CN114852569A - A storage trolley system and three-dimensional warehouse capable of autonomous climbing - Google Patents

Abstract

The invention discloses a storage trolley system capable of climbing autonomously and a stereoscopic warehouse, belonging to the technical field of storage trolleys, wherein the storage trolley system comprises a storage trolley and a goods shelf component; the storage trolley comprises a walking chassis; the climbing mechanism is arranged on the walking chassis and used for climbing along the goods shelf component; the telescopic mechanism is arranged on the walking chassis and used for driving the climbing mechanism to do telescopic motion relative to the walking chassis; the pallet fork assembly is arranged on the walking chassis and used for bearing cargos; the shelf assembly includes: and the climbing caterpillar track is arranged on the goods shelf and matched with the climbing mechanism. The invention can realize the transportation of space materials and realize the transportation and delivery of goods to people on a three-dimensional level.

Description

A storage trolley system and three-dimensional warehouse capable of autonomous climbing

technical field

The invention belongs to the technical field of storage trolleys, and in particular relates to a storage trolley system and a three-dimensional warehouse capable of autonomous climbing.

Background technique

Continuity, timeliness, goods to people, picking, and distribution have always been the pain points of traditional warehousing logistics and manufacturing. Common automated logistics equipment such as rotating shelves, multi-storey shuttles, stackers, etc., all need to pass through conveyor lines, elevators or AGV (Automated Guided Vehicle, unmanned guided vehicle) performs secondary transfer and distribution, which cannot meet the needs of efficient picking and distribution. One of the characteristics of automated warehousing and logistics is goods-to-person, which can solve the pain points of transmission warehousing. The current implementation of automated warehousing-end goods-to-person is combined, such as:

(1) The stacker three-dimensional warehouse is a combination of stacker + conveyor line;

(2) The shuttle car intensive warehouse is a combination of shuttle car + elevator + conveyor line;

(3) Knapsack AGV and forklift AGV can complete the task of goods to people alone, but they are flat goods to people. If the goods are stored on high-level shelves, they need to be realized with the help of a stacker, and the final combination is a stacker + conveying Line + knapsack AGV or stacker + conveyor line + forklift AGV.

Traditional trolleys can travel horizontally and vertically on the ground, realize two-dimensional plane motion, and perform mobile handling tasks from point A to point B. They cannot reach a position with a certain height and cannot meet the needs of space material handling tasks.

SUMMARY OF THE INVENTION

In order to solve the deficiencies in the prior art, the present invention provides a self-climbing storage trolley system and a three-dimensional warehouse, which can realize the transportation of materials in space, and realize the transfer and distribution of goods to people at the three-dimensional level.

In order to achieve the above object, the technical scheme adopted in the present invention is:

In a first aspect, a self-climbing storage trolley system is provided, including a storage trolley and a shelf assembly; the storage trolley includes: a walking chassis; a climbing device mounted on the walking chassis and used for climbing along the shelf assembly A climbing mechanism; a telescopic mechanism installed on the walking chassis for driving the climbing mechanism to perform telescopic motion relative to the walking chassis; a fork assembly installed on the walking chassis and used for carrying goods; the The rack assembly includes: a climbing chain rail mounted on the rack and matched with the climbing mechanism.

Further, the climbing mechanism includes a number of climbing arms symmetrically installed on the base frame of the walking chassis; one end of the climbing arm is installed with a climbing sprocket and a first guide mechanism; The group of climbing sprockets are connected through a universal joint in a drive; the climbing servo motor is mounted on one of the climbing arms and is connected with the climbing sprocket on the climbing arm.

Further, the climbing chain rail includes a lift guide rail; the first guide mechanism includes a plurality of guide rollers matched with the lift guide rail.

Further, a climbing chain matched with the climbing sprocket is installed on the lifting guide rail, and a guide block is installed at the bottom end of the climbing chain.

Further, the telescopic mechanism includes a linear guide rail and a telescopic servo motor installed on the base frame of the walking chassis, and the climbing arm is slidably connected to the base frame through the linear guide rail; the output end of the telescopic servo motor is installed with a first a gear, the first gear meshes with the first rack mounted on the climbing arm; the first gear is used to drive the two climbing arms that are respectively matched with the lifting guide rails on the two opposite shelves; The telescopic mechanism further includes a telescopic drive shaft, two ends of the telescopic drive shaft are respectively installed with a second gear and a third gear, the second gear is meshed with the first gear, and the third gear is used for driving The other two climbing arms are matched with the lifting guide rails on the two opposite racks respectively.

Further, the fork assembly includes a first-level fork plate, a final fork plate, a first fork drive mechanism installed on the drive plate for driving the first-level fork plate, and a first-level fork plate for driving the first-level fork plate. The second fork drive mechanism is used to drive the final fork plate; a small vertical plate is installed on the first-level fork plate, and an upper sliding rail is installed on the inner and outer sides of the small vertical plate; the upper sliding rail and the lower fixed rail are installed Sliding connection; the lower fixed rail matching the upper sliding rail on the inner side of the small vertical plate is installed on the supporting plate, and the supporting plate and the driving plate are respectively installed on the base frame; the large vertical plate is installed on the ultimate fork plate, and the The lower fixed rail matched with the upper sliding rail on the outer side of the small vertical plate is installed on the large vertical plate.

Further, the first fork drive mechanism includes a fork servo motor, a fork gear is installed at the output end of the fork servo motor, a fork rack is installed on the first-level fork plate, and the fork gear is engaged with the fork rack. , used to drive the first-level fork plate to move in both directions.

Further, the second fork drive mechanism includes a fork sprocket mounted on the primary fork plate, the fork sprocket is engaged with the fork chain, and one end of the fork chain is connected to the final cargo through the chain groove on the final fork plate. The fork plate is connected in a drive, and the other end bypasses the fork sprocket and is connected with the base frame, which is used to drive the ultimate fork plate to move in both directions.

In a second aspect, a three-dimensional warehouse is provided, including a rack and the self-climbing storage trolley system described in the first aspect.

Further, a positioning plate for limiting the position of the storage trolley is provided between the two opposite shelves.

Compared with the prior art, the beneficial effects achieved by the present invention:

(1) The present invention is a climbing mechanism installed on the walking chassis for climbing along the shelf assembly; installed on the walking chassis, a telescopic mechanism used to drive the climbing mechanism to perform telescopic motion relative to the walking chassis; The fork assembly is installed on the walking chassis and used to carry goods; the climbing chain rail installed on the shelf and matched with the climbing mechanism can reach the shelf position with a certain height and realize the transportation of space materials. Realized the transfer and distribution of goods to people;

(2) The present invention realizes the lifting and lowering movement along the guide rail through the cooperation of the climbing arm, the climbing sprocket and the climbing chain in the climbing mechanism. high-precision positioning;

(3) The present invention maintains a stable distance between the climbing sprocket and the climbing chain through the telescopic mechanism, so as to achieve reliable and stable climbing;

(4) The climbing arm of the present invention is longitudinally connected with the base frame, which reduces the overall height and the center of gravity, has a compact structure and smooth operation of the telescopic arm.

Description of drawings

1 is a schematic diagram of a storage trolley in an embodiment of the present invention when it is running on the ground;

FIG. 2 is a schematic diagram of the overall structure of the storage trolley (the traveling device is not shown) in the embodiment of the present invention;

Fig. 3 is the principle schematic diagram of the telescopic mechanism in the embodiment of the present invention;

Fig. 4 is the top view of the storage trolley (without the fork assembly) in the embodiment of the present invention;

Fig. 5 is the side view of the storage trolley (the traveling device is not shown) in the embodiment of the present invention;

6 is a schematic diagram of the meshing state of the climbing sprocket and the climbing chain of the storage trolley system in the embodiment of the present invention;

Fig. 7 is the top view of the storage trolley in the embodiment of the present invention;

Fig. 8 is an enlarged view at A in Fig. 7;

FIG. 9 is a first schematic cross-sectional view of the working state of the storage trolley (the traveling device is not shown) in an embodiment of the present invention;

10 is a second schematic cross-sectional view of the working state of the storage trolley (the traveling device is not shown) in the embodiment of the present invention;

11 is a schematic diagram of the installation state of the shelf assembly in the embodiment of the present invention;

In the picture: 100, walking chassis; 101, climbing arm; 102, climbing sprocket; 103, universal joint coupling; 104, climbing servo motor; 105, guide roller; 106, base frame; 107, telescopic Servo motor; 108, first gear; 109, telescopic drive shaft; 110, second gear; 111, linear guide rail; 112, slider; 201, first-level fork plate; 202, ultimate fork plate; 203, upper sliding rail; 204, lower fixed rail; 205, support plate; 206, drive plate; 207, large vertical plate; 208, small vertical plate; 209, fork sprocket; 210, fork chain; 211, fork servo Motor; 300, lift guide rail; 301, climbing chain; 302, guide block; 303, support piece; 304, initial plate; 305, shelf sheet; 306, beam; 400, positioning plate.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

Example 1:

As shown in FIGS. 1 to 11 , a storage trolley system that can climb autonomously includes a storage trolley and a shelf assembly; the storage trolley includes: a walking chassis 100 ; it is installed on the walking chassis 100 and is used for climbing along the shelf assembly The climbing mechanism; installed on the walking chassis 100, a telescopic mechanism used to drive the climbing mechanism to perform telescopic motion relative to the walking chassis 100; installed on the walking chassis 100, fork components for carrying goods; The shelf components include: installation Climbing chain rails on the shelf and matched to the climbing mechanism.

In this embodiment, the climbing mechanism includes four sets of climbing arms 101 symmetrically installed on the base frame 106 of the walking chassis 100; the four sets of climbing arms 101 are arranged in pairs on both sides of the base frame 106, and the base frame Linear guide rails 111 are fixed on the vertical plates on both sides of 106, and a slider 112 is fixed on each pair of climbing arms 101. Each pair of climbing arms 101 shares a linear guide rail 111. The slider 112 slides on the linear guide rail 111 to drive the The climbing arm 101 is telescopic.

One end of the climbing arm 101 is installed with a climbing sprocket 102 and a first guide mechanism; a group of climbing sprockets 102 opposite to the same side shelf are connected by a universal joint coupling 103; the climbing servo motor 104 is installed in the One of the climbing arms 101 is drivingly connected with the climbing sprocket 102 on the climbing arm 101 . The climbing sprocket 102 is fixed in the bearing at the end of the climbing arm 101 , and the left and right pairs of the climbing arms 101 are respectively connected by universal joint couplings 103 to ensure the synchronization of the rotation of the sprocket.

The climbing chain rail includes a lift guide rail 300 ; the first guide mechanism includes a plurality of guide rollers 105 matched with the lift guide rail 300 . Guide rollers 105 are arranged at different positions at both ends of each pair of climbing arms 101 , and the guide rollers 105 are in contact with the lift guide rails 300 to ensure smooth lift operation.

The driving force for driving the climbing sprocket 102 to rotate is the climbing servo motor 104, one set of climbing servo motors 104 is fixed on each pair of climbing arms 101, and two sets of climbing servo motors 104 are fixed on the left and right sides respectively, so that the whole machine Keep the center of gravity as close to the center as possible.

The climbing of the AGV is realized on a specific lifting guide rail 300. A climbing chain 301 matching the climbing sprocket 102 is installed on the lifting guide rail 300, and a guide block 302 is installed at the bottom end of the climbing chain 301. In order to ensure that the climbing sprocket 102 and the climbing chain 301 are accurately meshed; the climbing chain 301 can meet the meshing of the climbing sprocket 102 and provide support for the climbing AGV to lift.

The telescopic motion of the climbing arm 101 is realized by the telescopic servo motor 107 driving the rack and pinion mechanism. The telescopic mechanism includes a linear guide rail 111 and a telescopic servo motor 107 installed on the base frame 106 of the walking chassis 100. The climbing arm 101 is slidably connected to the base frame 106 through the linear guide rail 111; the output end of the telescopic servo motor 107 is installed with a first gear 108, the first gear 108 meshes with the first rack mounted on the climbing arm 101; the first gear 108 is used to drive the two climbing arms 101 which are respectively matched with the lifting guide rails 300 on the two opposite shelves The telescopic mechanism also includes a telescopic drive shaft 109 (the telescopic drive shaft 109 is mounted on the base frame 106 through a bearing), the two ends of the telescopic drive shaft 109 are respectively installed with a second gear 110 and a third gear, the second gear 110 and the first gear 110 The gears 108 are engaged, and the third gear is used to drive the other two climbing arms 101 respectively matched with the lifting guide rails 300 on the two opposite shelves.

The fork assembly includes a primary fork plate 201, a final fork plate 202, a first fork drive mechanism mounted on the drive plate 206 for driving the primary fork plate 201, and a first fork drive mechanism mounted on the primary fork plate 201 for driving A second fork drive mechanism for driving the final fork plate 202 .

A small vertical plate 208 is installed on the first-level fork plate 201, and an upper sliding rail 203 is installed on the inner side and the outer side of the small vertical plate 208 respectively; the upper sliding rail 203 is slidably connected with the lower fixed rail 204; The lower fixed rail 204 matched with the upper sliding rail 203 on the inner side of 208 is installed on the support plate 205 , and the support plate 205 and the drive plate 206 are respectively installed on the base frame 106 .

A large vertical plate 207 is installed on the final fork plate 202 , and a lower fixed rail 204 matching the upper sliding rail 203 on the outer side of the small vertical plate 208 is installed on the large vertical plate 207 .

The first fork drive mechanism includes a fork servo motor 211 , a fork gear is installed at the output end of the fork servo motor 211 , a fork rack is installed on the first-level fork plate 201 , and the fork gear meshes with the fork rack , used to drive the first-level fork plate 201 to move bidirectionally.

The second fork drive mechanism includes a fork sprocket 209 mounted on the primary fork plate 201 , the fork sprocket 209 is engaged with the fork chain 210 , and one end of the fork chain 210 passes through the chain groove on the final fork plate 202 It is drivingly connected with the ultimate fork plate 202 , and the other end bypasses the fork sprocket 209 and is connected to the base frame 106 for driving the ultimate fork plate 202 to move in two directions. A fixing block for fixing the end of the fork chain 210 is arranged in the chain groove.

When the storage trolley needs to climb the shelf to pick and place goods, the storage trolley runs to the target shelf position, and the telescopic servo motor 107 drives the climbing arm 101 to extend, so that the climbing sprocket 102 is guided by the guide block 302 and is installed on the shelf. The climbing chain 301 in the climbing chain rail on the The climbing servo motor 104 is activated to drive the climbing sprocket 102 to rise along the climbing chain 301 to the storage height of the goods; during the climbing process, the guide roller 105 is adapted to the lifting guide rail 300 and clamped between the lifting guide rail 300 side to ensure the stability of the storage trolley during climbing. The fork servo motor 211 is activated to drive the primary fork plate 201 and the final fork plate 202 for picking and placing goods.

The invention is a climbing mechanism installed on the walking chassis and used for climbing along the shelf assembly; installed on the walking chassis and used to drive the climbing mechanism to perform telescopic movement relative to the walking chassis. The telescopic mechanism; installed on the walking chassis On the chassis, the fork assembly used to carry the goods; the climbing chain rails installed on the shelf and matched with the climbing mechanism can reach the shelf position with a certain height, realize the transportation of space materials, and realize the three-dimensional level of goods. Transfer and distribution to people; through the cooperation of the climbing arm, the climbing sprocket and the climbing chain in the climbing mechanism, the lifting and moving along the guide rail is realized. It can achieve high-precision positioning; through the telescopic mechanism, the climbing sprocket and the climbing chain can always maintain a stable distance to achieve reliable and stable climbing. The climbing arm of the invention is longitudinally connected with the base frame, thereby reducing the overall height and the center of gravity, and has a compact structure and smooth operation of the telescopic arm.

The three-dimensional motion intelligent storage trolley can be used alone, making goods to people more free. Because the 3D motion intelligent storage trolley has added a climbing arm, and cooperated with a dedicated storage rack, the dimension of operation is increased, which can not only achieve the goods-to-person delivery of flat goods, but also the goods on the high-rise shelves can also achieve goods-to-person. Reduced turnaround equipment and turnaround processes in the goods-to-person process. Therefore, the 3D motion intelligent storage trolley can improve storage efficiency and reduce storage costs.

The three-dimensional motion intelligent storage trolley ascends and descends through the special climbing track installed on the shelf, and has both two-dimensional driving and vertical lifting functions on the ground, making it an expert in three-dimensional motion. The three-dimensional motion intelligent storage trolley is small and flexible, and can shuttle at any position in the entire warehouse area. As a "special trolley" with multi-dimensional movement, it is mainly used in small intensive warehouses such as food, clothing, and auto parts sorting.

Embodiment 2:

Based on the self-climbing storage trolley system described in the first embodiment, this embodiment provides a three-dimensional warehouse, which includes a rack and the autonomous climbing storage trolley system described in the first embodiment.

The rack is assembled by upright column, beam, cable-stayed, cargo space plate and guide plate to form the main body of the carrying material box, and also builds the foundation for the climbing chain rail. A positioning plate 400 for limiting the storage trolley is arranged between the two opposite shelves. The guide plate 400 is fixed at the foot of the shelf and fixed on the ground through expansion bolts to guide the operation of the intelligent storage trolley.

The climbing chain rail of the present invention can engage with the climbing sprocket 102 on the climbing arm 101 when the intelligent storage trolley needs to climb, and lock the climbing arm 101, so that the intelligent storage trolley can climb the chain during the lifting process The wheel maintains a proper distance from the climbing chain 301 to make climbing smooth and reliable.

The climbing chain rail includes a climbing chain 301 , a lift guide rail 300 , a guide block 302 , a fixed block, a support piece 303 , an initial plate 304 , a shelf piece 305 , and a beam 306 . The lifting guide rail 300 and the support member 303 are U-shaped thin steel plates, which can be made of ordinary carbon steel, high-strength steel, stainless steel, etc., which can be formed by sheet metal bending or mold cold bending, and there are mounting holes at the bottom of the U-shaped steel plate. , which can be connected with the support 303 by bolts. The lifting guide rail 300 and the support member 303 are obtained by laser cutting and bending, and the production speed is fast and the price is low. The guide block 302 and the fixed block are used in pairs, and the matching part of the guide block 302 and the fixed block has a hole for fixing the chain roller. The outer chamfer of the guide block 302 allows the climbing sprocket 102 to be positioned more easily and to engage with the chain rail more accurately. There are screw holes on the inner side, which can be connected and fixed with the fixing block. The fixing block is bolted together with the initial plate 304, which is the starting point of the chain track and is located at the bottom of the shelf. The shelf piece 305 is a constituent unit of the shelf, and the shelf has many pieces of the shelf piece 305 connected together by the beam 306 to form a storage store. The support member 303 and the initial plate 304 are fastened to the shelf piece 305 by bolts.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and modifications can also be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (10)

1. The storage trolley system capable of climbing automatically is characterized by comprising a storage trolley and a goods shelf component;

the storage cart includes:

a walking chassis (100);

the climbing mechanism is arranged on the walking chassis (100) and used for climbing along the goods shelf assembly;

the telescopic mechanism is arranged on the walking chassis (100) and is used for driving the climbing mechanism to do telescopic motion relative to the walking chassis (100);

a fork assembly mounted on the walking chassis (100) for carrying cargo;

the shelf assembly includes:

and the climbing caterpillar track is arranged on the goods shelf and matched with the climbing mechanism.

2. An autonomous climbing storage trolley system according to claim 1, characterized in that the climbing mechanism comprises several climbing arms (101) symmetrically mounted on the base frame (106) of the walking chassis (100); one end of the climbing arm (101) is provided with a climbing chain wheel (102) and a first guide mechanism; a group of climbing chain wheels (102) opposite to the goods shelf on the same side are in transmission connection through a universal joint coupler (103); the climbing servo motor (104) is arranged on one of the climbing arms (101) and is in transmission connection with the climbing chain wheel (102) on the climbing arm (101).

3. The autonomous climbing storage cart system of claim 2, wherein the climbing caterpillar comprises a lifting guide rail (300); the first guide mechanism comprises a plurality of guide rollers (105) matched with the lifting guide rail (300).

4. The storage trolley system capable of climbing automatically as claimed in claim 3, characterized in that the lifting guide rail (300) is provided with a climbing chain (301) matched with the climbing chain wheel (102), and the bottom end of the climbing chain (301) is provided with a guide block (302).

5. The autonomous climbing storage trolley system according to claim 2, characterized in that the telescopic mechanism comprises a linear guide rail (111) and a telescopic servo motor (107) mounted on a base frame (106) of the walking chassis (100), and the climbing arm (101) is slidably connected with the base frame (106) through the linear guide rail (111); a first gear (108) is mounted at the output end of the telescopic servo motor (107), and the first gear (108) is meshed with a first rack mounted on the climbing arm (101);

the first gear (108) is used for driving two climbing arms (101) which are respectively matched with the lifting guide rails (300) on the two opposite goods shelves;

the telescopic mechanism further comprises a telescopic driving shaft (109), a second gear (110) and a third gear are mounted at two ends of the telescopic driving shaft (109) respectively, the second gear (110) is meshed with the first gear (108), and the third gear is used for driving the other two climbing arms (101) which are matched with the lifting guide rails (300) on the two opposite goods shelves respectively.

6. The self-climbing storage trolley system according to claim 2, wherein the fork assembly comprises a first stage fork plate (201), an end stage fork plate (202), a first fork drive mechanism mounted on the drive plate (206) for driving the first stage fork plate (201), a second fork drive mechanism mounted on the first stage fork plate (201) for driving the end stage fork plate (202);

a small vertical plate (208) is arranged on the first-level cargo fork plate (201), and an upper sliding rail (203) is respectively arranged on the inner side and the outer side of the small vertical plate (208); the upper sliding rail (203) is connected with the lower fixed rail (204) in a sliding way; a lower fixed rail (204) matched with an upper sliding rail (203) at the inner side of the small vertical plate (208) is arranged on a support plate (205), and the support plate (205) and a drive plate (206) are respectively arranged on the base frame (106);

the final-stage cargo fork plate (202) is provided with a large vertical plate (207), and a lower fixed rail (204) matched with an upper sliding rail (203) on the outer side of the small vertical plate (208) is arranged on the large vertical plate (207).

7. The storage trolley system capable of climbing autonomously as claimed in claim 6, wherein the first fork driving mechanism comprises a fork servo motor (211), a fork gear is mounted at an output end of the fork servo motor (211), a fork rack is mounted on the primary fork plate (201), and the fork gear is meshed with the fork rack and used for driving the primary fork plate (201) to move bidirectionally.

8. The self-climbing storage trolley system according to claim 6, wherein the second fork driving mechanism comprises a fork chain wheel (209) mounted on the first-stage fork plate (201), the fork chain wheel (209) is engaged with a fork chain (210), one end of the fork chain (210) is in transmission connection with the final-stage fork plate (202) through a chain groove on the final-stage fork plate (202), and the other end of the fork chain (210) bypasses the fork chain wheel (209) and is connected with the base frame (106) for driving the final-stage fork plate (202) to move bidirectionally.

9. A stereoscopic warehouse comprising a rack and the self-climbing storage cart system of any one of claims 1 to 8.

10. Stereoscopic warehouse according to claim 9, characterized in that a positioning plate (400) for limiting the storage trolley is arranged between two opposite shelves.

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