Rack-based warehousing system, and warehouse exit method and warehouse entry method for goods

Abstract

The present disclosure relates to a rack-based warehousing system, and a warehouse exit method and a warehouse entry method for goods. The rack-based warehousing system comprises a parent vehicle. The parent vehicle is provided with a first traveling mechanism and is connected to a loading platform by means of lifting / lowering belts; racks are provided on both sides of the parent vehicle and the loading platform, and an aisle is formed between adjacent racks; the first traveling mechanism works in conjunction with a parent vehicle traveling track arranged on the racks; the loading platform is provided with a telescopic goods pickup / placement mechanism, the loading platform is further provided with a second traveling mechanism, and the second traveling mechanism can work in conjunction with the ground of the aisle or a loading platform traveling track arranged along the extension direction of the aisle, so that the loading platform can actively travel along the extension direction of the aisle along with the parent vehicle. The rack-based warehousing system of the present disclosure is used, thereby improving the operating efficiency of goods transfer and warehouse exit and warehouse entry.

Description

A shelf storage system and a method for loading and unloading goods

[0001] Cross-reference to related applications

[0002] The present application claims priority from the Chinese patent application No. 202410739358X filed on June 7, 2024, and entitled "A shelf storage system and a method for loading and unloading goods", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of storage, in particular to a shelf storage system and a method for loading and unloading goods. BACKGROUND

[0004] The statements herein are provided only to complement the background of the present disclosure and are not necessarily related to the prior art.

[0005] In the current shelf storage system, a mother vehicle is provided, and shelves are arranged on both sides of the mother vehicle. A lane is formed between adjacent shelves. The running mechanism of the mother vehicle cooperates with the running guide rail on the top of the two shelves. The mother vehicle is connected with a loading platform through a lifting belt. The loading platform is used for taking and placing goods. When working, the mother vehicle moves along the horizontal direction through the running mechanism and the running guide rail, thereby driving the loading platform to move along the horizontal direction. The loading platform is driven by the lifting belt to move along the vertical direction, so that the loading platform can reach the target position of the shelf to realize taking and placing goods. When the goods are loaded into the shelf, the loading platform needs to be lowered to the taking position. After taking the goods, in order to avoid the swinging of the loading platform caused by the excessive length of the lifting belt when the mother vehicle moves horizontally, the loading platform needs to be raised to the highest position. Then the mother vehicle drives the loading platform to move along the horizontal direction, and then drives the loading platform to lower to the target position of the goods, so as to deliver the goods to the target position of the shelf. When the goods are unloaded, the loading platform needs to be raised to the highest position after taking the goods, and then moves horizontally to the set position, and then the loading platform is lowered to the unloading position to transfer the goods to a goods transfer device such as an AGV vehicle. Therefore, when the goods are loaded and unloaded, the loading platform needs to be raised to the highest position after taking the goods. This process increases the loading and unloading time of the goods and reduces the loading and unloading efficiency. Moreover, when the goods are transferred between different positions of the shelf, the loading platform also needs to be raised to the highest position after taking the goods, and then moves along the extension direction of the lane, which increases the transfer time of the goods and reduces the transfer efficiency. SUMMARY

[0006] The purpose of the present disclosure is to overcome the shortcomings of the prior art, and to provide a shelf storage system and a method for loading and unloading goods, which reduces the loading and unloading time of the goods and improves the working efficiency.

[0007] To achieve the above purpose, the present disclosure adopts the following technical solutions:

[0008] Optionally, the embodiment of the present disclosure provides a shelf storage system, which comprises a mother vehicle provided with a first walking mechanism and connected with a loading platform through a lifting belt, and both sides of the mother vehicle and the loading platform are provided with shelves, and a lane is formed between adjacent shelves, the first walking mechanism is matched with a mother vehicle walking track provided with shelves, the loading platform is provided with a telescopic loading and unloading mechanism, and the loading platform is further provided with a second walking mechanism, the second walking mechanism can be matched with a lane ground or a loading platform walking track arranged along the extension direction of the lane to enable the loading platform to actively walk along the extension direction of the lane with the mother vehicle.

[0009] Optionally, the second walking mechanism comprises a plurality of walking wheels mounted on the loading platform, and the walking wheels can be matched with a lane ground or a loading platform walking track fixed on the lane ground or a loading platform walking track fixed on the bottom of the shelf, wherein at least one of the walking wheels is connected with a power mechanism mounted on the loading platform to serve as a driving walking wheel.

[0010] Optionally, the loading platform is provided with a guide mechanism matched with a fixed guide track, and the guide track is arranged along the extension direction of the lane.

[0011] Optionally, the guide mechanism adopts guide wheels arranged on both sides of the loading platform, one side of the guide wheels is matched with a guide track arranged on one side of the lane, and the other side of the guide wheels is matched with a guide track arranged on the other side of the lane.

[0012] Further, the guide track is fixed on the lane ground or the shelf.

[0013] Optionally, the guide mechanism adopts at least one set of clamping guide wheel group fixed on the bottom surface of the loading platform, the clamping guide wheel group comprises a first guide wheel and a second guide wheel, the first guide wheel is matched with one side surface of the guide track, and the second guide wheel is matched with the other side surface of the guide track.

[0014] Further, the guide track is fixed on the lane ground.

[0015] Optionally, the second walking mechanism comprises walking wheels arranged on both sides of the loading platform, at least one walking wheel in the plurality of walking wheels on one side of the loading platform is connected with a first power mechanism, and at least one walking wheel in the plurality of walking wheels on the other side of the loading platform is connected with a second power mechanism.

[0016] Optionally, a plurality of positioning marks are arranged in the lane, the loading platform is provided with a positioning recognition device matched with the positioning marks, and the positioning recognition device can recognize the positioning marks to realize the guidance of the movement of the loading platform.

[0017] Optionally, the second walking mechanism comprises a plurality of groups of first telescopic mechanisms, two first telescopic mechanisms of the same group are respectively arranged on the two sides of the loading platform, the first telescopic mechanism is connected with a telescopic shaft, one end of the telescopic shaft is connected with a walking wheel, and the other end is connected with a transmission shaft, the transmission shaft and the telescopic shaft are connected by a key to realize relative movement along the axis and synchronous rotation around the axis, and the transmission shaft is connected with a power mechanism arranged on the loading platform.

[0018] Correspondingly, a plurality of loading platform walking tracks are distributed on the shelves on the two sides of the tunnel in the vertical direction.

[0019] Optionally, at least one second telescopic mechanism is arranged on the two sides of the loading platform, the telescopic part of the second telescopic mechanism is rotationally connected with a guide wheel, and the guide wheel is matched with a guide track arranged on the shelf.

[0020] Optionally, the system further comprises a goods transfer device for transferring goods to be stored in the warehouse to the loading platform or receiving goods to be taken out of the warehouse carried by the loading platform.

[0021] Optionally, the embodiment of the present disclosure provides a goods storage method of a shelf storage system, after the loading platform receives goods to be stored in the warehouse at the bottom of the shelf and the second walking mechanism is matched with the tunnel ground or the loading platform walking track, the loading platform walks along the tunnel ground or the loading platform walking track through the second walking mechanism, the loading platform and the mother vehicle actively walk along the extension direction of the tunnel until the mother vehicle moves to the lower side of the target goods location, the mother vehicle drives the loading platform to be lifted through the lifting belt, so that the loading platform is lifted to the target goods location, and the loading platform puts the goods to the target goods location of the shelf through the telescopic goods taking and placing mechanism.

[0022] Optionally, the embodiment of the present disclosure provides a goods storage method of a shelf storage system, after the loading platform receives goods to be stored in the warehouse at the bottom of the shelf and the second walking mechanism is matched with the tunnel ground or the loading platform walking track, the loading platform walks along the tunnel ground or the loading platform walking track through the second walking mechanism, the loading platform and the mother vehicle actively walk along the extension direction of the tunnel until the mother vehicle moves to the lower side of the target goods location, the mother vehicle drives the loading platform to be lifted through the lifting belt, so that the loading platform is lifted to the target goods location, and the loading platform puts the goods to the target goods location of the shelf through the telescopic goods taking and placing mechanism.

[0023] Optionally, the embodiment of the present disclosure provides a goods storage method of a shelf storage system, after the loading platform receives goods to be stored in the warehouse at the bottom of the shelf and the second walking mechanism is matched with the tunnel ground or the loading platform walking track, the loading platform walks along the tunnel ground or the loading platform walking track through the second walking mechanism, the loading platform and the mother vehicle actively walk along the extension direction of the tunnel until the mother vehicle moves to the lower side of the target goods location, the mother vehicle drives the loading platform to be lifted through the lifting belt, so that the loading platform is lifted to the target goods location, and the loading platform puts the goods to the target goods location of the shelf through the telescopic goods taking and placing mechanism.

[0024] Optionally, the corresponding layer loading platform walking track is the loading platform walking track of the layer where the to-be-delivered goods storage location is located or the loading platform walking track closest to the layer where the to-be-delivered goods storage location is located.

[0025] Optionally, the embodiment of the present disclosure provides a goods storage method of a shelf storage system. After the loading platform obtains the goods at the storage position by the telescopic loading and unloading mechanism, the loading platform is lifted to the corresponding layer loading platform walking track by the lifting belt, and the second walking mechanism cooperates with the loading platform walking track of the corresponding layer;

[0026] When the corresponding layer loading platform walking track is the loading platform walking track of the layer where the target storage location is located, the second walking mechanism drives the loading platform to walk along the extension direction of the aisle through the loading platform walking track until the position corresponding to the target storage location, and then the goods are delivered into the target storage location by the telescopic loading and unloading mechanism.

[0027] When the corresponding layer loading platform walking track is the loading platform walking track closest to the layer where the target storage location is located, the second walking mechanism drives the loading platform to walk along the extension direction of the aisle through the loading platform walking track until the position corresponding to the target storage location, the lifting belt lifts the loading platform to the layer where the target storage location is located so that the loading platform corresponds to the target storage location, and the loading platform delivers the goods into the target storage location by the telescopic loading and unloading mechanism.

[0028] The beneficial effects of the above-mentioned present disclosure are as follows:

[0029] The shelf storage system and the goods storage and delivery method of the present disclosure have the following advantages. The loading platform is provided with a second walking mechanism, so that the loading platform can walk along the ground of the aisle or the loading platform walking track through the second walking mechanism. When the goods are received, the loading platform does not need to be lifted to the highest position by the lifting belt and then driven to move along the extension direction of the aisle with the mother vehicle. The loading platform can actively move along the extension direction of the aisle on the ground of the aisle or the loading platform walking track. The process of lifting the loading platform to the highest position after receiving the goods is saved, the time for transferring the goods is reduced, and the efficiency of the goods storage and delivery is improved.

[0030] The shelf storage system of the present disclosure is provided with a first telescopic mechanism, a telescopic shaft, a transmission shaft, and a plurality of loading platform walking tracks arranged in the vertical direction on the shelf. The loading platform can be lifted to the loading platform walking track at different heights and actively walk along the loading platform walking track. The first telescopic mechanism can make the walking wheel telescopic and not hinder the lifting of the loading platform, so that when the loading platform transfers the goods to different storage locations, the loading platform does not need to be lifted to the highest position after receiving the goods and then walk along the extension direction of the aisle. The loading platform can directly walk along the corresponding loading platform walking track after receiving the goods. The time for lifting the loading platform to the highest position is saved, the time for transferring the goods is shortened, and the efficiency of transferring the goods is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an implementation of the application and, together with the description, serve to explain the application.

[0032] Fig. 1 is a schematic diagram of the overall structure of a shelf storage system according to an embodiment of the present disclosure;

[0033] Fig. 2 is a schematic diagram of the overall structure of a shelf storage system according to an embodiment of the present disclosure;

[0034] Fig. 3 is a schematic diagram of the cooperation of a mother vehicle, a cargo platform and a lifting belt in a shelf storage system according to an embodiment of the present disclosure;

[0035] Fig. 4 is a schematic diagram of the connection of a walking wheel and a power mechanism according to an embodiment of the present disclosure;

[0036] Fig. 5 is a schematic diagram of a group structure of a hug-clamp type guide wheel according to an embodiment of the present disclosure;

[0037] Fig. 6 is a schematic diagram of the overall structure of another shelf storage system according to an embodiment of the present disclosure;

[0038] Fig. 7 is a schematic diagram of the overall structure of another shelf storage system according to an embodiment of the present disclosure;

[0039] Fig. 8 is a schematic diagram of the overall structure of another shelf storage system according to an embodiment of the present disclosure;

[0040] Fig. 9 is a schematic diagram of the overall structure of a shelf storage system according to an embodiment of the present disclosure when a walking track for a cargo platform is provided;

[0041] Fig. 10 is a schematic diagram of the overall structure of another shelf storage system according to an embodiment of the present disclosure;

[0042] Fig. 11 is a schematic diagram of the overall structure of another shelf storage system according to an embodiment of the present disclosure;

[0043] Fig. 12 is a schematic diagram of the cooperation of a mother vehicle, a cargo platform and a lifting belt in another shelf storage system according to an embodiment of the present disclosure;

[0044] Fig. 13 is a schematic diagram of a partial enlargement of A in Fig. 12 according to an embodiment of the present disclosure;

[0045] Wherein, 1. The mother car, 2. The lifting belt, 3. The shelf, 4. The mother car walking track, 5. The loading platform, 6. The telescopic loading and unloading mechanism, 7. The walking wheel, 8. The motor, 9. The belt transmission mechanism, 10. The guide wheel, 11. The guide track, 12. The first guide wheel, 13. The second guide wheel, 14. The positioning mark, 15. The loading platform walking track, 16. The telescopic shaft, 17. The transmission shaft, 18. The telescopic driving part, 19. The guide seat, 20. The moving seat. DETAILED DESCRIPTION

[0046] Optionally, the embodiment provides a shelf storage system, as shown in FIG. 1-2, including a mother car 1, the mother car 1 is connected with a loading platform 5 through a lifting belt 2, the two sides of the mother car 1 and the loading platform 5 are provided with shelves 3, and a lane is formed between the adjacent two shelves 3. The mother car 1 is provided with a first walking mechanism, the walking wheel of the first walking mechanism cooperates with the mother car walking track 4 at the top of the shelf 3, the mother car walking track 4 is arranged at the top of the shelf 3 along the extension direction of the lane, the mother car 1 can walk along the mother car walking track 4 through the first walking mechanism, thereby realizing walking along the extension direction of the lane. At the same time, the mother car 1 can drive the loading platform 5 to ascend and descend through the lifting belt 2, so that the loading platform 5 can reach the target storage location of the shelf.

[0047] The above structure can be realized by using the prior art, and the detailed structure is not described in detail here.

[0048] The loading platform 5 is provided with a telescopic loading and unloading mechanism 6 for transferring goods to the loading platform 5 or sending goods on the loading platform 5 out, the telescopic loading and unloading mechanism 6 can be realized by using the prior art, for example, the telescopic fork mechanism disclosed in the patent application CN117585346A, including a telescopic mechanism and a fork, and the specific structure is not described in detail here. Of course, the telescopic loading and unloading mechanism 6 is for lateral loading and unloading of goods, in addition to the fork structure, it can also be other structures, such as a hook type telescopic loading and unloading mechanism or a suction cup type telescopic loading and unloading mechanism, which is not limited in the present application.

[0049] The loading platform 5 is also provided with a second walking mechanism, which can cooperate with the lane ground or the loading platform walking track arranged on the lane ground or the loading platform walking track fixed at the bottom of the shelf, thereby enabling the loading platform to actively walk along the extension direction of the lane with the mother car.

[0050] In the embodiment, the second walking mechanism is used to cooperate with the lane ground.

[0051] As shown in FIG. 3-4, the second walking mechanism includes a plurality of walking wheels 7, at least one of which is connected with a power mechanism capable of driving the walking wheel to rotate, so that the loading platform 5 actively walks along the direction of the tunnel extension. In the embodiment, the two sides of the loading platform 5 are provided with walking wheels 7, and optionally, the two sides of the loading platform 5 are provided with two walking wheels 7. The two walking wheels 7 on the same side are respectively located at the two ends of the loading platform 5 along the direction of travel. The walking wheel 7 is connected with an axle, and the axle is rotationally connected with the loading platform 5.

[0052] The axle of at least one of the walking wheels 7 is connected with a power mechanism mounted on the loading platform 5, so that the walking wheel serves as an active walking wheel. The power mechanism can drive the active walking wheel to rotate, thereby walking on the ground of the tunnel.

[0053] In the embodiment, the power mechanism adopts a motor 8 fixed on the loading platform 5. The output shaft of the motor 8 is connected with the axle of the active walking wheel through a transmission mechanism, which can drive the axle of the active walking wheel to rotate, thereby driving the active walking wheel to rotate.

[0054] It can be understood that the power mechanism can also adopt a hydraulic motor or other devices capable of outputting rotary motion.

[0055] The transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism, which can be selected by those skilled in the art according to actual needs. Optionally, the transmission mechanism adopts a belt transmission mechanism 9.

[0056] In order to ensure the stability of the loading platform 5 moving on the ground of the tunnel, the loading platform 5 is also provided with a guide mechanism cooperating with a guide rail arranged along the direction of the tunnel extension and fixedly arranged.

[0057] In the embodiment, the guide mechanism includes a plurality of guide wheels 10. The two sides of the loading platform 5 are provided with a plurality of guide wheels 10, and optionally, the two sides of the loading platform 5 are provided with two guide wheels 10. The two guide wheels 10 are respectively located at the two ends of the loading platform 5 along the direction of travel. The axis of the guide wheel 10 is vertically arranged. The guide wheel 10 is rotationally connected with a guide wheel frame mounted on the loading platform 5.

[0058] Correspondingly, the two sides of the tunnel are provided with guide rails 11. The guide wheel 10 on one side of the loading platform 5 is in contact with the inner side of the guide rail 11 on one side of the tunnel, and the guide wheel 10 on the other side is in contact with the inner side of the guide rail 11 on the other side of the tunnel.

[0059] The guide rail 11 is fixed on the ground of the tunnel, or fixed on the bottom of the shelf 3 and fixedly connected with the shelf 3.

[0060] In some other embodiments, the guiding mechanism employs at least one set of clamping guide wheels, and when multiple sets of clamping guide wheels are provided, the multiple sets of clamping guide wheels are distributed along the moving direction of the loading platform.

[0061] The clamping guide wheel set is installed on the bottom surface of the loading platform 5, and is optionally installed at the middle position of the bottom surface of the loading platform 5.

[0062] The clamping guide wheel set comprises a first guide wheel 12 and a second guide wheel 13, both of which are rotationally connected with a guide wheel frame installed on the bottom surface of the loading platform 5.

[0063] The axes of the first guide wheel 12 and the second guide wheel 13 are both vertically arranged, the first guide wheel 12 is in contact with one side surface of the guide rail 11, and the second guide wheel 13 is in contact with the other side surface of the guide rail 11.

[0064] The first guide wheel 12 and the second guide wheel 13 can move along the guide rail, thereby realizing the guiding effect.

[0065] The guide rail 11 is fixed on the ground of the tunnel.

[0066] The goods transfer device is used to transfer the goods to be stored in the warehouse to the loading platform, or to receive the goods to be taken out of the warehouse carried by the loading platform.

[0067] Further, the goods transfer device employs an AGV vehicle or a buffer rack + AGV vehicle or a conveying line or an elevator, etc., and existing equipment can be used, which will not be described in detail here.

[0068] Correspondingly, one side of the bottom tunnel of the goods shelf 3 is provided with a space for the operation of the goods transfer device. After the goods transfer device moves to the bottom space of the goods shelf, it can transfer the goods to the loading platform or receive the goods delivered by the loading platform.

[0069] Optionally, the present embodiment provides a goods shelf warehouse system, as shown in FIGS. 6-8, compared with the above-mentioned FIGS. 1-2, the loading platform 5 employs a bar code navigation method for guiding, and does not set guide wheels and guide rails.

[0070] Specifically, at least one of the two walking wheels 7 on one side of the loading platform 5 is connected with a first power mechanism, and at least one of the two walking wheels 7 on the other side of the loading platform 5 is connected with a second power mechanism, the first power mechanism and the second power mechanism output different rotating speeds, which can make the walking wheels on both sides of the loading platform 5 rotate at different speeds, thereby realizing steering, so that when the walking track of the loading platform 5 deviates from the moving direction, the steering can be realized by the differential rotation of the walking wheels 7 on both sides, so that the loading platform returns to the predetermined track for walking.

[0071] Optionally, the two walking wheels 7 on one side of the loading platform 5 are connected with first power mechanisms, the two first power mechanisms output same rotating speed, the first power mechanism comprises a first motor, the first motor is installed on the loading platform 5, the output shaft of the first motor is connected with an axle through a transmission mechanism, the axle is rotatably connected with the loading platform 5, and the end of the axle is connected with the walking wheel 7.

[0072] Further, the transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism, and optionally adopts the belt transmission mechanism.

[0073] The two walking wheels 7 on the other side of the loading platform 5 are connected with second power mechanisms, the two second power mechanisms output same rotating speed, the second power mechanism comprises a second motor, the second motor is connected with an axle through a transmission mechanism, the axle is connected with the walking wheel 7, and the second power mechanism is arranged in the same mode as the first power mechanism, and thus is not repeated here.

[0074] The plurality of positioning marks 14 are arranged at intervals along the extension direction of the roadway, and correspondingly, the loading platform 5 is provided with a positioning recognition device matched with the positioning marks 14, the loading platform 5 forms a bar code navigation system through the positioning recognition device and the positioning marks 14, the positioning recognition device and the positioning marks 14 cooperate to guide the walking of the loading platform 5, and the mode can be achieved by using the prior art, the positioning recognition device can read the content of the positioning marks 14, and can also calculate the rotation angle information of the positioning marks 14 and the coordinate information of the center of the field of view of the positioning recognition device, the content of the positioning marks 14 and the rotation angle, that is, the coordinate information are obtained when the loading platform 5 passes through the positioning marks 14, the position and the angle information of the loading platform 5 are known through the content of the positioning marks 14, so that the offset information of the loading platform 5 relative to the predetermined track is obtained, the differential rotation of the first power mechanism and the second power mechanism enables the loading platform 5 to return to the predetermined track movement, and the above technology can be achieved by using the prior art, and thus is not described in detail here.

[0075] In the embodiment, the walking wheel 7 can cooperate with the ground of the roadway, and in some other embodiments, as shown in FIG. 9, a loading platform walking track 15 is arranged in the roadway, the loading platform walking track 15 cooperates with the walking wheel 7, and the loading platform walking track 15 is fixed on the ground of the roadway or the bottom of the goods shelf, and a person skilled in the art can arrange according to actual needs.

[0076] In this embodiment, the positioning mark can be a bar code label, a magnetic stripe, a ground recognition hole, etc., which is arranged on the ground of the roadway or other positions. The loading platform 5 is provided with a corresponding positioning recognition device. A laser navigation or magnetic stripe navigation or bar code navigation system is formed between the positioning recognition device of the loading platform and the positioning mark. In other embodiments, a visual navigation system can also be used for guidance, etc. The prior art can be used, and detailed description is not given here.

[0077] The remaining structure of this embodiment can be referred to the foregoing related content, which is not repeated here.

[0078] Optionally, the present embodiment provides a shelf storage system, as shown in FIGS. 10-11, compared with the above-mentioned FIGS. 1-2, the difference lies in that the loading platform running track 15 is arranged at the position of each layer of the shelf 3 except the topmost layer, the loading platform running track 15 is arranged along the extension direction of the roadway, the loading platform running track 15 is fixed on the shelf, and the second running mechanism of the loading platform 5 can cooperate with the loading platform running track 15, so that the loading platform 5 can run along the extension direction of the roadway at different layers of the shelf. When the goods are transferred between different positions of the shelf 3, the loading platform only needs to be raised or lowered to the layer where the target position is located, and then run to the target position along the loading platform running track 15, without the need to raise to the highest position and then run along the extension direction of the roadway after obtaining the goods, thereby saving the goods transfer time and improving the work efficiency.

[0079] Further, in order to prevent interference between the running wheel 7 and the loading platform running track 15 when the loading platform 5 is raised and lowered, affecting the raising and lowering of the loading platform 5, the running wheel 7 is arranged to be telescopic in this embodiment, which can be extended and retracted. In the retracted state, the raising and lowering of the running wheel 7 will not interfere with the loading platform running track 15.

[0080] Specifically, as shown in FIGS. 12-13, the second running mechanism includes at least one set of first telescopic mechanism. In this embodiment, two sets of first telescopic mechanism are arranged, and the two sets of first telescopic mechanism are arranged at both ends of the running direction of the loading platform 5. The same set includes two first telescopic mechanisms, and the two first telescopic mechanisms are located at both sides of the loading platform 5.

[0081] The first telescopic mechanism is connected with the telescopic shaft 16, and the first telescopic mechanism can drive the telescopic shaft 16 to move linearly, and the direction of the movement is perpendicular to the running direction of the loading platform 5.

[0082] The outer end of the telescopic shaft 16 is fixedly connected with the running wheel 7, and the telescopic movement of the telescopic shaft 16 can drive the telescopic movement of the running wheel 7. When the running wheel 7 is extended, it can cooperate with the loading platform running track. When the running wheel 7 is retracted, the running wheel 7 cannot cooperate with the loading platform running track 15.

[0083] The outer end of the telescopic shaft 16 is connected with the traveling wheel 7, and the inner end of the telescopic shaft is connected with the transmission shaft 17 in a key connection mode, and the telescopic shafts of the two first telescopic mechanisms in the same group are connected with the two ends of the same transmission shaft 17 in a key connection mode.

[0084] Since the telescopic shaft 16 and the transmission shaft 17 are connected in a key connection mode, the telescopic shaft 16 and the transmission shaft 17 can move linearly along the axis direction of the telescopic shaft 16 and the transmission shaft 17, and the transmission shaft 17 can drive the telescopic shaft 16 to rotate synchronously around the axis of the telescopic shaft 16 and the transmission shaft 17.

[0085] The transmission shaft 17 is rotatably connected with a bearing seat, the bearing seat is installed on the loading platform 5 to support the transmission shaft 17, and the transmission shaft 17 is connected with a power mechanism installed on the loading platform 5, and the power mechanism can drive the transmission shaft to rotate.

[0086] In the embodiment, the power mechanism includes a motor 8, the motor 8 is fixed on the loading platform 5, the output shaft of the motor 8 is connected with the transmission shaft 17 through a transmission mechanism, and the transmission mechanism can drive the transmission shaft 17 to rotate. It can be understood that other devices capable of outputting rotation can also be connected with the transmission shaft 17 through the transmission mechanism, and the transmission mechanism adopts a belt transmission mechanism or a chain transmission mechanism. Alternatively, a belt transmission mechanism 9 is adopted.

[0087] The first telescopic mechanism includes a telescopic driving member 18, the telescopic driving member 18 is a device capable of outputting rotary motion such as a rudder or a motor, and in the embodiment, the telescopic driving member 18 is a rudder, the output shaft of the rudder is connected with a gear, the gear is engaged with a rack structure arranged on a moving shaft, the moving shaft is slidably connected with a guide seat 19, the outer end of the moving shaft is connected with a moving seat 20, the moving seat 20 is rotatably connected with the telescopic shaft 16 through a bearing, and the moving seat 20 is slidably connected with the loading platform 5 through a guide rail and a sliding block.

[0088] The telescopic driving member 18 drives the gear to rotate, the gear drives the moving shaft to move through the engagement with the rack structure, the moving shaft drives the moving seat 20 to move, and then the moving seat 20 drives the telescopic shaft 16 to move, so as to realize the telescopic movement of the telescopic shaft 16.

[0089] In other embodiments, at least one guide wheel is arranged on each side of the loading platform 5, the guide wheel is connected with a second telescopic mechanism installed on the loading platform, specifically, the second telescopic mechanism is a device capable of outputting linear motion such as a pneumatic cylinder or an electric telescopic rod, the telescopic part of the second telescopic mechanism is connected with a wheel frame, the wheel frame is rotatably connected with the guide wheel, the axis of the guide wheel is vertically arranged, and correspondingly, the goods shelf 3 is fixed with a guide rail matched with the guide wheel, the guide wheel is matched with the guide rail after being extended, and the guide wheel plays a guiding role for the movement of the loading platform.

[0090] The remaining structure of the embodiment can be known by referring to the foregoing related content, and will not be repeated here.

[0091] Optionally, the embodiment provides a goods warehousing method of a shelf storage system. The goods transfer device transfers the goods to be warehoused to a warehousing position at the bottom of the shelf. The loading platform 5 at the warehousing position transfers the goods on the goods transfer device to the loading platform 5 through the telescopic goods taking and placing mechanism 6. Then, the loading platform 5 is lowered to the second walking mechanism and cooperates with the loading platform walking track 15 on the ground of the aisle or the bottom of the shelf. Or, the loading platform directly cooperates with the loading platform walking track 15 on the ground of the aisle or the bottom of the shelf. The loading platform directly walks along the loading platform walking track 15 on the ground of the aisle or the bottom of the shelf through the second walking mechanism. The loading platform moves in a straight line along the extension direction of the aisle synchronously with the mother vehicle 1 until the loading platform moves to the position below the target storage location.

[0092] Then, the lifting belt 2 drives the loading platform 5 to be lifted. The loading platform 5 is lifted to the position corresponding to the target storage location. The telescopic goods taking and placing mechanism 6 sends the goods to the target storage location. Thus, the warehousing of the goods is completed.

[0093] Compared with the conventional warehousing method, after the loading platform 5 receives the goods, the loading platform 5 does not need to be lifted to the highest position through the lifting belt 2. The loading platform 5 can walk along the ground of the aisle or the loading platform walking track. Thus, the loading platform 5 moves to the position directly below the target storage location. The time for the loading platform 5 to move to the highest position is saved. The warehousing efficiency of the goods is improved.

[0094] Optionally, the embodiment provides a goods warehousing method of a shelf storage system. The loading platform 5 transfers the goods to be warehoused corresponding to the storage location on the shelf 3 to the loading platform 5 through the telescopic goods taking and placing mechanism 6. Then, the lifting belt 2 directly drives the loading platform 5 to be lowered to cooperate with the ground of the aisle or the loading platform walking track 15 on the bottom of the shelf. The loading platform 5 moves along the extension direction of the aisle synchronously with the mother vehicle 1 through the second walking mechanism until the loading platform 5 moves to the warehousing position. The loading platform 5 is lifted to correspond to the goods transfer device through the lifting belt or the position of the loading platform 5 directly corresponds to the position of the goods transfer device. The loading platform 5 transfers the goods to the goods transfer device at the warehousing position through the telescopic goods taking and placing mechanism 6. The goods transfer device transports the goods to the next step. Thus, the goods are discharged.

[0095] Compared with the conventional warehousing method, after the loading platform 5 receives the goods to be discharged on the shelf, the loading platform 5 is directly lowered to cooperate with the ground of the aisle or the loading platform walking track 15. Then, the loading platform 5 moves to the warehousing position along the extension direction of the aisle. The loading platform 5 does not need to be lifted to the highest position and then move along the extension direction of the aisle. The time for the loading platform 5 to move to the highest position is saved. The warehousing efficiency of the goods is improved.

[0096] Optionally, based on the above Figs. 10-11, the embodiment discloses a goods transfer method of a shelf storage system, for transferring goods from an initial location to a target location of the shelf, after the goods to be transferred are obtained by the telescopic goods taking and placing mechanism 6 at the initial location, the walking wheels 7 are retracted by the first telescopic mechanism, the guide wheels are retracted by the second telescopic mechanism, so that the walking wheels 7 are separated from the walking track 15 of the goods carrier, and the guide wheels are separated from the guide track, the lifting belt 2 drives the goods carrier 5 to ascend to the layer where the target location is located, and then the first telescopic mechanism and the second telescopic mechanism are extended, so that the walking wheels 7 are matched with the walking track 15 of the layer where the target location is located, and the guide wheels are matched with the guide track of the layer where the target location is located, then the goods carrier 5 moves along the walking track 15 of the goods carrier by the second walking mechanism, and synchronously moves along the extension direction of the aisle with the mother vehicle 1, until the goods carrier 5 moves to the target location, and then the goods are transferred to the target location by the telescopic goods taking and placing mechanism 6.

[0097] Compared with the traditional goods transfer method, the goods carrier 5 does not need to ascend to the highest position and then move along the extension direction of the aisle after obtaining the goods, which saves the transfer time of the goods and improves the work efficiency of the goods transfer.

[0098] Optionally, based on the above Figs. 10-11, the embodiment provides a goods delivery method of a shelf storage system, the goods carrier 5 obtains the goods to be delivered at the location of the goods to be delivered by the telescopic goods taking and placing mechanism.

[0099] Then the walking wheels and the guide wheels of the goods carrier are extended, the second walking mechanism is matched with the walking track 15 of the goods carrier at the layer corresponding to the location of the goods to be delivered, and then the second walking mechanism moves along the walking track 15 of the goods carrier 5, so that the goods carrier 5 moves along the extension direction of the aisle with the mother vehicle 1, until the goods carrier 5 moves to the position directly above the delivery position, and then the lifting belt 2 drives the goods carrier 5 to descend to the delivery position, after the goods carrier 5 is matched with the goods transfer device, the goods carrier delivers the goods to the goods transfer device by the telescopic goods taking and placing mechanism, and the delivery of the goods is realized.

[0100] In this embodiment, each layer of the shelf is provided with a load carrier platform running track 15. It can be understood that when the shelf is not provided with the load carrier platform running track 15 on each layer and the layer of the goods to be delivered out does not have the load carrier platform running track 15, the load carrier platform 5 can be lifted to the nearest load carrier platform running track 15 by the lifting belt 2 after receiving the goods to be delivered out through the telescopic goods taking and placing mechanism, and then the running wheel 7 is extended to realize the cooperation between the second running mechanism and the load carrier platform running track 15. Then the load carrier platform 5 moves along the extension direction of the lane together with the mother vehicle through the second running mechanism and the load carrier platform running track 15 until it moves to the position directly above the delivery position. Then the load carrier platform 5 is lowered to the delivery position by the lifting belt, and after the cooperation between the load carrier platform and the goods transfer device, the goods are delivered out to the goods transfer device by the telescopic fireproof mechanism of the load carrier platform, thereby realizing the delivery of the goods.

[0101] Optionally, based on the above Figs. 10-11, the embodiment provides a goods delivery method of a shelf storage system. After the load carrier platform 5 receives the goods to be delivered in at the delivery position through the telescopic goods taking and placing mechanism, the load carrier platform 5 is lifted to the load carrier platform running track 15 of the corresponding layer by the lifting belt 2. In this embodiment, the load carrier platform running track 15 of the corresponding layer is the load carrier platform running track 15 of the layer where the target goods location is located. After the running wheel 7 is extended to cooperate with the load carrier platform running track 15, the second running mechanism cooperates with the load carrier platform running track 15. The second running mechanism works to make the load carrier platform 5 move along the extension direction of the lane together with the mother vehicle 1 until it moves to the target goods location. Then the load carrier platform 5 delivers the goods into the target goods location through the telescopic goods taking and placing mechanism to realize the delivery of the goods.

[0102] In this embodiment, each layer of the shelf is provided with a load carrier platform running track 15. It can be understood that when the shelf is not provided with the load carrier platform running track 15 on each layer and the layer of the goods to be delivered out does not have the load carrier platform running track 15, the load carrier platform 5 can be lifted to the nearest load carrier platform running track 15 by the lifting belt 2 after receiving the goods to be delivered out through the telescopic goods taking and placing mechanism, and then the running wheel 7 is extended to realize the cooperation between the second running mechanism and the load carrier platform running track 15. Then the load carrier platform 5 moves along the extension direction of the lane together with the mother vehicle through the second running mechanism and the load carrier platform running track 15 until it moves to the position directly above the delivery position. Then the load carrier platform 5 is lowered to the delivery position by the lifting belt, and after the cooperation between the load carrier platform and the goods transfer device, the goods are delivered out to the goods transfer device by the telescopic fireproof mechanism of the load carrier platform, thereby realizing the delivery of the goods.

[0103] Although the specific embodiments of the present disclosure are described above with reference to the accompanying drawings, it is not a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present disclosure without creative labor are still within the protection scope of the present disclosure. Industrial applicability

[0104] With the above scheme, since the loading platform is provided with the second traveling mechanism, the loading platform can travel along the roadway ground or the loading platform traveling track through the second traveling mechanism. When entering or leaving the warehouse, after receiving the goods, the loading platform does not need to be lifted to the highest position through the lifting belt and then drive the loading platform to move along the roadway extension direction with the mother vehicle. The loading platform can actively move along the roadway extension direction on the roadway ground or the loading platform traveling track. The process of lifting the loading platform to the highest position after receiving the goods is saved, the goods transfer time is reduced, and the efficiency of the goods entering or leaving the warehouse is improved.

Claims

1. A shelf storage system comprising a mother vehicle provided with a first traveling mechanism and connected with a loading platform through a lifting belt, both sides of the mother vehicle and the loading platform are provided with shelves, a lane is formed between adjacent shelves, and the first traveling mechanism cooperates with the traveling track of the mother vehicle provided with shelves, characterized in that, The loading platform is provided with telescopic loading and unloading mechanism, and is further provided with second traveling mechanism, which can cooperate with the ground of the tunnel or the loading platform traveling track arranged along the extension direction of the tunnel, so that the loading platform can actively travel along the extension direction of the tunnel with the mother vehicle.

2. The goods shelving system of claim 1, wherein, The second traveling mechanism comprises a plurality of traveling wheels mounted on the loading platform, and at least one of the traveling wheels is connected with the power mechanism mounted on the loading platform to serve as the active traveling wheel.

3. The goods shelving system according to claim 1 or 2, characterized in that The loading platform is provided with guiding mechanism, which cooperates with the fixed guiding track arranged along the extension direction of the tunnel.

4. The palletized warehouse system of claim 3, wherein, The guiding mechanism comprises guiding wheels arranged on both sides of the loading platform, one of which cooperates with the guiding track arranged on one side of the tunnel, and the other of which cooperates with the guiding track arranged on the other side of the tunnel.

5. The goods shelving system of claim 4, wherein, The guiding track is fixed on the ground of the tunnel or the shelf.

6. The palletized warehouse system of claim 3, wherein, The guiding mechanism comprises at least one set of clamping guiding wheel group fixed on the bottom surface of the loading platform, which comprises a first guiding wheel and a second guiding wheel, the first guiding wheel cooperates with one side surface of the guiding track, and the second guiding wheel cooperates with the other side surface of the guiding track.

7. The goods shelving system of claim 6, wherein, The guiding track is fixed on the ground of the tunnel.

8. The palletized warehouse system of claim 1, wherein, The second traveling mechanism comprises traveling wheels arranged on both sides of the loading platform, at least one of the traveling wheels on one side of the loading platform is connected with the first power mechanism, and at least one of the traveling wheels on the other side of the loading platform is connected with the second power mechanism.

9. The palletized warehouse system of claim 8, wherein, The tunnel is provided with a plurality of positioning marks arranged at intervals, and the loading platform is provided with positioning recognition device for cooperating with the positioning marks, which can recognize the positioning marks to guide the movement of the loading platform.

10. The goods shelving system of claim 8 or 9, wherein, The second traveling mechanism comprises a plurality of first telescopic mechanisms, two first telescopic mechanisms of the same group are arranged on both sides of the loading platform respectively, the first telescopic mechanism is connected with telescopic shaft, one end of the telescopic shaft is connected with the traveling wheel, and the other end is connected with transmission shaft, the transmission shaft and the telescopic shaft are connected by key to realize the relative movement along the axis and the synchronous rotation around the axis, and the transmission shaft is connected with the power mechanism mounted on the loading platform. Correspondingly, a plurality of loading platform traveling tracks are arranged on the shelves on both sides of the tunnel in the vertical direction.

11. The palletized warehouse system of claim 10, wherein, At least one second telescopic mechanism is arranged on both sides of the loading platform, the telescopic part of the second telescopic mechanism is rotationally connected with the guiding wheel, and the guiding wheel cooperates with the guiding track arranged on the shelf.

12. The palletized warehouse system of any one of claims 1-11, wherein, Further comprising goods transfer device for transferring the goods to be stored to the loading platform or receiving the goods to be taken out carried by the loading platform.

13. A method of storing goods in a goods storage system according to any one of claims 1-12, characterized in that, The loading platform receives the goods to be stored at the bottom of the goods shelf, and the second traveling mechanism cooperates with the aisle ground or the loading platform traveling track, and then the loading platform travels along the aisle ground or the loading platform traveling track by the second traveling mechanism, and the loading platform travels with the mother vehicle along the extension direction of the aisle until it moves to the position below the target storage location, the mother vehicle drives the loading platform to rise by the lifting belt, so that the loading platform rises to the target storage location, and the loading platform puts the goods to the target storage location of the goods shelf by the telescopic goods taking and placing mechanism.

14. A method of retrieving a product from a storage system according to any one of claims 1 to 12, characterized in that, After the loading platform obtains the goods at the storage location of the goods to be taken out by the telescopic goods taking and placing mechanism, the lifting belt directly drives the loading platform to descend to the position where the second traveling mechanism cooperates with the aisle ground or the loading platform traveling track, and then the loading platform travels with the mother vehicle along the extension direction of the aisle until it moves to the position of the goods to be taken out, and the loading platform sends the goods out by the telescopic goods taking and placing mechanism.

15. A method of retrieving a product from the system of claim 10, wherein, After the loading platform obtains the goods at the storage location of the goods to be taken out by the telescopic goods taking and placing mechanism, the second traveling mechanism cooperates with the corresponding layer loading platform traveling track, the loading platform moves along the extension direction of the aisle by the loading platform traveling track until it moves to the position above the position of the goods to be taken out, the lifting belt drives the loading platform to descend to the position of the goods to be taken out, and the loading platform sends the goods out by the telescopic goods taking and placing mechanism.

16. The method of claim 15, wherein, The corresponding layer loading platform traveling track is the loading platform traveling track of the layer where the goods to be taken out are located, or the loading platform traveling track closest to the layer where the goods to be taken out are located.

17. A method of storing goods in a goods storage system according to claim 10, characterized by, After the loading platform obtains the goods at the storage location of the goods to be taken out by the telescopic goods taking and placing mechanism, the lifting belt drives the loading platform to rise to the corresponding layer loading platform traveling track, and the second traveling mechanism cooperates with the corresponding layer loading platform traveling track, When the corresponding layer loading platform traveling track is the loading platform traveling track of the layer where the target storage location is located, the second traveling mechanism drives the loading platform to travel along the extension direction of the aisle by the loading platform traveling track until it moves to the position corresponding to the target storage location, and then the telescopic goods taking and placing mechanism sends the goods to the target storage location; When the corresponding layer loading platform traveling track is the loading platform traveling track closest to the layer where the target storage location is located, the second traveling mechanism drives the loading platform to travel along the extension direction of the aisle by the loading platform traveling track until it moves to the position corresponding to the target storage location, the lifting belt drives the loading platform to rise to the layer where the target storage location is located so that the loading platform corresponds to the target storage location, and the loading platform sends the goods to the target storage location by the telescopic goods taking and placing mechanism.

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