WO2024119851A1

WO2024119851A1 - Shuttle and multi-layer shuttle based automated storage and retrieval system

Info

Publication number: WO2024119851A1
Application number: PCT/CN2023/109722
Authority: WO
Inventors: 何伟全
Original assignee: 北京京东乾石科技有限公司
Priority date: 2022-12-09
Filing date: 2023-07-28
Publication date: 2024-06-13
Also published as: CN115744018A

Abstract

A shuttle (1) and a multi-layer shuttle (1) based automated storage and retrieval system, relating to the field of logistics equipment, for use in improving the warehouse exit and warehouse entry efficiency of containers (6). The shuttle (1) comprises a shuttle body (11), a locomotion mechanism (12), and a fork mechanism (13). The shuttle body (11) comprises at least two storage positions (110). The locomotion mechanism (12) is mounted on the shuttle body (11). The fork mechanism (13) comprises forks (131) and shift forks (132); the forks (131) are telescopically mounted on the shuttle body (11) and are located on one side of the storage positions (110); the telescopic direction of the forks (131) is along the width direction of the shuttle body (11); the shift forks (132) are rotatably mounted on the forks (131); the shift forks (132) each comprise a retracted state and an extended state; when the shift forks (132) are in the retracted state, the shift forks (132) coincide with the forks (131); and when the shift forks (132) are in the extended state, the shift forks (132) intersect with the forks (131). By changing the structure of the shuttle (1) and a method for loading and unloading containers (6) on the shuttle (1), multiple containers (6) can be operated at a time, thereby greatly improving the operation efficiency of the containers (6).

Description

Shuttle and multi-layer shuttle warehouse storage and retrieval system

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure is based on and claims priority to an application with CN application number 202211581326.9 and filing date December 9, 2022. The disclosure content of the CN application is hereby introduced as a whole into the present disclosure.

Technical Field

The present invention relates to the field of logistics equipment, in particular to a shuttle vehicle and a multi-layer shuttle vehicle stereoscopic warehouse access system.

Background technique

In recent years, with the rapid development of the logistics industry, automated multi-pass warehouse automated storage and retrieval systems have been increasingly used due to their high storage density, high efficiency and flexible operation.

The inventors have found that there are at least the following problems in the prior art: the existing multi-pass warehouse system is mostly used for goods-to-person picking, and can only process a single box at a time, and cannot process multiple boxes at the same time, which greatly limits the efficiency of warehousing in and out.

Summary of the invention

The present invention provides a shuttle vehicle and a multi-layer shuttle vehicle stereoscopic warehouse access system to improve the efficiency of cargo box outbound and inbound storage.

The present disclosure provides a shuttle vehicle, comprising:

a vehicle body, including at least two storage locations;

A running mechanism, mounted on the vehicle body; and

A fork mechanism comprises a fork and a shift fork; the fork is telescopically mounted on the vehicle body and is located at one side of the storage position; the telescopic direction of the fork is along the width direction of the vehicle body; the shift fork is rotatably mounted on the fork; the shift fork comprises a retracted state and an extended state; when the shift fork is in the retracted state, the shift fork overlaps with the fork; when the shift fork is in the extended state, the shift fork intersects with the fork.

In some embodiments, the fork mechanism includes two fork mechanisms, which are distributed at both ends of the storage position along the length direction of the vehicle body; each fork mechanism includes at least one pair of forks, one of the forks in a pair is constructed to pull the cargo box, and the other is constructed to push the cargo box.

In some embodiments, each of the storage locations corresponds to at least one pair of the forks.

In some embodiments, the number of the storage locations is two; the two storage locations are arranged side by side along the width direction of the vehicle body.

In some embodiments, each of the storage positions corresponds to two of the forks; each fork is equipped with three of the forks; two adjacent forks form a group, and each group of the forks corresponds to one of the storage positions.

The present disclosure provides a multi-layer shuttle warehouse access system, including:

Racks, constructed to store boxes;

A conveyor line is arranged near the shelf;

A lift installed near the shelf, the lift being configured to receive a cargo box from the conveyor line or from the shelf and lift the cargo box to a set height; and

The shuttle vehicle provided by any technical solution of the present disclosure is arranged near the shelf to transport the cargo box to the shelf or to the elevator, so as to realize the warehousing and loading of the cargo box in the shelf.

In some embodiments, the conveying line includes at least two first conveying tracks, and the two first conveying tracks are arranged side by side with parallel conveying directions.

In some embodiments, the elevator includes a sliding track and a cargo platform, and the cargo platform is installed on the sliding track in a liftable manner; the cargo platform includes at least two cargo positions.

In some embodiments, the multi-layer shuttle warehouse access system further includes:

The cache station comprises at least two second conveying tracks, which are arranged side by side and with parallel conveying directions; the cache station is arranged between the shelf and the elevator.

In some embodiments, the cache station includes a plurality of second conveying tracks, the second conveying tracks include a plurality of rollers, and the central axes of the plurality of rollers are parallel.

In some embodiments, when the cargo box is in the warehousing condition, the cargo box is transported according to the following process: the cargo box transported by the conveyor line is transported to the elevator; the elevator lifts the cargo box to the set number of layers of the shelf; the elevator transports the cargo box to the cache table of the set number of layers; the shuttle car within the set number of layers takes the cargo box on the cache table, and the shuttle car places the taken cargo box at the set cargo position of the shelf.

In some embodiments, when the cargo box is in the outbound state, the cargo box is transported according to the following process: the shuttle car picks up the cargo box from the set cargo position; the shuttle car transports the picked up cargo box to the buffer table, the buffer table transports the cargo box to the elevator, the elevator raises and lowers the loading platform to the height corresponding to the cargo box and takes away the cargo box, the elevator transports the taken cargo box to the conveyor line; the conveyor line The cargo box is transported away.

In some embodiments, the shelf is provided with multiple layers of cargo spaces, and the shuttle vehicle is arranged in each aisle of each layer of the cargo spaces.

In some embodiments, the lifting machine comprises:

At least two third conveying tracks are arranged side by side and their conveying directions are parallel.

The shuttle provided by the above technical solution includes a vehicle body, a traveling mechanism and a fork mechanism. The vehicle body has at least two storage positions, each of which can hold a cargo box. The fork mechanism can be used to pull at least two cargo boxes onto the vehicle body at one time, or multiple cargo boxes on the vehicle body can be pushed off the shuttle at one time. The above technical solution, by changing the structure of the shuttle and the way the shuttle loads and unloads cargo boxes, enables multiple cargo boxes to be operated at one time, and the shuttle can handle multiple cargo boxes at one time, greatly improving the cargo box operation efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

FIG1 is a schematic diagram of the three-dimensional structure of a shuttle provided in some embodiments of the present disclosure applied to a multi-layer shuttle stereoscopic warehouse access system.

FIG2 is a top view schematic diagram of a shuttle provided by some embodiments of the present disclosure applied to a multi-layer shuttle stereoscopic warehouse access system.

FIG3 is a schematic diagram of the three-dimensional structure of a shuttle vehicle provided in some embodiments of the present disclosure.

FIG. 4 is a schematic diagram showing that the fork and the shift fork of the fork mechanism of the shuttle provided in some embodiments of the present disclosure are both in an extended state.

FIG5 is a schematic diagram of the structure of a shuttle vehicle loaded with cargo boxes provided in some embodiments of the present disclosure.

FIG6 is a schematic diagram of the coordination status between the shuttle vehicle and the cache station provided in some embodiments of the present disclosure.

FIG. 7 is a schematic diagram of the three-dimensional structure of the elevator of the multi-layer shuttle vehicle three-dimensional warehouse access system provided in some embodiments of the present disclosure.

FIG8 is a schematic diagram of the status of a temporary storage box at a buffer station of a multi-layer shuttle vehicle stereoscopic warehouse access system provided in some embodiments of the present disclosure.

Detailed ways

The technical solution provided by the present disclosure is described in more detail below in conjunction with FIGS. 1 to 8 .

The multi-layer shuttle warehouse access system is a system that can realize the storage, outbound and inbound operations of packages.

Referring to Figures 1 to 3, an embodiment of the present disclosure provides a shuttle vehicle 1, including a vehicle body 11, a traveling mechanism 12, and a fork mechanism 13. The vehicle body 11 includes at least two storage positions 110. Hereinafter, two storage positions 100 are set, which are denoted as storage position A and storage position B. The traveling mechanism 12 is installed on the vehicle body 11. The fork mechanism 13 includes a fork 131 and a shift fork 132; the fork 131 is telescopically installed on the vehicle body 11 and is located on one side of the storage position 110; the telescopic direction of the fork 131 is along the width direction of the vehicle body 11; the shift fork 132 is rotatably installed on the fork 131; the shift fork 132 includes a retracted state and an extended state; when the shift fork 132 is in the retracted state, the shift fork 132 overlaps with the fork 131; when the shift fork 132 is in the extended state, the shift fork 132 intersects with the fork 131.

The vehicle body 11 is a load-bearing base, and the size of the vehicle body 11 determines the number of cargo boxes 6 that can be carried at one time. Referring to FIG3 , the vehicle body 11 is a concave structure, and a running mechanism 12 is provided at both ends of the vehicle body 11, and the running mechanism 12 is, for example, a common wheel, a universal wheel, etc. The middle part of the vehicle body 11 is concave, and the concave part is open, and its top is open, and its two sides along the width of the vehicle body 11 are also open. The cargo box 6 shuttles the vehicle 1 up and down in the width direction of the vehicle body 11. The height of the cargo box 6 is almost unlimited, and cargo boxes 6 of common heights can be carried by the shuttle vehicle 1, because the shuttle vehicle 1 has no top cover, and the top of its concave part is open.

In some embodiments, the number of storage locations 110 is two; the two storage locations 110 are arranged side by side along the width direction of the vehicle body 11 .

Continuing to refer to FIG. 3 , the fork mechanism 13 includes two fork mechanisms 13, which are distributed at both ends of the storage position 110 along the length direction of the vehicle body 11. Each fork mechanism 13 includes at least one pair of forks 132, one of the pair of forks 132 is configured to pull the cargo box 6, and the other is configured to push the cargo box 6. In the embodiment shown in FIG. 3 , two fork mechanisms 13 are installed on the shuttle vehicle 1, and the two fork 131 structures can be controlled independently or in linkage. The two fork mechanisms 13 are extended at the same time to push the cargo box 6 located on the shuttle vehicle 1 down.

FIG4 shows that the fork mechanism 13 is in an extended state. When pulling the cargo box 6 from the shelf 2 or the buffer table 5 to the shuttle 1, the fork 131 of the fork mechanism 13 is extended first, and then the fork 132 is extended. FIG4 shows the state in which the fork 132 is extended. When the fork 132 is in an extended state, the length direction of the fork 132 intersects with the length direction of the fork 131, for example, the two are perpendicular. After the fork 132 is extended, the fork 132 can block the edge of the cargo box 6, and drive the cargo box 6 to move by pushing the cargo box 6, so as to push the cargo box 6 to the storage position 110 of the shuttle 1.

Taking the shuttle 1 including two storage locations 110 as an example, two cargo boxes 6 can be moved to the storage locations 110 at one time; or they can be moved in batches, one cargo box 6 at a time. If the cargo boxes 6 are moved in batches, the first moving cargo box 6 The cargo box 6 is moved to the inner side of the shuttle vehicle 1, so that space can be reserved for the cargo box 6 that is moved for the second time.

Each fork mechanism 13 includes a fork 131 and one or more forks 132. The fork 131 is slidably mounted on the vehicle body 11, and the sliding can be achieved through the matching structure of the slide rail and the slider. Specifically, the vehicle body 11 is provided with a slide rail, and the fork 131 as a whole is used as a slider, and the slider is movable in the slide rail. The fork 131 adopts a plate-like structure, which makes the matching area between the fork 131 and the vehicle body 11 larger and the sliding operation more stable.

The shift fork 132 is rotatably mounted on the fork 131. Specifically, the shift fork 132 is rotatably mounted on the fork 131 through a hinge seat or a lug plate, and a driving unit is separately provided to drive the shift fork 132 to rotate. The driving unit is, for example, an oil cylinder, an air cylinder, a motor, etc. The driving unit drives the shift fork 132 to rotate repeatedly within a certain range, so as to realize the switching of the shift fork 132 between the retracted state and the extended state.

Each fork 132 can be provided with a driving unit separately. Each fork 132 is independently controlled, and each fork 132 can switch freely between the retracted state and the extended state. The actions of each fork 132 do not affect each other. For example, if three forks 132 are provided on a fork 131, the three forks 132 can be rotated to the extended state at the same time, or only one or two of them can be rotated to the extended state.

The fork 131 is retractable on both sides of the shuttle 1 in the width direction. FIG. 4 shows a schematic diagram of the fork 131 extending from one side of the shuttle 1 in the width direction. Similarly, the fork 131 can also extend from the other side of the shuttle 1 in the width direction. The extension direction of the fork 131 is related to the relative position of the cargo box 6 to be taken and placed and the shuttle 1. A plurality of cargo boxes 6 are placed on both sides of the shuttle 1 in the width direction. The shuttle 1 can freely select the direction in which it needs to extend to take out the cargo box 6 on the corresponding cargo position 21 of the shelf 2.

3 and 4 , each storage position 110 corresponds to at least one pair of forks 131. The pair of forks 131 are arranged separately, and the two forks 131 are respectively located on both sides of the length direction of the cargo box 6, so that a force can be applied to multiple positions of the cargo box 6 to make the movement process of the cargo box 6 more stable.

In some embodiments, each storage location 110 corresponds to two forks 131 ; each fork 131 is equipped with three shift forks 132 ; two adjacent shift forks 132 form a group, and each group of shift forks 132 corresponds to one storage location 110 .

In order to simplify the structure of the shuttle 1, two storage positions 110 share two forks 131, and each fork 131 is provided with three side-by-side shift forks 132. Two adjacent shift forks 132 on the same fork 131 form a group. This group of shift forks 132 is used to realize the loading and unloading operations of the cargo box 6 on the storage position 110.

Referring to Fig. 1 and Fig. 2, the embodiment of the present disclosure provides a multi-layer shuttle vehicle stereoscopic warehouse access system, comprising a shelf 2, a conveyor line 3, an elevator 4, and a shuttle vehicle 1 provided by any technical solution of the present disclosure. The shelf 2 is configured to store a cargo box 6. The conveyor line 3 is arranged near the shelf 2. The elevator 4 is installed near the shelf 2, and the elevator 4 is configured to receive the cargo box 6 from the conveyor line 3 or from the shelf 2, and lift the cargo box 6 to a set height. The shuttle 1 is arranged near the shelf 2 to transport the cargo box 6 to the shelf 2 or to the elevator 4 to realize the outbound and inbound of the cargo box 6 in the shelf 2. One or more shuttles 1 are arranged corresponding to each shelf 2.

Referring to Fig. 1 and Fig. 2, the shelf 2 is used to store the cargo box 6. The shelf 2 is a three-dimensional structure. The shelf 2 includes a plurality of support rods arranged in parallel, and a reinforcing rod is provided between the support rods. The plurality of support rods are fixedly connected by the reinforcing rods, and the supporting strength of the support rods can be increased. A fixing plate is provided at the bottom of each support rod, and the support rod is fixedly connected to the ground or other fixed objects by the fixing plate, and the fixed connection is realized by bolts, pins and other components.

Referring to FIG. 1 and FIG. 2 , the shelf 2 includes at least one cargo aisle 20, and the shuttle 1 can move freely in the cargo aisle 20. Multiple cargo box 6 positions are arranged on both sides of the cargo aisle 20, and each cargo box 6 position stores a cargo box 6. The shuttle 1 has multiple storage positions 110, and each storage position 110 can store a cargo box 6. The shuttle 1 can take out multiple cargo boxes 6 from multiple cargo box 6 positions located on one side of the cargo aisle 20 at one time; the shuttle 1 can also take out multiple cargo boxes 6 from different cargo box 6 positions in multiple times.

The shelf 2 can store multiple layers of cargo boxes 6 in the height direction, and each layer can also store multiple cargo boxes 6. The storage positions 110 of multiple shelves 2 correspond, so that the shuttle 1 can take the cargo boxes 6 on the two shelves 2 on both sides of the cargo aisle 20 at one position.

The shelf 2 is matched with the conveyor line 3, and each shelf 2 can be provided with a corresponding conveyor line 3. The conveyor line 3 is used to convey the cargo box 6 conveyed from the outside to the position where the elevator 4 is located, or to transport the cargo box 6 conveyed by the elevator 4 away.

It is used to transport the cargo box 6 to the position of each layer of the corresponding shelf 2, and then transport the cargo box 6 to each layer through the shuttle 1, the buffer table 5 described later, and other devices to the storage position 110 corresponding to the shelf 2. In some embodiments, the conveyor line 3 includes at least two first conveyor rails 31, and the two first conveyor rails 31 are arranged side by side with parallel conveying directions.

The elevator 4 is used to lift the cargo box 6 from the conveyor line 3 or the buffer station 5 to a required height. The elevator 4 is located at the end of the shelf 2, and an elevator 4 can be set at each end of the shelf 2. The elevator 4 lifts or lowers the cargo box 6 to a corresponding height.

The elevator 4 includes a sliding track 41 and a loading platform, and the loading platform is arranged slidably along the sliding track 41. The loading platform 42 includes at least two loading positions 43. Each loading position 43 corresponds to a third conveying track 44, and the two third conveying tracks 44 are arranged side by side and the conveying directions are parallel. The third conveying track 44 is specifically a roller conveyor line. Each roller conveyor line corresponds to transporting a cargo box 6. The elevator 4 can realize two or more cargo boxes at one time. The lifting and lowering of the cargo box 6 can greatly improve the lifting efficiency of the cargo box 6. The sliding track 41 is arranged vertically, and the cargo platform 42 can be lifted and lowered in the vertical direction. The cargo box 6 located on the cargo platform 42 can be lifted and lowered synchronously with the cargo platform 42. The roller conveyor line of the cargo platform 42 can move horizontally relative to the sliding track 41. The roller line body can transport the cargo box 6 horizontally, and can transfer one or more cargo boxes 6 transported from the conveyor line 3 to the buffer platform 5 at one time, and can also transfer one or more cargo boxes 6 from the buffer platform 5 to the conveyor line 3 at one time, as shown in Figure 4.

The height of the sliding track 41 of the elevator 4 is greater than or equal to the total height of the shelf 2. The cargo box 6 can be transported to the lowest layer of the shelf 2, the highest layer of the shelf 2, and any middle layer of the shelf 2 through the sliding track 41. One conveyor line 3 is provided for each shelf 2. The cargo boxes 6 transported by the conveyor line 3 can be transported to different layers of the shelf 2 via the elevator 4 to achieve three-dimensional storage of the cargo boxes 6. The cargo boxes 6 of each layer of the cargo box 2 can be transported to the same conveyor line 3 by the same elevator 4. In the above structure, only one conveyor line 3 and elevator 4 are required, and the conveyor line 3 and elevator 4 occupy less space, so more space can be reserved for the cargo box 2 to store more cargo boxes 6.

In some embodiments, the multi-layer shuttle vehicle stereoscopic warehouse access system further includes a buffer station 5, which includes at least two second conveying rails 51, which are arranged side by side and conveyed in parallel directions. The width of each second conveying rail 51 corresponds to a cargo box 6, and the two second conveying rails 51 can transport two cargo boxes 6 at the same time, and the two cargo boxes 6 can be taken away by the shuttle vehicle 1 at one time.

The buffering station 5 includes a plurality of second conveying tracks 51, and the second conveying tracks 51 include a plurality of rollers 511, and the central axes of the plurality of rollers 511 are parallel. The rollers 511 are a structure in which a driving roller 511 and a driven roller 511 cooperate with each other.

The operation of storing the cargo box 6 on the shelf 2 is the warehousing condition. The operation process of storing the cargo box 6 on the shelf 2 is as follows: the storage position of the cargo box 6 in the shelf 2 can be determined by instructions first, and the storage position can be identified by coding or coordinates to determine the shuttle car 1 required for the warehousing work; the shuttle car 1 required for the warehousing work can also be synchronously determined during the transportation of the cargo box 6. Then, the cargo box 6 is first transported by the conveyor line 3 to the position where the elevator 4 is located, and then the cargo platform 42 of the elevator 4 lifts the cargo box 6 to the set height, and the cargo platform moves the cargo box 6 to the cache platform 5 corresponding to the required height, and the shuttle car 1 located in the plank road of this layer takes the cargo box 6 from the cache platform 5, and then the shuttle car 1 transports the cargo box 6 to the storage position 110 set on the shelf 2, and pushes it to the storage position 110 of the shelf 2 through the fork mechanism 13 of the shuttle car 1.

The operation of taking out the cargo box 6 from the shelf 2 is the outbound operation. The operation process of taking out the cargo box 6 from the shelf 2 is as follows: determine the storage location of the cargo box 6 to be taken in the shelf 2 through instructions, so as to determine the shuttle vehicle 1 that needs to work. Then, the shuttle vehicle 1 is used to take out the cargo box 6 from the storage location of the shelf 2. The shuttle vehicle 1 can take out multiple cargo boxes 6 from one storage location at a time, or it can take out multiple cargo boxes 6 from multiple storage locations in multiple times. After taking out the cargo box 6, the shuttle vehicle 1 is used to take out the cargo box 6 from the storage location of the shelf 2. The shuttle car 1 transports the cargo box 6 to the buffer station 5, and the second conveying track 51 of the buffer station 5 works to transport the cargo box 6 from one end of the buffer station 5 to the other end. The other end of the buffer station 5 corresponds to the position of the elevator 4. The loading platform 42 of the elevator 4 can move to the height corresponding to the buffer station 5 in advance, or it can move to the height corresponding to the buffer station 5 after the cargo box 6 on the buffer station 5 is transported to the position. Then the elevator 4 takes the cargo box 6 on the buffer station 5, and the cargo box 6 rises and falls with the loading platform 42 of the elevator 4, and then the cargo box 6 is transported to the conveyor line 3 by the elevator 4, and then transported to other devices via the conveyor line 3 to take the cargo box 6 out of the warehouse.

Taking the warehousing of cargo boxes as an example, a specific operation process of the multi-layer shuttle warehouse storage and retrieval system is given.

After receiving the warehousing task from the warehouse control system (WCS), the two cargo boxes 6 are transported to the end position of the conveyor line 3 and stop. The cargo platform 42 of the right elevator 4 runs into position and docks with the right conveyor line 3. The conveyor line 3 transports the two cargo boxes to the elevator cargo platform 42, and then the two cargo boxes 6 are transported to the right buffer platform 3 through the roller conveyor line on the cargo platform 42. At the same time, the roller conveyor line on the buffer platform 5 rotates in the same direction to receive the cargo boxes 6. At this time, the shuttle 2 arrives at the buffer platform 5, and the two sets of forks are 131 extends outward from the vehicle body 11, see FIG4, the two pairs of forks 132 in the middle and right side (with the front of the shuttle vehicle 1 as the front, defining the left and right directions) fall down, and the two cargo boxes 6 are simultaneously pulled onto the shuttle vehicle 1, and the shuttle vehicle 1 then runs to the cargo position 21 of the shelf 2, and the pair of forks 132 on the right side are lifted, and the two pairs of forks 132 in the middle and left sides fall down, and the two cargo boxes 6 are simultaneously pushed onto the cargo position 21 on the right side, as shown in FIG5 and FIG6, so that two cargo boxes can be processed at the same time for each operation, thereby improving the operation efficiency. Of course, if the shuttle vehicle 1 is provided with three or more storage positions 110, three or more cargo boxes 6 can also be processed at one time. In this case, it is necessary to make the elevator 4, the shuttle vehicle 1, the buffer table 5, the shelf 2 and the conveyor line 3 into a multi-roller line body and a multi-cargo position, and the left and right relative positions of the multi-cargo boxes 6 on each device are the same, so that the processing efficiency is improved more.

The outbound operation process is the opposite of the inbound process.

It should be noted that this article describes the processing of multiple cargo boxes 6 at one time as an example to highlight the advantage of the technical solution of the disclosed embodiment that the operation efficiency is greatly improved. However, this does not mean that multiple cargo boxes 6 must be processed in each operation. As needed, the storage and warehousing operations can also process only a single cargo box 6 at a time. The specific operation process is similar to processing multiple cargo boxes 6, except that when storing and accessing a single cargo box 6, only a pair of forks 132 need to be lifted and lowered at the same time.

The multi-layer shuttle warehouse access system provided by the above technical solution includes an elevator, a shuttle, a buffer table, a shelf, and a conveyor line. The system utilizes the coordinated work of the elevator, the shuttle, the buffer table, the shelf, and the conveyor line, as well as the structural improvements of the shuttle, the conveyor line, and the buffer table to simultaneously access one or more cargo boxes, greatly improving the operating efficiency. In addition, the left and right relative positions of the cargo boxes on the shuttle, the conveyor line, and the buffer table are the same. The multi-layer shuttle vehicle stereoscopic warehouse storage and retrieval system can be applied to a multi-pass storage and retrieval system for goods-to-person picking, and can also be applied to a multi-pass storage and retrieval system for merged buffering. It has multiple usage scenarios and more flexible application methods.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present disclosure.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present disclosure, which should be included in the scope of the technical solution for protection of the present disclosure.

Claims

A shuttle vehicle, comprising:

A vehicle body (11) comprising at least two storage locations (110);

A running mechanism (12) mounted on the vehicle body (11); and

A fork mechanism (13) comprises a fork (131) and a shift fork (132); the fork (131) is telescopically mounted on the vehicle body (11) and is located on one side of the storage position (110); the telescopic direction of the fork (131) is along the width direction of the vehicle body (11); the shift fork (132) is rotatably mounted on the fork (131); the shift fork (132) comprises a retracted state and an extended state; when the shift fork (132) is in the retracted state, the shift fork (132) overlaps with the fork (131); when the shift fork (132) is in the extended state, the shift fork (132) intersects with the fork (131).
The shuttle vehicle according to claim 1, wherein the fork mechanism (13) includes two fork mechanisms (13), which are distributed at both ends of the storage position (110) along the length direction of the vehicle body (11); each fork mechanism (13) includes at least one pair of forks (132), one of the pair of forks (132) is configured to pull the cargo box (6), and the other is configured to push the cargo box (6).
The shuttle vehicle according to claim 2, wherein each of the storage locations (110) corresponds to at least one pair of the forks (131).
The shuttle vehicle according to claim 2 or 3, wherein the number of the storage locations (110) is two; the two storage locations (110) are arranged side by side along the width direction of the vehicle body (11).
According to any one of claims 2 to 4, the shuttle vehicle, wherein each of the storage positions (110) corresponds to two of the forks (131); each fork (131) is equipped with three of the shift forks (132); two adjacent shift forks (132) form a group, and each group of the shift forks (132) corresponds to one of the storage positions (110).
A multi-layer shuttle vehicle three-dimensional warehouse storage and retrieval system, comprising:

A shelf (2) configured to store cargo boxes (6);

A conveyor line (3) is arranged near the shelf (2);

an elevator (4), installed near the shelf (2), the elevator (4) being configured to receive a cargo box (6) from the conveyor line (3) or from the shelf (2), and to lift the cargo box (6) to a set height; and

The shuttle vehicle (1) described in any one of claims 1 to 5 is arranged near the shelf (2) to transport the cargo box (6) to the shelf (2) or to the elevator (4), thereby realizing the warehousing and loading of the cargo box (6) in the shelf (2).
According to the multi-layer shuttle vehicle stereoscopic warehouse access system according to claim 6, the conveyor line (3) includes at least two first conveyor rails (31), and the two first conveyor rails (31) are arranged side by side and the conveying directions are parallel.
According to the multi-layer shuttle warehouse access system according to claim 6 or 7, the elevator (4) includes a sliding track (41) and a cargo platform (42), and the cargo platform (42) can be installed on the sliding track (41) in a liftable manner; the cargo platform (42) includes at least two cargo positions (43).
The multi-layer shuttle vehicle stereoscopic warehouse access system according to any one of claims 6 to 8 further comprises:

The cache table (5) comprises at least two second conveying rails (51), wherein the two second conveying rails (51) are arranged side by side and the conveying directions are parallel; the cache table (5) is arranged between the shelf (2) and the elevator (4).
According to the multi-layer shuttle vehicle stereoscopic warehouse access system according to claim 9, the cache station (5) includes a plurality of second conveying tracks (51), the second conveying tracks (51) include a plurality of rollers (511), and the central axes of the plurality of rollers (511) are parallel.
According to the multi-layer shuttle vehicle stereoscopic warehouse access system according to claim 9 or 10, when the cargo box (6) is in the storage condition, the cargo box (6) is transported according to the following process: the cargo box (6) transported by the conveyor line (3) is transported to the elevator (4); the elevator (4) lifts the cargo box (6) to the set number of layers of the shelf (2); the elevator (4) transports the cargo box (6) to the cache table (5) of the set number of layers; the shuttle vehicle (1) within the set number of layers takes the cargo box (6) on the cache table (5), and the shuttle vehicle (1) places the taken cargo box (6) on the The shelf (2) is set to a cargo position (21).
According to any one of claims 9 to 11, a multi-layer shuttle vehicle stereoscopic warehouse access system, wherein when the cargo box (6) is in the outbound condition, the cargo box (6) is transported according to the following process: the shuttle vehicle (1) takes the cargo box (6) from the set cargo position (21); the shuttle vehicle (1) transports the taken cargo box (6) to the buffer table (5); the buffer table (5) transports the cargo box (6) to the elevator (4); the elevator (4) raises and lowers the loading platform (42) to a height corresponding to the cargo box (6) and takes away the cargo box (6); the elevator (4) transports the taken cargo box (6) to the conveyor line (3); the conveyor line (3) transports the cargo box (6) away.
According to any one of claims 6 to 12, the multi-layer shuttle vehicle stereoscopic warehouse storage and retrieval system, wherein the shelf (2) is provided with multiple layers of cargo spaces (21), and the shuttle vehicle (1) is arranged in each cargo aisle (20) of each layer of the cargo spaces (21).
The multi-layer shuttle vehicle stereoscopic warehouse access system according to any one of claims 6 to 13, wherein the elevator (4) comprises:

At least two third conveying tracks (44), the two third conveying tracks (44) are arranged side by side and the conveying directions are parallel.