Shuttle vehicle, three-dimensional inventory retrieval system and goods retrieval method

Abstract

A shuttle vehicle, the shuttle vehicle comprising a vehicle body (2) and a hooking structure (3). The vehicle body comprises a frame (21) and a carrying frame (23), the carrying frame being disposed on the frame and used for accommodating and carrying goods (A). The hooking structure is provided on the vehicle body, and comprises a hook (35) for hooking goods. The hook is configured to be movable in a longitudinal direction (X) relative to the vehicle body, so as to hook goods into the carrying frame, and the hook is further configured to be rotatable around a vertical axis extending along a vertical direction (Z) relative to the vehicle body, so as to change a position of the hook relative to the goods. Moreover, the hook is configured to first pull the goods to move a set distance along the longitudinal direction, rotate around the vertical axis, and then push the goods to continue to move along the longitudinal direction. The hook is used for two-step hooking to convey goods in place, thus simplifying the structure of the shuttle vehicle. A three-dimensional inventory retrieval system that comprises a shuttle vehicle and a goods retrieval method for a shuttle vehicle are also related.

Description

Shuttle vehicle, stereoscopic warehouse storage and retrieval system and retrieval method

[0001] Cross-reference to related applications

[0002] The present disclosure is based on and claims priority to the application with CN application number 202411346088.2 and filing date of September 25, 2024, the disclosure of which is hereby incorporated by reference in its entirety into the present disclosure. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of logistics, in particular to a shuttle vehicle, a stereoscopic warehouse storage and retrieval system and a retrieval method. BACKGROUND

[0004] In recent years, with the rapid development of the logistics industry, stereoscopic warehouse storage and retrieval systems are being applied more and more widely due to their large storage density, high efficiency and flexible operation.

[0005] A stereoscopic warehouse storage and retrieval system includes a rack, a shuttle vehicle and an automated guided vehicle. The rack is used to store goods, the shuttle vehicle shuttles in the goods aisle of the rack to store and retrieve goods, and the automated guided vehicle shuttles on the ground and docks with the shuttle vehicle to store and retrieve goods. When the shuttle vehicle docks with the automated guided vehicle or the rack to retrieve goods, the goods need to be moved from the rack or the automated guided vehicle to the carrying frame of the shuttle vehicle. The structure of the existing shuttle vehicle is very complex.

[0006] It should be noted that the statements in this BACKGROUND section merely provide background information related to the present disclosure and do not necessarily constitute prior art. SUMMARY

[0007] The present disclosure provides a shuttle vehicle, a stereoscopic warehouse storage and retrieval system and a retrieval method to simplify the structure of the shuttle vehicle.

[0008] The first aspect of the present disclosure provides a shuttle vehicle, comprising:

[0009] a vehicle body comprising a frame and a carrying frame, the carrying frame being arranged on the frame for accommodating and carrying goods; and

[0010] a hooking structure arranged on the vehicle body, the hooking structure comprising a hook for hooking the goods, the hook being configured to be movable relative to the vehicle body in a longitudinal direction to hook the goods into the carrying frame, and the hook being further configured to be rotatable relative to the vehicle body about a vertical shaft extending in a vertical direction to change the position of the hook relative to the goods, the hook being configured to first pull the goods to move a set distance in the longitudinal direction; and after rotating about the vertical shaft, push the goods to continue moving in the longitudinal direction.

[0011] In some embodiments, the hooking structure further comprises a base plate, a pressing plate, and a synchronous belt mechanism, the synchronous belt mechanism comprising a first synchronous wheel, a second synchronous wheel, and a synchronous belt wound outside the first synchronous wheel and the second synchronous wheel, the synchronous belt extending in the longitudinal direction, the hook being connected to the base plate, the pressing plate being arranged on the upper side of the base plate to press the synchronous belt against the base plate, one of the first synchronous wheel and the second synchronous wheel being driven to rotate to move the synchronous belt and in turn drive the hook to move.

[0012] In some embodiments, the base plate comprises a contact area in contact with the synchronous belt, the contact area being provided with a strip-shaped hole.

[0013] In some embodiments, the hooking structure further comprises a rotating mechanism, the hook being connected to the rotating mechanism to rotate under the drive of the rotating mechanism.

[0014] In some embodiments, the rotating mechanism comprises a rotating table connected to the hook, a first gear, and a second gear, the rotating table being coaxially connected to the first gear, the second gear being engaged with the first gear to drive the first gear to rotate.

[0015] In some embodiments, the hook is configured to be vertically liftable relative to the vehicle body to hook or unhook the goods.

[0016] In some embodiments, the carrier frame is arranged on the lower side of the rack, and the shuttle vehicle further comprises a hoisting structure arranged on the upper side of the rack to drive the vehicle body to move.

[0017] In some embodiments, the bottom surface of the carrier frame is configured to support the goods, and the bottom surface of the carrier frame is hollow.

[0018] In some embodiments, the carrier frame comprises two side support plates arranged opposite to each other at two ends in the transverse direction, the lower end of the side support plate being configured as a bent structure to form a carrying portion for supporting the goods, and the two carrying portions of the two side support plates having a gap therebetween.

[0019] In some embodiments, the hoisting structure comprises a hoisting frame body and a connecting column, the hoisting frame body being connected to the rack through the connecting column, and the connecting column being elastic.

[0020] The second aspect of the present disclosure provides a stereoscopic warehouse access system, comprising a goods shelf, a lifting mechanism, an automatic guided vehicle, and the above shuttle vehicle.

[0021] In some embodiments, the shelf includes a plurality of shelves arranged in a vertical direction, the shelves are used to store goods and include a bottom shelf located at the bottom, the shuttle vehicle further includes a lifting structure arranged at the upper side of the rack to drive the vehicle body to move, the lifting mechanism includes a lifting column extending in the vertical direction, the lifting structure of the shuttle vehicle is configured to be movably arranged along the lifting column to enable the shuttle vehicle to dock with the plurality of shelves, each shelf includes a plurality of storage positions arranged in a transverse direction, the lifting mechanism is configured to be movable relative to the shelf in the transverse direction to enable the shuttle vehicle to dock with the plurality of storage positions, and a bottom end of the lifting column is configured to be not lower than the bottom shelf.

[0022] The third aspect of the present disclosure provides a goods picking method based on the above-mentioned shuttle vehicle, including the following steps:

[0023] controlling the hook to pick the goods and pull the goods to move a set distance in the longitudinal direction;

[0024] controlling the hook to disengage from the goods and controlling the hook to rotate around the vertical shaft; and

[0025] controlling the hook to pick the goods again and push the goods to continue to move in the longitudinal direction.

[0026] Based on the technical solutions of the embodiments of the present disclosure, the shuttle vehicle includes a vehicle body and a picking structure. The vehicle body includes a rack and a carrying frame. The carrying frame is arranged on the rack to accommodate and carry goods. The picking structure is arranged on the vehicle body and includes a hook for picking goods. The hook is configured to be movable relative to the vehicle body in the longitudinal direction to pick the goods into the carrying frame. The hook is also configured to be rotatable relative to the vehicle body around a vertical shaft extending in the vertical direction to change the position of the hook relative to the goods. The hook is configured to first pull the goods to move a set distance in the longitudinal direction, and then push the goods to continue to move in the longitudinal direction after rotating around the vertical shaft. The shuttle vehicle of the embodiments of the present disclosure enables the hook to rotate around the vertical shaft relative to the vehicle body, so that the hook can first pull the goods and then rotate to push the goods, thereby achieving the in-position of the goods through two picking operations. Compared with the synchronous belt conveying mechanism, all structures of the synchronous belt conveying mechanism are removed, and the hook is used for two-step picking to deliver the goods to the position, thereby simplifying the structure of the shuttle vehicle.

[0027] Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] The drawings described herein are used to provide further understanding of the present disclosure, and form a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions serve to explain the present disclosure, and do not constitute improper limitations on the present disclosure. In the drawings:

[0029] Fig. 1 is a perspective structural schematic diagram of a stereoscopic warehouse access system according to some embodiments of the present disclosure.

[0030] Fig. 2 is a side structural schematic diagram of a stereoscopic warehouse access system according to some embodiments of the present disclosure.

[0031] Fig. 3 is a front structural schematic diagram of a stereoscopic warehouse access system according to some embodiments of the present disclosure.

[0032] Fig. 4 is a structural schematic diagram of a lifting mechanism in Fig. 1.

[0033] Fig. 5 is a structural schematic diagram of an automated guided vehicle in Fig. 1.

[0034] Fig. 6 is a structural schematic diagram of a buffer station in Fig. 1.

[0035] Fig. 7 is a structural schematic diagram of a shuttle vehicle according to some embodiments of the present disclosure.

[0036] Fig. 8 is a structural schematic diagram of a hoisting structure in Fig. 7.

[0037] Fig. 9 is a structural schematic diagram of the hoisting structure shown in Fig. 8 from another angle.

[0038] Fig. 10 is an enlarged structural schematic diagram of a portion M in Fig. 9.

[0039] Figs. 11 and 12 are structural schematic diagrams of a guide structure of the hoisting structure shown in Fig. 8.

[0040] Fig. 13 is an enlarged structural schematic diagram of a portion N in Fig. 12.

[0041] Fig. 14 is a structural schematic diagram of a vehicle body in Fig. 7.

[0042] Fig. 15 is an enlarged structural schematic diagram of a portion P in Fig. 14.

[0043] Fig. 16 is a partial structural schematic diagram of the vehicle body in Fig. 7.

[0044] Fig. 17 is an enlarged structural schematic diagram of a portion Q in Fig. 16.

[0045] Fig. 18 is a structural schematic diagram of a hooking structure in Fig. 7.

[0046] Fig. 19 is a structural schematic diagram of the hooking structure shown in Fig. 18 from another angle.

[0047] Fig. 20 is an enlarged structural schematic diagram of a pressing plate in Fig. 18.

[0048] Fig. 21 is a structural schematic diagram of a base plate in Fig. 18.

[0049] Fig. 22 is a structural schematic diagram of a lead screw motor in Fig. 19.

[0050] FIG. 23 is a structural schematic diagram of the lifting support in FIG. 18.

[0051] FIG. 24 is a structural schematic diagram of the rotating mechanism in FIG. 18.

[0052] FIG. 25 is a structural schematic diagram of the container in some embodiments of the present disclosure.

[0053] FIGS. 26-29 are process diagrams of the shuttle taking goods from the shelf in some embodiments of the present disclosure.

[0054] FIGS. 30 and 31 are diagrams of the docking process between the shuttle and the automated guided vehicle in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present disclosure.

[0056] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure. Meanwhile, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the convenience of description. The techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the specification under appropriate circumstances. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0057] For purposes of the description hereinafter, spatially relative terms, such as "above", "below", "up", "down", "between", "within", "left", "right", "rear", "front", "upper", "lower", "horizontal", "vertical", "above", "below", "up", "down", "top", "bottom", "under", and the like, can be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, elements described as "above" or "up" other elements or features would then be oriented "below" or "down" the other elements or features. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, elements described as "above" or "up" other elements or features would then be oriented "below" or "down" the other elements or features. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0058] The shuttle vehicle includes a carrier for carrying and containing the goods. When the shuttle vehicle takes goods from the shelf or the automated guided vehicle, the goods need to be transferred from the shelf or the automated guided vehicle to the carrier, so the goods need to move away from the shelf or the automated guided vehicle and move to the carrier to be fully carried by the carrier.

[0059] In the following description, the direction in which the goods are moved towards the carrier is referred to as the "longitudinal direction X", which refers to the front-rear direction, that is, the direction in which the goods A enter or leave the carrier, and the goods A enter or leave the carrier along the longitudinal direction X. The vertical direction Z of the embodiments of the present disclosure refers to the height direction. The lateral direction Y refers to the left-right direction. The vertical direction Z, the longitudinal direction X and the lateral direction Y are perpendicular to each other.

[0060] The inventor found in the research process that the shuttle vehicle of the related art includes a hook and a synchronous belt conveying mechanism. The goods taking process thereof is as follows: first, the hook is used to hook the goods and walk a distance with the goods; and then the synchronous belt conveying mechanism is used to convey the goods to the position. In this way, since the goods taking action of the shuttle vehicle needs to be jointly performed by the hook and the synchronous belt mechanism to deliver the goods to the position, and the synchronous belt conveying mechanism includes a synchronous belt, a synchronous wheel, a tensioning wheel, a motor and the like, the structure is very complex, which causes the structure of the shuttle vehicle to be complex. In addition, the goods taking control of the shuttle vehicle also needs to be coordinated and controlled by the hook and the synchronous belt conveying mechanism, and thus the control is also relatively complex.

[0061] To solve the problem, the shuttle vehicle is provided in the embodiments of the present disclosure, the shuttle vehicle improves the movement mode of the hook relative to the vehicle body, the hook of the hooking structure is arranged to be able to rotate around a vertical shaft, so that the hooking structure is used to pull the goods first to make the goods partially enter the carrying frame, and then the hook of the hooking structure is controlled to rotate around the vertical shaft to make the position of the hook become a state of pushing the goods to push the goods into position. Thus, the shuttle vehicle of the embodiments of the present disclosure can realize the goods into position by the hook, without setting a synchronous belt conveying mechanism, and the structure of the shuttle vehicle is simplified.

[0062] The shuttle vehicle of some embodiments of the present disclosure and the stereoscopic warehouse access system based on the shuttle vehicle and the goods taking method of the shuttle vehicle will be described in detail below with reference to FIGS. 1 to 31.

[0063] Referring to FIGS. 1 to 6, the stereoscopic warehouse access system of some embodiments of the present disclosure includes a shuttle vehicle 10, a goods shelf 20, a lifting mechanism 30 and an automatic guided vehicle 40.

[0064] Referring to FIG. 7, the shuttle vehicle 10 provided in the embodiments of the present disclosure includes a vehicle body 2 and a hooking structure 3. The vehicle body 2 includes a frame 21 and a carrying frame 23. The carrying frame 23 is arranged on the frame 21 to accommodate and carry goods A. The hooking structure 3 is arranged on the vehicle body 2 and includes a hook 35 for hooking the goods A. The hook 35 is configured to be movable relative to the vehicle body 2 in a longitudinal direction X to hook the goods A into the carrying frame 23. And the hook 35 is also configured to be rotatable relative to the vehicle body 2 around a vertical shaft extending along a vertical direction Z to change the position of the hook 35 relative to the goods. The hook 35 is configured to pull the goods A to move a set distance along the longitudinal direction X first; and push the goods A to continue to move along the longitudinal direction X after rotating around the vertical shaft.

[0065] The shuttle vehicle of the embodiments of the present disclosure makes the hook 35 rotatable relative to the vehicle body 2 around the vertical shaft, so that the hook 35 is controlled to pull the goods A first and then the hook 35 is rotated to push the goods A, thereby realizing the goods into position by two times of hooking. Compared with the related art of setting a synchronous belt conveying mechanism, all structures of the synchronous belt conveying mechanism are removed, the goods are sent into position by two-step hooking of the hook, and thus the structure of the shuttle vehicle is simplified.

[0066] As shown in FIG. 7 and FIG. 18, the hooking structure 3 of the embodiment of the present disclosure further comprises a hook support 36 extending along the longitudinal direction X to extend the hook 35. Since the hooking structure 3 is arranged on the rack 21, even if the hook 35 pulls the goods A to move backward along the longitudinal direction X to the limit position, the hook 35 cannot reach the end of the carrying rack, and the goods cannot be hooked to the position once, which is based on this problem, the embodiment makes the hook 35 rotate around the vertical shaft, so that the hook 35 can continue to push the goods to move along the longitudinal direction X, and the goods can be positioned by two times of hooking.

[0067] The picking process of the shuttle vehicle of the embodiment of the present disclosure is described with reference to FIG. 26 to FIG. 29. As shown in FIG. 26, the goods A is a box, and the first step of hooking is to control the hook 35 to move forward and lower into the hooking point of the goods A, which is specifically the box; as shown in FIG. 27, control the hook 35 to move backward to pull the box to move into the carrying rack, at this time the hook 35 has moved to the limit position. The second step of hooking is to control the hook 35 to move upward to unhook, as shown in FIG. 28, control the hook 35 to move forward and rotate 180° to make the hook 35 enter the hooking point of the box, only the direction is rotated, and then control the hook 35 to lower into the hooking point, and push the box backward to the state of FIG. 29, and the box is in position. Conversely, when the box is placed, the steps are the same.

[0068] The hook 35 of the embodiment of the present disclosure needs to realize the movement along the longitudinal direction X, the rotation around the vertical shaft, and the movement along the height direction Z. The driving mechanism for realizing the above actions is described in detail below.

[0069] As shown in FIG. 14 to FIG. 17 and FIG. 18, in some embodiments, the hooking structure 3 further comprises a base plate 32, a pressing plate 31 and a synchronous belt driving mechanism. The synchronous belt driving mechanism comprises a first synchronous wheel 214, a second synchronous wheel 24 and a synchronous belt 22 wound outside the first synchronous wheel 214 and the second synchronous wheel 24. The synchronous belt 22 extends along the longitudinal direction X, and the hook 35 is connected with the base plate 32. The pressing plate 31 is arranged on the upper side of the base plate 32 to press the synchronous belt 22 on the base plate 32, and one of the first synchronous wheel 214 and the second synchronous wheel 24 is driven to rotate to make the synchronous belt 22 move and in turn drive the hook 35 to move.

[0070] As shown in FIG. 20 and FIG. 21, the pressing plate 31 is pressed on both ends of the base plate 32 to press the synchronous belt 22 tightly, so that the synchronous belt 22 can drive the base plate 32 to move simultaneously when moving, and in turn drive the hook 35 to move. In order to improve the pressing degree of the pressing plate 31 and the base plate 32 on the synchronous belt 22, and to improve the tightness between the synchronous belt 22 and the base plate 32, in some embodiments, the base plate 32 comprises a contact area in contact with the synchronous belt 22, and the contact area is provided with a plurality of strip-shaped holes 321.

[0071] The plurality of strip-shaped holes 321 are formed for clamping the teeth of the synchronous belt 22. When the synchronous belt is clamped, the synchronous belt can be clamped into the strip-shaped holes, and the synchronous belt can be clamped firmly, preventing the base plate 32 from being separated from the synchronous belt, and improving the reliability of the movement of the hook.

[0072] Specifically, the length direction of the strip-shaped hole 321 is arranged perpendicularly to the longitudinal direction X, so that the length direction of the strip-shaped hole 321 is perpendicular to the moving direction of the synchronous belt, so as to clamp the synchronous belt better.

[0073] As shown in FIG. 18, in some embodiments, the hooking structure 3 further comprises a rotating mechanism 37. The hook 35 is connected to the rotating mechanism 37 to rotate under the driving of the rotating mechanism 37.

[0074] As shown in FIG. 24, the rotating mechanism 37 comprises a rotating table connected with the hook 35, a first gear coaxially connected with the rotating table, and a second gear engaged with the first gear to drive the first gear to rotate. Specifically, as shown in FIG. 24, the second gear is coaxially connected with a driving mechanism, the driving mechanism drives the second gear to rotate, and drives the first gear to rotate through the engagement with the first gear, and drives the rotating table to rotate, and drives the hook to rotate around the vertical axis.

[0075] The axis of the first gear is arranged along the vertical axis.

[0076] In some embodiments, the hook 35 is configured to be liftable and lowerable in the vertical direction Z relative to the vehicle body 2 to hook or unhook the goods.

[0077] Specifically, the shuttle vehicle 10 comprises a lifting frame 34. The lifting frame 34 is connected with the hook 35. The lifting frame 34 is liftable and lowerable relative to the base plate 32 to drive the hook 35 to lift or lower, so as to hook or unhook the hooking point of the goods box. Of course, in the operation, the front and back movement of the hook also needs to be coordinated to achieve the unhooking and hooking of the goods.

[0078] The inventor of the present disclosure also found in the research process that the shuttle vehicle of the related art includes a vehicle body and a carrying position arranged above the vehicle body. In this way, when accessing the goods, the goods are placed above the vehicle body of the shuttle vehicle. Referring to FIG. 1, the bottom end of the goods shelf is grounded and extends upward. The lifting column is arranged on the goods shelf. The vehicle body of the shuttle vehicle of the related art needs to cooperate with the lifting column to achieve lifting. The bottom of the lowest layer of the goods shelf is also provided with a buffer position, and the vehicle body needs to be lowered to a position lower than the lowest layer, so the lifting column also needs to extend to a position lower than the lowest layer to guide the shuttle vehicle. In this way, the position of the bottom end of the lifting column is very low, so the automatic guided vehicle needs to avoid the lifting column during ground shuttle, increasing the difficulty of the algorithm. Especially when the automatic guided vehicle needs to be docked with the buffer position, the position of the lifting column needs to be considered whether it will block the target buffer position, so the control logic of the automatic guided vehicle is relatively complex.

[0079] To solve the above problems, the present disclosure provides a shuttle vehicle in the form of a lifting device, that is, the vehicle body is arranged on the upper side, the goods are stored on the lower side of the vehicle body, and the vehicle body cooperates with the lifting column through the lifting structure. In this way, even if the buffer position needs to be docked, the lifting column does not need to be arranged very low, in other words, the bottom end of the lifting column can be moved up to the same level as the lowest layer of the shelf, so that the automatic guided vehicle will not collide with the lifting column during ground shuttle, and the control algorithm is simpler, and the shuttle distance is shorter, thereby improving the access efficiency of the goods.

[0080] Referring to FIGS. 1 to 3 and 7, the shuttle vehicle 10 provided by some embodiments of the present disclosure also includes a lifting structure 1. The carrying frame 23 is arranged on the lower side of the rack 21 and is used to accommodate the carrying goods A. The lifting structure 1 is arranged on the upper side of the rack 21 to drive the vehicle body 2 to move.

[0081] The shuttle vehicle of the present disclosure is in the form of a lifting device, that is, the carrying of the goods A is in the form of a lifting device, and the rack 21 is arranged on the upper side of the carrying frame 23. In this way, when cooperating with the lifting column for guidance, the position of the rack 21 is on the upper side, and correspondingly, the bottom end of the lifting column can be moved up accordingly. Therefore, the automatic guided vehicle can shuttle on the ground at will without colliding with the lifting column, thereby improving the access efficiency of the goods.

[0082] Referring to FIG. 1, the three-dimensional warehouse access system of some embodiments of the present disclosure includes a shuttle vehicle 10, a goods shelf 20, a lifting mechanism 30, and an automatic guided vehicle 40.

[0083] Referring to FIGS. 2-4, the lifting mechanism 30 is arranged at the side of the shelf 20 and includes a lifting column 301 for guiding the movement of the shuttle vehicle 10 in the vertical direction. The hoisting structure 1 of the shuttle vehicle 10 cooperates with the lifting column 301 to move in the vertical direction Z. The present embodiment sets the shuttle vehicle 10 in the form of hoisting, so that when the carrier 23 of the shuttle vehicle 10 is docked with the buffer position at the lower side of the shelf 20, the frame 21 of the shuttle vehicle 10 is located at the upper side of the buffer position. Therefore, the lifting column 301 only needs to be arranged at the upper side of the buffer position to cooperate with the shuttle vehicle, so that the automatic guided vehicle 40 will not collide with the lifting column during ground shuttling, and the position of the lifting column does not need to be considered in the design of the control algorithm for the shuttle path of the automatic guided vehicle 40, thereby simplifying the control program.

[0084] As shown in FIG. 5, the automatic guided vehicle 40 includes a walking mechanism at the bottom and a lifting mechanism and a tray arranged above the walking mechanism. The tray is used to carry goods A.

[0085] In the description of various embodiments of the present disclosure, the vertical direction Z refers to the height direction, and correspondingly, the two ends in the vertical direction Z are the upper end and the lower end, or the top end and the bottom end. Referring to FIGS. 7 and 14, the hoisting structure 1 of the shuttle vehicle 10 of the present embodiment is arranged at the top end, and the carrier 23 is arranged at the bottom end, thereby forming a hoisting form. The top end of the carrier 23 is connected with the frame 21, and the bottom surface of the carrier 23 is used to support the carried goods A. The carrier 23 has a receiving cavity for accommodating the goods A, and the goods A is placed in the receiving cavity. The bottom surface of the carrier 23 provides a support force for the goods A.

[0086] Referring to FIG. 14, in some embodiments, the bottom surface of the carrier 23 is used to support the carried goods A, and the bottom surface of the carrier 23 is configured to be hollow. The hollow here means that the middle part of the bottom surface of the carrier 23 is arranged to be hollow. That is, the edge of the goods A is supported by the carrier 23. In this way, the middle part of the bottom surface of the carrier 23 is in communication with the outside. When the carrier 23 of the present embodiment is docked with the automatic guided vehicle, the automatic guided vehicle moves to the lower side of the carrier 23 and can lift the tray to the hollow area of the carrier 23, thereby realizing the contact with the goods A, and then lifting a certain distance upward to make the gravity of the goods A transferred from the carrier 23 to the tray of the automatic guided vehicle. The automatic guided vehicle moves outward to realize the movement of the goods A, thereby completing the picking process.

[0087] It can be seen that the shuttle vehicle in the embodiment of the present disclosure adopts a lifting form, and the bottom surface of the carrying frame 23 is provided as a hollow structure, so that the automatic guided vehicle can be directly connected with the shuttle vehicle to perform the operation of picking and placing goods, thereby eliminating the need for the shuttle vehicle to place the goods on the buffer position each time and then connecting the AGV with the buffer position to complete the picking of goods, and improving the efficiency.

[0088] Of course, in some embodiments, when there is no shuttle AGV nearby, the goods can also be buffered to the buffer position first, and then the AGV picks the goods through the buffer position. When there is a shuttle AGV nearby, the above-mentioned direct connection picking mode is adopted to improve the efficiency.

[0089] In some embodiments, referring to FIGS. 14 and 16, the carrying frame 23 includes two side support plates 231 oppositely arranged at both ends in the transverse direction Y. The lower end of the side support plate 231 is configured as a bent structure to form a carrying portion 2311 for supporting the goods A, and the two carrying portions 2311 of the two side support plates 231 have a gap therebetween.

[0090] That is, the bottom surface of the carrying frame 23 in the embodiment of the present disclosure only includes two oppositely arranged carrying portions 2311. In this way, most of the area of the bottom surface of the carrying frame 23 is hollow, and only the two carrying portions 2311 at both ends. This creates conditions for the tray of the AGV to be lifted to a position in contact with the goods A and carrying the goods.

[0091] The gap between the two carrying portions 2311 of the two side support plates 231 forms a hollow. In turn, the tray can contact the goods through the gap to realize the direct connection between the AGV and the shuttle vehicle.

[0092] In other embodiments not shown in the drawings, the bottom surface of the carrying frame can also include a plurality of carrying portions extending around the periphery of the carrying frame. Referring to FIG. 14, carrying portions can also be provided at both ends in the longitudinal direction X, and the bottom surface of the carrying frame can also be hollowed out.

[0093] From the above description, it can be known that the bottom surface of the carrying frame is used to carry goods and is hollow in the middle. Then the area of the carrying portion of the carrying frame for supporting and carrying the weight of the goods is small, so the strength of the carrying frame needs to be improved. In some embodiments, reinforcing ribs are provided on the carrying frame.

[0094] Referring to FIGS. 8 to 10, in some embodiments, the lifting structure 1 includes a lifting frame body 11 and a connecting column. The lifting frame body 11 is connected with the rack 21 through the connecting column. The connecting column has elasticity. The connecting column has elasticity, so that when there is different synchronization at different positions of the rack 21 of the vehicle body 2, the connecting column can produce a certain elastic deformation to prevent the structural member of the vehicle body from deforming.

[0095] Specifically, as shown in FIG. 9, the connecting column includes rubber columns 15. And the hoisting structure 1 includes two groups of rubber columns 15 respectively located at two ends of the transverse direction Y. Each group of rubber columns 15 includes two rubber columns arranged at intervals in the longitudinal direction X. In this way, when the left and right ends of the vehicle body 2 are out of sync, the elastic deformation of the rubber columns can prevent the structural members of the vehicle body 2 from deforming.

[0096] The embodiments of the present disclosure also provide a picking method of the shuttle vehicle based on the above-mentioned embodiments, including the following steps:

[0097] controlling the hook 35 to hook the goods A and pull the goods A to move a set distance along the longitudinal direction X;

[0098] controlling the hook 35 to disengage from the goods A and controlling the hook 35 to rotate around the vertical axis; and

[0099] controlling the hook 35 to hook the goods A again and push the goods A to continue to move along the longitudinal direction X.

[0100] The picking method of the shuttle vehicle of the embodiments of the present disclosure can realize the delivery into position by separately controlling the action of the hook, compared with the related art which needs to coordinate the control of the synchronous belt conveying mechanism and the hook, and the control strategy is simple.

[0101] As shown in FIGS. 1-3, the present disclosure also provides a three-dimensional warehouse access system, including a shelf 20, a lifting mechanism 30, an automatic guided transport vehicle 40, and the above-mentioned shuttle vehicle 10. The lifting mechanism 30 is arranged on the shelf 20. And the lifting mechanism 30 includes a lifting column 301 extending in the vertical direction Z. The hoisting structure 1 of the shuttle vehicle 10 is configured to be movably arranged along the lifting column 301. As shown in FIG. 1, the shelf 20 includes a plurality of shelves 201 arranged in the vertical direction Z. The shelves 201 are used to carry goods. In this way, when the shuttle vehicle 10 needs to be docked with the shelves at different heights to access the goods, it can be moved along the lifting column 301 to reach different heights to access the goods.

[0102] Each shelf 201 includes a plurality of storage positions arranged in the transverse direction Y. And the lifting mechanism 30 is configured to be movable relative to the shelf 20 in the transverse direction Y to drive the shuttle vehicle 10 to move to different storage positions. Specifically, the lifting mechanism 30 includes a lifting trolley. And the shelf 20 is provided with a walking track extending in the transverse direction Y, and the lifting trolley moves along the walking track.

[0103] As shown in FIG. 1, the stereoscopic warehouse access system of the embodiment of the present disclosure further comprises a buffer position 50 arranged at the lower side of the shelf 20. The buffer position 50 is used to buffer the goods. For example, when the shuttle vehicle 10 takes out the goods stored in the shelf 20, there is no AGV nearby, so the shuttle vehicle 10 can first buffer the goods in the buffer position 50, and then continue to take goods. The AGV realizes taking goods by docking with the buffer position 50.

[0104] The plurality of layers of shelves 201 of the embodiment of the present disclosure comprises a bottom layer of shelves located at the bottom. The bottom end of the lifting column 301 of the lifting mechanism 30 is not lower than the bottom layer of shelves. In this way, during the movement of the lifting mechanism 30 along the transverse direction Y, the lifting column 301 will not extend to the buffer position 50 to block the goods of the buffer position, so that the docking of the AGV with the buffer position 50 will not be affected by the lifting column 301. In this way, when controlling the movement of the AGV, the position of the lifting mechanism in the transverse direction Y does not need to be considered, thereby simplifying the control of the AGV.

[0105] As shown in FIGS. 30 and 31, the present disclosure further provides a goods taking method based on the stereoscopic warehouse access system, comprising the following steps:

[0106] Controlling the automatic guided vehicle 40 to move to the lower side of the shuttle vehicle 10;

[0107] Controlling the tray of the automatic guided vehicle 40 to be lifted upward and to receive the goods delivered by the shuttle vehicle 10.

[0108] The bottom surface of the carrying frame 23 is used to support the goods A, and the bottom surface of the carrying frame 23 is hollow. Controlling the tray of the automatic guided vehicle 40 to be lifted upward and to receive the goods delivered by the shuttle vehicle 10 comprises: controlling the tray to be lifted upward and to reach the hollow part of the bottom surface and to contact the goods A to carry the goods.

[0109] The shuttle vehicle of the embodiment of the present disclosure adopts a hoisting form, and the bottom surface of the carrying frame 23 is arranged as a hollow structure. Therefore, the automatic guided vehicle can directly dock with the shuttle vehicle to perform the operation of taking and placing goods, thereby eliminating the need for the shuttle vehicle to first place the goods on the buffer position and then make the AGV dock with the buffer position to complete the taking of goods each time, and improving the efficiency.

[0110] The structure and operation process of the stereoscopic warehouse access system of some embodiments of the present disclosure will be described in detail below with reference to FIGS. 1 to 31.

[0111] The stereoscopic warehouse access system is a system that can realize the operations of storing, taking out, and putting in goods. As shown in FIG. 1, the stereoscopic warehouse access system of the embodiment comprises a plurality of shelves 20, a lifting mechanism 30, a shuttle vehicle 10, and an automatic guided vehicle 40.

[0112] The shelf 20 is used for storing goods A, the shelf 20 is a three-dimensional structure, and the shelf 20 comprises a plurality of layers arranged in the height direction. Each layer comprises a plurality of storage positions. Adjacent two shelves 20 form a goods channel. The shuttle 10 moves in the goods channel to store goods in different storage positions of the shelf 20 or take out goods from different storage positions of the shelf 20. The storage positions on the adjacent two shelves 20 can be correspondingly arranged, so that the shuttle 10 can take goods on both sides of the goods channel at one position.

[0113] The lifting mechanism 30 is used for lifting the shuttle 10 to different heights so that the shuttle 10 can access goods of different layers of the shelf 20.

[0114] The automatic guided vehicle 40 moves the shuttle to transport goods to the shuttle 10, and the shuttle 10 stores the goods on the shelf 20. Alternatively, the automatic guided vehicle 40 can take goods from the shuttle 10.

[0115] As shown in FIGS. 1 and 2, the lower side of the shelf 20 is also provided with a buffer position 50, and the buffer position 50 is arranged below the bottom layer of the bottom layer of the shelf. The buffer position 50 is used for buffering goods. For example, when the shuttle takes out the goods stored in the shelf 20, there is no AGV nearby, so the shuttle can first buffer the goods in the buffer position 50, and then continue to take goods. The AGV takes goods by docking with the buffer position 50.

[0116] As shown in FIGS. 2 to 4, the lifting mechanism 30 is arranged on the shelf 20. The lifting mechanism 30 comprises a lifting column 301 extending in the vertical direction Z. The shuttle 10 is configured to ascend and descend along the lifting column 301 in the vertical direction Z.

[0117] As shown in FIG. 5, the automatic guided vehicle 40 comprises a walking mechanism, a jacking mechanism and a tray. The tray is used for carrying goods, and the jacking mechanism is arranged below the tray to lift the goods A.

[0118] As shown in FIG. 6, the buffer position 50 is fixed with the bottom layer of the shelf 20, and the buffer position 50 comprises a lifting plate for lifting the box.

[0119] As shown in FIG. 7, the shuttle 10 of the embodiment comprises a hoisting structure 1, a vehicle body 2 and a hooking structure 3.

[0120] As shown in FIG. 8, the hoisting structure 1 comprises a hoisting frame body 11, a guide structure 14 and a rubber column 15 arranged on the hoisting frame body 11. The hoisting frame body 11 comprises a vertical plate 111, a longitudinal plate 113 and a transverse beam 112. The vertical plate 111 extends in the vertical direction Z, the longitudinal plate 113 extends in the longitudinal direction Y, and the transverse beam 112 extends in the transverse direction X and is arranged between the two opposite longitudinal plates 113.

[0121] As shown in FIG. 9, the bottom surface of the transverse beam 112 is provided with rubber columns 15. The hoisting structure 1 is connected with the vehicle body 2 through the rubber columns 15. The rubber columns 15 have elasticity, so that when different positions of the vehicle body 2 are not synchronized, the rubber columns 15 will produce some elastic deformation, preventing the vehicle body from deforming.

[0122] The vertical plate 111 is provided with a guide structure 14. The guide structure 14 is used to cooperate with the lifting column 301 to guide the movement of the shuttle vehicle 10. Specifically, the guide wheels of the guide structure 14 roll in the groove of the lifting column 301 to guide.

[0123] As shown in FIGS. 11-13, the guide structure 14 includes a fixed frame 141, first rollers 142, second rollers 143, and a synchronous belt pressing plate 144. There are eight first rollers 142 in total, which are divided into two groups, one on the left and one on the right. The two groups of first rollers 142 are used to hold the groove edges of the lifting column 301 to provide vertical direction Z guidance. There are two second rollers 143, which are installed in the groove of the lifting column 301 for longitudinal direction Y guidance. The hoisting structure 1 enables the vehicle body 2 to move up and down along the lifting column under the guidance of the guide structure 14.

[0124] As shown in FIGS. 12 and 13, a gap B is formed between the synchronous belt pressing plate 144 and the fixed frame 141. The gap B is used to clamp and press the synchronous belt to drive the shuttle vehicle to move in the vertical direction Z.

[0125] As shown in FIG. 14, the vehicle body 2 includes a rack 21 and a carrying frame 23. The vehicle body 2 is arranged on the lower side of the hoisting structure 1. The rack 21 includes a frame structure and includes two side plates 211 arranged opposite to each other in the transverse direction X and two connecting plates 212 arranged opposite to each other in the longitudinal direction Y. Each side plate 211 is perpendicular to the transverse direction X. Each connecting plate 212 is perpendicular to the longitudinal direction Y and connects the opposite two side plates 211. As shown in FIG. 14, the upper end of the side plate 211 is provided with a connecting hole. The hoisting structure 1 is connected with the vehicle body 2 through the rubber column 15, specifically, the rubber column 15 is inserted into the connecting hole.

[0126] The carrying frame 23 is arranged below the rack 21 and is used to accommodate the carried goods. As shown in FIG. 14, the carrying frame 23 includes two side support plates 231 arranged opposite to each other at the transverse two ends. The upper end of each side support plate 231 is connected with the rack 21, and the lower end of the side support plate 231 is configured as a bent structure to form a carrying part 2311 for supporting the carried goods. The side support plate 231 is a bent plate structure. The carrying part 2311 is arranged horizontally to support the carried goods. The two carrying parts 2311 jointly support the goods.

[0127] Specifically, the carrying frame 23 is a sheet metal part formed by bending. Moreover, a plurality of reinforcing ribs are welded on the outer side surface of the carrying frame 23 to improve its strength.

[0128] Two bearing parts 2311 are respectively located at two ends in the transverse direction Y, and a gap is provided between the two bearing parts 2311. That is, the lower end surface of the bearing frame 23 is hollow. In this way, when the shuttle vehicle 10 transfers goods to the automated guided vehicle 40, the automated guided vehicle 40 moves to the lower side of the shuttle vehicle 10 and lifts the pallet into the bearing frame 23 through the gap to carry the goods. Therefore, such a design realizes the direct docking of the automated guided vehicle 40 and the shuttle vehicle 10, saves the time of placing into the buffer position, and further improves the efficiency.

[0129] As shown in FIGS. 14-17, the shuttle vehicle 10 further comprises a synchronous belt 22, a first synchronous wheel 214, a first guide rail 25, a support shaft 26, a second synchronous wheel 24, a tensioning wheel 215 and a first motor 211 arranged on the frame 21. The output shaft of the first motor 211 is drivingly connected with the first synchronous wheel 214 to drive the first synchronous wheel 214 to rotate. The rotation of the first synchronous wheel 214 drives the second synchronous wheel 24 to rotate through the synchronous belt 22. The second synchronous wheel 24 is mounted on the support shaft 26 and rotates relative to the support shaft 26. In this way, the rotation of the first motor 211 drives the first synchronous wheel 214 to rotate, which can drive the synchronous belt 22 to move. The tensioning wheel 215 is used to tension the synchronous belt and make the synchronous belt 22 have enough wrap angle on the first synchronous wheel 214.

[0130] As shown in FIG. 14, two groups of synchronous belts are arranged on the transverse sides of the frame 21. In this way, the two groups of synchronous belts jointly drive the hooking structure 3 to move in the longitudinal direction.

[0131] As shown in FIGS. 18 and 19, the hooking structure 3 comprises a pressing plate 31, a base plate 32, a first sliding block 33, a lifting frame 34, a hook 35, a hook support 36, a rotating mechanism 37, a rotating connecting plate 38, a limiting sheet 39, a second guide rail 310, a second sliding block 313, a sliding block fixing part 311 and a second motor 312.

[0132] The base plate 32 is a mounting base of other components of the hooking structure 3. The two ends of the upper surface of the base plate 32 are respectively mounted with the pressing plates 31. The pressing plates 31 are used to press the synchronous belt 22 to make the hooking structure 3 move in the longitudinal direction X under the driving of the synchronous belt 22. The two ends of the lower surface of the base plate 32 are respectively provided with the first sliding blocks 33. The first sliding blocks 33 are slidingly matched with the first guide rail 25 to make the hooking structure 3 move along the extension direction of the first guide rail 25, i.e., the longitudinal direction X.

[0133] As shown in FIG. 19, the second motor 312 comprises a screw motor which is mounted on the base plate 32. As shown in FIG. 18, the end of the screw shaft of the screw motor is provided with a limiting piece 39 to limit the screw shaft from coming out. The lower end of the base plate 32 is also connected with a second sliding block 313 through a sliding block fixing piece 311. The second sliding block 313 is in sliding cooperation with the second guide rail 310 which extends along the vertical direction Z. The lifting frame 34 is connected with the screw motor to be lifted along the vertical direction Z under the drive of the screw motor.

[0134] The rotating mechanism 37 is mounted on the lifting frame 34 and the lower side of the rotating mechanism 37 is connected with a rotating connecting plate 38. The two hook supports 36 are respectively mounted on the two sides of the rotating connecting plate 38.

[0135] As shown in FIG. 21, the base plate 32 comprises a first hole 322 in the middle and two second holes 323 respectively on the two sides. As shown in FIG. 23, the lifting frame 34 is a sheet metal bending piece. The lifting frame 34 comprises a horizontal plate in the middle which is connected with the hook 35 and vertical plates which are provided at the two ends of the horizontal plate. The vertical plates are penetrated through the second holes 323 of the base plate 32. The screw shaft of the screw motor is penetrated through the first hole 322. The upper surface of the horizontal plate is connected with the screw motor and the lower surface is connected with the rotating mechanism 37. The vertical plates of the lifting frame 34 are provided with the second guide rail 310 and the lower surface of the base plate 32 is fixedly connected with the second sliding block 313, so that when the lifting frame 34 is lifted along the vertical direction under the drive of the screw motor, the second guide rail 310 and the second sliding block 313 form sliding cooperation to guide the movement of the lifting frame in the vertical direction.

[0136] The hook support 36 extends along the longitudinal direction X to extend the hook 35 out. So when the hook 35 moves to the limit position along the longitudinal direction backward, the hook 35 is still in the middle of the carrier frame, so it cannot completely hook the goods to the position at one time, which makes the goods completely enter the inside of the carrier frame. Based on this problem, the present embodiment can make the hook 35 realize the positioning of the goods through twice hooking by the rotating mechanism 37.

[0137] As shown in FIG. 25, the goods A can be a box. The box is provided with a hooking point A1. The hooking point A1 is provided on the upper side of the box and the two sides of the box are also provided with hooking points. Because the middle position is soft, in order to avoid large deformation of the position, a reinforcing rib is provided on the inner side of the hooking point close to the box. As shown in FIG. 25, the hooking point A1 comprises a groove structure. The two ends of the groove structure are connected on the box, so that when the hook 35 hooks the box, the hook can extend into the gap between the box and the groove structure to realize hooking.

[0138] The rotating mechanism 37 is rotatable, so it can rotate the hook 35 to any angle, preferably 180°. Therefore, the hook of the present embodiment can be lifted up and down, moved forward and backward and rotated in the horizontal plane.

[0139] As shown in FIG. 18, the hook 35 is a vertically arranged bending rod. As shown in FIG. 26, when the box is hooked, the bending rod is inserted into the hooking point A1 and moves in the longitudinal direction to pull the box. As shown in FIG. 27, the hook moves backward to the limit position. At this time, as shown in FIG. 28, the hook is rotated 180° under the drive of the rotating mechanism, and as shown in FIG. 29, the control hook enters the hooking point again and pushes the box to move backward and push the box to the position. As can be seen from FIG. 29, after the box is pushed to the position, the position of the hook 35 is located at the end of the carrier, which is realized due to the arrangement of the rotating mechanism. That is, the limit of the backward movement of the hook 35 is expanded.

[0140] As shown in FIG. 26, the hook 35 is a bending rod, specifically, the hook 35 includes a connecting rod connected with the hook support 36 and a hooking rod extending downward from the end of the connecting rod. As shown in FIG. 26, in the first step of hooking, the hooking rod is inserted into the inside of the hooking point A1, and the connecting rod is located at the longitudinal front side of the hooking rod, the inside surface of the hooking rod abuts against the hooking point A1, and the box moves forward along the longitudinal direction X under the pull of the hook 35. As shown in FIG. 28, in the second step of hooking, the hooking rod is inserted into the inside of the hooking point A1, but the relative position to the box is changed due to the rotation of the hook around the vertical shaft, at this time, the connecting rod is located at the longitudinal rear side of the hooking rod, the outside surface of the hooking rod abuts against the hooking point A1, so that the box continues to move forward along the longitudinal direction X under the push of the hook 35.

[0141] As shown in FIG. 30 and FIG. 31, the shuttle vehicle of the embodiment adopts the form of hoisting, the rack of the vehicle body is above, the box is below, and the bottom end of the lifting column can move upward to the height not lower than the bottom layer of the rack.

[0142] In the embodiment, as shown in FIG. 2, two walking tracks 60 are arranged at the upper and lower ends of the rack 20 respectively. The lifting mechanism 30 can move along the walking tracks 60. The height of the walking track located at the lower end in the two walking tracks is the same as the height of the bottom layer of the rack 20. Therefore, when the lifting column of the lifting mechanism 30 is arranged, the bottom end of the lifting column can be not lower than the height of the walking track at the lower end, at this time, the lifting column will not interfere with the AGV lifting the box to walk on the ground and will not interfere with the butt joint of the AGV and the buffer position. The scheduling of the AGV will be greatly simplified, and it is not necessary to calculate the position of the lifting mechanism 30 to avoid collision with the lifting column. At the same time, as can be seen from FIG. 30 and FIG. 31, by arranging the hollow structure at the lower side of the shuttle vehicle, the AGV can directly butt joint with the shuttle vehicle without passing through the buffer position to complete the taking and placing of the box.

[0143] It should be noted that the above examples are only used to illustrate the technical solutions of the present disclosure rather than limit them; although the present disclosure has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present disclosure can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical solutions of the present disclosure, which should be covered in the technical solution range of the present disclosure.

Claims

1. A shuttle vehicle, comprising: a vehicle body (2) comprising a frame (21) and a carrier (23) arranged on the frame (21) for accommodating and carrying goods (A); and a hooking structure (3) arranged on the vehicle body (2) and comprising a hook (35) for hooking the goods (A), the hook (35) being configured to be movable relative to the vehicle body (2) in a longitudinal direction (X) to hook the goods (A) into the carrier (23) and to be rotatable relative to the vehicle body (2) about a vertical axis extending in a vertical direction (Z) to change a position of the hook (35) relative to the goods, the hook (35) being configured to first pull the goods (A) to move a set distance in the longitudinal direction (X) and then push the goods (A) to continue moving in the longitudinal direction (X) by rotating about the vertical axis (Z).

2. The shuttle of claim 1, wherein, The hooking structure (3) further comprises a base plate (32), a pressing plate (31) and a synchronous belt mechanism comprising a first synchronous wheel (214), a second synchronous wheel (24) and a synchronous belt (22) wound outside the first and second synchronous wheels, the synchronous belt (22) extending in the longitudinal direction (X), the hook (35) being connected to the base plate (32), the pressing plate (31) being arranged on an upper side of the base plate (32) to press the synchronous belt (22) against the base plate (32), one of the first and second synchronous wheels (214, 24) being driven to rotate to move the synchronous belt (22) and thereby drive the hook (35) to move.

3. The shuttle of claim 2, wherein, The base plate (32) comprises a contact area in contact with the synchronous belt (22), the contact area being provided with a strip-shaped hole (321).

4. The shuttle vehicle of any one of claims 1 to 3, wherein, The hooking structure (3) further comprises a rotating mechanism (37), the hook (35) being connected to the rotating mechanism (37) to rotate under the drive of the rotating mechanism (37).

5. The shuttle of claim 4, wherein, The rotating mechanism (37) comprises a rotating table connected to the hook (35), a first gear and a second gear, the rotating table being coaxially connected to the first gear, the second gear being engaged with the first gear to drive the first gear to rotate.

6. The shuttle vehicle of any one of claims 1 to 5, wherein, The hook (35) is configured to be liftable relative to the vehicle body (2) in the vertical direction (Z) to hook or unhook the goods.

7. The shuttle vehicle of any one of claims 1 to 6, wherein, The carrier (23) is arranged on a lower side of the frame (21), and the shuttle vehicle further comprises a hoisting structure (1) arranged on an upper side of the frame (21) to drive the vehicle body (2) to move.

8. The shuttle of claim 7, wherein, A bottom surface of the carrier (23) is configured to support the goods (A), and the bottom surface of the carrier (23) is hollow.

9. The shuttle of claim 8, wherein, The carrier frame (23) comprises two side support plates (231) arranged opposite to both ends in the transverse direction (Y), the lower ends of the side support plates (231) are configured as a bent structure to form a carrying part (2311) for supporting the goods (A), and the two carrying parts (2311) of the two side support plates (231) have a gap therebetween.

10. The shuttle of claim 7, wherein, The hoisting structure (1) comprises a hoisting frame body (11) and a connecting column, the hoisting frame body (11) is connected with the rack (21) through the connecting column, and the connecting column has elasticity.

11. A stereoscopic warehouse access system comprising a rack (20), a lifting mechanism (30), an automatic guided transport vehicle (40) and the shuttle vehicle (10) according to any one of claims 1 to 10.

12. The stereoscopic inventory access system of claim 11, wherein, The rack (20) comprises a plurality of shelves arranged in the vertical direction (Z), the shelves are used for storing goods and comprise a bottom shelf at the bottom, the shuttle vehicle (10) further comprises a hoisting structure (1) arranged on the upper side of the rack (21) to drive the movement of the vehicle body (2), the lifting mechanism (30) comprises a lifting column (301) extending in the vertical direction (Z), the hoisting structure (1) of the shuttle vehicle (10) is movably arranged along the lifting column (301) to enable the shuttle vehicle (10) to dock with the plurality of shelves, each shelf comprises a plurality of storage sites arranged in the transverse direction (Y), the lifting mechanism (30) is configured to be movable relative to the rack (20) in the transverse direction (Y) to enable the shuttle vehicle (10) to dock with the plurality of storage sites, and the bottom end of the lifting column (301) is configured to be not lower than the bottom shelf.

13. A method for picking goods based on the shuttle vehicle according to claim 1, comprising the following steps: controlling the hook (35) to hook the goods (A) and pull the goods (A) to move a certain distance in the longitudinal direction (X); controlling the hook (35) to disengage the goods (A) and controlling the hook (35) to rotate around a vertical axis; and controlling the hook (35) to hook the goods (A) again and push the goods (A) to continue moving in the longitudinal direction (X).

Images