Cargo retrieval / placement device for a high-rise cargo shelf and a high-rise cargo shelf

Abstract

The present invention belongs to the technical field of warehouse logistics and, specifically, provides a cargo retrieval / placement device for a high-rise cargo shelf and a high-rise cargo shelf. The cargo retrieval / placement device comprises a lifting module, a driving module, and at least two floating modules. The driving module is movably mounted on a driving rail, and at least two floating modules are spaced apart in the height direction of the lifting module. The floating module comprises a rigid frame and an elastic module. The lifting module is mounted on the rigid frame, and the elastic module is mounted between the rigid frame and the driving module. In the present invention, when a plurality of driving modules mounted at different heights are not located on the same vertical straight line, the vertical distance between the rigid frame and the driving module can be appropriately varied by the elastic module. By doing so, the lifting module can be avoided as much as possible from becoming inclined, the occurrence of a jam between the driving module and the driving rail can be avoided, the driving module can be ensured to move smoothly on the driving rail, and the cargo loading capacity of the cargo retrieval / placement device can be increased.

Description

Technology Field

[0001] The present invention belongs to the technical field of warehouse logistics, and in particular relates to a cargo retrieval / placement device for a high-rise cargo shelf and a high-rise cargo shelf. Background Technology

[0002] In the field of warehouse logistics, goods shelves are important facilities responsible for displaying goods. Goods shelves not only provide orderly storage space but can also improve the operational efficiency and space utilization rate of the warehouse. Conventional goods shelves are constructed with a multi-layer structure, and a goods retrieval / placement device is movably installed on the goods shelves. For example, a goods retrieval / placement device that moves horizontally may be mounted on the goods shelves. The goods retrieval / placement device includes a lifting rail installed vertically and a movable goods retrieval / placement device installed on the lifting rail. By moving the movable goods retrieval / placement device in horizontal and vertical directions, goods can be placed at a predetermined location or retrieved from a predetermined location.

[0003] Conventional cargo shelves are relatively high, so the length of the lifting rail is relatively long, making it necessary to install multiple running rails in the horizontal direction on the cargo shelf. When the lifting rail moves along the running rail, there is a risk that the lifting rail will tilt because multiple running modules on the running rail are not located on the same vertical straight line. This causes a jam between the running modules and the running rail, which affects the horizontal movement of the lifting rail. The problem to be solved

[0004] An embodiment of the present invention provides a cargo take-out / placement device and a high-rise cargo shelf for avoiding, to the maximum extent, jamming between a driving module and a driving rail caused by the tilting of the lifting rail of the cargo take-out / placement device. means of solving the problem

[0005] A cargo retrieval / placement device for a high-rise cargo shelf according to a first embodiment of the present invention is applied to a high-rise cargo shelf, the high-rise cargo shelf includes a cargo storage area arranged in multiple layers, and at least two travel rails arranged in a horizontal direction are installed on the high-rise cargo shelf. The cargo retrieval / placement device includes a lifting module, a travel module, and at least two floating modules. The travel module is movably mounted on the travel rail, and at least two floating modules are spaced apart in the height direction of the lifting module, and at least one travel module is mounted on each floating module. The floating module includes a rigid frame and an elastic module, the lifting module is mounted on the rigid frame, and the elastic module is mounted between the rigid frame and the travel module. The elastic module is configured such that the distance between the rigid frame and the travel module varies appropriately within a first threshold in the vertical direction.

[0006] In an embodiment of the present invention, the elastic module includes an elastic component and a suspension rod. One end of the suspension rod is rotatably connected to a rigid frame, and the other end is connected to a driving module. The elastic component is mounted between the rigid frame and the rod body of the suspension rod.

[0007] In an embodiment of the present invention, the elastic component and the driving module are both mounted on the same side in the vertical direction of the suspension rod.

[0008] In an embodiment of the present invention, the elastic module further includes an adjustment unit, and the adjustment unit is installed between the rigid frame and the driving module. The adjustment unit is used to adjust the size of a first threshold.

[0009] In an embodiment of the present invention, a position sensor is installed on a rigid frame, and the detection end of the position sensor faces the running rail. A position marker is formed on one side of the running rail facing the position sensor, and the position sensor determines the position coordinates of the rigid frame corresponding to the position sensor by detecting the position marker.

[0010] In an embodiment of the present invention, a position limiting module is installed in a rigid frame. The position limiting module is slidably engaged with or coupled to a running rail. The position limiting module limits the horizontal distance between a position sensor and a position marker.

[0011] In an embodiment of the present invention, the position limiting module includes a first position limiting part and a second position limiting part. The first position limiting part and the second position limiting part are respectively attached to both sides of the running rail, and a position marker is formed on one side of the running rail.

[0012] In an embodiment of the present invention, the position limiting module includes a third position limiting member. A recess is formed in the driving rail to engage the third position limiting member. The recess limits the horizontal distance between the position sensor and the position marker.

[0013] In an embodiment of the present invention, the cargo extraction / placement device further includes a first control device, and the first control device is electrically connected to a position sensor and a driving module.

[0014] The first control unit is configured to acquire the timing at which all position sensors detect a position marker, determine the time difference at which the position sensors of any two floating modules each detect a position marker and the order of precedence of the timing at which all position sensors detect a position marker based on the timing at which all position sensors detect a position marker, and if any time difference greater than a second threshold exists, determine the driving module requiring adjustment and the corresponding driving speed adjustment amount based on the order of precedence of the timing at which all position sensors detect a position marker.

[0015] In an embodiment of the present invention, the number of elastic modules mounted on the same floating module is 2, the number of driving modules connected to the same floating module is 2, and the 2 driving modules are each mounted on both ends of a rigid frame.

[0016] In an embodiment of the present invention, a laser radar is installed in the lifting module, and the laser radar detects point cloud data of the driving rail based on the laser radar. The cargo extraction / placement device further includes a second control device, and the second control device is electrically connected to the laser radar and the driving module. The second control device is configured to acquire point cloud data of the driving rail detected by the laser radar, generate a contour of the driving rail based on the point cloud data of the driving rail, determine an inclination angle of the contour of the driving rail based on the contour of the driving rail with respect to the horizontal plane where the laser radar is located, and determine a driving module requiring adjustment and a corresponding driving speed adjustment amount based on the inclination angle of the contour of the driving rail.

[0017] In an embodiment of the present invention, the driving module includes a driving wheel and a first driving structure, the driving wheel is mounted on a driving rail and simultaneously connected to the output shaft of the first driving structure, and the elastic module is connected to the first driving structure.

[0018] In an embodiment of the present invention, when the number of driving modules connected to the same floating module is multiple, at least one driving module includes only a driving wheel, the driving wheel is mounted on a driving rail, and the rotation axis of the driving wheel is connected to the floating module.

[0019] In an embodiment of the present invention, when the number of floating modules is three or more, the driving module in at least one floating module includes only a driving wheel, the driving wheel is mounted on a driving rail, and the rotation axis of the driving wheel is connected to the floating module.

[0020] In an embodiment of the present invention, the lifting module includes a lifting rail, a second driving structure, and a cargo unloading / placement platform. The lifting rail is connected to a rigid frame, and the cargo unloading / placement platform is slidably mounted on the lifting rail. The second driving structure is connected to the cargo unloading / placement platform, and the second driving structure drives the cargo unloading / placement platform to move along the lifting rail.

[0021] A high-rise cargo shelf according to the second embodiment of the present invention includes a cargo storage area arranged in multiple layers, and the high-rise cargo shelf is equipped with at least two running rails arranged in a horizontal direction, and a cargo extraction / placement device according to the first embodiment of the present invention is installed on the running rails. Effects of the invention

[0022] A cargo retrieval / placement device for a high-rise cargo shelf according to an embodiment of the present invention comprises a lifting module, a driving module, and at least two floating modules. The driving module is movably mounted on a driving rail, and at least two floating modules are spaced apart in the height direction of the lifting module, with at least one driving module mounted on each floating module. The floating module includes a rigid frame and an elastic module, and the lifting module is mounted on the rigid frame. The elastic module is mounted between the rigid frame and the driving module. According to the technical aspects of the present invention, by installing the elastic module, the space between the rigid frame and the driving module in the vertical direction becomes a floating state. When a plurality of driving modules mounted at different heights are not located on the same vertical straight line, the distance between the rigid frame and the driving module can be appropriately varied in the vertical direction by the elastic module. By doing this, the lifting module can be avoided as much as possible from becoming inclined, the jamming between the driving module (2) and the driving rail (100) can be avoided, the driving module (2) can be ensured to move smoothly on the driving rail (100), and the cargo loading capacity of the cargo extraction / stacking device can be increased. Brief explanation of the drawing

[0023] FIG. 1 is a drawing showing the structure of a high-rise cargo shelf equipped with a cargo extraction / placement device according to an embodiment of the present invention. FIG. 2 is a drawing showing the structure of another high-rise cargo shelf equipped with a cargo extraction / placement device according to an embodiment of the present invention. FIG. 3 is a drawing showing the structure of the high-rise cargo shelf of FIG. 2 from a different viewpoint. FIG. 4 is a diagram showing the structure of the driving module and the floating module of a cargo extraction / placement device according to an embodiment of the present invention. FIG. 5 is a diagram showing the structure of the driving module and floating module of a cargo extraction / placement device according to an embodiment of the present invention from a different viewpoint. Figure 6 is a diagram showing the local structure of Figure 3. FIG. 7 is a diagram showing the structure of a position limiting module of a cargo extraction / placement device according to an embodiment of the present invention. FIG. 8 is a drawing showing the structure of a driving rail of a cargo extraction / placement device according to an embodiment of the present invention. FIG. 9 is a drawing showing the other structure of the driving rail of a cargo extraction / placement device according to an embodiment of the present invention. FIG. 10 is a drawing showing the structure of a traveling rail of a cargo shelf according to an embodiment of the present invention. FIG. 11 is a drawing showing the structure of a cargo extraction / placement platform of a cargo extraction / placement device according to an embodiment of the present invention. Specific details for implementing the invention

[0024] When the ground occupancy area of ​​a cargo shelf is fixed, the height of the cargo shelf can be increased to increase the cargo display capacity of the cargo shelf; however, if the height of the cargo shelf is increased, it is necessary to increase the length of the lift rail. When the length of the lift rail is long, it is necessary to install multiple travel rails on the cargo shelf. When the lift rail moves on the travel rail, there is a risk that the lift rail will tilt because multiple travel modules on the travel rail are not located on the same vertical straight line. The travel modules are rigidly connected to the lift rail and occupy a certain length on the travel rail. Typically, multiple travel modules are installed on a single travel rail. When the lift rail tilts, multiple travel modules mounted on the same travel rail become in an inclined state, causing a jam between the travel modules and the travel rail, and preventing the travel modules from moving smoothly on the travel rail. When the lifting rail is tilted, the heavier the weight of the cargo loaded on the lifting rail, the more likely it is that a jam will occur in the driving module on the driving rail, so the cargo loading weight of the cargo extraction / loading device is limited.

[0025] To solve the above technical problem, a first embodiment of the present invention provides a cargo extraction / placement device for a high-rise cargo shelf. As illustrated in FIGS. 1, 2, and 3, the cargo extraction / placement device is applied to a high-rise cargo shelf. The high-rise cargo shelf includes cargo storage areas stacked in multiple layers, and a plurality of compartments are installed in the cargo storage areas of each layer. The cargo extraction / placement device can place cargo in the compartments or extract cargo from the compartments. At least two travel rails (100) arranged in a horizontal direction are installed on the high-rise cargo shelf. For example, at least two travel rails (100) arranged in a horizontal direction are installed on the high-rise cargo shelf of FIGS. 2 and 3, and three travel rails (100) arranged in a horizontal direction are installed on the high-rise cargo shelf of FIG. 1.

[0026] As illustrated in FIGS. 1 and 2, the cargo extraction / loading device comprises a lifting module (1), a driving module (2), and at least two floating modules (3). The driving module (2) is mounted to be drivable on a driving rail (100), and at least two floating modules (3) are spaced apart in the height direction of the lifting module (1), with at least one driving module (2) mounted on each floating module (3). The number of floating modules (3) is less than or equal to the number of driving rails (100).

[0027] The floating module (3) includes a rigid frame (31) and an elastic module (32), and the lifting module (1) is mounted on the rigid frame (31). For example, the lifting module (1) includes two main bodies (also called “columns”), and the two main bodies may be mounted at each end of the rigid frame (31). The elastic module (32) is mounted between the rigid frame (31) and the driving module (2). The elastic module (32) provides elasticity so that the distance between the rigid frame (31) and the driving module (2) varies appropriately within a first threshold in the vertical direction.

[0028] Specifically, a storage space is formed in the rigid frame (31), and elasticity can be imparted so that the distance between the rigid frame (31) and the driving module (2) changes appropriately within a first threshold by mounting an elastic module (32) in the storage space. In actual application, the elastic module (32) can be positioned so that the direction of elasticity imparted by the elastic module (32) is vertical, or so that the component of elasticity of the elastic module (32) is vertical. By this, the driving module (2) and the lifting module (1) can be connected in a floating state. That is, the driving module (2) can be in contact with the driving rail (100) in the vertical direction. When multiple driving modules (2) mounted at different heights are not located on the same vertical straight line, the distance between the rigid frame (31) and the driving module (2) can be appropriately changed in the vertical direction by the elastic module (32). By doing this, the lifting module (1) can be avoided as much as possible from becoming inclined, the jamming between the driving module (2) and the driving rail (100) can be avoided, the driving module (2) can be ensured to move smoothly on the driving rail (100), and the cargo loading weight of the cargo extraction / stacking device can be increased.

[0029] A cargo extraction / placement device for a high-rise cargo shelf according to an embodiment of the present invention includes a lifting module (1), a driving module (2), and at least two floating modules (3). The driving module (2) is movably mounted on a driving rail (100), and at least two floating modules (3) are spaced apart in the height direction of the lifting module (1), and at least one driving module (2) is mounted on each floating module (3). The floating module (3) includes a rigid frame (31) and an elastic module (32), the lifting module (1) is mounted on the rigid frame (31), and the elastic module (32) is mounted between the rigid frame (31) and the driving module (2). According to the technical details provided in the embodiment of the present invention, the rigid frame (31) and the driving module (2) can be connected in a floating state in the vertical direction by the installation of the elastic module (32). By this, when the driving module (2) and the lifting module (1) are rigidly connected, the occurrence of a jam between the driving module (2) and the driving rail (100) due to the tilting of the lifting module (1) can be avoided.

[0030] In some embodiments of the present invention, as illustrated in FIG. 4, the elastic module (32) includes an elastic component (321) and a suspension rod (322). One end of the suspension rod (322) is rotatably connected to a rigid frame (31), and the other end is connected to a driving module (2). The elastic component (321) is mounted between the rigid frame (31) and the rod body of the suspension rod (322). Specifically, as illustrated in FIG. 4, a gap is formed in the suspension rod (322) to connect the elastic component (321), and by installing both the elastic component (321) and the driving module (2) on the same side in the vertical direction of the suspension rod (322), the elastic component (321) can always be in a compressed state. The elastic component (321), which is always in a compressed state, can effectively absorb vibration and shock energy generated when the driving module (2) moves. In other embodiments, the elastic component (321) may be extended by installing the elastic component (321) and the driving module (2) on different sides in the vertical direction of the suspension rod (322). In embodiments of the present invention, it is preferable to install the elastic component (321) so that it is always in a compressed state. The specific elastic component (321) may be a spring.

[0031] In some embodiments of the present invention, a suspension rod (322) and an elastic component (321) may be installed, and the elastic component (321) may be installed in the center of the rod body of the suspension rod (322). In this case, a leverage structure may be formed by the suspension rod (322) and the elastic component (321), and the size of the first threshold may be effectively increased. In other embodiments, only the elastic component (321) may be installed in the elastic module (32), and the elastic component (321) may be installed directly between the rigid frame (31) and the driving module (2).

[0032] As illustrated in FIG. 4, a slide recess (3221) is formed in the suspension rod (322), and a positioning rod is formed in the rigid frame (31), and the positioning rod is coupled to the slide recess (3221). When the suspension rod (322) moves in a vertical direction, the movement stability of the suspension rod (322) can be secured by the positioning rod being coupled to the slide recess (3221).

[0033] As illustrated in FIG. 4, the elastic module (32) further includes a control unit (323), and the control unit (323) is installed between the rigid frame (31) and the driving module (2). The size of the first threshold can be adjusted by installing a control unit (323) with a different vertical size. If necessary, the rigid frame (31) and the driving module (2) can be brought into contact by setting the first threshold of the control unit (323) to 0. The range of use of the cargo extraction / stacking device can be expanded by connecting the rigid frame (31) and the driving module (2) in a floating state or in a rigid state. In actual application, the elastic component (321) may be directly installed between the rigid frame (31) and the driving module (2) without installing the elastic module (32).

[0034] As illustrated in FIG. 5, in some embodiments of the present invention, a position sensor (33) is installed on a rigid frame (31), and the detection end of the position sensor (33) faces the driving rail (100). As illustrated in FIG. 5 and FIG. 10, a position marker (200) is installed on one side of the driving rail (100) facing the position sensor (33), and the position sensor (33) is used to detect the position marker (200). When the driving module (2) moves on the driving rail (100), the position of the position sensor (33) is determined by detecting the position marker (200) by the position sensor (33). That is, the position coordinates of the rigid frame (31) on which the position sensor (33) is installed are determined.

[0035] The cargo extraction / placement device further includes a first control device, and the first control device is electrically connected to a position sensor (33) and a driving module (2). The first control device is configured to perform steps (S101) through (S103).

[0036] In step (S101), the timing at which all position sensors (33) detect the position marker (200) is obtained.

[0037] In an embodiment of the present invention, one position sensor (33) is installed on one rigid frame (31), and a plurality of position markers (200) are installed on the driving rail (100). The plurality of position markers (200) are installed at equal spacing. For example, the distance between two adjacent position markers (200) may be 500 mm. By installing the plurality of position markers (200) on the driving rail (100) on the same straight line in the vertical direction, it is possible to ensure that all position markers (200) detected by all position sensors (33) within a predetermined time are located on the same straight line. When the position markers (200) are formed as a hole structure, a photoelectric sensor may be used as the position sensor (33). In this case, the position where the position sensor (33) is located on the position marker (200) can be detected by the change in the signal of the photoelectric sensor when the detection end of the position sensor (33) faces the hole structure. It should be noted that the transverse cutting area of ​​the hole structure is larger than the detection area of ​​the position sensor (33) projected onto the driving rail (100). By this, it is possible to ensure that the hole structure remains within the detection area of ​​the position sensor (33) even when the rigid frame (31) is tilted.

[0038] In step (S102), the time difference at which the position sensors (33) of any two floating modules (3) each detect the position marker (200) and the order of the timing at which all position sensors (33) detect the position marker (200) are determined by the timing at which all position sensors (33) detect the position marker (200).

[0039] In actual application, when multiple driving modules (2) mounted at different heights are not located on the same vertical line, since the lifting module (1) is constructed with a rigid structure, only the time difference between the two position sensors (33) detecting the position marker (200) can be detected. The two position sensors (33) include two position sensors installed at the highest and lowest positions in the vertical direction, respectively. When the forward direction of the driving module (2) is forward, the position sensor (33) that detects the position marker (200) first is located further forward.

[0040] In step (S103), if there is any time difference greater than the second threshold, the driving module (2) requiring adjustment and the corresponding driving speed adjustment amount are determined by determining the order of timing in which all position sensors (33) detect the position marker (200).

[0041] When determining the driving module (2) that requires adjustment, the driving module (2) located at the front can be adjusted. For example, the driving speed of the driving module (2) located at the front can be reduced, and this adjustment can be maintained for a preset time. Alternatively, the driving module (2) located at the rear can be adjusted. For example, the driving speed of the driving module (2) located at the rear can be increased, and this adjustment can be maintained for a preset time. In actual application, because the horizontal positional misalignment of multiple driving modules (2) is not significant due to structural constraints of the entire cargo extraction / placement device, the speed of the driving module (2) is adjusted gradually, and after adjustment, the position indicator (200) is detected again by the position sensor (33). When the lifting module (1) moves in the horizontal direction, the lifting module (1) can avoid becoming tilted as much as possible by adjusting the relative position of the driving module (2) multiple times.

[0042] In an embodiment of the present invention, a position limiting module (34) is installed on a rigid frame (31) to ensure detection precision of the position sensor (33) by controlling the horizontal distance between the position sensor (33) and the position marker (200). The position limiting module (34) may be slidably attached to or coupled to the driving rail (100). When the position limiting module (34) moves together with the rigid frame (31), the horizontal distance between the position sensor (33) and the position marker (200) can be controlled by the position limiting module (34) moving in a direction closer to or further away from the driving rail (100) in the horizontal direction.

[0043] For example, the position limiting module (34) includes a first position limiting part (341) and a second position limiting part (342). As shown in FIG. 5, a first position limiting part (341) is installed on the rigid frame (31) so as to be slidably connected to the driving rail (100), and as shown in FIG. 6, a second position limiting part (342) is installed on the rigid frame (31) so as to be slidably connected to the driving rail (100). In other words, the first position limiting part (341) and the second position limiting part (342) are each connected to both sides of the driving rail (100). A position marker (200) is formed on one of the two sides of the driving rail (100). A position limiting module (34) is formed to be coupled to the driving rail (100) by a first position limiting part (341) and a second position limiting part (342), and the position limiting module (34) can limit the position sensor (33) from approaching or moving away from the driving rail (100) in the horizontal direction. The first position limiting part (341) and the second position limiting part (342) may be a sliding block or a roller.

[0044] As illustrated in FIG. 7, the position limiting module (34) includes a third position limiting part (343). A recess (300) is formed in the driving rail (100) to engage with the third position limiting part (343). By forming the recess (300), the horizontal distance between the position sensor (33) and the position marker (200) can be maintained. By the position limiting module (34) engaging with the recess (300), the position sensor (33) can be restricted from approaching or moving away from the driving rail (100) in the horizontal direction.

[0045] In some embodiments of the present invention, as shown in FIG. 4, the number of elastic modules (32) included in one floating module (3) is two, and the number of driving modules (2) connected to one floating module (3) is two, and the two driving modules (2) are each mounted on both ends of the rigid frame (31). It should be noted that when multiple driving modules (2) mounted at different heights are not located on the same vertical line, the distance between one floating module (3) and two driving modules (2) varies. By the action of the elastic modules (32), the rolling coupling between the two driving modules (2) and the driving rail (100) can be effectively secured. In this case, the lifting module (1) can be avoided as much as possible by the rigid frame (31) becoming inclined.

[0046] Since the position markers (200) are installed at intervals, a certain time interval occurs when detecting the positions of multiple driving modules (2) mounted at different heights. When the multiple driving modules (2) are not located on the same vertical straight line and the difference in horizontal position is small, the lifting module (1) can still be in a vertical state due to the action of the floating module (3). In this case, to frequently detect the inclination state of the lifting module (1), and especially to frequently detect the inclination state of the lifting module (1) when the driving rail (100) is a straight rail, as shown in FIG. 3, a laser radar (4) is installed in the lifting module (1), and the laser radar (4) detects point cloud data of the driving rail (100) using this laser radar (4) as a reference point. The laser radar (4) is installed on the main body of the lifting module (1). Preferably, the laser radar (4) is installed in the central area of ​​the main body. When the lifting module (1) is in a vertical state, the distance from the laser radar (4) to the upper and lower driving rails (100) becomes equal. The number of laser radars (4) installed is related to the number of driving rails (100), and it is necessary to ensure that all laser radars (4) are installed between any two driving rails (100).

[0047] The cargo extraction / placement device further includes a second control device, and the second control device is electrically connected to the laser radar (4) and the driving module (2). In actual application, the first control device and the second control device may each be composed of two units of one control device or two control devices. The second control device is set to perform steps (S201) to (S204).

[0048] In step (S201), point cloud data of the driving rail (100) detected by the laser radar (4) is obtained.

[0049] After acquiring point cloud data of the running rail (100), necessary processing is also included for the point cloud data. For example, as a preprocessing of the point cloud data, the quality of the data is improved by denoising and filtering the original laser radar point cloud data. Also, for example, as a downsampling of the point cloud data, key points are retained by downsampling the point cloud data or by voxelization processing to reduce the amount of computation.

[0050] In step (S202), a contour line of the running rail (100) is generated based on point cloud data of the running rail (100).

[0051] The step of generating the contour of the running rail (100) includes the necessary generation method, for example, a contour extraction method, which extracts potential contours based on the density, curvature, or other geometric features of point cloud data by using a clustering algorithm, and for example, a contour fitting method, which forms a smooth contour by fitting the point cloud data of the extracted contour to a mathematical model, and for example, a contour optimization method, which removes noise or improper curvature by re-sampling, smooth processing, or re-fitting the extracted contour using a more complex mathematical model.

[0052] In step (S203), the angle of inclination of the contour of the driving rail (100) is determined based on the contour of the driving rail (100) with respect to the horizontal plane where the laser radar (4) is located.

[0053] It should be noted that since the lifting rail (11) is a rail of a high-rise cargo shelf, the height of the lifting rail (11) is high, for example, the height of the lifting rail (11) is 10m or more, and since the cargo extraction / stacking platform (13, Cargo platform) loaded with cargo moves up and down along the lifting rail (11), a certain degree of deformation occurs in the lifting rail (11), so the contours of the two lifting rails (11) detected by the laser radar (4) become non-parallel. In actual application, the inclination direction of the driving rail (100) and the inclination angle having preset precision can be fitted based on the contours of the two driving rails (100).

[0054] In step (S204), the driving module (2) requiring adjustment and the corresponding driving speed adjustment amount are determined based on the angle of inclination of the contour of the driving rail (100).

[0055] According to the technical details of an embodiment of the present invention, by installing a laser radar (4) and a second control device, the angle of inclination relative to the horizontal plane of the travel rail (100) can be detected at any time, and by controlling the travel speed of a plurality of travel modules (2), the posture of the lifting module (1) can be modified at any time. In some embodiments of the present invention, as shown in FIGS. 4 and 5, the travel module (2) includes a traveling wheel (21) and a first driving structure (22), the traveling wheel (21) is mounted on the travel rail (100) and simultaneously connected to the output shaft of the first driving structure (22), and the elastic module (32) is connected to the first driving structure (22).

[0056] The first drive structure (22) includes an electric motor and a transmission. In actual application, when a plurality of driving modules (2) are installed on a single rigid frame (31), the driving of the plurality of driving modules (2) may be driven by a single electric motor or by multiple electric motors. Driving by a single electric motor means that the plurality of driving modules (2) are driven by a single electric motor, and driving by multiple electric motors means that an independent electric motor is installed for each driving module (2) to drive it.

[0057] In some embodiments of the present invention, when the number of driving modules (2) connected to the same floating module (3) is multiple, some of the driving modules (2) among the multiple driving modules (2) may be non-powered. A non-powered structure means that the driving module (2) itself does not provide power. As shown in FIG. 8, at least one driving module (2) includes only a driving wheel (21), the driving wheel (21) is mounted on a driving rail (100), and the rotation axis of the driving wheel (21) is connected to the floating module (3). That is, the driving module (2) is a driven structure, and during the horizontal movement of the cargo extraction / placement device, the driving module (2) follows the operation of the floating module (3) along the driving rail (100) by rolling movement.

[0058] When the number of floating modules (3) is three or more, the driving module (2) located in the middle of the vertical direction can be made into a non-powered structure. As shown in FIG. 9, the driving module (2) in at least one floating module (3) includes only a driving wheel (21), the driving wheel (21) is mounted on a driving rail (100), and the rotation axis of the driving wheel (21) is connected to the floating module (3).

[0059] It should be noted that the driving module (2) includes only driving wheels, which means that the driving module (2) does not include a driving motor and has a non-powered structure. By doing so, the power utilization rate of the cargo pickup / placement device can be improved, and the resistance to the cargo pickup / placement device moving in the horizontal direction can be reduced.

[0060] In some embodiments of the present invention, as illustrated in FIGS. 1, 2 and 3, the lifting module (1) comprises a lifting rail (11), a second driving structure (12) and a cargo unloading / placement platform (13). The lifting rail (11) is connected to a rigid frame (31), the cargo unloading / placement platform (13) is slidably mounted on the lifting rail (11), the second driving structure (12) is connected to the cargo unloading / placement platform (13), and the second driving structure (12) drives the cargo unloading / placement platform (13) to move along the lifting rail (11).

[0061] The second drive structure (12) includes a power device and a transmission device. For example, the power device is a motor and a transmission that work together, and the transmission device is a timing belt and a belt pulley that work together, or the transmission device may be a drive chain and a sprocket.

[0062] As illustrated in FIG. 11, the cargo pickup / placement platform (13) includes a conveyor belt (131), a conveyor belt drive motor (132), a bidirectional hook (133), a hook lifting mechanism (134), and a hook walking mechanism. The conveyor belt (131) is mounted on a transmission wheel connected to the conveyor belt drive motor (132), and the conveyor belt (131) is used to transport cargo to the cargo pickup / placement platform (13) or to unload cargo from the cargo pickup / placement platform (13). The bidirectional hook (133) is mounted on the hook lifting mechanism (134) and the hook walking mechanism, and the lifting of the bidirectional hook (133) is controlled by the hook lifting mechanism (134), and the horizontal movement of the bidirectional hook (133) is controlled by the hook walking mechanism, and the bidirectional hook (133) is responsible for hanging and securing cargo.

[0063] A second embodiment of the present invention provides a high-rise cargo shelf. As illustrated in FIGS. 1 and 2, the high-rise cargo shelf includes a cargo storage area arranged in multiple layers, and at least two runner rails (100) arranged horizontally are installed on the high-rise cargo shelf. A cargo extraction / placement device of the first embodiment of the present invention is mounted on the runner rails (100).

[0064] A cargo extraction / placement device for a high-rise cargo shelf according to an embodiment of the present invention includes a lifting module (1), a driving module (2), and at least two floating modules (3). The driving module (2) is movably mounted on a driving rail (100), and at least two floating modules (3) are spaced apart in the height direction of the lifting module (1), and at least one driving module (2) is mounted on each floating module (3). The floating module (3) includes a rigid frame (31) and an elastic module (32), and the lifting module (1) is mounted on the rigid frame (31). The elastic module (32) is mounted between the rigid frame (31) and the driving module (2). According to the technical details of the present invention, by installing the elastic module (32), a floating connection is formed between the rigid frame (31) and the driving module (2) in the vertical direction. When multiple driving modules (2) mounted at different heights are not located on the same vertical straight line, the distance between the rigid frame (31) and the driving module (2) is appropriately changed in the vertical direction by the elastic module (32). By doing so, the lifting module (1) can be avoided as much as possible from becoming tilted, the occurrence of a jam between the driving module (2) and the driving rail (100) can be avoided, the driving module (2) can be ensured to move smoothly on the driving rail (100), and the cargo loading capacity of the cargo extraction / loading device can be increased. Explanation of the symbols

[0065] 1: Lifting Module 2: Driving Module 3: Floating Module 4: Laser Radar 11: Elevator rail 12: Second drive structure 13: Cargo Pickup / Placement Platform 21: Driving Wheel 22: First drive structure 31: Rigid frame 32: Elastic module 33: Position sensor 34: Limit Module 100: Travel Rail 200: Location marker 300: Concave part

Claims

Claim 1 A cargo retrieval / placement device for a high-rise cargo shelf, applied to a high-rise cargo shelf including a cargo storage area stacked in multiple layers, wherein at least two travel rails arranged horizontally are installed on the high-rise cargo shelf, and the cargo retrieval / placement device comprises a lifting module, a travel module, and at least two floating modules, wherein the travel module is movably mounted on the travel rail, and the at least two floating modules are spaced apart in the height direction of the lifting module, and each of the floating modules is equipped with at least one of the travel modules, and the floating modules comprise a rigid frame and an elastic module, wherein the lifting module is mounted on the rigid frame, and the elastic module is mounted between the rigid frame and the travel module, and the elastic module is configured to ensure that the lifting module does not tilt by changing the vertical distance between the rigid frame and the travel module within a first threshold, and a position sensor is installed on the rigid frame, the detection end of the position sensor faces the travel rail, and on one side of the travel rail facing the position sensor A marker is formed, and the position sensor determines the position coordinates of the rigid frame corresponding to the position sensor by detecting the position marker, and the cargo extraction / placement device further includes a first control device, and the first control device is electrically connected to the position sensor and the driving module, and the first control device obtains the timing at which all the position sensors detect the position marker, and based on the timing at which all the position sensors detect the position marker, determines the time difference at which the position sensors of any two floating modules detect the position marker and the order of the timing at which all the position sensors detect the position marker, and if any one time difference greater than a second threshold exists,A cargo extraction / placement device for a high-rise cargo shelf, characterized by being configured to determine the driving module requiring adjustment and the corresponding driving speed adjustment amount based on the sequence of timing in which all of the above-mentioned position sensors detect the above-mentioned position marker. Claim 2 A cargo unloading / placement device for a high-rise cargo shelf according to claim 1, wherein the elastic module comprises an elastic component and a suspension rod, one end of the suspension rod is rotatably connected to the rigid frame and the other end is connected to the driving module, and the elastic component is mounted between the rigid frame and the rod body of the suspension rod. Claim 3 A cargo extraction / placement device for a high-rise cargo shelf, characterized in that, in paragraph 2, the elastic module further includes an adjustment unit, the adjustment unit is installed between the rigid frame and the driving module, and the adjustment unit adjusts the size of a first threshold. Claim 4 delete Claim 5 A cargo extraction / placement device for a high-rise cargo shelf according to claim 1, wherein a position limiting module is installed in the rigid frame, the position limiting module is slidably engaged with or coupled to the travel rail, the position limiting module limits the horizontal distance between the position sensor and the position marker, the position limiting module includes a first position limiting part and a second position limiting part, the first position limiting part and the second position limiting part are respectively engaged with both sides of the travel rail, and a position marker is formed on one side of the two sides of the travel rail, or, the position limiting module includes a third position limiting part, and a recess is formed in the travel rail for coupling the third position limiting part, and the recess limits the horizontal distance between the position sensor and the position marker. Claim 6 delete Claim 7 A cargo unloading / placement device for a high-rise cargo shelf according to claim 1, wherein a laser radar is installed in the lifting module, the laser radar detects point cloud data of the driving rail based on the laser radar, the cargo unloading / placement device further includes a second control device, the second control device is electrically connected to the laser radar and the driving module, and the second control device is configured to acquire point cloud data of the driving rail detected by the laser radar, generate a contour of the driving rail based on the point cloud data of the driving rail, determine an inclination angle of the contour of the driving rail based on the contour of the driving rail based on the horizontal plane where the laser radar is located, and determine the driving module requiring adjustment and the corresponding driving speed adjustment amount based on the inclination angle of the contour of the driving rail. Claim 8 A cargo extraction / placement device for a high-rise cargo shelf according to claim 1, wherein the driving module comprises a driving wheel and a first driving structure, the driving wheel is mounted on the driving rail and simultaneously connected to the output shaft of the first driving structure, and the elastic module is connected to the first driving structure. Claim 9 A cargo extraction / placement device for a high-rise cargo shelf according to claim 1, wherein when the number of driving modules connected to the same floating module is multiple, at least one driving module comprises only a driving wheel, said driving wheel is mounted on the driving rail, and the rotation axis of said driving wheel is connected to the floating module. Claim 10 A cargo extraction / placement device for a high-rise cargo shelf according to claim 1, wherein, when the number of floating modules is three or more, the driving module in at least one floating module comprises only a driving wheel, said driving wheel is mounted on said driving rail, and said rotation axis of said driving wheel is connected to said floating module. Claim 11 A cargo unloading / placement device for a high-rise cargo shelf according to claim 1, wherein the lifting module comprises a lifting rail, a second driving structure, and a cargo unloading / placement platform, wherein the lifting rail is connected to a rigid frame, the cargo unloading / placement platform is slidably mounted on the lifting rail, the second driving structure is connected to the cargo unloading / placement platform, and the second driving structure drives the cargo unloading / placement platform to move along the lifting rail. Claim 12 A high-rise cargo shelf comprising a cargo storage area stacked in multiple layers and equipped with at least two horizontally arranged running rails, wherein the running rails are equipped with a cargo extraction / placement device for the high-rise cargo shelf described in any one of claims 1, 2, 3, 5, 7, 8, 9, 10, and 11.

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