CN113753455A

CN113753455A - Access vehicle, access system, access method, controller, and storage medium

Info

Publication number: CN113753455A
Application number: CN202110008650.0A
Authority: CN
Inventors: 王国鹏
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-01-05
Filing date: 2021-01-05
Publication date: 2021-12-07
Anticipated expiration: 2041-01-05
Also published as: CN113753455B

Abstract

The present invention relates to the field of logistics technology, in particular to an access vehicle, an access system, an access method, a controller and a storage medium. The storage and retrieval vehicle of the present invention includes: a vehicle body; a traveling mechanism, which is arranged on the vehicle body and drives the vehicle body to walk; a lifting mechanism is arranged on the vehicle body in a liftable manner, and lifts the vehicle body during the rising process relative to the vehicle body. at least one layer of cargo boxes; and a transfer mechanism, which is swingably disposed on the vehicle body, and moves out at least one layer of cargo boxes from bottom to top in the cargo boxes lifted by the lifting mechanism during the swinging process relative to the vehicle body. Based on this, the access mode is more flexible, which is beneficial to improve the access efficiency.

Description

Access vehicle, access system, access method, controller, and storage medium

Technical Field

The invention relates to the technical field of logistics, in particular to an access vehicle, an access system, an access method, a controller and a storage medium.

Background

In the field of automatic logistics storage, one way of storing containers is to place a plurality of groups of stacked containers in a goods shelf. The top of goods shelves is arranged and is taken the car, accesses the packing box.

In the related art, the storage and taking vehicle can only store and take the uppermost container at a time, and the containers need to be moved and carried every time when the storage and taking vehicle takes the uppermost container, so that the containers can be transferred, the storage and taking mode is not flexible enough, the storage and taking efficiency is relatively low, particularly, when the containers stacked on the lower layer need to be stored and taken, the containers above can only be moved and carried by the storage and taking vehicle in a multi-time moving mode, all the containers above the storage and taking vehicle are transferred to other areas one by one, and then the target containers above the storage and taking vehicle are stored and taken, so that the storage and taking efficiency is influenced.

Disclosure of Invention

The embodiment of the invention provides an access vehicle, an access system, an access method, a controller and a computer readable storage medium, so as to improve the access efficiency.

The access vehicle provided by the embodiment of the invention comprises:

a vehicle body;

the traveling mechanism is arranged on the vehicle body and drives the vehicle body to travel;

the lifting mechanism is arranged on the vehicle body in a lifting manner and lifts at least one layer of cargo box in the lifting process relative to the vehicle body; and

and the transfer mechanism is arranged on the vehicle body in a swinging manner and is used for moving out at least one layer of cargo box from bottom to top in the cargo box lifted by the lifting mechanism in the swinging process relative to the vehicle body.

In some embodiments, the transfer mechanism includes a support member for supporting the cargo box and a transfer driving mechanism disposed on the vehicle body and drivingly connected to the support member for driving the support member to swing.

In some embodiments, the transfer driving mechanism comprises a transfer power mechanism and a swing rod, and the transfer power mechanism is arranged on the vehicle body and is in driving connection with the supporting piece through the swing rod.

In some embodiments, the traveling mechanism includes two first wheel units disposed on opposite sides of the vehicle body in a first direction, and two second wheel units disposed on opposite sides of the vehicle body in a second direction perpendicular to the first direction, the two first wheel units being elevatably disposed with respect to the two second wheel units.

In some embodiments, the first wheel unit includes a wheel seat and a first wheel, the first wheel is disposed on the wheel seat, and the wheel seat is liftably connected to the vehicle body.

In some embodiments, the traveling mechanism further comprises a first lifting driving mechanism, and the first lifting driving mechanism is in driving connection with the first wheel unit and is used for driving the first wheel unit to lift relative to the second wheel unit.

In some embodiments, the first elevating driving mechanism includes an elevating power mechanism, a gear and a rack, the elevating power mechanism is connected with the gear in a driving manner, the gear is meshed with the rack, and the rack is connected with the first wheel unit.

In some embodiments, the lifting mechanism is configured to release at least one layer of containers from the bottom to the top of the lifted container during lowering relative to the body, and the transfer mechanism is configured to receive the containers released by the lifting mechanism and to remove the received containers during swinging relative to the body.

In some embodiments, the lifting mechanism is configured to raise the maximum number of layers N of containers per time greater than or equal to 2.

In some embodiments, the lifting mechanism comprises a lifting unit comprising:

the sleeve is used for penetrating through a goods lifting hole of the container, and an opening is formed in the side wall of the sleeve; and

the shifting fork is arranged in the sleeve and is in one-to-one correspondence with the opening, the shifting fork is rotatably connected with the sleeve to move between a stretching position and a withdrawing position, when the shifting fork is in the stretching position, the shifting fork stretches out of the sleeve from the opening and is used for supporting the container, and when the shifting fork is in the withdrawing position, the shifting fork is withdrawn into the sleeve.

In some embodiments, the lifting unit further comprises a fork drive mechanism liftably disposed in the sleeve and configured to drive rotation of the fork between the extended position and the retracted position during the lifting.

In some embodiments, the fork driving mechanism includes a first lifting member disposed in the sleeve in a liftable manner, and a stopper disposed on the first lifting member and corresponding to the forks one by one, the stopper contacting the corresponding fork during a lifting process of the first lifting member and driving the corresponding fork to rotate from a retracted position to an extended position.

In some embodiments, the lifting mechanism further comprises a lifting driving mechanism, and the lifting driving mechanism is in driving connection with the shifting fork driving mechanism and drives the shifting fork driving mechanism to lift.

In some embodiments, the lifting driving mechanism comprises an electromagnet and a magnetic member, one of the electromagnet and the magnetic member is disposed on the top of the fork driving mechanism, the other of the electromagnet and the magnetic member is disposed above the top of the fork driving mechanism and is fixed relative to the sleeve, and the electromagnet and the magnetic member are engaged or disengaged to drive the fork driving mechanism to lift or lower.

In some embodiments, the lifting unit further includes a reset member, which corresponds to the shift forks one by one and applies an elastic force to the shift forks to return the shift forks from the extended position to the retracted position.

In some embodiments, the lifting unit comprises at least two forks, the forks are spaced apart from each other in the vertical direction, and the height difference B between the two forks located at the lowermost position is greater than the layer height a of the cargo box.

In some embodiments, B > nA + C, where n is the number of layers the transfer mechanism needs to move out of the container at a single time, and C is the displacement of the fork in the height direction as it rotates between the extended and retracted positions.

In some embodiments, the lifting mechanism includes a base and at least two lifting units, each of the at least two lifting units being disposed on the base and each passing through a respective one of the sleeves from a different one of the pick-up apertures in the cargo box.

In some embodiments, the access vehicle comprises a second lifting driving mechanism, and the second lifting driving mechanism is arranged on the vehicle body and drives the lifting mechanism to lift.

In some embodiments, the second lifting driving mechanism comprises a second lifting piece and a winch lifting mechanism, and the winch lifting mechanism is in driving connection with the lifting mechanism through the second lifting piece and drives the lifting mechanism to lift by driving the second lifting piece to wind or release.

The storage and taking system comprises a goods shelf, wherein the goods shelf is used for storing containers, and the storage and taking system further comprises the storage and taking vehicle provided by the embodiment of the invention, and the storage and taking vehicle is arranged on the top surface of the goods shelf.

In some embodiments, the top surface of the goods shelf is provided with rails which are staggered transversely and longitudinally, and the access vehicle runs along the rails.

In some embodiments, a divider is provided on the rail, and divides the rail into a first rail and a second rail in the width direction.

The vehicle access method provided by the embodiment of the invention comprises the following steps:

lifting a container including a target container with a lifting mechanism;

and swinging the target container out of the container lifted by the lifting mechanism by using the transfer mechanism.

In some embodiments, lifting a container, including a target container, with a lifting mechanism comprises:

lowering the lifting mechanism such that the sleeves of the lifting units of the lifting mechanism pass through the pick-up apertures of the cargo box;

rotating a shifting fork of the lifting unit from a retracted position to an extended position so that the shifting fork supports the container;

the lifting mechanism is lifted to lift the container held by the shifting fork.

In some embodiments, swinging the target container out of the container lifted by the lifting mechanism using the transfer mechanism comprises:

the transfer mechanism is swung to be right below the container lifted by the lifting mechanism;

lowering the lifting mechanism to drop the target container onto the transfer mechanism and disengage the target container from the fork, and returning the fork from the extended position to the retracted position;

raising the lifting mechanism to disengage the sleeve from the target container;

and (4) swinging the transfer mechanism to move out the target container falling on the transfer mechanism.

In some embodiments, the number of layers of the target container is less than the number of layers of containers lifted by the lifting mechanism, lifting a container including the target container with the lifting mechanism comprises:

lowering the lifting mechanism so that sleeves of lifting units of the lifting mechanism penetrate through the target container and a lifting hole stacked above the target container;

rotating at least two shifting forks of the lifting unit from a retracted position to an extended position, so that the shifting fork positioned at the lowest position supports the target container, and the other shifting forks support the other containers stacked above the target container;

the lifting mechanism is lifted to lift the cargo box supported by at least two shifting forks.

lowering the lifting mechanism to enable the target container to fall onto the transfer mechanism and to be separated from the shifting fork for supporting the target container, returning the shifting fork for supporting the target container from the extending position to the retracting position, and still supporting the containers stacked above the target container by the rest shifting forks;

In some embodiments, the number of layers of the target container is less than the number of layers of containers lifted by the lifting mechanism, and after swinging the target container out of the container lifted by the lifting mechanism using the transfer mechanism, the lifting mechanism is also lowered to replace the remaining containers lifted by the lifting mechanism.

In some embodiments, lowering the lifting mechanism and replacing the remaining containers lifted by the lifting mechanism comprises:

lowering the lifting mechanism to enable the remaining containers on the lifting mechanism to fall to the original positions of the target containers;

the lifting mechanism is continuously lowered, so that a shifting fork of the lifting mechanism is separated from the rest containers, and the shifting fork returns to the withdrawing position from the extending position;

the lifting mechanism is raised to separate from the remaining containers.

In some embodiments, before lifting the container including the target container by the lifting mechanism, it is further determined whether the total number m of the target container and the containers stacked above the target container is greater than the maximum number N of containers that can be lifted by the lifting mechanism at a single time, and when m is less than or equal to N, the container including the target container is lifted by the lifting mechanism; when m is larger than N, the container stacked above the target container is taken out by using the access vehicle until m is smaller than or equal to N.

The controller provided by the embodiment of the invention comprises a memory and a processor coupled to the memory, wherein the processor is configured to execute the access method of the embodiment of the invention based on the instruction stored in the memory.

The computer-readable storage medium provided by the embodiment of the invention stores computer instructions, and the computer instructions are executed by the processor to execute the access method provided by the embodiment of the invention.

Based on the cooperation of hoist mechanism and transfer mechanism, the access car not only has packing box lifting function, still has the packing box function of keeping in for the access car no longer confines to the singleton packing box and draws the transport mode, consequently, the access mode is more nimble, is favorable to improving access efficiency.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a partial schematic diagram of an access system according to an embodiment of the invention.

Fig. 2 is a partial schematic view of a shelf in an embodiment of the invention.

Fig. 3 is a schematic view showing a stacking state of the containers according to the embodiment of the invention.

Fig. 4 is a perspective view of a single container in an embodiment of the invention.

Fig. 5 is a schematic perspective view of an access cart according to an embodiment of the present invention.

Fig. 6 is a partially enlarged schematic view of the access vehicle at the travelling mechanism and the transfer mechanism in the embodiment of the invention.

Fig. 7 is a schematic view of fig. 6 with the first wheel unit omitted.

Fig. 8 is a schematic view of the state of the access vehicle when the first wheel unit is not lifted.

Fig. 9 is a schematic view of the access vehicle after the first wheel unit descends.

Fig. 10 is an enlarged view of part I of fig. 9.

Fig. 11 is a schematic view of the access vehicle after the first wheel unit is lifted.

Fig. 12 is a partially enlarged view of II of fig. 11.

Fig. 13 is a perspective view of the access vehicle without a roof panel according to the embodiment of the present invention.

Fig. 14 is a perspective view of a lifting mechanism in an embodiment of the invention.

Fig. 15 is a schematic diagram of the extraction unit and the base when the electromagnet and the magnetic member are not attracted according to the embodiment of the present invention.

Fig. 16 is a schematic diagram of the extraction unit and the base when the electromagnet and the magnetic member are attracted according to the embodiment of the present invention.

Fig. 17 is a schematic view of the two forks in the retracted position according to the embodiment of the present invention.

FIG. 18 is a schematic view of the two forks of the present invention rotated to the extended position.

Fig. 19 is a schematic view of the two forks of the present invention in an extended position and pressed against a cargo container.

FIG. 20 is a schematic view of an embodiment of the present invention with the individual forks in their extended positions.

FIG. 21 is a schematic view of an embodiment of the present invention with the individual forks in their extended positions.

Fig. 22 is a schematic view of fig. 20 with the sleeve omitted.

Fig. 23 is a schematic view of fig. 21 with the sleeve omitted.

Fig. 24-27 show different arrangements of the forks in different extraction units.

Fig. 28 is a schematic view showing a state where the storage vehicle travels right above the target cargo box.

Fig. 29 is a schematic diagram showing a state in which the transfer mechanism of the access vehicle is swung out.

Fig. 30 is a schematic view showing a state where the lifting mechanism of the access cart lifts the cargo box.

Fig. 31 is a schematic view of the access vehicle with the lifting mechanism separated from the target container.

Fig. 32 is a schematic view showing a state where the target container is removed by the transfer mechanism of the access vehicle.

Fig. 33 is a schematic view showing a state where the remaining cargo containers are returned by the lifting mechanism of the access vehicle.

FIG. 34 is a flow chart illustrating an accessing method according to some embodiments of the present invention.

Reference numerals:

100. accessing the system; 10. storing and taking the vehicle; 20. a shelf; 20a, a track; 20b, a first track; 20c, a second track; 20d, a separator; 30. a cargo box; 30a, a goods lifting hole; 30b, a box body; 30c, flanging; 30d, downward flanging; 30e, a target container;

1. a vehicle body; 11. a first vehicle body; 11a, a guide groove; 12. a second vehicle body; 12a, a column; 12b, a vehicle roof; 12c, a top seat; 12d, a top plate;

2. a traveling mechanism; 21. a first wheel unit; 211. a first wheel; 212. a wheel seat; 213. conducting bars; 214. a first elevation drive mechanism; 214a and a lifting power mechanism; 214b, a first motor; 214c, a gear; 214d, a rack; 22. a second wheel unit; 221. a second wheel;

3. a lifting mechanism; 31. a base; 311. an inner cavity; 312. mounting holes; 32. a lifting unit; 321. a sleeve; 321a, a cavity; 321b, opening a hole; 322. a shifting fork; 322a, a support surface; 323. a rotating shaft; 324. a fork drive mechanism; 324a, a first pull-up member; 324b, a stop block; 325. a lifting drive mechanism; 325a, an electromagnet; 325b, a magnetic member; 326. a reset member; 326a, a return spring; 327. a limiting member; 327a, a first limiting member; 327b, a second limiting member;

4. a second elevation drive mechanism; 41. a second lifting member; 42. a hoisting and lifting mechanism; 421. a second motor; 422. a lift shaft; 423. a support shaft;

5. a transfer mechanism; 51. a support member; 511. a support plate; 512. a baffle plate; 52. a transfer drive mechanism; 521. a power transferring mechanism; 521a, a swing motor; 522. a swing link.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

In the description of the present invention, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for the convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The access vehicle is used for accessing the containers, and is particularly suitable for accessing the containers in the stacked multi-layer containers. The container herein refers to a container for storing goods, and may include a container with a closed periphery, or may include a cage frame with an unclosed periphery, or other types of storage containers.

Next, a case will be described as an example in which the storage vehicle is applied to a storage system to store and retrieve a container in a rack.

Fig. 1 to 33 show an access system and an access vehicle in the embodiment of the present invention.

Referring to fig. 1, in some embodiments, an access system 100 includes a rack 20 and an access cart 10.

The racks 20 are used to store containers 30. Referring to fig. 1-2, in some embodiments, the shelf 20 is a frame-type shelf including a plurality of shelf units arranged in a matrix. Each of the shelving units is adapted to store a plurality of containers 30 stacked in a stack such that each shelving unit has multiple tiers of containers 30 stored therein.

The access cart 10 is disposed on the top surface of the rack 20 and is used to access the cargo box 30 in the rack 20.

The access cart 10 travels over the top surface of the racks 20 to transition between different rack units to facilitate access to the containers 30 in the different rack units.

To facilitate the access cart 10 to walk on the top surface of the shelf 20, as shown in fig. 2, in some embodiments, the top surface of the shelf 20 is provided with rails 20a that are staggered in the horizontal and vertical directions. The access cart 10 travels along the track 20 a. Wherein the plurality of rails 20a are arranged at intervals along the first direction X. The plurality of rails 20b are arranged at intervals along a second direction Y perpendicular to the first direction X. And the respective tracks 20a arranged at intervals in the first direction X intersect the respective tracks 20a arranged at intervals in the second direction. A grid-like structure is formed. The four rails 20a intersect to define a mesh. Each mesh corresponds to each shelf unit. The multi-layer container 30 in each shelving unit is located below the corresponding mesh. Thus, when the access vehicle 10 travels along the rail 20a directly above a mesh, the access vehicle 10 is positioned directly above the containers 30 in the corresponding racking unit, and the containers 30 in the corresponding racking unit can be accessed.

Referring to fig. 2, in some embodiments, a divider 20d is disposed on the rail 20a, and the divider 20d divides the rail 20a into a first rail 20b and a second rail 20c in the width direction. Wherein, referring to fig. 2, in some embodiments, the separators 20d are configured as ribs.

Specifically, as shown in fig. 2, in some embodiments, the partition 20d includes a plurality of stages of stoppers arranged along the length direction of the rail 20a and disconnected from each other at intersections with the respective rails 20a, so that the respective rail portions of the same rail 20a corresponding to the respective meshes are each divided into first and second rail sections in the width direction, that is, so that the first and

second rails

20b and 20c respectively include a plurality of first and second rail sections arranged at intervals in the length direction and corresponding to the respective meshes one-to-one.

The set separating piece 20d can limit the access vehicles 10, prevent the access vehicles 10 from derailing, and meanwhile, the track 20a forms double tracks, the same access vehicle 10 can flexibly select to walk on one of the first track 20b and the second track 20c in the driving process, and two access vehicles 10 can simultaneously run side by side along the width direction on the same track 20a, the driving mode is more flexible, and particularly when a plurality of access vehicles 10 are arranged on the top surface of the shelf 20, the access vehicles 10 can be conveniently and flexibly avoided, so that congestion is avoided, and the access efficiency is influenced.

Fig. 5 illustrates the overall structure of the access cart 10 in some embodiments. Referring to fig. 5, in some embodiments, the access cart 10 includes a cart body 1, a travel mechanism 2, a lift mechanism 3, and a transfer mechanism 5.

The vehicle body 1 is used for providing an installation foundation for the travelling mechanism 2, the lifting mechanism 3 and the transfer mechanism 5. Referring to fig. 5, in some embodiments, the vehicle body 1 includes a first vehicle body 11 and a second vehicle body 12. The first vehicle body 11 is hollow in the middle. The second vehicle body 12 is attached above the first vehicle body 11, and includes a pillar 12a and a roof 12 b. The pillar 12a connects the first vehicle body 11 and the roof 12b, and supports the roof 12b above the first vehicle body 11. Specifically, in some embodiments, the second vehicle body 12 includes four pillars 12a, and the four pillars 12a are connected to four corners of the first vehicle body 11. The roof 12b is connected to the top ends of the four pillars 12a, and is supported by the four pillars 12 a. The structure of the vehicle body 1 is not only beneficial to reducing the weight of the storage vehicle 10 and realizing the light design of the storage vehicle 10, but also convenient for the lifting mechanism 3 to lift and the transfer mechanism 5 to swing, and further convenient for realizing the lifting, releasing and transferring of the container 30.

The traveling mechanism 2 is disposed on the vehicle body 1 (specifically, the first vehicle body 11) and is configured to drive the vehicle body 1 to travel, so as to realize a traveling function of the vehicle 10. Referring to fig. 5, in some embodiments, the running gear 2 includes two first wheel units 21 and two second wheel units 22. The two first wheel units 21 are disposed on opposite sides of the vehicle body 1 in the first direction X. The two second wheel units 22 are disposed on opposite sides of the vehicle body 1 in the second direction Y. The access vehicle 1 can run on the top surface of the rack 20 along the first direction X and the second direction Y by the cooperation of the two first wheel units 21 and the two second wheel units 22. Wherein each first wheel unit 21 comprises a first wheel 211. Each second wheel unit 22 comprises a second wheel 221. The number of first wheels 211 in each first wheel unit 21 and the number of second wheels 221 in each second wheel unit 22 may be 1, 2 or more. For example, in some embodiments, the first wheel unit 21 includes two first wheels 211, one of the two first wheels 211 being a driving wheel and the other being a driven wheel. The second wheel unit 22 includes two second wheels 221, and one of the two second wheels 221 is a driving wheel and the other is a driven wheel. The driving wheel and the driven wheel are respectively used for driving walking and providing support.

Referring to fig. 6-12, in some embodiments, two first wheel units 21 are elevatably disposed with respect to two second wheel units 22. Therefore, the relative height positions of the first wheel unit 21 and the second wheel unit 22 can be changed by relatively lifting the first wheel unit 21 and the second wheel unit 22, so that the posture of the travelling mechanism 2 can be adjusted, and the requirements of the access vehicle 10 on different working states can be flexibly met. Wherein, running gear 2's gesture includes three kinds, is respectively: (1) the first wheel unit 21 and the second wheel unit 22 are equal in height, and the first wheel unit 21 and the second wheel unit 22 are simultaneously supported; (2) the first wheel unit 21 is lower than the second wheel unit 22, the first wheel unit 21 supports, and the second wheel unit 22 is suspended; (3) the first wheel unit 21 is higher than the second wheel unit 22, the first wheel unit 21 is suspended, and the second wheel unit 22 supports.

To achieve the relative lifting of the first wheel unit 21 and the second wheel unit 22, at least one of the first wheel unit 21 and the second wheel unit 22 may be liftably connected to the vehicle body 1. When only one of the first wheel unit 21 and the second wheel unit 22 is connected with the vehicle body 1 in a liftable manner, the structure is simpler, and the control is more convenient.

Next, a case will be described as an example in which the first wheel unit 21 is coupled to the vehicle body 1 so as to be able to move up and down, and the second wheel unit 22 is coupled to the vehicle body 1 so as not to be able to move up and down.

Fig. 8 shows a schematic view of the storage cart 10 when the first wheel unit 21 is not lifted. As shown in fig. 8, when the two first wheel units 21 are not lifted, the two first wheel units 21 are flush with the two second wheel units 22, and the first wheels 211 in the first wheel units 21 are flush with the second wheels 221 in the second wheel units 22 in the bottom surface and the centers are equal in height. At this time, the two first wheel units 21 and the two second wheel units 22 together play a supporting role, and the support is more stable and reliable. This state is particularly suitable for the case where the vehicle 10 performs the container storing and retrieving task, and enables the vehicle 10 to perform the container storing and retrieving task more smoothly.

Fig. 9 and 10 show the access vehicle 10 after the first wheel unit 21 has been lowered. As shown in fig. 9 and 10, after the two first wheel units 21 are lowered, the bottom surface (center) of the first wheel 211 is lower than the bottom surface (center) of the second wheel 221. In fig. 10, the height of the bottom surface (center) of the first wheel 211 is H1 higher than the bottom surface (center) of the second wheel 221. At this time, the first wheel unit 21 is supported, the second wheel unit 22 is suspended, and the access cart 10 can conveniently travel in the second direction Y without being hindered by the second wheel unit 22.

Fig. 11 and 12 show the access vehicle 10 after the first wheel unit 21 has been raised. As shown in fig. 11 and 12, after the two first wheel units 21 are raised, the bottom surface (center) of the first wheel 211 is lower than the bottom surface (center) of the second wheel 221. In fig. 11, the height of the bottom surface (center) of the first wheel 211 below the bottom surface (center) of the second wheel 221 is H2. At this time, the first wheel unit 21 is suspended, the second wheel unit 22 is supported, and the access cart 10 can conveniently travel in the first direction X without being hindered by the first wheel unit 21.

It can be seen that by arranging the first wheel unit 21 to be liftable with respect to the second wheel unit 22, different requirements of the access vehicle 10 in traveling in the first direction X, traveling in the second direction Y, and performing a container access task can be flexibly met.

To achieve the lifting of the first wheel unit 21, referring to fig. 6 and 7, in some embodiments, the first wheel unit 21 includes a wheel base 212, the first wheel 211 is disposed on the wheel base 212, and the wheel base 212 is liftably connected to the vehicle body 1. Specifically, as shown in fig. 6 and 7, in some embodiments, the first vehicle body 11 is provided with a guide slot 11a, the wheel seat 212 is correspondingly provided with a guide bar 213 matching with the guide slot 11a, and the guide bar 213 is slidably connected with the guide slot 11a, so as to realize the liftable arrangement of the wheel seat 212 on the first vehicle body 11. In this way, the first wheel unit 21 can be raised and lowered by raising and lowering the wheel base 212 with respect to the vehicle body 1. Moreover, when the number of the first wheels 211 in the first wheel unit 21 is at least two, the wheel seat 212 is lifted, and can simultaneously drive each first wheel 211 of the same first wheel unit 21 to lift together, so that the structure is simple, the control is convenient, and the lifting synchronism of each first wheel 211 is better.

In order to realize the automatic lifting of the first wheel unit 21, referring to fig. 6, in some embodiments, the traveling mechanism 2 further includes a first lifting driving mechanism 214, and the first lifting driving mechanism 214 is in driving connection with the first wheel unit 21 for driving the first wheel unit 21 to lift relative to the second wheel unit 22. The first wheel unit 21 is driven to automatically lift by the first lifting driving mechanism 214, which is beneficial to more efficiently changing the relative height position between the first wheel unit 21 and the second wheel unit 22, thereby more efficiently controlling the running mechanism 2 to switch between different states.

As one implementation of the first elevation driving mechanism 214, referring to fig. 6, the first elevation driving mechanism 214 includes an elevation power mechanism 214a, a gear 214c, and a rack 214 d. The lifting power mechanism 214a is in driving connection with the gear 214 c. The gear 214c is engaged with the rack 214 d. The rack 214d is connected to the first wheel unit 21, for example, the rack 214d is connected to the wheel base 212. Thus, when the lifting power mechanism 214a is started, the gear 214c can drive the rack 214d to lift, and further drive the first wheel unit 21 to lift. The lifting power mechanism 214a may specifically include a first motor 214 b.

Of course, the first elevation driving mechanism 214 is not limited to the above implementation, for example, as a modification, the first elevation driving mechanism 214 may also include other components such as a link, a slider, or a lead screw.

With continued reference to fig. 6, in some embodiments, at least two first lifting drive mechanisms 214 are associated with each first wheel unit 21, and the first wheel lifting drive mechanisms 214 associated with the same first wheel unit 21 are spaced apart along the second direction Y. Thus, the first wheel unit 21 can be driven to ascend and descend more smoothly and reliably.

The lifting mechanism 3 is disposed on the vehicle body 1 in a liftable manner, and is configured to drive the cargo box 30 to lift and lower, so as to lift or put back the cargo box 30.

The transfer mechanism 5 is swingably provided on the vehicle body 1 for removing the cargo box 30 from the cargo box 30 lifted by the lifting mechanism 3.

In some embodiments, the lifting mechanism 3 lifts the container 30 during ascent. The number of layers of the container 30 lifted by the lifting mechanism 3 may be at least one. The transfer mechanism 5 moves the cargo box 30 out of the cargo box 30 lifted by the lifting mechanism 3 during swinging relative to the vehicle body 1. The number of layers of the container 30 moved out by the transfer mechanism 5 may be at least one layer, and specifically may be at least one layer from bottom to top in the container 30 lifted by the lifting mechanism 3.

Under the cooperation of the lifting mechanism 3 and the transfer mechanism 5, the storage and taking vehicle 10 not only has a container lifting function, but also has a container temporary storage function, so that the storage and taking vehicle 10 is not limited to a single container extracting and carrying mode any more, therefore, the storage and taking mode is more flexible, and the storage and taking efficiency is improved.

The maximum number of layers that the lifting mechanism 3 can lift the container 30 at a time is N. N is limited by the height of the lifting mechanism 3 and the height of the single-tier container 30. The smaller N, the lower the height of the access vehicle 10, the lower the power of the power plant such as the motor, and the lower the access efficiency. The larger N is, the higher the vehicle 10 is, and the larger the power of the power equipment such as the motor is, the higher the access efficiency is.

In some embodiments, N is greater than or equal to 2, so that the access mode is more flexible and the access efficiency is higher. In the case where N is greater than or equal to 2, the lifting mechanism 3 can extract more than one layer of containers 30 at a time, if desired, more efficiently than in the case where the access cart 10 can only access one container 30 at a time. Moreover, when the container is actually lifted, the lifting mechanism 3 can selectively lift the containers 30 with the number less than or equal to N according to specific conditions, so that the storage and taking mode is more flexible. The number of layers a that the lifting mechanism 3 actually lifts the container 30 at a single time is counted, and a is greater than or equal to 1 and less than or equal to N. The value of a can be flexibly determined according to the position of the container 30 to be accessed (which may be simply referred to as a target container 30e) and the number of layers of containers 30 stacked above.

When the container 30 located at the lower layer needs to be accessed, it may be determined whether the total number m of the target container 30e and the containers 30 located above the target container 30e is greater than N, and when the total number m of the containers is greater than N, the containers 30 stacked above the target container 30e are taken out by using the access cart 10 until m is less than or equal to N, so that the lifting mechanism 3 and the transfer mechanism 5 are matched to move out the target container 30e, and the target container 30e is obtained. In the process of taking out the container 30 stacked above the target container 30e by the access vehicle 10 so that m is equal to or less than N, the taken-out container 30 may be temporarily stored on the transfer mechanism 5, may be moved to another position by the access vehicle 10, or may be picked up by another access vehicle 10.

In some embodiments, the lifting mechanism 3 is configured to release at least one layer of containers 30 from bottom to top in the lifted containers 30 during the lowering process relative to the vehicle body 1, which is convenient for cooperating with the transfer mechanism 5 to realize the removal of at least one layer of containers 30 from bottom to top in the lifted containers 30, and on the other hand, after the transfer mechanism 5 removes at least one layer of containers 30 from bottom to top in the lifted containers 30, if there are remaining containers 30 in the lifted containers 30, the lifting mechanism 3 can put back the remaining containers 30, so that the whole container access process is more continuous and efficient.

Next, the structures of the lifting mechanism 3 and the transfer mechanism 5 will be further described.

First, the structure of the lifting mechanism 3 will be described with reference to fig. 14 to 27.

Referring to fig. 14-27, in some embodiments, the lifting mechanism 3 includes a lifting unit 32. The lifting unit 32 is adapted to engage the container 30 so that the container 30 can be raised and lowered with the lifting mechanism 3 to complete the container pick and place process.

The number of lifting units 32 may be 1, two or more. In order to achieve a more stable and reliable picking and placing process of the container, the number of the lifting units 32 may be at least two, and the at least two lifting units 32 are combined with different positions of the container 30 to apply force to different positions of the container 30 in the picking and placing process, so as to improve the stability of the picking and placing process of the container. For example, referring to fig. 14, in some embodiments, the lifting mechanism 3 includes four lifting units 32. And with reference to fig. 30, the four lifting units 32 are coupled to four different locations, respectively, of the same container 30, for example, to four corners of the same container 30, respectively, so that the container 30 can be more smoothly driven to rise and fall.

When the lifting mechanism 3 comprises at least two lifting units 32, referring to fig. 14, in some embodiments the lifting mechanism 3 further comprises a base 31, each lifting unit 32 being arranged on the base 31. For example, in fig. 14, four lifting units 32 are provided on the base 31, and are connected to four corners of the base 31, respectively, in one-to-one correspondence with four corners of the cargo box 30.

The provision of the base 31 has the advantage of facilitating, on the one hand, the installation and arrangement of the respective lifting units 32 and, on the other hand, the simultaneous lifting of the respective lifting units 32 on the basis of a simpler structure.

Referring to fig. 13, in order to achieve automatic lifting of the lifting mechanism 3, in some embodiments, the access vehicle 10 includes a second lifting driving mechanism 4, and the second lifting driving mechanism 4 is disposed on the vehicle body 1 and drives the lifting mechanism 3 to lift. Under the condition that is equipped with base 31, second lift actuating mechanism 4 only needs to be connected with base 31 drive, and drive base 31 goes up and down, can drive hoist mechanism 3 whole lift, makes each hoist unit 32 go up and down in step, compares with the condition that each hoist unit 32 is equipped with a lift actuating mechanism respectively, and the structure is comparatively simple, and control is comparatively convenient, and each hoist unit 32's the lift synchronism is better.

As an implementation manner of the second elevation driving mechanism 4, referring to fig. 13, in some embodiments, the second elevation driving mechanism 4 includes a second lifting member 41 and a hoisting lifting mechanism 42, and the hoisting lifting mechanism 42 is in driving connection with the lifting mechanism 3 through the second lifting member 41, and drives the lifting mechanism 3 to ascend and descend by driving the second lifting member 41 to wind or release. The second pulling-up part 41 can be made of high-strength thin steel strip with the thickness of 0.1 mm-0.5 mm, the tensile strength of 1400MPa, the strength and the flexibility are high, and the second pulling-up part can be wound on a shaft. Alternatively, the second pulling-up member 41 may be a soft braided belt, a wire rope, or the like.

Specifically, as shown in fig. 13, the winding elevating mechanism 42 includes a second motor 421, a lifting shaft 422, and a support shaft 423. The lift shaft 422 and the support shaft 423 are rotatably provided on the vehicle body 1. The second motor 421 is drivingly connected to the lift shaft 422. The second pulling member 41 has one end wound around the lifting shaft 422 and the other end wound around the support shaft 423 on the side of the lifting shaft 422 and connected to the lifting mechanism 3. Thus, when the second motor 421 is activated, the second pulling member 41 can be driven to wind or release on the lifting shaft 422, thereby raising or lowering the lifting mechanism 3.

More specifically, as shown in fig. 13, in some embodiments, the hoisting and lowering mechanism 42 includes two support shafts 423, and the two support shafts 423 are respectively disposed on both sides of the lifting shaft 422 in the axial direction. The second lifting pieces 41 are wound around two axial ends of each support shaft 423 to guide four second lifting pieces 41 to extend downwards to be connected with four corners of the base 31 so as to correspond to the four lifting units 32 one by one and drive the four lifting units 32 to lift synchronously.

Referring to fig. 5 and 13, in some embodiments, the second elevation drive mechanism 4 is provided on the roof 12b of the vehicle body 1. Specifically, in some embodiments, the roof 12b includes a roof seat 12c and a roof panel 12 d. The top seat 12c is hollow inside. The top plate 12d covers the top opening of the top base 12 c. The hoisting and lowering mechanism 42 is provided inside the top base 12 c. Therefore, the second lifting driving mechanism 4 is positioned right above the lifting mechanism 3, so that the lifting mechanism 3 can be driven to lift conveniently. The hoisting and lowering mechanism 42 is located inside the roof 12b and is shielded by the roof panel 12d so as not to be exposed, so that the overall structure of the access vehicle 10 is more compact and more beautiful.

Next, the structure of the lifting unit 32 will be explained.

Referring to fig. 14, in some embodiments, the lifting unit 32 includes a sleeve 321 and a fork 322.

The sleeve 321 is adapted to pass through the pick-up hole 30a of the cargo box 30. At this time, as shown in fig. 4, the associated cargo box 30 is provided with a pick-up hole 30a through which the sleeve 321 passes. The overall shape of the sleeve 321 conforms to the shape of the pick-up hole 30 a. For example, in some embodiments, the pick-up aperture 30a is a circular aperture and the sleeve 321 is generally cylindrical.

When the number of the lifting units 32 is at least two, the lifting units 32 are respectively inserted through the different lifting holes 30a of the container 30 through the respective sockets 321. For example, referring to fig. 4 and 30, in some embodiments, the cargo lifting holes 30a are formed at four corners of the cargo container 30, and the sleeves 321 of the four lifting units 32 correspond to the cargo lifting holes 30a at four corners of the cargo container 30 one by one, and pass through the cargo lifting holes 30a at four corners of the same cargo container 30 respectively during the storing and taking process. Further, as shown in fig. 4, in some embodiments, the cargo box 30 is provided with four lifting holes 30a at the top and the bottom, and four lifting holes 30a at the top four corners are in one-to-one correspondence with four lifting holes 30a at the bottom four corners. At this time, when each lifting unit 32 passes through the same container 30 from top to bottom, it sequentially passes through the upper and lower pick-up holes 30a at the corresponding corners.

The sleeve 321 passes through the pick-up hole 30a, so that the lifting unit 32 can be primarily combined with the container 30, and further action of the subsequent fork 322 can be facilitated. Also, when coupled with the containers 30 by passing through the pick-up holes 30a, the sleeves 321 may string the at least two containers 30 together by passing through the at least two containers 30, which facilitates the lifting mechanism 3 to lift the at least two containers 30 at one time. The length of the sleeve 321 affects the maximum number N of layers that the lifting mechanism 3 can lift the container 30 at a single time.

To facilitate the insertion of the sleeve 321 through the pick-up hole 30a, as shown in fig. 14, in some embodiments, the lower end of the sleeve 321 is tapered or spindle-shaped, so that the sleeve 321 can be more smoothly inserted into or withdrawn from the pick-up hole 30a during the lifting and lowering of the sleeve 321.

As shown in fig. 15-21, in some embodiments, the sleeve 321 has a cavity 321a therein for receiving other components of the extraction unit 32, such as the fork 322. The sleeve 321 has an opening 321b in a sidewall thereof. The opening 321b communicates with the cavity 321 a.

The shifting forks 322 are disposed in the sleeves 321 and correspond to the openings 321b one by one. The fork 322 is rotatably coupled to the sleeve 321 for movement between an extended position and a retracted position. In the extended position, as shown in fig. 18, 19 and 21, the fork 322 extends from the opening 321b to the exterior of the sleeve 321 and is used to cradle the cargo box 30. In the retracted position, as shown in fig. 17 and 20, the fork 322 is retracted inside the sleeve 321. For example, in some embodiments, the fork 322 is hinged to the sleeve 321 by a shaft 323, and the shaft 323 is located between the upper and lower ends of the fork 322, so that when the fork 322 rotates around the shaft 323, the upper end of the fork 322 can extend out of or retract into the opening 321b, thereby switching the fork 322 between the extended position and the retracted position.

With the above arrangement, the fork 322 can be engaged with or disengaged from the container 30 when moving between the extended position and the retracted position, so that the lifting mechanism 3 lifts or releases the container 30.

The extending direction of the fork 322 on the sleeve 321 is not limited, and the extending direction of different forks 322 can be the same direction, opposite direction or angle. Fig. 24 to 27 illustrate various cases. For a plurality of lifting units 32 on the same base 31, the direction of the fork 322 extending from the sleeve 321 in each lifting unit 32 may be the same or different. The extension directions can be the same or different for each fork 322 in the same lifting unit 32.

In the process of lifting the container 30, the lifting mechanism 3 is firstly driven by the second lifting driving mechanism 4 to integrally descend, after the lifting mechanism 3 descends to a set position, the shifting fork 322 is switched from a withdrawing position to an extending position by switching the state of the shifting fork 322, the container 30 is supported, and then the lifting mechanism 3 is integrally lifted, so that the lifting mechanism 3 and the container 30 are lifted to a required position together.

Referring to fig. 19 and 30, when the fork 322 is rotated to the extended position and engaged with the cargo box 30, the fork 322 may hold the cargo box 30 by catching on the walls of the cargo box around the pick-up hole 30a, forming a support for the cargo box 30. At this point, the container 30 presses against the fork 322 and applies downward pressure to the fork 322 (as indicated by the arrow in fig. 19). When the fork 322 is pressed against the container 30, the fork 322 cannot rotate to the retracted position, and thus can be stably held at the extended position to reliably support the container 30.

Referring to fig. 4, in some embodiments, the cargo box 30 includes a box 30b, an upper flap 30c, and a lower flap 30 d. The case body 30b is hollow inside for storing goods. The upper and

lower flanges

30c and 30d are connected to the top and bottom of the case body 30, respectively, and extend from the top and bottom of the case body 30 toward the outside of the case body 30, respectively. Four corners of the upper turned edge 30c and the lower turned edge 30d are provided with goods taking holes 30 a. In this case, the fork 322 may be engaged with the cargo box 30 by being caught under one of the upper flange 30c and the lower flange 30d, thereby supporting the cargo box 30. For example, referring to fig. 30, in some embodiments, the fork 30, when engaged with the cargo box 30, snaps over the lower surface of the upper flange 30e, supporting the cargo box 30. Therefore, the arrangement of the upper and lower flanges is convenient for stacking the containers 30 and clamping and applying force to the shifting forks 322, so that the containers 30 are stably and reliably supported.

The surface of the fork 322 for contacting the cargo box 30 (specifically, the upper surface of the fork 322) is a support surface 322 a. Referring to fig. 19, in some embodiments, the support surface 322a may be configured as a plane. When the fork 322 is in the extended position, the support surface 322a is horizontal. In this way, the support surface 322a may more fully contact the cargo box 30 and more smoothly support the cargo box 30.

To achieve automatic switching of the state of the fork 322, referring to fig. 15-23, in some embodiments, the lifting unit 32 further includes a fork driving mechanism 324, and the fork driving mechanism 324 is liftably disposed in the sleeve 321 and drives the fork 322 to rotate between the extended position and the retracted position during lifting. Thus, the fork 322 can be automatically switched between the extended position and the retracted position by the fork driving mechanism 324.

With continued reference to fig. 15-23, in some embodiments, fork drive mechanism 324 includes a first lift 324a and a stop 324 b. The first pulling member 324a is disposed in the sleeve 321 in a liftable manner, and may be a rigid rod, or may be replaced by a carbon fiber rod, a steel wire rope, a high-strength nylon rope, or the like. The stoppers 324b are disposed on the first lifting member 324a and correspond to the shifting forks 322 one by one. The stopper 324b contacts the corresponding fork 322 and drives the corresponding fork 322 to rotate from the retracted position to the extended position as the first lifting member 324a ascends. The stopper 324b is disengaged from the corresponding fork 322 during the process of descending the first lifting member 324 a. After fork 322 disengages from stop 324b, fork 322 may not be rotated from the extended position back to the retracted position if fork 322 is still pressed against container 30, and fork 322 may be rotated from the extended position back to the retracted position if fork 322 is also disengaged from container 30.

Based on the sleeve 321, fork 322, first lifting member 324a and stop 324b, the lifting mechanism 3 may lift the container 30 as follows:

the first lifting member 324a is lifted to drive the stopper 324b to lift together, and the stopper 324b abuts against the bottom surface of the shifting fork 322 in the lifting process, so that the shifting fork 322 rotates relative to the sleeve 321, the upper end of the shifting fork 322 rotates to the outside of the opening 321b to form a protrusion protruding out of the outer surface of the sleeve 321, and the protrusion can be clamped on the edge of the cargo box 30 to form a support of the shifting fork 322 on the cargo box 30. The entire lifting mechanism 3 is then lifted together with the container 30 to the desired position to effect lifting of the container 30. When the container 30 is to be released after being lifted into position, the first lifting piece 324a may be lowered first, so that the stopper 324b is disengaged from the fork 322, so that the container 30 to be released can be subsequently released from the lifting mechanism 3 to be released.

Referring to fig. 15 and 16, in some embodiments, the overall raising and lowering of fork drive 324 is driven by a pull drive 325. The pulling driving mechanism 325 is drivingly connected to the fork driving mechanism 324, and drives the fork driving mechanism 324 to move up and down, so as to switch the fork 322 between the extended position and the retracted position. Thus, the pull drive mechanism 325 can switch the fork 322 between the extended position and the retracted position by changing the up-down position of the fork drive mechanism 324 with respect to the sleeve 321.

The pull drive mechanism 325 may include an electromagnet, a motor, a linkage, and the like. The motor may be a rotary motor or a voice coil motor, etc. For example, 1 motor may control all the fork driving mechanisms 324 in the lifting mechanism 3 through a link mechanism, 1 motor may control 2

fork driving mechanisms

324, and 1 motor may control 1 fork driving mechanism 324. The power supply of the electromagnet or the motor adopts the modes of rechargeable batteries, capacitors or wired power supply and the like. A rechargeable battery or capacitor may be disposed within the base 31 to be recharged from the main power source (e.g., battery) of the access cart 10 when the lift mechanism 3 is raised to an upper limit position (e.g., a preset distance below the roof 12 b). The wired power supply may be provided by hanging wires from the top of the access cart 10 to the interior of the base 31.

Fig. 15 and 16 show one implementation of a pull drive mechanism 325. Referring to fig. 15 and 16, in some embodiments, the pull drive mechanism 325 includes an electromagnet 325a and a magnetic member 325 b. One of the electromagnet 325a and the magnetic member 325b is disposed on the top of the fork driving mechanism 324, and the other is disposed above the top of the fork driving mechanism 324 and fixed with respect to the sleeve 321, and the electromagnet 325a and the magnetic member 325b are engaged or disengaged to drive the fork driving mechanism 324 to move up and down. For example, as shown in fig. 15 and 16, in some embodiments, the magnetic member 325b is mounted to the top of the fork driving mechanism 324, and in particular to the top of the first pull member 324 a. The electromagnet 325a is mounted in the base 31, and in particular in the inner cavity 311 of the base 31, directly above the magnetic member 325 b. Specifically, in some embodiments, the bottom surface of the base 31 is provided with a mounting hole 312 communicating with the inner cavity 311. Both the electromagnet 325a and the magnetic member 325b are located in the internal cavity 311. Lift rod 324a extends into internal cavity 311 via mounting hole 312.

The fork driving mechanism 324 can be conveniently driven to ascend and descend based on the arranged electromagnet 325a and the magnetic member 325 b. When the electromagnet 325a is energized, the electromagnet 325a and the magnetic member 325b attract each other, the shifting fork driving mechanism 324 ascends, and the first pulling member 324a drives the stopper 324b to ascend, so that the shifting fork 322 rotates from the retracted position to the extended position. When the electromagnet 325a is powered off, the electromagnet 325a and the magnetic member 325b are separated, the fork driving mechanism 324 descends, the first lifting member 324a drives the stopper 324b to descend, the stopper 324b is separated from the fork 322, force for forcing the fork 322 to rotate towards the extending position is not applied to the fork 322 any more, and the fork 322 can rotate from the extending position to the retracting position after being separated from the container 30.

The mode that the electromagnet 325a is matched with the magnetic part 325b is adopted, so that the structure is compact, the number of required parts is small, the occupied space is small, and the number of layers of the container 30 extracted by the sleeves 3 with the same length at one time is increased.

In addition, referring to fig. 17 to 23, in some embodiments, the lifting unit 32 includes a restoring member 326, and the restoring member 326 corresponds to the shift forks 322 one by one and applies an elastic force to the shift forks 322 to return the shift forks 322 from the extended position to the retracted position. In particular, referring to fig. 17-19, in some embodiments, the reset element 326 is mounted on the rotating shaft 323, and two free ends thereof are respectively in contact with the fork 322 and the sleeve 321. The reset element 326 may be a reset spring 326a such as a coil spring, a tension spring, or a leaf spring. Thus, in the initial state, the fork 322 is in the retracted position by the reset 326. The reset member 326 may be compressed to store elastic energy during rotation of the fork 322 from the retracted position to the extended position by the fork drive mechanism 324. When the fork 322 is disengaged from the fork driving mechanism 324 and the cargo container 30, the restoring member 326 releases the elastic energy to drive the fork 322 from the extended position to the retracted position, thereby restoring the position.

In some embodiments, the fork 322 is rotated between the extended position and the retracted position by an angle of 0-30 °.

In order to enable the fork 322 to more accurately rotate between the extended position and the retracted position, referring to fig. 20-21, in some embodiments, the fork unit 32 further includes a stop 327. The limiting members 327 correspond to the shift forks 322 one by one, and are used for limiting the rotational displacement of the shift forks 322 to prevent the shift forks 322 from rotating excessively.

For example, referring to fig. 20 and 21, in some embodiments, a stop 327 is mounted to the fork drive 324 and limits rotational displacement of the fork 322 relative to the sleeve 321 by limiting rotational displacement of the fork 322 relative to the fork drive 324. Specifically, as shown in fig. 20 and 21, in some embodiments, the position-limiting member 327 includes a first position-limiting member 327a and a second position-limiting member 327 b. The first limiting member 327a and the second limiting member 327b are disposed above the stop 324b for driving the corresponding shifting fork 322 to rotate, and are disposed on the first pulling member 324a at intervals from top to bottom, for respectively limiting the rotational displacement of the shifting fork 322 from the extending position to the retracting position and the rotational displacement from the retracting position to the extending position. When the shifting fork 322 rotates inward to the retracted position, the first limiting member 327a abuts against the shifting fork 322 (specifically, the upper portion of the shifting fork 322), so that the shifting fork 322 cannot continue to rotate along the direction from the extended position to the retracted position, and thus can be accurately stopped at the retracted position. When the shifting fork 322 rotates outward to the extended position, the second position-limiting element 327b abuts against the shifting fork 322 (specifically, the lower portion of the shifting fork 322), so that the shifting fork 322 cannot continue to rotate from the retracted position to the extended position, and thus can be accurately stopped at the extended position. The first limiting member 327a and the second limiting member 327b may be configured as a rigid structure such as a limiting rod or a limiting block.

The number of the forks 322 may be one, two or more in the same lifting unit 32. When the number of the shifting forks 322 in the lifting unit 32 is one, the lifting mechanism 3 only has one layer of shifting forks 322, and all the a-layer containers 30 lifted by the lifting mechanism 3 at one time are held by the one layer of shifting forks 322 of the lifting mechanism 3. When the number of the shifting forks 322 in the lifting unit 32 is at least two, the at least two shifting forks 322 may be arranged at intervals along the up-down direction, so that the lifting mechanism 3 has at least two layers of shifting forks 322, and the at least two layers of shifting forks 322 may support the a-layer containers 30 lifted by the lifting mechanism 3 at one time in groups, and this arrangement is convenient for the transfer mechanism 5 to take out only part of the containers 30 from the a-layer containers 30 lifted by the lifting mechanism 3 at one time, so as to realize the independent release of part of the containers 30 in the a-layer containers 30, which is beneficial to further improving the access flexibility and improving the access efficiency.

When the lifting unit 32 includes at least two forks 322 spaced apart in the up-down direction, a height difference B between the two lowermost forks 322 is set to be greater than a floor height a of the container 30, so that the two lowermost forks 322 support different containers 30. For example, in some embodiments, B > nA + C, where n is the number of layers the transfer mechanism 5 needs to move out of the container 30 at a single time, and C is the displacement of the fork 322 in the height direction when rotating between the extended position and the retracted position (which is also the difference in height of the tip of the fork 322 in the extended position and the retracted position). At this time, the two lowermost forks 322 may support the n containers 30 to be removed and the containers 30 stacked above the n containers 30, and the states between the two lowermost forks 322 may be independent from each other, and when the lowermost fork 322 is rotated from the extended position to the retracted position, the penultimate fork 322 may still be held in the extended position by the pressure of the containers 30, so that the n layers of containers 30 below may be released separately, and the n layers of containers 30 below may be taken out separately. The value of n may be preset, for example, the number of layers required to access the target container 30e at a time. For example, in some embodiments, the number of layers required to access the target container 30e at a single time is 1, n is 1, and B > a + C. For another example, in other embodiments, the number of layers required to access the target container 30e at a time is 2, n is 2, and B > 2A + C.

Taking the example that the number of the forks 322 in the lifting unit 32 is 2, and the number n of layers required to access the target container 30e at a time is 1, the access process to the target container 30e is described as follows:

the lifting mechanism 3 is wholly descended, so that the sleeves 321 pass through the lifting holes 30a of the target container 30e and a plurality of containers 30 above the target container, and the two shifting forks 322 are respectively positioned below the target container 30e and the upper turned edge 30d of the 2 nd container 30 from the last time;

then the lifting mechanism 3 is lifted integrally, the two shifting forks 322 are rotated from the retracted position to the extended position in the lifting process, and because the height difference B between the two shifting forks 322 meets the condition that B is larger than A + C, before the last shifting fork 322 contacts with the target container 30e positioned at the bottommost layer, the 2 nd last shifting fork 322 contacts with the 2 nd last container 30 firstly, and drives the 2 nd last container 30 and more than the last packing container to lift together along with the integral lifting of the lifting mechanism 3, so that the 2 nd last container 30 is separated from the target container 30e, and when the last shifting fork 322 contacts with the target container 30e and abuts against the lower surface of the turned edge 30C of the target container 30e, a certain height difference is generated between the bottom end of the 2 nd last container 30 and the top end of the target container 30 e;

then, the lifting mechanism 3 continues to ascend to drive the target container 30e and the container 30 above the target container to ascend together until reaching a preset ascending position, and the container lifting process is completed, wherein in the process, the lowest shifting fork 322 is pressed by the target container 30e positioned at the lowest part, the 2 nd-from-last shifting fork 322 is pressed by the 2 nd-from-last container 30, and a height difference exists between the bottom end of the 2 nd-from-last container 30 and the top end of the target container 30 e;

when it is desired to release the target container 30e, the lifting mechanism 3 is lowered as a whole to drop the target container 30e onto the transfer mechanism 5, and thereafter, the lifting mechanism 3 is further lowered to disengage the lowermost fork 322 from the target container 30e, and since the first lifting member 324a has been lowered to the original position at this time and the stopper 324b has been disengaged from the fork 322, the lowermost fork 322 can be switched from the extended position to the retracted position after the lowermost fork 322 is disengaged from the target container 30e by the distance C, during which the 2 nd from last and above container 30 is lowered together with the lifting mechanism 3, the height difference between the bottom end of the 2 nd from last container 30 and the top end of the target container 30e is gradually reduced but still greater than 0, and the 2 nd from last container 30 is still pressed against the 2 nd from last fork 322, and therefore the 2 nd from last fork 322 is still held in the extended position by being still pressed by the container 30, continuously supporting the 2 nd and above container 30 without disengaging from the 2 nd container 30;

when the lowest fork 322 rotates back to the extended position, the lifting mechanism 3 stops descending and starts to ascend, so that the sleeve 321 is disengaged from the lifting hole 30a of the target container 30e, and the lifting mechanism 3 is separated from the target container 30 e;

the separated target container 30e is removed by the transfer mechanism 5 and the remaining containers 30 on the lifting mechanism 3 can be lowered with the lifting mechanism 3, so that the remaining containers 30 are lowered to the position where the target container 30e was originally located, and the entire lifting mechanism 3 is further lowered, so that the 2 nd last fork 322 is also disengaged from the 2 nd last container 30 originally held, and is returned to the retracted position from the extended position;

thereafter, the lifting mechanism 3 is raised, so that the sleeves 321 are disengaged from the lifting holes 30a of the remaining containers 30, and the remaining containers 30 are replaced.

Therefore, the storage and taking speed and the box dumping speed can be effectively improved, and the strategy for storing and taking the containers is more flexible.

Next, the structure of the transfer mechanism 5 will be described.

In some embodiments, the transfer mechanism 5 is configured to receive the cargo box 30 released by the lifting mechanism 3 and remove the received cargo box 30 during swinging movement relative to the vehicle body 1.

The detailed structure of the transfer mechanism 5 is shown in fig. 5 and 6. As shown in fig. 5 and 6, in some embodiments, the transfer mechanism 5 includes a support 51 and a transfer drive mechanism 52.

The support member 51 is used for supporting the cargo box 30. Referring to FIG. 5, in some embodiments, support 51 includes a plate 511 and a baffle 512. Pallet 511 is used to hold cargo box 30. Two baffles 512 are attached to opposite ends of the pallet 511 and extend upwardly from the pallet 511 to limit the position of the container 30 on the pallet 511, thereby preventing the container 30 from falling off during the swinging of the transfer mechanism 5 and enhancing the stability and reliability of the transfer process. As shown in fig. 5, in some embodiments, the supporting plate 511 is hollow in the middle. As shown in fig. 6, when the cargo box falls on the pallet 511, the downward turned edge 30d of the cargo box 30 is caught on the edge of the pallet 511, and the pallet 511 supports the cargo box 30.

The transfer drive mechanism 52 is provided on the vehicle body 1, is drivingly connected to the receiver 51, and drives the receiver 51 to swing. A transfer drive mechanism 52 may be provided on each of opposite sides of the support member 51. The two transfer driving mechanisms 52 can be respectively in driving connection with the two baffle plates 512 to drive the supporting member 51 to swing more smoothly.

The structure of the single transfer drive mechanism 52 can be seen in fig. 6. As shown in fig. 6, in some embodiments, the transfer drive mechanism 52 includes a transfer power mechanism 521 and a swing link 522. The transfer power mechanism 521 is disposed on the vehicle body 1 and is drivingly connected to the support 51 through a swing link 522. The transfer power mechanism 521 may be specifically a swing motor 521a, and may be disposed between the two first motors 214b, so that the layout is more reasonable and compact. Each of the transfer power mechanisms 521 may correspond to two swing links 522, where the two swing links 522 are connected to different positions of the same baffle 512, for example, the two swing links 522 are connected to an upper portion of the same baffle 512 at the same height and are spaced apart from each other.

The two extreme positions of the swing of the transfer mechanism 5 can be referred to as a pick-up position and a storage position, respectively. Referring to fig. 5, the pickup station is located on the lifting path of the lifting mechanism 3. In some embodiments, the pick-up location is located directly above the first body 11 and directly below the non-lowered lifting mechanism 3 to facilitate the lifting mechanism 3 releasing the cargo box 30 onto the transfer mechanism 5. Referring to fig. 6, the storage space is not located on the lifting path of the lifting mechanism 3, which is staggered from the lifting path of the lifting mechanism 3. In one embodiment, the inventory location is located on the outside of the first vehicle body 11. Thus, when the container is in the storage position, the transfer mechanism 5 does not affect the lifting of the lifting mechanism 3, and the lifting mechanism 3 can conveniently lift and replace the container 30.

In the initial state, the transfer mechanism 5 may be located in the pick space. The transfer mechanism 5 may be swung into the storage position before the lifting mechanism 3 is ready to be lowered. After the lifting mechanism 3 has lifted the containers 30 into position, if it is desired to remove at least some of the containers 30 lifted by the lifting mechanism 3, the transfer mechanism 5 may be swung from the storage position to the pickup position, with the transfer mechanism 5 being positioned directly below the containers 30 lifted by the lifting mechanism 3. Then, the lifting mechanism 3 is lowered integrally, so that the containers 30 in the n layers below in the containers 30 lifted by the lifting mechanism 3 are firstly dropped onto the transfer mechanism 5, and then the lifting mechanism 3 is lowered integrally, in the process, the containers 30 in the n layers below cannot be lowered continuously because of the blocking of the transfer mechanism 5, therefore, the lowermost shifting fork 322 in the lifting mechanism 3 can be disengaged from the containers 30 in the n layers below, when the disengagement distance meets the rotation requirement of the lowermost shifting fork 322, the shifting fork 322 can be rotated back to the retraction position from the extension position, the containers 30 in the n layers below are not restrained, and meanwhile, in the process, the 2 nd from last shifting fork 322 and the container 30 held by the shifting fork 322 are not disengaged, so that the 2 nd from last shifting fork 322 cannot be rotated back to the retraction position from the extension position under the compression action of the container 30 held by the lifting mechanism. Subsequently, the lifting mechanism 3 is raised as a whole, and the sleeves 321 are pulled out from the pick-up holes 30a of the containers 30 located on the transfer mechanism 5, thereby separating the lifting mechanism 3 from the containers 30 on the transfer mechanism 5. Then, the transfer mechanism 5 swings from the pick-up position to the storage position, so that temporary storage of the n layers of containers 30 below can be realized.

Under the cooperation of the transfer mechanism 5 and the lifting mechanism 3 including the sleeve 321 and the shifting fork 322, the access vehicle 10 can lift more than one container 30 at a time, and can move the containers 30 from the bottom up to a plurality of layers in the lifted containers 30 to the stock position for temporary storage, so that direct access to a plurality of layers of containers 30 from the bottom up can be realized, and the access efficiency can be effectively improved because the transport is not required to be carried one by one.

Referring to fig. 34, based on the access cart 10 of the foregoing embodiments, an embodiment of the present invention further provides an access method, which includes:

s100, lifting the container 30 including the target container 30e by using the lifting mechanism 3;

and S200, swinging and moving the target container 30e out of the container 30 lifted by the lifting mechanism 3 by using the transfer mechanism 5.

In some embodiments, the step S100 of lifting the container 30 including the target container 30e with the lifting mechanism 3 includes:

lowering the lifting mechanism 3 so that the sleeves 321 of the lifting units 32 of the lifting mechanism 3 pass through the pick-up holes 30a of the container 30;

rotating the fork 322 of the lifting unit 32 from the retracted position to the extended position such that the fork 322 cradles the container 30;

the lifting mechanism 3 is raised to lift the cargo box 30 held by the fork 322.

In some embodiments, the step S200 of swinging the target container 30e out of the container 30 lifted by the lifting mechanism 3 using the transfer mechanism 5 includes:

swinging the transfer mechanism 5 to a position directly below the container 30 lifted by the lifting mechanism 3;

lowering the lifting mechanism 3 to drop the target container 30e onto the transfer mechanism 5 and disengage the fork 322 holding the target container 30e, the fork 322 holding the target container 30e returning from the extended position to the retracted position;

raising the lifting mechanism 3 to disengage the sleeve 321 from the target container 30 e;

the transfer mechanism 5 is swung to move out the target container 30e dropped on the transfer mechanism 5.

In some embodiments, the number of layers of the target container 30e is less than the number of layers of containers 30 lifted by the lifting mechanism 3, i.e., n < a, and the step S100 of lifting the container 30 including the target container 30e by the lifting mechanism 3 includes:

lowering the lifting mechanism 3 so that the sleeves 321 of the lifting units 32 of the lifting mechanism 3 pass through the target container 30e and the pick-up holes 30a stacked above the target container 30 e;

rotating at least two forks 322 of the lifting unit 32 from a retracted position to an extended position such that the lowermost fork 322 cradles the target container 30e and the remaining forks 322 cradle the remaining containers 30 stacked above the target container 30 e;

the lifting mechanism 3 is raised to lift the cargo box 30 held by the forks 322.

lowering the lifting mechanism 3 to drop the target container 30e onto the transfer mechanism 5 and disengage the fork 322 holding the target container 30e, the fork 322 holding the target container 30e returning from the extended position to the retracted position, the remaining forks 322 still holding containers 30 stacked above the target container 30 e;

In some embodiments, the number of layers of the target container 30e is less than the number of layers of containers 30 lifted by the lifting mechanism 3, i.e., n < a, and after the target container 30e is removed from the container 30 lifted by the lifting mechanism 3 using the transfer mechanism 5, the lifting mechanism 3 is also lowered to replace the remaining containers 30 lifted by the lifting mechanism 3.

In some embodiments, lowering the lifting mechanism 3 and replacing the remaining containers 30 lifted by the lifting mechanism 3 comprises:

lowering the lifting mechanism 3 so that the remaining containers 30 on the lifting mechanism 3 fall to the original position of the target container 30e (i.e., the position of the target container 30e before being lifted by the lifting mechanism 3);

continuing to lower the lifting mechanism 3 so that the fork 322 of the lifting mechanism 3 is disengaged from the remainder of the containers 30 and the fork 322 returns from the extended position to the retracted position;

the lifting mechanism 3 is raised to separate from the remaining containers 30.

In some embodiments, before lifting the container 30 including the target container 30e with the lifting mechanism 3, it is further determined whether the total number m of layers of the target container 30e and containers stacked above the target container 30e is greater than the maximum number N of layers of containers 30 that can be lifted by the lifting mechanism 3 at a single time, and when m is less than or equal to N, the container 30 including the target container 30e is lifted with the lifting mechanism 3; when m is greater than N, the container 30 stacked above the target container 30e is first taken out by the access vehicle until m is less than or equal to N.

The access truck 10, upon receiving an access task, may operate as follows:

(1) the storage and retrieval vehicle 10 travels to a position right above the target container 30e (see fig. 28) according to the three-dimensional coordinates (for example, X6, Y8, Z3) of the target container 30 e;

(2) judging whether the total number m (calculated from top to bottom) of the layers of the containers 30 stacked at the position of the target container 30e is greater than the maximum value N of the number of layers of the containers 30 which can be lifted by the access vehicle 10 in one time;

(3) when m is larger than N, the storage and taking vehicle 10 firstly moves the container 30 stacked above the target container 30e to other positions until the number m of the stacked containers 30 at the position of the target container 30e is smaller than or equal to N;

(4) and when m is judged to be less than or equal to N, the access vehicle 10 starts to execute the target container obtaining process.

The sequence of the step (1) and the step (2) may be changed, for example, the step (2) may be performed before the access vehicle 10 travels to a position directly above the target cargo box 30 e.

Taking a case where N is 3, there are 2 layers of containers 30 above the target container 30e, and the number of the forks 322 in the lifting unit 32 is 2 as an example, the target container obtaining process in step (4) is further described as follows:

(401) the transfer mechanism 5 swings from the pick-up position to the stock position (see fig. 29);

(402) under the action of the second lifting driving mechanism 4, the lifting mechanism 3 is continuously lowered, and when the sleeves 321 pass through the container holes 30a of the 3 layers of containers 30 including the target container 30e and the two shifting forks 322 are respectively positioned below the target container 30e and the upper turned edge 30d of the container 30 above the target container by a preset distance, the lifting motor is stopped.

(403) The fork drive mechanism 324 is raised to extend both forks 322 and raise the lifting mechanism 3 to move the 3 containers 30 including the target container 30e upwardly together (see fig. 30) until the top of the access cart 10 is reached and stopped. In this process, after the container 30 is pressed against the fork 322, the fork driving mechanism 324 is lowered to disengage the fork driving mechanism 324 from the fork 322, and the fork 322 is pressed against the container 30, so that the fork 322 is not retracted and the container 30 is not dropped.

(404) The transfer mechanism 5 swings from the stock position to the goods taking position, so that the supporting piece 51 is positioned right below the container 30 lifted by the lifting mechanism 3;

(405) the lifting mechanism 3 descends to enable the target container 30e positioned at the lowest position to be in contact with the supporting piece 51, then the lifting mechanism 3 continues descending to enable the target container 30e to be separated from the shifting fork 322 at the lowest position, the shifting fork 322 at the lowest position retracts under the action of the resetting piece 326, the lifting mechanism 3 stops continuing descending, at the moment, the 2 nd-from-last shifting fork 322 still supports the two containers 30 above the target container 30e, and the two containers 30 above the target container 30e cannot be pressed on the target container 30 e.

(406) In the process that the lifting mechanism 3 is lifted to move the sleeve 321 out of the lifting hole 30a of the target container 30e, the two containers 30 above the target container 30e are lifted together with the lifting mechanism 3 and are still supported by the 2 nd last fork 322 and do not fall. Steps (404) - (406) can be seen in FIG. 31.

(407) After the sleeves 321 are removed from the pick-up holes 30a of the target container 30e, the transfer mechanism 5 swings to remove the target container 30e to the storage space (see fig. 32).

(408) After the lifting mechanism 3 descends to bring the bottom surfaces of the remaining 2 containers 30 on the lifting mechanism 3 into contact with the containers 30 in the racks 20, the lifting mechanism 3 continues to descend to disengage the 2 nd last fork 322 from the originally held container 30 and retract under the elastic force of the reset member 326 (see fig. 33).

(409) And the lifting mechanism 3 is lifted to the top, and the box taking process is finished at one time.

It should be noted that the above-mentioned manner is only one manner of accessing the container 30, and is merely illustrative and not limiting, and the strategy of actually accessing the container 30 may be flexible and various. For example, the lifting mechanism 3 may take 1-N containers 30 on the top level in the rack 20 1 time, and take out and release the nth container 30 alone, which is suitable for the case where only one target container 30e is available. Alternatively, the lifting mechanism 3 may remove 1-N adjacent containers at a time and release them at a time, which is suitable for the case where the target container 30e is multiple and adjacent to each other, and also for the case where the container needs to be dumped.

The case where 7 containers 30 are stacked above the target container 30e, the target container is the 8 th container, and N is still 3 is exemplified. The pick strategy may be 3 boxes removed +2 boxes removed, with the target box removal process amounting to 3+3+ 2. Alternatively, the pickup strategy may be 3+2+3 or 2+3+3, etc.

The retrieved target container 30e may be transported by the access vehicle 10 to a picking station for picking. In the moving process of the picking position, the transfer mechanism 5 can swing to the goods picking position, so that a more stable running process is realized, and the overturning risk of the depositing and picking vehicle 10 is reduced. During picking, the transfer mechanism 5 may be swung to a stock level to facilitate manual or robotic picking of the goods in the target container 30 e.

The picked container 30 may be returned to the pallet 20.

The box moving, box taking and box returning after the selection can be finished by one storing and taking vehicle 10 or can be finished by the cooperation of a plurality of storing and taking vehicles 10. After the access vehicle has stored 1 container 30, it may be moved for another access vehicle 10.

When the number of containers 30 in the pallet 20 changes, the status of the containers 30 in the pallet 20 can be updated for subsequent more accurate access tasks.

The access vehicle 10 can be charged by a battery or a capacitor, and when the electric quantity is insufficient, the access vehicle can automatically go to the charging pile for charging. The communication of the access cart 10 may be wireless or wired. The wireless communication can adopt the modes of infrared communication, wifi or Bluetooth and the like.

The present invention additionally provides a controller comprising a memory and a processor coupled to the memory, the processor configured to perform the access method of the embodiments based on instructions stored in the memory.

The memory may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), for example. The memory may also be a memory array. The storage may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. The processor may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement the control method of the heat pump system of the present invention.

In addition, the invention also provides a computer readable storage medium, which stores computer instructions, and the computer instructions are executed by a processor to execute the access method of each embodiment.

The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An access vehicle (10), characterized in that, comprising:

body (1);

a walking mechanism (2), arranged on the vehicle body (1), and driving the vehicle body (1) to walk;

A lifting mechanism (3), which is movably arranged on the vehicle body (1), and lifts at least one layer of cargo boxes (30) in the process of rising relative to the vehicle body (1); and

A transfer mechanism (5), which is swingably arranged on the vehicle body (1), and during the swinging process relative to the vehicle body (1), lifts the cargo box (30) by the lifting mechanism (3) At least one level of cargo boxes (30) from bottom to top is removed.

2. The access vehicle (10) according to claim 1, characterized in that the transfer mechanism (5) comprises a support member (51) and a transfer drive mechanism (52), the support member (51) For supporting a cargo box (30), the transfer driving mechanism (52) is arranged on the vehicle body (1), and is drivingly connected with the supporting member (51) to drive the supporting member (51). )swing.

3. The access vehicle (10) according to claim 2, wherein the transfer driving mechanism (52) comprises a transfer power mechanism (521) and a swing rod (522), the transfer power mechanism (521) It is arranged on the vehicle body (1), and is drivingly connected with the support member (51) through the swing rod (522).

4. The access vehicle (10) according to claim 1, characterized in that the running mechanism (2) comprises two first wheel units (21) and two second wheel units (22), the Two first wheel units (21) are arranged on opposite sides of the vehicle body (1) along the first direction (X), and the two second wheel units (22) are arranged on the vehicle body (1) ) along the opposite sides of the second direction (Y) perpendicular to the first direction (X), the two first wheel units (21) relative to the two second wheel units (22) can be Elevated setting.

5. The access vehicle (10) according to claim 4, wherein the first wheel unit (21) comprises a wheel seat (212) and a first wheel (211), the first wheel (211) ) is arranged on the wheel base (212), and the wheel base (212) is movably connected to the vehicle body (1).

6. The access vehicle (10) according to claim 4, characterized in that the traveling mechanism (2) further comprises a first lift drive mechanism (214), the first lift drive mechanism (214) being connected to the The first wheel unit (21) is drivingly connected for driving the first wheel unit (21) to rise and fall relative to the second wheel unit (22).

7. The access vehicle (10) according to claim 6, wherein the first lift drive mechanism (214) comprises a lift power mechanism (214a), a gear (214c) and a rack (214d), The lifting power mechanism (214a) is drivingly connected with the gear (214c), the gear (214c) is engaged with the rack (214d), and the rack (214d) is connected with the first wheel unit (21) connect.

8. The access vehicle (10) according to claim 1, wherein the lifting mechanism (3) is configured to release the lifted cargo box during lowering relative to the vehicle body (1) For at least one layer of cargo boxes (30) from bottom to top in (30), the transfer mechanism (5) is configured to receive the lift mechanism (5) during the swinging process relative to the vehicle body (1). 3) Release the container (30) and remove the received container (30).

9 . The access vehicle ( 10 ) according to claim 1 , wherein the lifting mechanism ( 3 ) is configured such that the maximum value N of the number of layers of the cargo box ( 30 ) that can be lifted at one time is greater than or equal to 2. 10 .

10. The access vehicle (10) according to any one of claims 1-9, wherein the lifting mechanism (3) comprises a lifting unit (32), and the lifting unit (32) comprises:

a sleeve (321) for passing through the pickup hole (30a) of the cargo box (30), the side wall of the sleeve (321) is provided with an opening (321b); and

A shift fork (322) is disposed in the sleeve (321) and corresponds to the openings (321b) one-to-one, and the shift fork (322) is rotatably connected to the sleeve (321) to Moves between an extended position and a retracted position, in which the shift fork (322) protrudes from the opening (321b) to the outside of the sleeve (321) and is used to hold the seat When the cargo box (30) is in the retracted position, the shift fork (322) retracts into the inside of the sleeve (321).

11. The access vehicle (10) according to claim 10, characterized in that, the lifting unit (32) further comprises a shifting fork driving mechanism (324), and the shifting fork driving mechanism (324) is provided in a liftable manner in the sleeve (321), and drive the shift fork (322) to rotate between the extended position and the retracted position during the lifting process.

12. The access vehicle (10) according to claim 11, wherein the shift fork driving mechanism (324) comprises a first lifting member (324a) and a block (324b), the first lifting member (324b) The pulling member (324a) is arranged in the sleeve (321) in a liftable manner, and the blocking block (324b) is arranged on the first pulling member (324a) and is one-to-one with the shifting fork (322). Correspondingly, the block ( 324b ) contacts the corresponding fork ( 322 ) in the process of rising with the first pulling member ( 324 a ) and drives the corresponding fork ( 322 ) from the The retracted position is rotated to the extended position.

13. The access vehicle (10) according to claim 112, characterized in that, the lifting mechanism (3) further comprises a pull-up drive mechanism (325), the pull-up drive mechanism (325) and the dial The fork driving mechanism (324) is drivingly connected to drive the fork driving mechanism (324) to ascend and descend.

14. The access vehicle (10) according to claim 13, characterized in that, the pulling driving mechanism (325) comprises an electromagnet (325a) and a magnetic member (325b), the electromagnet (325a) and One of the magnetic pieces (325b) is arranged on the top of the fork driving mechanism (324), and the other is arranged above the top of the fork driving mechanism (324) and is opposite to the sleeve (321) In a fixed setting, the electromagnet (325a) and the magnetic member (325b) are attracted or separated to drive the fork drive mechanism (324) to move up and down.

15. The access vehicle (10) according to claim 11, wherein the lifting unit (32) further comprises a reset member (326), the reset member (326) and the shift fork (322) One-to-one correspondence, and an elastic force is applied to the shift fork (322) to make the shift fork (322) return from the extended position to the retracted position.

16. The access vehicle (10) according to claim 10, characterized in that the lifting unit (32) comprises at least two of the shift forks (322), the at least two shift forks (322) along the They are arranged at intervals in the up-down direction, and the height difference B between the two lowermost forks (322) is greater than the floor height A of the cargo box (30).

17. The access vehicle (10) according to claim 16, characterized in that B>nA+C, wherein n is the number of layers of the container (30) that the transfer mechanism (5) needs to remove at one time, C is the displacement in the height direction when the fork (322) is rotated between the extended position and the retracted position.

18. The access vehicle (10) according to claim 10, characterized in that the lifting mechanism (3) comprises a base (31) and at least two of the lifting units (32), the at least two The lifting units (32) are all arranged on the base (31), and respectively pass through different picking holes (30a) on the cargo box (30) through respective sleeves (321).

19. The access vehicle (10) according to claim 1, characterized in that, the access vehicle (10) comprises a second lift drive mechanism (4), and the second lift drive mechanism (4) is arranged on the on the vehicle body (1), and drive the lifting mechanism (3) to rise and fall.

20. The access vehicle (10) according to claim 19, characterized in that the second lift drive mechanism (4) comprises a second puller (41) and a winch lift mechanism (42), the The hoisting and lifting mechanism (42) is drivingly connected to the lifting mechanism (3) through the second pulling member (41), and drives the second pulling member (41) to wind or release the second pulling member (41) to drive the lifting mechanism (3). The lifting mechanism (3) lifts up and down.

21. An access system (100), comprising a shelf (20) for storing a container (30), characterized in that the access system (100) further comprises the method of claim 1 -20 The access cart (10) according to any one of the above, wherein the access cart (10) is arranged on the top surface of the rack (20).

22. The access system (100) according to claim 21, characterized in that, the top surface of the shelf (20) is provided with crisscross tracks (20a), and the access cart (10) is provided along the The track (20a) travels.

23. The access system (100) according to claim 22, wherein a spacer (20d) is provided on the rail (20a), and the spacer (20d) separates the rail (20a) along the The width direction is divided into a first track (20b) and a second track (20c).

24. An access method based on the access vehicle (10) according to any one of claims 1-20, characterized in that it comprises:

Using the lifting mechanism (3) to lift the cargo box (30) including the target cargo box (30e);

The target container (30e) is swung out from the container (30) lifted by the lifting mechanism (3) by using the transfer mechanism (5).

25. The access method according to claim 24, wherein the lifting of the cargo box (30) including the target cargo box (30e) by the lifting mechanism (3) comprises:

lowering the lifting mechanism (3), so that the sleeve (321) of the lifting unit (32) of the lifting mechanism (3) passes through the pickup hole (30a) of the cargo box (30);

rotating the shift fork (322) of the lifting unit (32) from the retracted position to the extended position, so that the shift fork (322) supports the cargo box (30);

The lifting mechanism (3) is raised to lift the cargo box (30) supported by the shifting fork (322).

26. The access method according to claim 25, characterized in that the use of the transfer mechanism (5) to swing the target container (30e) out of the container (30) lifted by the lifting mechanism (3) comprises: :

Swing the transfer mechanism (5) to just below the cargo box (30) lifted by the lifting mechanism (3);

The lifting mechanism (3) is lowered so that the target container (30e) falls onto the transfer mechanism (5) and is disengaged from the fork (322) holding the target container (30e) , the shifting fork (322) holding the target cargo box (30e) returns from the extended position to the retracted position;

raising the lifting mechanism (3) to disengage the sleeve (321) from the target cargo box (30e);

The transfer mechanism (5) is swung, and the target container (30e) falling on the transfer mechanism (5) is moved out.

27. The access method according to claim 24, wherein the number of layers of the target container (30e) is smaller than the number of layers of the container (30) lifted by the lifting mechanism (3), the Using the lifting mechanism (3) to lift the cargo box (30) including the target cargo box (30e) includes:

The lifting mechanism (3) is lowered so that the sleeve (321) of the lifting unit (32) of the lifting mechanism (3) is removed from the target container (30e) and stacked above the target container (30e) passing through the delivery hole (30a) of the

Rotate at least two forks (322) of the lifting unit (32) from the retracted position to the extended position, so that the lowermost fork (322) supports the target cargo box (30e), and the rest of the forks (322) are rotated Forks (322) hold the remaining boxes (30) stacked above the target box (30e);

The lifting mechanism (3) is raised to lift the cargo box (30) supported by the at least two shifting forks (322).

28. The access method according to claim 27, wherein the use of the transfer mechanism (5) to swing out the target container (30e) from the container (30) lifted by the lifting mechanism (3) comprises: :

The lifting mechanism (3) is lowered so that the target container (30e) falls onto the transfer mechanism (5) and is disengaged from the fork (322) holding the target container (30e) , the shift fork (322) holding the target container (30e) returns to the retracted position from the extended position, and the remaining shift forks (322) still support the stack of the target container (30e). cargo box (30);

29. The access method according to claim 24, characterized in that, the number of layers of the target container (30e) is smaller than the number of layers of the container (30) lifted by the lifting mechanism (3), and when using After the transfer mechanism (5) swings the target container (30e) out of the container (30) lifted by the lift mechanism (3), it also lowers the lift mechanism (3) to be lifted by the lift mechanism (3). The remaining cargo box (30) lifted by the lifting mechanism (3) is put back.

30. The access method according to claim 29, wherein the step of lowering the lifting mechanism (3) and returning the remaining cargo box (30) lifted by the lifting mechanism (3) back comprises:

lowering the lifting mechanism (3), so that the remaining container (30) on the lifting mechanism (3) falls to the original position of the target container (30e);

The lifting mechanism (3) is continued to descend, so that the fork (322) of the lifting mechanism (3) is disengaged from the remaining cargo box (30), and the fork (322) is moved from the extended position return to the retracted position;

The lifting mechanism (3) is raised and separated from the remaining cargo box (30).

31. The access method according to claim 24, characterized in that before using the lifting mechanism (3) to lift the cargo box (30) including the target cargo box (30e), the target cargo box (30e) is further judged Whether the total number of layers m of the container (30e) and the container (30) stacked above the target container (30e) is greater than the maximum number of layers of the container (30) that can be lifted by the lifting mechanism (3) at a time N, and when m is less than or equal to N, use the lifting mechanism (3) to lift the cargo box (30) including the target cargo box (30e); when m is greater than N, first use the access vehicle ( 10) Take out the container (30) stacked above the target container (30e) until m is less than or equal to N.

32. A controller comprising a memory and a processor coupled to the memory, the processor being configured to perform any one of claims 24-31 based on instructions stored in the memory described access method.

33. A computer-readable storage medium storing computer instructions, the computer instructions being executed by a processor to execute the access method of any one of claims 24-31.