible, further avoiding jamming between the traveling component and the travel rail, and increasing the cargo load capacity of the cargo retrieval / loading device while ensuring that the traveling component operates smoothly on the travel rail.

Description

[Technical Field]

[0001] The present application relates to the technical field of warehouse and logistics, and in particular, to a cargo picking / placing device for high-rise racks and a high-rise rack. [Background Art]

[0002] In warehouse and logistics, racks are important facilities for storing cargo. They not only provide orderly storage space, but also are beneficial for improving the working efficiency and space utilization rate of warehouses. Conventional racks generally have a multi-layer structure and are provided with a movable cargo picking / placing device. For example, a cargo picking / placing device that can move horizontally on the rack is provided. The cargo picking / placing device comprises a vertically arranged lifting rail and a picking / placing trolley arranged on the lifting rail, whereby the picking / placing trolley can place cargo at a designated position or pick cargo from a designated position through horizontal and vertical movement.

[0003] Conventional racks are relatively high, and the length of the lifting rail is relatively large, so the rack needs to be provided with a plurality of running rails in the lateral direction. However, during the running of the lifting rail along the running rails, the running components on the plurality of running rails may not be located on the same vertical line. This will cause the lifting rail to tilt, and further cause jamming between the running components and the running rails, which affects the horizontal running of the lifting rail. [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] Embodiments of the present application provide a cargo picking / placing device for high-rise racks and a high-rise rack, which are used to avoid as much as possible the problem that the lifting rail of the cargo picking / placing device tilts and jamming occurs between the running components and the running rails. [Means for Solving the Problem]

[0005] The luggage retrieval / loading device for a high-rise rack according to the first embodiment of the present invention is applied to a high-rise rack, the high-rise rack comprises a plurality of stacked luggage storage areas, and the high-rise rack is provided with at least two horizontally mounted running rails. The cargo retrieval / loading device comprises a lifting component, a travel component, and at least two floating components. The running components are mounted on the running rails so as to be able to move. At least two floating components are provided spaced apart in the height direction of the lifting component, and at least one traveling component is connected to each floating component. The floating component comprises a rigid support and an elastic component. The lifting component is mounted on a rigid support. The elastic component is placed between the rigid support and the running component. The elastic component is configured such that the distance between the rigid support and the running component changes adaptively within a first threshold in the vertical direction.

[0006] In one embodiment, the elastic component comprises an elastic member and a rocking rod, The oscillating rod has one end rotatably fixed to a rigid support and the other end connected to a travel component. The elastic member is placed between the rigid support and the rod body of the oscillating rod.

[0007] In one embodiment, the elastic member and the travel component are located on the same side of the oscillating rod in the vertical direction.

[0008] In one embodiment, the elastic component further comprises an adjustment block, The adjustment block is located between the rigidity support and the running component. The adjustment block adjusts the magnitude of the first threshold.

[0009] In one embodiment, the rigid support is provided with a positioning sensor. The detection end of the positioning sensor is directed toward the rail. Positioning marks are provided on the side of the rail facing the positioning sensor. The positioning sensor detects the positioning mark and determines the position coordinates of the rigid support corresponding to the positioning sensor.

[0010] In one embodiment, the rigid support is provided with a position limiting component. The position limiting component slides against or engages with the running rail, The position limiting component restricts the horizontal distance between the positioning sensor and the positioning mark.

[0011] In one embodiment, the position limiting component comprises a first position limiting member and a second position limiting member, The first position limiting member and the second position limiting member each abut against opposing sides of the running rail, and a positioning mark is provided on one of the opposing sides.

[0012] In one embodiment, the position limiting component includes a third position limiting member, and the running rail is provided with a groove for engaging the third position limiting member, the groove limiting the horizontal distance between the positioning sensor and the positioning mark.

[0013] In one embodiment, the luggage retrieval / placement device further comprises a first controller, The first controller is electrically connected to the positioning sensor and the travel component. The first controller is, The time when all positioning sensors detected the positioning mark is obtained. Based on the time when all positioning sensors detected the positioning mark, the difference between the times when the positioning sensors of any two floating components detected the positioning mark, and the chronological order in which each positioning sensor detected the positioning mark are determined. If the difference between any two time points is greater than a second threshold, the system is configured to determine which driving components require adjustment and the corresponding amount of driving speed adjustment, based on the chronological order in which all positioning sensors detected the positioning marks.

[0014] In one embodiment, the same floating component comprises two elastic components, to which two running components are connected, and the two running components are each provided at both ends of a rigid support.

[0015] In one embodiment, the lifting component is equipped with a laser radar, The laser radar detects point cloud data of the rails using this laser radar as a reference point. The cargo retrieval / loading device further includes a second controller, The second controller is electrically connected to the laser radar and the driving components. The second controller is, The laser radar acquires point cloud data of the rails it has detected, Based on the point cloud data of the running rails, the contour lines of the running rails are generated. Based on the horizontal plane in which the laser radar is located, the inclination angle of the contour line of the running rail is determined based on the contour line of the running rail. The system is configured to determine which running components require adjustment and the corresponding amount of speed adjustment based on the inclination angle of the running rail's contour line.

[0016] In one embodiment, the driving component comprises driving wheels and a first drive mechanism, The running wheels are mounted on the running rails and connected to the output shaft of the first drive mechanism. The elastic component is connected to the first driving mechanism.

[0017] In one embodiment, when there are a plurality of traveling components connected to the same floating component, at least one traveling component is provided only with traveling wheels, the traveling wheels are disposed on traveling rails, the rotating shaft of a traveling wheel is connected to the floating component.

[0018] In one embodiment, when the number of floating components is three or more, at least the floating component on the traveling component is provided with only traveling wheels, the traveling wheels are disposed on traveling rails, the rotating shaft of a traveling wheel is connected to the floating component.

[0019] In one embodiment, the lifting component comprises a lifting rail, a second driving mechanism, and a cargo pickup / loading platform, the lifting rail is connected to a rigid support, the cargo pickup / loading platform is slidably disposed on the lifting rail, the second driving mechanism is connected to the cargo pickup / loading platform, the second driving mechanism drives the cargo pickup / loading platform to move along the lifting rail.

[0020] A high-rise rack according to the second aspect of the embodiment of the present application comprises a plurality of stacked cargo storage areas, the high-rise rack is provided with at least two horizontally arranged traveling rails, the traveling rails are provided with the cargo pickup / loading apparatus according to the first aspect of the embodiment of the present application. [Effects of the Invention]

[0021] Embodiments of the present invention provide a luggage retrieval / loading device and a high-rise rack, the luggage retrieval / loading device comprising a lifting component, a traveling component, and at least two floating components, the traveling component being movably mounted on a traveling rail, the at least two floating components being spaced apart in the height direction of the lifting component, each floating component being connected to at least one traveling component, the floating component comprising a rigid support and an elastic component, the lifting component being mounted on the rigid support, and the elastic component being provided between the rigid support and the traveling component. According to the technical configuration of the present invention, by providing an elastic component, a floating connection is formed between the rigid support and the running component in the vertical direction. As a result, when multiple running components of different heights are not located on the same vertical line, the elastic component enables adaptive changes in the vertical distance between the rigid support and the running component. This avoids tilting of the lifting component as much as possible, and further prevents jamming between the running component and the running rail, ensuring that the running component operates smoothly on the running rail while increasing the load capacity of the load unloading / loading device. [Brief explanation of the drawing]

[0022] [Figure 1] This is a schematic diagram of the configuration of a high-rise rack equipped with a cargo retrieval / loading device according to an embodiment of the present invention. [Figure 2] This is a schematic diagram of the configuration of another high-rise rack equipped with a cargo retrieval / loading device according to an embodiment of the present invention. [Figure 3] Figure 2 is a schematic diagram of the high-rise rack system from a different perspective. [Figure 4] This is a schematic diagram of the configuration of the running component and the floating component according to an embodiment of the present application. [Figure 5] This is a schematic diagram of the configuration of the running component and the floating component according to an embodiment of the present application, from another viewpoint. [Figure 6]Figure 3 is a schematic diagram showing a part of the configuration of the device. [Figure 7] This is a schematic diagram of the configuration of a position limiting component according to an embodiment of the present application. [Figure 8] This is a schematic diagram of the running rail configuration according to an embodiment of the present invention. [Figure 9] This is a schematic diagram of another configuration of the running rail according to an embodiment of the present invention. [Figure 10] This is a schematic diagram of the configuration of the running rails of a high-rise rack according to an embodiment of the present invention. [Figure 11] This is a schematic diagram of the configuration of the luggage retrieval / placement platform according to an embodiment of the present invention. [Modes for carrying out the invention]

[0023] If the floor space occupied by the rack is fixed, the height of the rack can be increased to improve the storage capacity. However, increasing the height of the rack requires increasing the length of the lifting rails. When the lifting rails are long, it is necessary to provide multiple running rails on the rack. In the process of the lifting rails moving along the running rails, the running components on multiple running rails may not be located on the same vertical line. This causes the lifting rails to tilt, and the connection between the running components and the running rails becomes a rigid connection. Since the running components occupy a certain length on the running rails, and multiple running components are usually provided on the same running rail, after the lifting rails tilt, multiple running components on the same running rail become tilted, causing jams between the running components and the running rails, preventing the running components from moving smoothly on the running rails. Furthermore, when the lifting rails are tilted, the heavier the weight of the loads loaded on the lifting rails, the more likely jams of the running components on the running rails are to occur, thus limiting the load capacity of the load retrieval / loading device.

[0024] A first embodiment of the present invention provides a luggage retrieval / loading device for high bay racking to solve the above technical problems, as shown in Figures 1, 2 and 3. The luggage retrieval / loading device is applied to a high bay rack, which has multiple luggage storage areas arranged in a stacked configuration, and each luggage storage area may be provided with multiple compartments. The luggage retrieval / loading device can place luggage on or off these compartments. The high bay rack is provided with at least two horizontally mounted running rails 100. For example, as shown in Figures 2 and 3, the high bay rack is provided with two horizontally mounted running rails 100, and as shown in Figure 1, the high bay rack is provided with three horizontally mounted running rails 100.

[0025] As shown in Figures 1 and 2, the cargo retrieval / loading device comprises a lifting component 1, a traveling component 2, and at least two floating components 3, wherein the traveling component 2 is mounted to travel on a traveling rail 100, and at least two floating components 3 are mounted spaced apart in the height direction of the lifting component 1, with at least one traveling component 2 connected to each floating component 3, and the number of floating components 3 is less than or equal to the number of traveling rails 100.

[0026] The floating component 3 comprises a rigid support 31 and an elastic component 32. The lifting component 1 is provided on the rigid support 31, and for example, the lifting component 1 has two column structures provided at both ends of the rigid support 31. The elastic component 32 is provided between the rigid support 31 and the traveling component 2, and the elastic component 32 is configured such that the distance between the rigid support 31 and the traveling component 2 changes adaptively within a first threshold in the vertical direction.

[0027] Specifically, the rigid support 31 is provided with a cavity structure, and the elastic component 32 is provided within this cavity. In order to enable the distance between the rigid support 31 and the running component 2 to change adaptively within a first threshold, in actual applications, the elastic component 32 is configured such that the direction of the elastic force of the elastic component 32 is vertical, or that the elastic force has a vertical component. This creates a floating connection between the running component 2 and the lifting component 1, that is, in the vertical direction, the running component 2 is in contact with the running rail 100. If multiple running components 2 of different heights are not located on the same vertical line, the elastic component 32 enables adaptive changes in the vertical distance between the rigid support 31 and the running component 2. This avoids tilting of the lifting component 1 as much as possible, and further prevents jamming between the running component 2 and the running rail 100, ensuring that the running component 2 operates smoothly on the running rail 100, while increasing the load capacity of the load unloading / loading device.

[0028] The luggage retrieval / loading device for a high-rise rack according to an embodiment of the present invention comprises a lifting component 1, a traveling component 2, and at least two floating components 3, wherein the traveling component 2 is movably mounted on a traveling rail 100, and at least two floating components 3 are spaced apart in the height direction of the lifting component 1, with at least one traveling component 2 connected to each floating component 3, and each floating component 3 comprises a rigid support 31 and an elastic component 32, the lifting component 1 is mounted on the rigid support 31, and the elastic component 32 is provided between the rigid support 31 and the traveling component 2. According to the embodiment of the present invention, by providing the elastic component 32 in the vertical direction, a floating connection is formed between the rigid support 31 and the traveling component 2, thereby preventing jamming between the traveling component 2 and the traveling rail 100 due to the tilt of the lifting component 1 when the traveling component 2 and the lifting component 1 are rigidly connected.

[0029] In some embodiments of the present invention, as shown in Figure 4, the elastic component 32 comprises an elastic member 321 and a rocking rod 322, the rocking rod 322 having one end rotatably connected to a rigid support 31 and the other end connected to a running component 2, and the elastic member 321 is provided between the rigid support 31 and the rod body of the rocking rod 322. Specifically, as shown in Figure 4, the rocking rod 322 is provided with a notch for installing the elastic member 321, and since the elastic member 321 and the running component 2 are located on the same side of the rocking rod 322 in the vertical direction, the elastic member 321 is always in a compressed state, and the elastic member 321 in a constantly compressed state can effectively absorb vibration and shock energy generated when the running component 2 is running. Of course, in actual applications, the elastic member 321 and the running component 2 can be located on different sides of the rocking rod 322 in the vertical direction, thereby putting the elastic member 321 in a tensile state. In the embodiments of the present invention, it is preferable to set the elastic member 321 to a constantly compressed state, and specifically, the elastic member 321 can be a spring.

[0030] In some embodiments of the present invention, a rocking rod 322 and an elastic member 321 are used, and the elastic member 321 is provided in the central region of the rod body of the rocking rod 322, thereby forming a lever structure between the rocking rod 322 and the elastic member 321, which effectively increases the magnitude of the first threshold. Of course, in actual applications, the elastic component 32 comprises only the elastic member 321, and the elastic member 321 can be provided directly between the rigid support 31 and the running component 2.

[0031] As shown in Figure 4, the oscillating rod 322 is provided with a slot 3221, and a position limiting rod is fixedly provided on the rigid support 31. By positioning the position limiting rod within the slot 3221, the cooperation between the slot 3221 and the position limiting rod ensures the stability of the movement of the oscillating rod 322 as it moves vertically.

[0032] As shown in Figure 4, the elastic component 32 further comprises an adjustment block 323, which is provided between the rigid support 31 and the running component 2. This allows the size of the first threshold to be adjusted by installing adjustment blocks 323 of different vertical sizes. Of course, if necessary, the first threshold can also be adjusted to 0 with the adjustment block 323. In this way, the connection relationship between the rigid support 31 and the running component 2 can be switched between a rigid connection and a floating connection, forming a compatible design. In actual applications, instead of providing the oscillating rod 322, the elastic member 321 can also be directly provided between the rigid support 31 and the running component 2.

[0033] As shown in Figure 5, in some embodiments of the present invention, a positioning sensor 33 is provided on the rigid support 31, and the detection end of the positioning sensor 33 faces the running rail 100. As shown in Figures 5 and 10, a positioning mark 200 is provided on the side of the running rail 100 facing the positioning sensor 33, and the positioning sensor 33 is for detecting the positioning mark 200. As a result, when the running component 2 travels along the running rail 100, the positioning sensor 33 detects the positioning mark 200, determining the position coordinates of the positioning sensor 33, that is, determining the position coordinates of the rigid support 31 on which the positioning sensor 33 is provided.

[0034] In addition, the cargo unloading / loading device further comprises a first controller, which is electrically connected to the positioning sensor 33 and the travel component 2, and is configured to perform steps S101 to S103.

[0035] In step S101, the time when all positioning sensors 33 detected the positioning mark 200 is obtained.

[0036] In the embodiment of the present invention, one rigid support 31 is provided with one positioning sensor 33, and a plurality of positioning marks 200 are provided on the running rail 100. The plurality of positioning marks 200 are provided at equal intervals, for example, the distance between two adjacent positioning marks 200 is 500 mm, and the positioning marks 200 on the plurality of running rails 100 are provided on the same straight line in the vertical direction, thereby ensuring that the positioning marks 200 detected by each positioning sensor 33 are located on the same vertical line within a preset time. Here, the positioning marks 200 can be provided in a hole-like structure, and accordingly, the positioning sensor 33 is a photoelectric sensor. In this case, when the detection end of the positioning sensor 33 faces the hole-like structure, the detection signal of the photoelectric sensor changes, and the positioning sensor 33 is determined to be at the position of the positioning mark 200. Furthermore, the cross-sectional area of ​​the hole-like structure is larger than the detection area of ​​the positioning sensor 33 on the running rail 100. As a result, even if the rigid support 31 is tilted, the hole-like structure remains within the detection range of the positioning sensor 33.

[0037] In step S102, based on the time when all positioning sensors 33 detected the positioning mark 200, the difference between the times when the positioning sensors 33 of any two floating components 3 detected the positioning mark 200, and the order in which all positioning sensors 33 detected the positioning mark 200 are determined.

[0038] If multiple travel components 2 of different heights are not located on the same vertical line, since the lifting component 1 is a rigid structure, in actual applications, it may be sufficient to determine only the difference in the time when the two positioning sensors 33 at the highest and lowest vertical positions detect the positioning mark 200. Here, assuming the direction of travel of the travel component 2 is forward, the position of the positioning sensor 33 that first detected the positioning mark 200 is further forward.

[0039] In step S103, if the difference between any one of the times is greater than the second threshold, the travel component 2 that needs adjustment and the corresponding amount of travel speed adjustment are determined based on the order in which all positioning sensors 33 detected the positioning mark 200.

[0040] Here, when determining which travel component 2 requires adjustment, the travel component 2 located further forward can be adjusted, for example, by reducing the travel speed of the travel component 2 located further forward over a predetermined period of time. Alternatively, the travel component 2 located further rearward can be adjusted, for example, by increasing the travel speed of the travel component 2 located further rearward over a predetermined period of time. In actual application, due to the constraints of the overall structure of the load unloading / loading device, the horizontal displacement of the multiple travel components 2 is not large. Therefore, when adjusting the speed of the travel component 2, fine adjustment is selected, and after the adjustment, the positioning sensor 33 is used again to detect the positioning marks 200. This corrects the relative positions of the multiple travel components 2 multiple times during the horizontal movement of the lifting component 1, thereby avoiding the lifting component 1 from tilting as much as possible.

[0041] In order to control the horizontal distance between the positioning sensor 33 and the positioning mark 200 and ensure the detection accuracy of the positioning sensor 33, in this embodiment of the present invention, the rigid support 31 is provided with a position limiting component 34, the position limiting component 34 slidably contacts or engages with the running rail 100, thereby controlling the horizontal distance between the positioning sensor 33 and the positioning mark 200 by limiting the positioning sensor 33 from moving closer to or away from the running rail 100 in the horizontal direction as the position limiting component 34 moves in accordance with the rigid support 31.

[0042] For example, the position limiting component 34 comprises a first position limiting member 341 and a second position limiting member 342. As shown in Figure 5, the rigid support 31 is provided with a first position limiting member 341 that abuts against the running rail 100, and as shown in Figure 6, the rigid support 31 is provided with a second position limiting member 342 that abuts against the running rail 100. That is, the first position limiting member 341 and the second position limiting member 342 abut against opposing sides of the running rail 100, and a positioning mark 200 is provided on one of the opposing sides. Thus, the first position limiting member 341 and the second position limiting member 342 form a position limiting component 34 that engages with the running rail 100, restricting the positioning sensor 33 from approaching or moving away from the running rail 100 in the horizontal direction. Here, the first position limiting member 341 and the second position limiting member 342 may be sliders or rollers.

[0043] For example, as shown in Figure 7, the position limiting component 34 includes a third position limiting member 343, and the running rail 100 is provided with a groove 300 for engaging the third position limiting member 343. The groove 300 is for limiting the horizontal distance between the positioning sensor 33 and the positioning mark 200, and by engaging with the groove 300, the position limiting component 34 restricts the positioning sensor 33 from moving closer to or further away from the running rail 100 in the horizontal direction.

[0044] As shown in Figure 4, in some embodiments of the present invention, the same floating component 3 comprises two elastic components 32, and two running components 2 are connected to the same floating component 3, with the two running components 2 each provided at both ends of a rigid support 31. Furthermore, if the multiple running components 2 of different heights are not located on the same vertical line, the distance between the same floating component 3 and the two running components 2 is not equal in the vertical direction. That is, the elastic components 32 effectively ensure rolling contact between the two running components 2 and the running rail 100, and at this time the rigid support 31 is in an inclined state, thereby avoiding inclination of the lifting component 1 as much as possible.

[0045] Since the positioning marks 200 are provided at intervals, a certain time interval is created when detecting the positions of multiple running components 2 of different heights. Furthermore, if the multiple running components 2 are not located on the same vertical line and the horizontal displacement is small, the floating component 3 allows the lifting component 1 to still maintain a vertical state. In addition, in order to detect the tilt state of the lifting component 1 in real time, especially when the running rail 100 is a straight rail, a laser radar 4 is provided on the lifting component 1 as shown in Figure 3. The laser radar 4 is used to detect point cloud data of the running rail 100 with the laser radar 4 as the reference point. Here, the laser radar 4 is provided on the column of the lifting component 1, preferably in the central region of the column. That is, when the lifting component 1 is in a vertical position, the distance from the upper and lower running rails 100 to the laser radar 4 is equal, the number of laser radars 4 installed is related to the number of running rails 100, and it is necessary to ensure that a laser radar 4 is provided between any two running rails 100.

[0046] Here, the cargo unloading / loading device further comprises a second controller, the second controller being electrically connected to the laser radar 4 and the travel component 2. In actual applications, the first controller and the second controller may be different units in the same device or may be different devices. The second controller is configured to perform steps S201 to S204.

[0047] In step S201, point cloud data of the rail 100 detected by the laser radar 4 is acquired.

[0048] Here, after collecting point cloud data of the running rail 100, necessary point cloud data processing is also performed. For example, as point cloud data preprocessing, noise reduction and filtering are performed on the original laser radar point cloud data to improve data quality. Also, as point cloud data downsampling, downsampling is performed on the point cloud data to retain essential points, or voxelization is performed to reduce the computational load.

[0049] In step S202, the contour of the running rail 100 is generated based on the point cloud data of the running rail 100.

[0050] Here, generating the contour lines of the running rail 100 includes the necessary generation methods, for example, contour extraction, which involves extracting potential contour lines based on the density, curvature, or other geometric features of the point cloud data using a clustering algorithm; contour fitting, for example, which involves fitting the extracted contour point cloud data with a mathematical model to form smooth contour lines; and contour optimization, for example, which involves re-fitting the extracted contour lines using resampling, smoothing, or a more complex mathematical model to remove noise or improper bending.

[0051] In step S203, the inclination angle of the contour line of the running rail 100 is determined based on the contour line of the running rail 100, with respect to the horizontal plane in which the laser radar 4 is located.

[0052] Furthermore, since the lifting rail 11 is a rail for a high-rise rack, the height of the lifting rail 11 is high, for example, the height of the lifting rail 11 is usually more than 10m, and as the load-carrying cargo retrieval / placement platform 13 moves up and down on the lifting rail 11, a certain deformation occurs in the lifting rail 11, causing the contour lines of the two running rails detected by the laser radar 4 to become non-parallel. In actual application, the inclination direction of the running rails 100 and the inclination angle with a preset accuracy can be fitted based on the contour lines of the two running rails 100.

[0053] In step S204, the running component 2 that requires adjustment and the corresponding amount of running speed adjustment are determined based on the inclination angle of the contour line of the running rail 100.

[0054] According to the technical configuration of the embodiment of the present application, by providing a laser radar 4 and a second controller, the inclination angle of the running rail 100 with respect to the horizontal plane is detected in real time, and the attitude of the lifting component 1 is corrected in real time by controlling the running speed of the multiple running components 2. As shown in Figures 4 and 5, in some embodiments of the present application, the running component 2 comprises running wheels 21 and a first drive mechanism 22, the running wheels 21 are provided on the running rail 100 and connected to the output shaft of the first drive mechanism 22, and the elastic component 32 is connected to the first drive mechanism 22.

[0055] The first drive mechanism 22 includes a motor and a reduction gear. In actual applications, when multiple travel components 2 are provided on the same rigid support 31, the method of driving the multiple travel components 2 may be by driving with one motor or by driving with multiple motors. Driving with one motor means that the multiple travel components 2 are driven by one motor, and driving with multiple motors means that each travel component 2 is driven by an independent motor.

[0056] In some embodiments of the present invention, when there are multiple running components 2 connected to the same floating component 3, some of the running components 2 can be made into unpowered structures, where an unpowered structure is a structure in which the running component 2 itself does not provide power for movement, that is, as shown in Figure 8, at least one running component 2 is equipped only with running wheels 21, the running wheels 21 are mounted on the running rail 100, and the rotation axis of the running wheels 21 is connected to the floating component 3, that is, this running component 2 is a driven structure and follows the movement of the floating component 3 along the running rail 100 by rolling movement during the horizontal movement of the load unloading / loading device.

[0057] Furthermore, if there are three or more floating components 3, the running component 2 located in an intermediate vertical position can be made unpowered. That is, as shown in Figure 9, the running component 2 in at least one floating component 3 is equipped only with running wheels 21, the running wheels 21 are mounted on the running rail 100, and the rotation axis of the running wheels 21 is connected to the floating component 3.

[0058] Furthermore, the fact that the aforementioned running component 2 is equipped only with running wheels 21 means that the running component 2 does not have a drive motor and becomes a running component with no power mechanism. This improves the power utilization rate of the cargo unloading / loading device and reduces the resistance of the cargo unloading / loading device to travel horizontally.

[0059] As shown in Figures 1, 2, and 3, in some embodiments of the present invention, the lifting component 1 comprises a lifting rail 11, a second drive mechanism 12, and a load retrieval / loading platform 13, wherein the lifting rail 11 is connected to a rigid support 31, the load retrieval / loading platform 13 is slidably mounted on the lifting rail 11, and the second drive mechanism 12 is connected to the load retrieval / loading platform 13, and the second drive mechanism 12 is for driving the load retrieval / loading platform 13 to move along the lifting rail 11.

[0060] Here, the second drive mechanism 12 comprises a power unit and a transmission unit, for example, the power unit being a motor and a reduction gear that work together, and the transmission unit being a timing belt and pulleys that work together, or the transmission unit being a drive chain and a sprocket.

[0061] Here, as shown in Figure 11, the load retrieval / loading platform 13 comprises a conveyor belt 131, a conveyor belt drive motor 132, a bidirectional hook 133, a hook lifting mechanism 134, and a hook travel mechanism. The conveyor belt 131 is mounted on a drive wheel connected to the conveyor belt drive motor 132 and is used to transport loads to or from the load retrieval / loading platform 13. The bidirectional hook 133 is connected to the hook lifting mechanism 134 and the hook travel mechanism, with the hook fork lifting mechanism 134 controlling the lifting and lowering of the bidirectional hook 133 and the hook travel mechanism controlling the parallel movement of the bidirectional hook 133. The bidirectional hook 133 is used for hooking and / or securing loads.

[0062] A second embodiment of the present invention provides a high-rise rack, as shown in Figures 1 and 2, comprising a plurality of stacked luggage storage areas, the high-rise rack being provided with at least two horizontally arranged running rails 100, the running rails 100 being provided with luggage retrieval / placement devices according to the second embodiment of the present invention.

[0063] The luggage retrieval / loading device for a high-rise rack according to an embodiment of the present invention comprises a lifting component 1, a traveling component 2, and at least two floating components 3, wherein the traveling component 2 is movably mounted on a traveling rail 100, and at least two floating components 3 are spaced apart in the height direction of the lifting component 1, and at least one traveling component 2 is connected to each floating component 3, and each floating component 3 comprises a rigid support 31 and an elastic component 32, the lifting component 1 is mounted on the rigid support 31, and the elastic component 32 is mounted between the rigid support 31 and the traveling component 2. According to the technical configuration of the present invention, by providing the elastic component 32, a floating connection is formed between the rigid support 31 and the running component 2 in the vertical direction. As a result, when multiple running components 2 of different heights are not located on the same vertical line, the elastic component 32 enables adaptive changes in the vertical distance between the rigid support 31 and the running component 2. This avoids tilting of the lifting component 1 as much as possible, and further prevents jamming between the running component 2 and the running rail 100, ensuring that the running component 2 operates smoothly on the running rail 100, while increasing the load capacity of the load unloading / loading device.

Claims

1. A luggage retrieval / loading device for a high-rise rack, applicable to a high-rise rack having multiple luggage storage areas arranged in a stacked configuration, The aforementioned high-rise rack is provided with at least two horizontally mounted running rails. The aforementioned cargo retrieval / loading device comprises a lifting component, a travel component, and at least two floating components. The aforementioned running component is mounted on the running rail so as to be able to move, The at least two floating components are provided spaced apart in the height direction of the lifting component, and at least one of the traveling components is connected to each of the floating components. The floating component comprises a rigid support and an elastic component. The lifting component is provided on the rigid support, The elastic component is provided between the rigid support and the travel component, A cargo retrieval / loading device for a high-rise rack, characterized in that the elastic component is configured such that the distance between the rigid support and the travel component changes adaptively within a first threshold in the vertical direction.

2. The elastic component comprises an elastic member and a rocking rod, The oscillating rod has one end rotatably fixed to the rigid support and the other end connected to the travel component. The cargo retrieval / placement device for a high-rise rack according to claim 1, characterized in that the elastic member is provided between the rigid support and the rod body of the oscillating rod.

3. The elastic component further comprises an adjustment block, The adjustment block is provided between the rigid support and the running component, The luggage retrieval / placement device for a high-rise rack according to claim 2, characterized in that the adjustment block adjusts the magnitude of the first threshold.

4. The rigid support is provided with a positioning sensor. The detection end of the positioning sensor is directed toward the running rail, A positioning mark is provided on the side of the aforementioned running rail that faces the positioning sensor. The high-rise rack cargo retrieval / loading device according to claim 1, characterized in that the positioning sensor detects the positioning mark and determines the position coordinates of the rigid support corresponding to the positioning sensor.

5. The rigid support is provided with a position limiting component. The position limiting component is slidably in contact with or engaged with the running rail, The position limiting component limits the horizontal distance between the positioning sensor and the positioning mark. The position limiting component comprises a first position limiting member and a second position limiting member, the first position limiting member and the second position limiting member each abutting against opposing sides of the running rail, and the positioning mark is provided on one of the opposing sides. or The luggage retrieval / placement device for a high-rise rack according to claim 4, wherein the position limiting component comprises a third position limiting member, the running rail is provided with a groove for engaging the third position limiting member, and the groove limits the horizontal distance between the positioning sensor and the positioning mark.

6. The aforementioned cargo retrieval / placement device further comprises a first controller, The first controller is electrically connected to the positioning sensor and the travel component. The first controller is, The time at which all of the positioning sensors detected the positioning mark is obtained. Based on the time at which all the positioning sensors detected the positioning mark, the difference between the times at which the positioning sensors of any two of the floating components detected the positioning mark, and the order in which all the positioning sensors detected the positioning mark are determined. If the difference between any one of the aforementioned times is greater than the second threshold, the driving component requiring adjustment and the corresponding amount of driving speed adjustment are determined based on the chronological order in which all the positioning sensors detected the positioning mark. The luggage retrieval / placement device for a high-rise rack according to claim 4 or 5, characterized in that it is configured as follows.

7. The aforementioned lifting component is equipped with a laser radar. The aforementioned laser radar detects point cloud data of the running rails using the laser radar as a reference point. The aforementioned cargo retrieval / placement device further comprises a second controller, The second controller is electrically connected to the laser radar and the driving component. The second controller is, The laser radar acquires point cloud data of the rails it has traveled, Based on the point cloud data of the aforementioned running rail, the contour line of the running rail is generated. Based on the horizontal plane in which the laser radar is located, the inclination angle of the contour line of the running rail is determined based on the contour line of the running rail. Based on the inclination angle of the outline of the aforementioned running rail, the running components that require adjustment and the corresponding amount of adjustment for the running speed are determined. The cargo retrieval / placement device for a high-rise rack according to claim 1, characterized in that it is configured as follows.

8. The aforementioned driving component comprises driving wheels and a first drive mechanism, The aforementioned running wheels are provided on the running rail and connected to the output shaft of the first drive mechanism. The luggage retrieval / loading device for a high-rise rack according to claim 1, characterized in that the elastic component is connected to the first drive mechanism.

9. If there are multiple running components connected to the same floating component, at least one of the running components will have only running wheels. The aforementioned running wheels are provided on the aforementioned running rails, The cargo retrieval / loading device for a high-rise rack according to claim 1, characterized in that the rotation axis of the running wheel is connected to the floating component.

10. If the number of floating components is three or more, then at least one floating component in the running component is equipped only with running wheels. The aforementioned running wheels are provided on the aforementioned running rails, The cargo retrieval / loading device for a high-rise rack according to claim 1, characterized in that the rotation axis of the running wheel is connected to the floating component.

11. The aforementioned lifting component comprises a lifting rail, a second drive mechanism, and a cargo unloading / placement platform. The lifting rail is connected to the rigid support, The aforementioned luggage retrieval / placement platform is slidably mounted on the aforementioned lifting rail, The second drive mechanism is connected to the cargo unloading / loading platform, The luggage retrieval / loading device for a high-rise rack according to claim 1, characterized in that the second drive mechanism drives the luggage retrieval / loading platform to move along the lifting rail.

12. A high-rise rack comprising multiple stacked luggage storage areas and provided with at least two horizontally mounted running rails, A high-rise rack characterized in that the running rail is provided with a high-rise rack cargo retrieval / loading device according to any one of claims 1 to 11.

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