Shelving storage unit and storage system

Abstract

A shelving storage unit and a shelving storage system. The shelving storage unit comprises a shelf (1) and a handling device, wherein the handling device comprises a master vehicle (2), a goods carrying platform (5) is connected to the master vehicle (2) by means of a lifting belt (4), and the goods carrying platform (5) is provided with a telescopic goods pick-and-place mechanism (8); a plurality of vertical channels (1-1) are provided in the shelf (1), the plurality of vertical channels (1-1) are distributed in the extension direction of the shelf (1), and a plurality of storage locations (1-2) distributed in a vertical direction are provided on either side of each of the vertical channels (1-1); the master vehicle (2) cooperates with the top of the shelf (1) by means of a traveling mechanism (3) such that the master vehicle (2) can travel in the extension direction of the shelf (1); a horizontal channel (1-3) configured to enable the goods carrying platform (5) to move in the extension direction of the shelf (1) is provided at the top end of the shelf (1), and the top ends of the plurality of vertical channels (1-1) are in communication with the horizontal channel (1-3); and the extension / retraction direction of the telescopic goods pick-and-place mechanism (8) is parallel to the extension direction of the shelf (1). The shelving storage unit occupies a small space and is highly adaptable to sites.

Description

A shelf storage unit and a storage system

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 2024219968136 entitled "A shelf storage unit and a storage system" filed on August 16, 2024 with the China Patent Office, 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 unit and a storage system. BACKGROUND

[0004] The statements herein are provided only to enhance understanding of the present disclosure and are not necessarily intended to constitute the prior art.

[0005] In the current shelf storage system, multiple storage units are provided, and each storage unit includes a shelf and a transfer robot. The transfer robot includes a mother vehicle, the mother vehicle is connected with a loading platform through a lifting belt, and the loading platform is provided with a telescopic goods taking and placing mechanism. Currently, one transfer robot needs to be matched with two rows of shelves. The position of the transfer robot corresponds to the position of the aisle between the two rows of shelves. When working, the mother vehicle and the loading platform are located on one side of the shelf, and the mother vehicle and the loading platform move in the position between the two rows of shelves. The telescopic direction of the telescopic goods taking and placing mechanism is perpendicular to the movement direction of the mother vehicle and the loading platform.

[0006] However, with this kind of shelf storage unit, the same transfer robot needs to be matched with two rows of shelves, and the transfer robot occupies the space outside the shelf, so the occupied space is relatively large, which is not suitable for use in a relatively narrow space, thereby limiting the use scenarios of the shelf storage system.

[0007] SUMMARY

[0008] The present disclosure provides a shelf storage unit and a storage system, which has a small occupied space and is suitable for use in a narrow space, thereby improving the applicability of the entire storage system.

[0009] To achieve the above object, the embodiments of the present disclosure adopt the following technical solutions:

[0010] In a first aspect, embodiments of the present disclosure provide a shelf storage unit, comprising a shelf and a carrying device, the carrying device comprising a mother vehicle, the mother vehicle being connected with a loading platform through a lifting belt, the loading platform being provided with a telescopic goods taking and placing mechanism, the shelf being provided with a plurality of vertical channels, the plurality of vertical channels being distributed along the extension direction of the shelf, both sides of the vertical channel being provided with a plurality of goods positions distributed along the vertical direction, the mother vehicle being matched with a walking track arranged on the top of the shelf through a walking mechanism, so that the mother vehicle can walk along the extension direction of the shelf, the top end of the shelf being provided with a horizontal channel configured to allow the mother vehicle to carry the loading platform to move along the extension direction of the shelf, the top end of the plurality of vertical channels being communicated with the horizontal channel, the telescopic direction of the telescopic goods taking and placing mechanism being parallel to the extension direction of the shelf.

[0011] Optionally, the bottom of the lowest goods position in the plurality of goods positions corresponding to the end of the shelf is provided with a goods warehouse in-out mechanism as a warehouse in-out station of the shelf.

[0012] Optionally, the goods warehouse in-out mechanism adopts a belt conveying mechanism; or the goods warehouse in-out mechanism adopts a power roller conveying line; or the goods warehouse in-out mechanism adopts a mobile robot.

[0013] Optionally, the plurality of vertical channels are equally spaced along the extension direction of the shelf.

[0014] Optionally, the telescopic goods taking and placing mechanism comprises a first telescopic mechanism, the first telescopic mechanism being configured to be connected with a goods taking and placing component to drive the goods taking and placing component to make telescopic movement along the extension direction of the shelf.

[0015] Optionally, the goods taking and placing component adopts a plate fork matched with a socket on the goods;

[0016] or;

[0017] the goods taking and placing component comprises a fork connected with the first telescopic mechanism, the end of the fork being provided with a rotating component, the rotating component being connected with a prong;

[0018] or;

[0019] the goods taking and placing component comprises a connecting component connected with the first telescopic mechanism, the end of the connecting component being provided with a vacuum suction cup or a hook claw.

[0020] Optionally, the first telescopic mechanism comprises a telescopic part and a first conveying mechanism mounted on the loading platform, the conveying direction of the first conveying mechanism is arranged along the telescopic direction, the conveying part of the first conveying mechanism is connected with the telescopic part, the telescopic part is slidingly connected with the loading platform, a second conveying mechanism is arranged on the telescopic part, the conveying direction of the second conveying mechanism is arranged along the telescopic direction, the conveying part of the second conveying mechanism is connected with the goods taking and placing part, and the goods taking and placing part is slidingly connected with the telescopic part.

[0021] Optionally, the telescopic part is a telescopic beam, and a sliding block is arranged at the bottom of the telescopic beam; a first guide rail is arranged on the loading platform, and the sliding block is slidingly connected with the first guide rail.

[0022] Optionally, the first conveying mechanism is a first belt conveying mechanism, and the conveying belt of the first belt conveying mechanism is fixedly connected with the telescopic part as the conveying part.

[0023] Alternatively,

[0024] the first conveying mechanism is a first belt conveying mechanism, and the sawtooth structure on the surface of the conveying belt of the first belt conveying mechanism is engaged with the rack at the bottom of the telescopic part.

[0025] Alternatively, the first conveying mechanism is a first chain transmission mechanism, and the conveying chain of the first chain transmission mechanism is fixedly connected with the telescopic part as the conveying part.

[0026] Optionally, the second conveying mechanism is a second belt conveying mechanism, and the conveying belt of the second belt conveying mechanism is fixedly connected with the goods taking and placing part as the conveying part.

[0027] Alternatively,

[0028] the second conveying mechanism is a second belt conveying mechanism, and the sawtooth structure on the surface of the conveying belt of the second belt conveying mechanism is engaged with the rack at the bottom of the goods taking and placing part.

[0029] Alternatively, the second conveying mechanism is a second chain transmission mechanism, and the conveying chain of the second chain transmission mechanism is fixedly connected with the goods taking and placing part as the conveying part.

[0030] Optionally, along the extension direction of the goods shelf, at least one second telescopic mechanism is arranged on each side of the loading platform, and the second telescopic mechanism can be extended to cooperate with the goods shelf.

[0031] Optionally, the second telescopic mechanism comprises a push driving mechanism, and the push driving mechanism is configured to prevent the loading platform from shaking when loading and unloading goods.

[0032] Optionally, the pushing driving mechanism comprises a guide block fixed with the loading platform and a pushing rod, one end of the pushing rod extends into the guide block, the pushing rod is in sliding connection with the guide block, the other end of the pushing rod is provided with a pushing plate, the part of the pushing rod located in the guide block is provided with a rack, the rack is in meshing connection with a gear, and the gear is connected with an output shaft of a rotating driving member fixed in the guide block.

[0033] Optionally, the second telescopic mechanism comprises a clamping jaw and a telescopic driving mechanism for driving the clamping jaw to telescope, and the clamping jaw is configured to be matched with the goods shelf when telescoping out.

[0034] Optionally, the second telescopic mechanism comprises a clamping jaw and a telescopic driving mechanism for driving the clamping jaw to telescope, and the clamping jaw is configured to be matched with the goods shelf when telescoping out.

[0035] Optionally, the goods shelves are arranged in multiple rows in parallel, the top of each of the multiple rows of goods shelves is provided with a reversing track, and the reversing track is arranged perpendicularly to the walking track; the mother vehicle is provided with a reversing mechanism on both sides perpendicular to the extension direction of the goods shelves, and the mother vehicle can walk along the reversing track through the reversing mechanism.

[0036] Optionally, the vertical channel arranged in the goods shelf is provided with a guide track at the four corners in the vertical direction, and the guide track is configured to be matched with the guide wheels arranged at the four corners of the loading platform.

[0037] Optionally, the four corners of the mother vehicle are provided with a winch mechanism, the winch mechanism is connected with the lifting belt, and the winch mechanism is configured to drive the lifting belt to perform lifting movement.

[0038] Optionally, the winch mechanism comprises a lifting driving motor and a winch disc, and the lifting driving motor and the winch disc are both mounted on the mother vehicle, the output shaft of the lifting driving motor is connected with the winch disc, and the winch disc is wound with the lifting belt.

[0039] In a second aspect, the embodiments of the present disclosure provide a goods shelf storage system, which comprises the goods shelf storage unit in any of the above-mentioned embodiments.

[0040] The beneficial effects of the above-mentioned embodiments of the present disclosure are as follows:

[0041] The shelf storage unit and the storage system of the embodiment of the present disclosure, the mother vehicle is arranged at the top of the shelf, the shelf is provided with a plurality of vertical channels configured to lift the loading table, the shelf is also provided with a horizontal channel configured to horizontally move the loading table along the extension direction of the shelf, and the two sides of the vertical channel are provided with a storage location, the extension direction of the telescopic loading and unloading mechanism is arranged along the extension direction of the shelf, the loading table moves inside the shelf, and the entire shelf storage unit is provided with a row of shelves, and the mother vehicle and the loading table do not occupy the space outside the shelf, greatly reducing the floor space of the shelf storage unit, improving the adaptability of the entire storage unit to the site, and being suitable for arranging the shelf storage unit in a narrow space. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which form a part of this disclosure, are used to provide further understanding of the present disclosure, and the schematic embodiments of the present disclosure and the description thereof are used to explain the present application, and do not constitute a limitation on the present application.

[0043] Fig. 1 is a schematic diagram of the overall structure of the embodiment of the present disclosure;

[0044] Fig. 2 is a front view of the overall structure of the embodiment of the present disclosure;

[0045] Fig. 3 is a schematic diagram of the structure of the carrying robot of the embodiment of the present disclosure;

[0046] Fig. 4 is a schematic diagram of a partial enlarged view of the loading table of the embodiment of the present disclosure;

[0047] Fig. 5 is a schematic diagram of the working principle of the embodiment of the present disclosure;

[0048] Wherein, 1. shelf, 2. mother vehicle, 3. walking mechanism, 4. lifting belt, 5. loading table, 6. goods, 7. goods in and out of the warehouse mechanism, 8. telescopic loading and unloading mechanism, 9. walking track, 10. push plate, 11. guide block, 12. push rod, 13. rotating drive; 1-1. vertical channel, 1-2. storage location, 1-3. horizontal channel; 8-1. first belt conveying mechanism, 8-2. telescopic beam, 8-3. first guide rail, 8-4. second belt conveying mechanism, 8-5. second guide rail, 8-6. fork. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiment of the present disclosure clearer, the technical scheme in the embodiment of the present disclosure will be described clearly and completely below in combination with the drawings in the embodiment of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all the embodiments. The components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed present disclosure, but merely represents selected embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present disclosure.

[0051] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0052] In the description of the present disclosure, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present disclosure is usually placed, and are merely for the convenience of describing the present disclosure and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0053] In addition, if the terms "first", "second", "third" and the like appear, they are merely configured to distinguish the description and cannot be understood as indicating or implying relative importance.

[0054] In addition, if the terms "horizontal", "vertical", "overhang" and the like appear, they do not mean that the component must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0055] In the description of the present disclosure, it should also be noted that unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection", "connection" and the like appear, they should be understood in a broad sense, for example, they can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0056] It should be noted that the features in the embodiments of the present disclosure can be combined with each other without conflict.

[0057] The embodiment provides a shelf storage unit, as shown in Figures 1-2, which comprises a shelf 1 and a carrying device, wherein the carrying device comprises a mother vehicle 2, walking mechanisms 3 are arranged at four corners of the mother vehicle 2, a walking track is arranged at the top of the shelf 1, the walking mechanisms of the mother vehicle 2 are matched with the walking track 9, and the mother vehicle 2 can walk along the extension direction of the shelf 1 at the top of the shelf 1 through the walking mechanisms. Hoisting mechanisms are arranged at four corners of the mother vehicle 2, the hoisting mechanisms are connected with lifting belts 4, and the hoisting mechanisms can drive the lifting belts 4 to perform lifting movement. The hoisting mechanism comprises a lifting driving motor arranged on the mother vehicle 2, an output shaft of the lifting driving motor is connected with a hoisting disc, the lifting belts 4 are wound on the hoisting disc, and the lifting belts 4 are connected with a loading table 5 through movable ends at the bottom of the mother vehicle 2 after passing through the mother vehicle 2. The structure and connection mode of the mother vehicle 2, the walking mechanisms 3, the hoisting mechanisms, the loading table 5 and the lifting belts 4 can adopt prior art, and further technical details are not described in detail herein, the loading table 5 is provided with a telescopic goods taking and placing mechanism 8, which is configured to take and place goods, and the telescopic direction of the telescopic goods taking and placing mechanism 8 is arranged along the extension direction of the shelf 1. The carrying device in the embodiment is a carrying robot.

[0058] Optionally, in the embodiment, a plurality of vertical channels 1-1 are arranged in the shelf 1, the plurality of vertical channels 1-1 are arranged along the extension direction of the shelf 1, and the vertical channels 1-1 are configured to provide space for vertical movement of the loading table 5. A plurality of goods shelves 1-2 are arranged on both sides of the vertical channel 1-1, the plurality of goods shelves 1-2 are vertically distributed, and the goods shelves 1-2 are configured to store goods 6.

[0059] Optionally, the plurality of vertical channels 1-1 are equally spaced along the extension direction of the shelf 1.

[0060] Optionally, a horizontal channel 1-3 is arranged at the top of the shelf 1, the horizontal channel 1-3 is arranged along the extension direction of the shelf 1, and the horizontal channel 1-3 is configured to provide space for horizontal movement of the loading table 5 along the extension direction of the shelf 1 when the loading table 5 is raised to the highest position.

[0061] The lower part of the lowest goods shelf 1-2 in a column of goods shelves 1-2 at one end of the shelf 1 is used as a shelf loading and unloading station.

[0062] A goods loading and unloading mechanism 7 is arranged at the shelf loading and unloading station.

[0063] In the embodiment, the goods loading and unloading mechanism 7 adopts an existing belt conveying mechanism or a power roller conveying line, and a person skilled in the art can set it according to actual needs.

[0064] It can be understood that the shelf does not set the in-out warehouse station, but the bottom of the shelf 1 needs to reserve the in-out warehouse channel for the movement of the transfer device, and the transfer device adopts the AGV vehicle or the shuttle vehicle, etc. After the loading platform 5 is lowered to the in-out warehouse channel, the goods can be directly sent to the transfer device or received by the transfer device.

[0065] As shown in FIGS. 3-4, the loading platform 5 is provided with a telescopic loading and unloading mechanism 8. In the embodiment, the telescopic loading and unloading mechanism 8 adopts a one-way telescopic loading and unloading mechanism, which includes a first telescopic mechanism installed on the loading platform 5, a first telescopic mechanism connected with a loading and unloading component, and a loading and unloading component configured to cooperate with the goods to send the goods from the loading platform to the shelf or send the goods from the shelf to the loading platform.

[0066] Optionally, in the embodiment, the first telescopic mechanism is provided on both sides of the loading platform 5 parallel to the extension direction of the shelf 1, and the first telescopic mechanism includes a first conveying mechanism installed on the loading platform 5, and the conveying direction of the first conveying mechanism is arranged along the extension direction of the shelf 1, i.e. along the telescopic direction of the telescopic mechanism.

[0067] The conveying component of the first conveying mechanism is connected with the telescopic part, and can drive the telescopic part to make telescopic movement along the telescopic direction.

[0068] Optionally, in the embodiment, the first conveying mechanism adopts a first belt conveying mechanism 8-1 installed on the loading platform, which includes a driving pulley, a driven pulley and a conveying belt wound between the driving pulley and the driven pulley, and the conveying belt serves as the conveying component of the first conveying mechanism. The driving pulley of the first belt conveying mechanism 8-1 is connected with the output shaft of the driving motor installed on the loading platform 5, the driven pulley is rotationally connected with the loading platform 5 through the wheel shaft, and the sawtooth structure on the surface of the conveying belt is engaged with the rack on the bottom surface of the telescopic part, so as to drive the telescopic part to make telescopic movement.

[0069] Optionally, the telescopic part adopts a telescopic beam 8-2, and the bottom of the telescopic beam 8-2 is provided with a sliding block, which is slidingly connected with the first guide rail 8-3 arranged on the loading platform 5. The telescopic beam 8-2 cooperates with the sliding block and the first guide rail 8-3 to guide the movement of the telescopic beam 8-2.

[0070] Optionally, the bottom surface of the telescopic beam 8-2 is further provided with a rack, which is engaged with the sawtooth structure on the surface of the conveying belt of the first belt conveying mechanism.

[0071] Optionally, the telescopic beam 8-2 corresponds to two first guide rails 8-3, which are arranged along the telescopic direction. Of course, the number of first guide rails 8-3 can also be one, three, four, or more, and each first guide rail is provided with at least one telescopic beam. The number of first guide rails and telescopic beams can be the same, that is, one telescopic beam is arranged corresponding to each first guide rail. Alternatively, the number of telescopic beams can be more than that of first guide rails, and a plurality of telescopic beams are arranged on the first guide rail, which is not limited herein.

[0072] Optionally, the telescopic beam 8-2 is provided with a second conveying mechanism, the conveying direction of the second conveying mechanism is arranged along the telescopic direction of the telescopic mechanism, the conveying component of the second conveying mechanism is connected with the goods taking and placing component, the goods taking and placing component is slidingly connected with the telescopic beam 8-2, and the second conveying mechanism can drive the goods taking and placing component to move along the telescopic direction of the telescopic mechanism.

[0073] Optionally, in the embodiment, the second conveying mechanism is a second belt conveying mechanism 8-4, which includes a driving pulley, a driven pulley, and a conveying belt wound around the driving pulley and the driven pulley. The conveying belt serves as the conveying component of the second conveying mechanism. The driving pulley is connected with a driving motor mounted on the telescopic beam 8-2. The driven pulley is rotatably connected with the telescopic beam 8-2 through an axle. The sawtooth structure on the surface of the conveying belt of the second conveying mechanism is engaged with the rack on the bottom surface of the goods taking and placing component, and the conveying belt of the second conveying mechanism can drive the goods taking and placing component to move along the telescopic direction. Of course, the second conveying mechanism can also be other conveying mechanisms, such as a chain conveying mechanism, which is not limited herein.

[0074] Optionally, the bottom surface of the goods taking and placing component is provided with a sliding block, and correspondingly, the upper surface of the telescopic beam is provided with a second guide rail 8-5, and the sliding block is slidingly connected with the second guide rail 8-5 to guide the movement of the goods taking and placing component.

[0075] Optionally, the bottom surface of the goods taking and placing component is also provided with a rack, which is engaged with the sawtooth structure on the surface of the conveying belt of the second conveying mechanism.

[0076] Optionally, the second guide rail 8-5 corresponding to the goods taking and placing component is provided with one, which is arranged on one side of the second conveying mechanism. Of course, the number of second guide rails can also be two, three, four, or more, and a plurality of second guide rails are arranged on the second conveying mechanism. The number of second guide rails is determined according to the actual movement and installation, which is not limited herein.

[0077] Optionally, in the embodiment, the first telescopic mechanism includes a first belt conveying mechanism 8-1 and a second belt conveying mechanism 8-4, which is a two-stage telescopic mechanism. It can be understood that the first telescopic mechanism can be a single-stage telescopic mechanism or a three-stage telescopic mechanism or more, according to actual needs. Those skilled in the art can set it according to actual needs.

[0078] Optionally, in the embodiment, the telescopic beam is engaged with the sawtooth structure on the surface of the conveying belt of the first belt conveying mechanism, and the taking and placing component is engaged with the sawtooth structure on the surface of the conveying belt of the second belt conveying mechanism, so that the telescopic beam can be extended and retracted in two directions.

[0079] Optionally, the telescopic beam is fixedly connected with the conveying belt of the first belt conveying mechanism, and the taking and placing component is fixedly connected with the conveying belt of the second belt conveying mechanism, so that the telescopic beam can be extended and retracted in one direction.

[0080] Optionally, the first conveying mechanism adopts a chain transmission mechanism, and the conveying chain of the chain transmission mechanism is connected with the telescopic beam as a conveying component.

[0081] It can be understood that the second conveying mechanism can also adopt a chain transmission mechanism, and the conveying chain of the chain transmission mechanism is connected with the taking and placing component as a conveying component.

[0082] Optionally, in the embodiment, the taking and placing component adopts a plate fork 8-6, the bottom surface of the plate fork 8-6 is engaged with the sawtooth structure on the surface of the conveying belt of the second conveying mechanism through a gear rack, and the plate fork 8-6 is configured to extend into the insertion opening of the goods, so as to realize taking and placing of the goods.

[0083] In the embodiment, after the plate fork 8-6 is inserted into the insertion opening of the goods, the lifting belt 4 drives the loading table 5 to ascend by a set distance, so that the goods 6 are separated from the goods location 1-2, and after the plate fork 8-6 is retracted, the taking of the goods from the goods shelf 1 is completed.

[0084] The plate fork 8-6 extends to carry the goods 6 and transfers the goods to the position directly above the goods location 1-2, the lifting belt 4 drives the loading table 5 to descend, the goods 6 fall onto the goods location 1-2, and then the plate fork 8-6 continues to descend, at this time the plate fork 8-6 is separated from the goods 6 in the insertion opening, at this time the telescopic mechanism drives the plate fork 8-6 to retract, and the placing of the goods 6 into the goods shelf 1 is completed.

[0085] Optionally, the taking and placing component adopts a plate fork type taking and placing component, which comprises a fork, the fork is engaged with the sawtooth structure on the surface of the conveying belt of the second conveying mechanism through a bottom surface gear rack, the fork is slidably connected with the telescopic beam 8-2, both ends of the fork are provided with rotating components, the rotating components are connected with the fork, and the rotating components can drive the fork to rotate in a vertical plane.

[0086] Optionally, the rotating component adopts a motor or a rudder installed at the end of the fork, an output shaft of the rotating component is connected with one end of the fork, the rotating component can drive the fork to rotate in a vertical plane, when the fork is rotated to a horizontal state, the fork can contact the goods, so as to realize taking and placing of the goods, and when the fork is rotated to a vertical state, the fork cannot contact the goods.

[0087] Optionally, the taking and placing component adopts a vacuum suction cup, the vacuum suction cup is connected with the connecting component, the connecting component is slidingly connected with the telescopic beam 8-2, and the connecting component is meshed with the sawtooth structure on the surface of the transmission belt of the second transmission mechanism through the bottom rack. The vacuum suction cup can be adsorbed and fixed with the goods or separated from the goods, so as to realize taking and placing of the goods.

[0088] Optionally, in order to ensure that the telescopic taking and placing mechanism stably takes and places the goods on the loading table 5 and ensure that the taking and placing of the goods is smoothly and safely performed, at least one second telescopic mechanism is arranged on each side of the loading table 5 along the extension direction of the goods shelf, and the second telescopic mechanism can cooperate with the goods shelf when extended to ensure the stability of the loading table.

[0089] Optionally, in the embodiment, the second telescopic mechanism comprises a push driving mechanism, the push driving mechanism is connected with the push plate 10, the push driving mechanism can drive the push plate 10 to move along the telescopic direction, and the push plate 10 can contact the goods shelf 1, so as to prevent the loading table 5 from shaking when the goods are loaded or unloaded, and ensure that the taking and placing of the goods is smoothly and safely performed.

[0090] Optionally, the push driving mechanism is arranged at the two ends of the two edges of the loading table 5 which are perpendicular to the telescopic direction.

[0091] Optionally, the push driving mechanism can adopt a telescopic driving mechanism, in the embodiment, the push driving mechanism comprises a guide block 11, the guide block 11 adopts a cavity structure, the guide block 11 is fixedly connected with the loading table 5, a push rod 12 passes through the guide block 11, the axis direction of the push rod 12 is arranged along the telescopic direction, one end of the push rod 12 is fixedly connected with the push plate 10, and the other end of the push rod 12 extends into the cavity in the guide block 11. The push rod 12 is slidingly connected with the guide block 11 and can move along the axis direction of the push rod 12. The outer rod surface of the part of the push rod 12 extending into the cavity in the guide block 11 is provided with a rack, the rack is meshed with a gear, the gear is connected with the output shaft of a rotating driving member 13 fixed on the outer side surface of the guide block 11, and the rotating driving member 13 can drive the gear to rotate. Under the meshing action of the gear and the rack, the push rod 12 can move along the axis direction of the push rod 12.

[0092] Optionally, the rotating driving member 13 adopts a device capable of outputting rotating motion such as a motor or a rudder, and optionally, the rotating driving member 13 adopts a rudder, the rudder is fixed on the outer side surface of the guide block, the output shaft of the rudder extends into the guide block and is fixedly connected with the gear.

[0093] Optionally, the push rod 12 is connected with a screw transmission mechanism, a connecting rod mechanism, a synchronous belt mechanism or a chain transmission mechanism or other devices capable of outputting linear telescopic motion or folding telescopic motion in the guide block, and can drive the push rod 12 to output linear motion.

[0094] Optionally, the second telescopic mechanism comprises a claw and a telescopic driving mechanism for driving the claw to telescope, the claw is matched with the shelf when it can extend out, the telescopic driving mechanism can adopt existing equipment capable of outputting linear motion, such as electric telescopic rod or screw transmission mechanism or linear motor, and the like, and the skilled in the art can set it according to actual needs, the claw can adopt existing claw, and the specific structure is not described in detail here.

[0095] Optionally, the second telescopic mechanism comprises a claw and a telescopic driving mechanism for driving the claw to telescope, the claw is matched with the shelf when it can extend out, the telescopic driving mechanism can adopt existing equipment capable of outputting linear motion, such as electric telescopic rod or screw transmission mechanism or linear motor, and the like, and the skilled in the art can set it according to actual needs, the claw can adopt existing claw, and the specific structure is not described in detail here.

[0096] Optionally, the shelves are arranged in multiple rows, and the top of the multiple rows of shelves is provided with a reversing track which is arranged perpendicularly to the walking track; the mother vehicle is provided with a reversing mechanism on both sides perpendicular to the extension direction of the shelf, and the mother vehicle can cooperate with the walking along the reversing track through the reversing mechanism. In this way, the mother vehicle can carry the loading table to walk perpendicularly to the extension direction of the shelf, realize cross-shelf carrying, and improve the flexibility of movement.

[0097] Optionally, the reversing mechanism adopts a reversing motor connected with the mother vehicle, the reversing motor is connected with a wheel frame, the wheel frame is connected with a walking wheel, and the reversing motor drives the wheel frame to rotate to realize reversing.

[0098] Optionally, in order to improve the lifting stability of the loading table, a guide rail can be arranged on the side of the vertical channel on the shelf, and a guide wheel is arranged at the corresponding position of the loading table, and the guide wheel arranged on the side of the loading table cooperates with the corresponding guide rail when the loading table is lifted. Optionally, guide rails can be arranged at the four corners of the vertical channel of the shelf, and guide wheels are correspondingly arranged at the four corners of the loading table to realize the guidance of the loading table and improve the stability of the lifting of the loading table.

[0099] As shown in FIG. 5, the warehousing work method of the shelf storage unit of the embodiment is as follows:

[0100] The mother vehicle 2 walks along the top of the goods shelf 1, and the loading platform 5 moves in the horizontal channel 1-3 until the loading platform 5 moves to the vertical channel 1-1 closest to the goods in-out work station of the goods shelf. Then the lifting belt 4 drives the loading platform 5 to descend to the position corresponding to the goods in-out work station of the goods shelf 1, and the telescopic goods taking and placing mechanism 8 transfers the goods 6 on the goods in-out mechanism 7 to the loading platform 5. Then the lifting belt 4 drives the loading platform 5 to ascend to the highest position. At this time, the loading platform 5 is located in the horizontal channel 1-3, and the mother vehicle 2 drives the loading platform 5 to move horizontally along the extension direction of the goods shelf 1 until it moves to the vertical channel 1-1 corresponding to the target goods location. The lifting belt drives the loading platform to descend to the position corresponding to the target goods location, and the push driving mechanism drives the push rod 12 and the push plate 10 to extend, and the push plate 10 abuts against the goods shelf 1. The telescopic goods taking and placing mechanism 8 transfers the goods from the loading platform 5 to the target goods location, and the warehousing of the goods is completed.

[0101] The goods out-of-warehouse working method of the goods shelf warehousing unit in the embodiment is as follows:

[0102] The mother vehicle 2 walks along the top of the goods shelf 1, and the loading platform 5 moves in the horizontal channel 1-3 until the loading platform 5 moves to the vertical channel 1-1 corresponding to the goods to be out-of-warehouse. Then the lifting belt 4 drives the loading platform 5 to descend to the position corresponding to the goods to be out-of-warehouse, and the push driving mechanism drives the push rod 12 to move, and the push plate 10 abuts against the goods shelf 1. The telescopic goods taking and placing mechanism 8 transfers the goods 6 on the goods location 1-2 to the loading platform 5. Then the push driving mechanism drives the push rod 12 and the push plate 10 to retract, the lifting belt 4 drives the loading platform 5 to ascend to the highest position into the horizontal channel 1-3, the mother vehicle 2 walks along the top of the goods shelf 1, and drives the loading platform 5 to move to the vertical channel 1-1 closest to the goods in-out work station. Then the lifting belt 4 drives the loading platform 5 to descend to the position corresponding to the goods in-out mechanism, and the telescopic goods taking and placing mechanism 8 drives the goods 6 into the goods in-out mechanism 7, and the out-of-warehouse of the goods 6 is completed.

[0103] The goods shelf warehousing unit in the embodiment, the loading platform 5 moves in the goods shelf 1, and the entire goods shelf warehousing unit is provided with a row of goods shelves, and the mother vehicle and the loading platform 5 do not occupy the space outside the goods shelf, greatly reducing the floor space of the goods shelf warehousing unit, improving the adaptability of the entire warehousing unit to the site, and being suitable for the arrangement of the goods shelf warehousing unit in a narrow space.

[0104] The embodiment further provides a goods shelf warehousing system, which is provided with a plurality of goods shelf warehousing units, and the plurality of goods shelf warehousing units are arranged side by side.

[0105] Although the specific embodiments of the present disclosure are described above with reference to the drawings, the present disclosure is not limited to the specific embodiments. It should be understood by those skilled in the art that various modifications or changes can be made to the technical solutions of the present disclosure without creative labor, and still fall within the protection scope of the present disclosure. Industrial applicability

[0106] In summary, the embodiment of the present disclosure provides a shelf storage unit and a storage system, which can reduce the floor space of the shelf storage unit, improve the adaptability of the entire storage unit to the site, and be suitable for the arrangement of the shelf storage unit in a small space.

Claims

1. A shelf storage unit comprising a shelf and a carrying device, the carrying device comprising a mother vehicle, the mother vehicle being connected with a load platform through a lifting belt, the load platform being provided with a telescopic goods taking and placing mechanism, characterized in that, The shelf is provided with a plurality of vertical channels, the plurality of vertical channels are distributed along the extension direction of the shelf, both sides of the vertical channel are provided with a plurality of vertically distributed storage spaces, the mother vehicle is matched with the walking track arranged on the top of the shelf through the walking mechanism, so that the mother vehicle can walk along the extension direction of the shelf, the top end of the shelf is provided with a horizontal channel configured to move the mother vehicle carrying the loading platform along the extension direction of the shelf, the top end of the plurality of vertical channels is communicated with the horizontal channel, and the extension direction of the telescopic loading and unloading mechanism is parallel to the extension direction of the shelf.

2. A palletised storage unit as claimed in claim 1 wherein, The bottom of the lowest storage space in the plurality of storage spaces corresponding to the end of the shelf is provided with a goods in-out mechanism as a goods in-out station of the shelf.

3. A palletised storage unit as claimed in claim 2, wherein, The goods in-out mechanism adopts a belt conveying mechanism; or the goods in-out mechanism adopts a power roller conveying line; or the goods in-out mechanism adopts a mobile robot.

4. A palletised storage unit as claimed in any one of claims 1 to 3 wherein, The plurality of vertical channels are equally spaced along the extension direction of the shelf.

5. A palletised storage unit as claimed in any one of claims 1 to 3 wherein, The telescopic loading and unloading mechanism comprises a first telescopic mechanism configured to be connected with a loading and unloading component to drive the loading and unloading component to make telescopic movement along the extension direction of the shelf.

6. A palletised storage unit as claimed in claim 5 wherein, The loading and unloading component adopts a plate fork matched with a socket on the goods; Or; The loading and unloading component comprises a fork connected with the first telescopic mechanism, the end of the fork is provided with a rotating component, and the rotating component is connected with a shift fork; Or; The loading and unloading component comprises a connecting component connected with the first telescopic mechanism, and the end of the connecting component is provided with a vacuum suction cup or a hook claw.

7. A palletised storage unit as claimed in claim 5 or 6, wherein, The first telescopic mechanism comprises a telescopic part and a first conveying mechanism mounted on the loading platform, the conveying direction of the first conveying mechanism is arranged along the telescopic direction, the conveying component of the first conveying mechanism is connected with the telescopic part, the telescopic part is slidingly connected with the loading platform, a second conveying mechanism is arranged on the telescopic part, the conveying direction of the second conveying mechanism is arranged along the telescopic direction, the conveying component of the second conveying mechanism is connected with the loading and unloading component, and the loading and unloading component is slidingly connected with the telescopic part.

8. A palletised storage unit as claimed in claim 7 wherein, The telescopic part adopts a telescopic beam, and the bottom of the telescopic beam is provided with a sliding block; the loading platform is provided with a first guide rail, and the sliding block is slidingly connected with the first guide rail.

9. A palletised storage unit as claimed in claim 7 or 8, wherein, The first conveying mechanism adopts a first belt conveying mechanism, and the conveying belt of the first belt conveying mechanism is fixedly connected with the telescopic part as a conveying component; Or, The first conveying mechanism adopts a first belt conveying mechanism, and the sawtooth structure on the surface of the conveying belt of the first belt conveying mechanism is engaged with the rack on the bottom of the telescopic part; Or, the first conveying mechanism adopts a first chain transmission mechanism, and the conveying chain of the first chain transmission mechanism is fixedly connected with the telescopic part as a conveying component.

10. A palletised storage unit as claimed in any one of claims 7 to 9, wherein, The second conveying mechanism adopts a second belt conveying mechanism, and the conveying belt of the second belt conveying mechanism is fixedly connected with the loading and unloading component as a conveying component; Or, The second conveying mechanism adopts a second belt conveying mechanism, and the sawtooth structure on the surface of the conveying belt of the second belt conveying mechanism is engaged with the rack on the bottom of the loading and unloading component; Alternatively, the second conveying mechanism adopts a second chain transmission mechanism, and a conveying chain of the second chain transmission mechanism is fixedly connected with the goods taking and placing component as a conveying component.

11. A palletised storage unit as claimed in any one of claims 1 to 10 wherein, At least one second telescopic mechanism is arranged on each side of the goods carrying platform along the extension direction of the goods shelf, and the second telescopic mechanism is capable of cooperating with the goods shelf when being extended.

12. A palletised storage unit as claimed in claim 11 wherein, The second telescopic mechanism comprises a push driving mechanism configured to prevent the goods carrying platform from shaking when loading and unloading goods.

13. A palletised storage unit as claimed in claim 12 wherein, The push driving mechanism comprises a guide block fixed to the goods carrying platform and a push rod, one end of the push rod extends into the guide block, the push rod is in sliding connection with the guide block, the other end of the push rod is provided with a push plate, the part of the push rod inside the guide block is provided with a rack, the rack is in meshing connection with a gear, and the gear is connected with an output shaft of a rotating driving member fixed to the guide block.

14. A palletised storage unit as claimed in any one of claims 11 to 13, wherein, The second telescopic mechanism comprises a clamping jaw and a telescopic driving mechanism configured to drive the clamping jaw to extend and retract, and the clamping jaw is configured to cooperate with the goods shelf when being extended.

15. A palletised storage unit as claimed in any one of claims 11 to 13, wherein, The second telescopic mechanism comprises a suction mechanism and a telescopic driving mechanism configured to drive the suction mechanism to extend and retract, and the suction mechanism is configured to be adsorbed to the goods shelf when being extended; the suction mechanism is a magnetic suction mechanism or a vacuum suction mechanism.

16. A palletised storage unit as claimed in any one of claims 1 to 15, wherein, The goods shelves are arranged in parallel in multiple rows, the top of each of the multiple rows of goods shelves is provided with a reversing track, the reversing track is arranged perpendicularly to the walking track, the mother vehicle is provided with a reversing mechanism on both sides perpendicular to the extension direction of the goods shelves, and the mother vehicle is capable of walking along the reversing track by means of the reversing mechanism.

17. A palletised storage unit as claimed in any one of claims 1 to 16, wherein, The side of the vertical channel arranged in the goods shelf is provided with a guide track in the vertical direction, and the guide track is configured to cooperate with a guide wheel arranged on the side of the goods carrying platform.

18. A palletised storage unit as claimed in any one of claims 1 to 17, wherein, The mother vehicle is provided with a winch mechanism at four corners, the winch mechanism is connected with the lifting belt, and the winch mechanism is configured to drive the lifting belt to perform lifting movement.

19. A palletised storage unit as claimed in claim 18 wherein, The winch mechanism comprises a lifting driving motor and a winch disc, the lifting driving motor and the winch disc are both mounted to the mother vehicle, an output shaft of the lifting driving motor is connected with the winch disc, and the winch disc is wound with the lifting belt.

20. A shelving storage system characterized by, The goods shelf storage unit comprises the goods shelf according to any one of claims 1-19.

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