CN108706265A - A kind of shuttle vehicle type automated warehousing and shuttle - Google Patents
A kind of shuttle vehicle type automated warehousing and shuttle Download PDFInfo
- Publication number
- CN108706265A CN108706265A CN201810596918.5A CN201810596918A CN108706265A CN 108706265 A CN108706265 A CN 108706265A CN 201810596918 A CN201810596918 A CN 201810596918A CN 108706265 A CN108706265 A CN 108706265A
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- China
- Prior art keywords
- shuttle
- pallet fork
- cargo
- shelf
- goods shelf
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
This application discloses a kind of shuttle vehicle type automated warehousing and shuttles.Wherein, which includes storing goods shelf and shuttle；The storing goods shelf is provided with fluctuating orbit, the fluctuating orbit is used to walk in non-horizontal directions for the shuttle for storing cargo on the storing goods shelf；The shuttle includes vehicle body and the climbing device that is arranged on the vehicle body, and the climbing device is for driving the vehicle body to be moved on the fluctuating orbit.By the above-mentioned means, the shuttle vehicle type automated warehousing of the present invention can enable shuttle be walked in non-horizontal directions to access and transport cargo, without using lifting means, reduces automatic warehouse equipment input, improve the efficiency of operation.
Description
Technical field
This application involves material flows automation machinery fields, more particularly to a kind of shuttle vehicle type automated warehousing and shuttle
Vehicle.
Background technology
The storage of shuttle vehicle type is a kind of important component for modern logistics and storage industry.Current shuttle vehicle type
Storage generally comprises shelf, shuttle, lift or piler.Access cargo generally requires shuttle will be on certain layer of shelf
Cargo is put to designated position, and cargo is delivered in the shelf of different height by lift or piler.
The access route of cargo is longer in traditional shuttle vehicle type storage, includes the horizontal transport route and liter of shuttle
The vertical transport route of ladder drops, and can be by lift or stacking when needing while accessing the cargo on different layers shelf
The restriction of the quantity of the lifting means such as machine, so the working efficiency of access goods is relatively low.
Invention content
The application can make to wear mainly solving the technical problems that provide a kind of shuttle vehicle type automated warehousing and shuttle
Shuttle car can be walked in non-horizontal directions to access and transport cargo, without using lifting means, reduce automated warehousing
Equipment investment improves the efficiency of operation.
To solve the above-mentioned problems, the application first aspect provides a kind of shuttle vehicle type automated warehousing, including storage
Shelf and shuttle；The storing goods shelf is provided with fluctuating orbit, the lift rail for storing cargo on the storing goods shelf
Road is used to walk in non-horizontal directions for the shuttle；The shuttle includes vehicle body and is arranged in the vehicle master
Climbing device on body, the climbing device is for driving the vehicle body to be moved on the fluctuating orbit.
To solve the above-mentioned problems, the application second aspect provides another shuttle vehicle type automated warehousing, including deposits
Storage system, transportation system and radio frequency；The storage system includes storing goods shelf, for storing cargo, the storing goods shelf
For the storing goods shelf in the vehicle type automated warehousing that shuttles as described above；The transportation system includes shuttle, the transport system
System is for being within the storage system scheduled cargo or transporting cargo to radio frequency from the storage system；It is described
Shuttle is the shuttle in shuttle vehicle type automated warehousing as described above；The radio frequency includes Prospect of Robot Sorting System or picks
Station is selected, for completing picking from transportation system's freight according to order requirements.
To solve the above-mentioned problems, the application third aspect provides a kind of shuttle, and the shuttle is above-mentioned wears
Shuttle in shuttle car formula automated warehousing.
In said program, by the way that fluctuating orbit is arranged on storing goods shelf, the climbing device on shuttle drives vehicle master
Body moves on fluctuating orbit so that shuttle can walk to access and transport cargo, no in the non-horizontal directions of storage
It can be restricted by the quantity of the lifting means such as lift or piler, improve the efficiency of operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of the application automated warehousing first embodiment；
Fig. 2 is the structural schematic diagram of the application one embodiment of piler shown in FIG. 1；
Fig. 3 is the structural schematic diagram of one embodiment of shuttle in the application automated warehousing；
Fig. 4 is the structural schematic diagram of the application automated warehousing second embodiment；
Fig. 5 is the structural schematic diagram of another embodiment of the application shuttle shown in Fig. 4；
Fig. 6 is the structural schematic diagram under the clamping type pallet fork extended configuration in the application shuttle；
Fig. 7 is the schematic side view of the first pallet fork 1420 in Fig. 6.
Specific implementation mode
With reference to the accompanying drawings of the specification, the scheme of the embodiment of the present application is described in detail.
In being described below, for illustration and not for limitation, it is proposed that such as tool of particular system structure, technology etc
Body details, so as to provide a thorough understanding of the present application.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of the application automated warehousing first embodiment.It is automatic in the application
Change storage include storing goods shelf 11 and on storing goods shelf 11 or around the shuttle 14, the piler 12 that move.Wherein, institute
The quantity for stating storing goods shelf 11, piler 12 and shuttle 14 can be one or more, not limit herein.
Storage place of the storing goods shelf 11 as cargo in automated warehousing is provided with multiple independent parking spaces.Its
In, the parking space is for storing cargo, it is however generally that, the type of the cargo of difference parking space storage is different, Huo Zhecun
Can store a variety of cargos between emptying, but cargo of its storage have a certain same alike result (such as size or weight be identical or similar,
Series of lot or batch are mutually same).As shown in Figure 1, the parking space 110 of the storing goods shelf 11 of the automated warehousing can array set
It sets, it is to be understood that Fig. 1 is only a kind of exemplary design method for providing storing goods shelf 11, and storage should not be limited with this
Shelf 11, in other embodiments, the parking space 110 of the storing goods shelf 11 may be configured as of different sizes.In another embodiment
In, shuttle Crane Rail 118 can be also set on the storing goods shelf 11, for walking on storing goods shelf 11 for shuttle 14.
Equipment of the piler 12 as access, carrying and stacking cargo in automated warehousing.As shown in Figure 1, the piler
12 further include the piler track being layed on automated warehousing ground, and the piler 12 is walked on piler track, can
With understanding, Fig. 1 is only a kind of exemplary design method for providing piler 12, and piler 12 should not be limited with this,
In other embodiment, which can also directly walk on automated warehousing ground.
Shuttle 14 can walk as the device for accessing, transporting goods in automated warehousing on storing goods shelf 11.
As shown in Figure 1, in the first embodiment, shuttle 14 can be as the access device shuttle on piler 12.In other realities
It applies in example, which can also walk between storing goods shelf 11 and piler 12.
It is described in detail below by the specific embodiment to automated warehousing to be best understood from the automation of the application
Storage.
With continued reference to Fig. 1, in the present embodiment, automated warehousing includes storing goods shelf 11, piler 12 and shuttle 14.Its
In, storing goods shelf 11 is used to store cargo, including the first shelf 110 and the second shelf 112 being oppositely arranged, the first shelf 110
And second there are the activity spaces moved for piler 12 between shelf 112；Piler 12 includes main body frame 120, is set to
At least an objective table 122 and lifting device 124 on main body frame 120, objective table 122 promote dress for carrying shuttle 14
It sets 124 to move up and down along main body frame 120 for driving objective table 122, piler 12 is used in the first shelf 110 and the second goods
Activity space between frame 112 it is mobile and using lifting device 124 by the shuttle 14 on objective table 122 in activity space on
Lower movement.In the present embodiment, shuttle 14,124 driving objective table of lifting device are carried by the objective table 122 of piler 12
122 move up and down along main body frame 120, activity space movement of the piler 12 between the first shelf 110 and the second shelf 112
And moved up and down the shuttle 14 on objective table 122 in activity space using lifting device 124, and the row on shuttle 14
Walking mechanism can drive shuttle 14 to be moved in storing goods shelf 11, and access goods is cooperated to by piler 12 and shuttle 14
Object, to improve operating efficiency, flexibility and the reliability of whole system.
Wherein, shuttle 14 includes vehicle body, is set to the walking mechanism and access device of vehicle body lower part；Vehicle
Main body includes loading platform, and loading platform is used for bearing goods；Walking mechanism is for driving shuttle 14 in storing goods shelf 11
Mobile, access device is used to cargo being placed in loading platform, or is taken out on cargo to storing goods shelf 11 from loading platform.It wears
The concrete structure of shuttle car 14 is described in detail in the specific embodiment of follow-up shuttle.
It is understood that the quantity of objective table 122 can be one or more, when being provided with multiple objective tables 122
When, be correspondingly arranged on multiple shuttles 14, and the structure of each objective table 122 and shuttle 14 can it is identical can not also
Together, to adapt to the size and weight of different cargos.
In one embodiment, lifting device 124 includes promoting motor, promoted motor and objective table 122 by belt or
Gear connection transmission, is moved up and down with band dynamic object stage 122 along main body frame 120.It is understood that promoting motor can set
It sets on main body frame 120, can also be arranged in other positions, be arranged on objective table 122 for example, promoting motor.
It is the structural schematic diagram of the application 12 1 embodiment of piler shown in FIG. 1 incorporated by reference to Fig. 2, Fig. 2.Piler 12
Objective table 122 includes walking track 1220, extension rail 1222 and the extension control mechanism 1224 being connect with extension rail 1222,
It is outside for controlling 1222 self-traveling track of extension rail, 1220 sides when receiving stretching, extension instruction to extend control mechanism 1224
Storing goods shelf 11 is extended to, control extension rail 1222 shrinks back 1220 side of walking track when receiving contraction instruction；Its
In, extension rail 1222 is in extension state for the walking mechanism for shuttle 14 in walking track 1220 and storing goods shelf 11
Between walk.
It is understood that stretching, extension instruction and contraction instruction can be by manually assigning, it can also be by 12 basis of piler
What ambient conditions automatically generated.Such as when shuttle 14 needs traveling to storing goods shelf 11 to take out cargo, stacking
Machine 12 first passes through lifting device 124 and objective table 122 is promoted to corresponding height, then, extends control mechanism 1224 and receives
When the stretching, extension instruction of operating personnel's input, extension rail 1222 is made to be extended out on storing goods shelf 11 from 122 side of objective table,
Objective table 122 is set to complete to overlap with storing goods shelf 11, then, shuttle 14 can utilize extension rail 1222 to realize from objective table
122 run on storing goods shelf 11.
It is understood that when needing in the access of 11 enterprising crudely-made articles object of storing goods shelf, first passing through piler 12 will wear
Shuttle car 14 is promoted to corresponding height, and shuttle 14 is using the extension rail 1222 in the objective table 122 of piler 12, from stacking
Machine 12 is run on storing goods shelf 11, and then realizes the operation of access cargo.
Referring to Fig. 3, Fig. 3 is the structural schematic diagram of 14 1 embodiment of shuttle in the application automated warehousing.This reality
It applies in example, shuttle 14 includes vehicle body 140 and clamping type pallet fork 142；Vehicle body 140 includes loading platform 1400, is carried
Goods platform 1400 is used for bearing goods；Clamping type pallet fork 142 is including the first pallet fork 1420, the second pallet fork 1422 and apart from the machine of adjusting
Structure 1424；Wherein, the first pallet fork 1420 and the second pallet fork 1422 are set on vehicle body 140, the first pallet fork 1420 and second
Cargo is placed in loading platform 1400 or is taken out from loading platform 1400 for left and right cooperation gripping cargo by pallet fork 1422
Cargo；Distance adjusting mechanism 1424 is connected to the first pallet fork 1420 and/or the second pallet fork 1422, for moving the first pallet fork 1420
And/or second pallet fork 1422, to adjust the spacing of the first pallet fork 1420 and the second pallet fork 1422.It is understood that by away from
The first pallet fork 1420 and/or the second pallet fork 1422 are adjusted from adjustable mechanism 1424 so that the first pallet fork 1420 and the second pallet fork
Spacing between 1422 changes to adapt to the size and shape of different cargos so that shuttle 14 can adapt to it is a variety of in the case of
Cargo access operation.
It is the structural schematic diagram under 142 extended configuration of clamping type pallet fork in the application shuttle 14 incorporated by reference to Fig. 6, Fig. 6.
Further, distance adjusting mechanism 1424 includes：First adjusting rod 14240 and the second adjusting rod 14242, the first adjusting rod
14240 and second adjusting rod 14242 it is scalable, the first adjusting rod 14240 and the second adjusting rod 14242 respectively with the second pallet fork
1422 connections, to move the second pallet fork 1422 by stretching, wherein the moving direction of the second pallet fork 1422 is parallel to the first tune
The telescopic direction of pole 14240 and the second adjusting rod 14242.
Further, vehicle body 140 includes the first track 1402 and the second track 1404, and the first adjusting rod 14240 is set
It is placed in the first track 1402, the second adjusting rod 14242 is set in the second track 1404；First pallet fork 1420 includes and vehicle
The first fixed seat 14200 and the second fixed seat 14202 that main body 140 is fixedly connected, the second pallet fork 1422 include the first connecting seat
14220 and second connecting seat 14222, the first adjusting rod 14240 and the second adjusting rod 14242 are close to one end of the first pallet fork 1420
It is connect respectively with the first fixed seat 14200 and the second fixed seat 14202, the first adjusting rod 14240 and the second adjusting rod 14242 lean on
One end of nearly second pallet fork 1422 is connect with the first connecting seat 14220 and the second connecting seat 14222 respectively.
As a kind of embodiment, vehicle body 140 can also include the first shell 1406 and second housing 1408, away from
Further include driving device from regulating mechanism 1424, driving device is arranged in first shell 1406 or second housing 1408,
Driving device is connect with the first adjusting rod 14240 and the second adjusting rod 14242, for driving the first adjusting rod 14240 and second
Adjusting rod 14242 is stretched with mobile second pallet fork 1422, wherein distance adjusting mechanism 1424 with the first pallet fork 1420
Distance mobile second pallet fork 1422 in the range of being 0.3 to 1.5 meter.
In an application scenarios, the first adjusting rod 14240 and the second adjusting rod 14242 are spiral expanding bars, and first is adjusted
One end setting that bar 14240 and the second adjusting rod 14242 are connect with the first connecting seat 14220 and the second connecting seat 14222 respectively
There is thread, and the corresponding position on the first connecting seat 14220 and the second connecting seat 14222 is provided with the spiral shell coordinated with thread
Groove.When wait the cargo size size forked there are it is different when, clamping type pallet fork 142 need change the first pallet fork 1420 and second
Spacing between pallet fork 1422 is to adapt to the size and shape of different cargos.First, the first adjusting rod is driven by driving device
14240 and second adjusting rod 14242 it is flexible, thread drives the movement of the second pallet fork 1422, Jin Ershi with thread groove cooperation
Should cargo be forked shape and size, to guarantee stable holding cargo.
It is the structural schematic diagram of the application automated warehousing second embodiment incorporated by reference to Fig. 4 and Fig. 5, Fig. 4, Fig. 5 is this Shen
Please 14 another embodiment of shuttle shown in Fig. 4 structural schematic diagram.In the present embodiment, automated warehousing includes storing goods shelf 11
With shuttle 14；Storing goods shelf 11 is provided with fluctuating orbit 114, fluctuating orbit 114 is used for storing cargo on storing goods shelf 11
It walks in non-horizontal directions in for shuttle 14；Shuttle 14 includes vehicle body 140 and is arranged on vehicle body 140
Climbing device 144, climbing device 144 is for driving vehicle body 140 to be moved on fluctuating orbit 114.In the present embodiment, pass through
Fluctuating orbit 114 is set on storing goods shelf 11, and the climbing device 144 on shuttle 14 drives vehicle body 140 in lift rail
It is moved on road 114 so that shuttle 14 can be walked in the non-horizontal directions of storage to access and transport cargo, will not be by
The restriction of the quantity of the lifting means such as lift or piler, improves the efficiency of operation.
Wherein, storing goods shelf 11 includes column 116, and fluctuating orbit 114 is arranged on column 116；Climbing device 144 includes
The climbing driving motor for being symmetrically disposed on the gear 1440 of 140 both sides of vehicle body and being coupled with gear 1440, climbing driving electricity
Machine can be arranged in the first shell 1406 or the second housing 1408 on vehicle body 140, and fluctuating orbit 114 is equipped with and gear
1440 engagement fit structures 1140, climbing driving motor for drive gear 1440 rotate, make gear 1440 by with lifting
114 engaged transmission of track, to drive shuttle 14 to be moved on fluctuating orbit 114.
It is understood that above-mentioned non-horizontal directions can be vertical direction, can also be inclined direction.For example, lifting
Track 114 can be arranged to form an angle with horizontal direction shape, and gear 1440 is also configured to form identical folder with horizontal direction
Angle, at this point, gear 1440 again may be by rotation and with the engaged transmission of fluctuating orbit 114, to drive shuttle 14 rising
It is moved on drop track 114.
As a kind of embodiment, the fit structure 1140 of fluctuating orbit includes uniformly being arranged on column back to storage
The groove of the side of shelf 11.
As a kind of embodiment, the fit structure 1140 of fluctuating orbit includes being set on column back to storing goods shelf
The rack of 11 side.
Further, storing goods shelf 11 includes 110 and second shelf 112 of symmetrically arranged first shelf, the first shelf 110
And second there are the activity spaces moved for shuttle 14, fluctuating orbit 114 to be arranged in 110 He of the first shelf between shelf 112
Close to one end of activity space on second shelf 112.
In other embodiments, climbing device 144 further includes extensible member 1444 and retractable driving device, retractable driving device
It can be arranged in the first shell 1406 or the second housing 1408 on vehicle body 140；1444 one end of extensible member and vehicle master
Body 140 is fixedly connected, and the other end is connect by connecting shaft 1448 with gear 1440, and connecting shaft 1448 is used in climbing driving motor
Lower band moving gear 1440 is driven to be rotated around connecting shaft 1448；Retractable driving device is coupled with extensible member 1444, flexible for driving
Part 1444 stretches, to carrier wheel 1440.
In an application scenarios, the fit structure 1140 of fluctuating orbit includes uniformly being arranged on column back to storing goods shelf
The groove of 11 side.When needing to access cargo, shuttle 14 is first run between the first shelf 110 and the second shelf 112
Activity space in, stretched by retractable driving device driving extensible member 1444, to carrier wheel 1440, make gear 1440
Engaged transmission can be completed with groove；Then connecting shaft 1448 is rotated in the driving lower band moving gear 1440 of climbing driving motor,
Then, gear 1440 is by rotation and 114 engaged transmission of fluctuating orbit, to drive shuttle 14 to be moved up in fluctuating orbit 114
It is dynamic；After being moved to corresponding position, then by clamping type pallet fork come complete access cargo operation.It is understood that when wearing
Shuttle car 14 from after fluctuating orbit 114 reaches ground, is carried out by climbing device 144 by retractable driving device driving extensible member 1444
It shrinks, gear 1440 is made to be detached with groove, shuttle 14 can walk on the ground later, and transport cargo is complete to corresponding position
At the access of cargo.
It is the structural schematic diagram under 142 extended configuration of clamping type pallet fork in the application shuttle 14 incorporated by reference to Fig. 6, Fig. 6.
First pallet fork 1420 and the second pallet fork 1422 include the trapped orbit 14204 sequentially connected, sliding rail 14206 and gripping
Platform 14208；
For being slided on trapped orbit 14204, gripping platform 14208 is used in sliding rail sliding rail 14206
It is slided on 14206.
It is please the schematic side view of the first pallet fork 1420 in Fig. 6 further combined with Fig. 7, Fig. 7.Trapped orbit 14204 wraps
Two parallel baffles 142042 for including bottom 142040 and being extended from bottom 142040 to 14206 side of sliding rail, bottom
Portion 142040 and two parallel baffles 142042 form a groove；Sliding rail 14206 includes the first top plate 142060 and difference
Be arranged 142060 both ends of the first top plate and towards two the first side plates 142062 of trapped orbit 14204, be located at the first side plate
Positioning plate 142064 between 142062 and the first idler wheel of at least two groups 142066；Positioning plate 142064 is embedded in groove but does not contact
Bottom portion of groove；The first idler wheel of at least two groups 142066 is located between the first side plate 142062 and parallel baffle 142042, with
It is rolled between the first side plate 142062 and parallel baffle 142042；First side plate, 142062 end is to close to positioning plate 142064
Direction is bent to form the first bending part 142068,142062 and its first bending part 142068 of each first side plate, parallel baffle
142042 and first top plate 142060 formed the first restricted clearance, the first idler wheel 142066 is limited in the first restricted clearance
In.
Platform 14208 is gripped including the second top plate 142080 and from 142080 both ends of the second top plate to sliding rail 14206
Two the second side plates 142082 extended, the second idler wheel of at least two groups being set on the inside of two the second side plates 142082
142086；The second idler wheel of at least two groups 142086 is located between the second side plate 142082 and the first side plate 142062, with
It is rolled between first side plate 142062 and the second side plate 142082；142062 end of the first side plate of sliding rail 14206 is to remote
It is bent to form the second bending part 142069,142062 and its second bending part of each first side plate from 142064 direction of positioning plate
142069, the second side plate 142082 and the second top plate 142080 form the second restricted clearance, and the second idler wheel 142086 is limited
In the second restricted clearance.
In an application scenarios, sliding rail 14206 is by intermeshing first transmission gear rack group come relatively solid
It slides in orbit determination road 14204；Wherein, the first transmission gear rack group include the first rack for being set on trapped orbit 14204 with
And it is set at least two first gears being meshed with the first rack on sliding rail 14206.It is understood that when driving
When dynamic first gear rotation, sliding rail 14206 can be realized to slidably reciprocate on trapped orbit 14204.Grip platform
14208 are slided by intermeshing second transmission gear rack group come relative sliding track 14206；Wherein, the second driving cog
Wheel rack group include the second rack being set on sliding rail 14206 and be set on gripping platform 14208 with second
At least two second gears that rack is meshed.It is understood that when driving second gear rotation, platform 14208 is gripped
It can realize and slidably reciprocate on sliding rail 14206.
Further, sliding rail 14206 is relatively fixed the first maximum length of the sliding of track 14204 less than trapped orbit
14204 length；It is additionally provided with the first limited block (not shown) on sliding rail 14206, is provided on trapped orbit 14204
One limiting slot (not shown), the first limited block are limited in sliding in the first limiting slot and are relatively fixed with limit slippage track 14206
The distance that track 14204 slides is no more than the first maximum length；Grip the of 14208 relative sliding track 14206 of platform sliding
Two maximum lengths are less than the length of sliding rail 14206；It is additionally provided with the second limited block (not shown) on gripping platform 14208,
The second limiting slot (not shown) is provided on sliding rail 14206, the second limited block is limited in the second limiting slot and slides to limit
The distance of system gripping 14208 relative sliding track 14206 of platform sliding is no more than the second maximum length.
In an application scenarios, when needing to fork cargo, first, 14240 He of the first adjusting rod is driven by driving device
The stretching, extension of second adjusting rod 14242 is to drive the first pallet fork 1420 and the second pallet fork 1422 to form maximum spacing.Slide rail
Road 14206 is slided by intermeshing first transmission gear rack group to be relatively fixed track 14204, grips platform at this time
14208 follow sliding rail 14206 to move together, when the distance that sliding rail 14206 is relatively fixed the sliding of track 14204 reaches
When the limit of setting, the first limiting slot at this time on the first limited block and trapped orbit 14204 on sliding rail 14206 is mutual
Limitation is so that the distance that sliding rail 14206 is relatively fixed the sliding of track 14204 is no more than the limit.At this moment clamping type pallet fork is found
It does not reach precalculated position also, cargo can not be forked, then grip platform 14208 and pass through intermeshing second transmission gear rack
Group carrys out the sliding of relative sliding track 14206.When the distance of gripping 14208 relative sliding track 14206 of platform sliding reaches setting
The limit when, at this time grip platform 14208 on the second limited block and sliding rail 14206 on the second limiting slot mutually limit
So that the distance of gripping 14208 relative sliding track 14206 of platform sliding is no more than the limit, find that clamping type pallet fork reaches at this time
Precalculated position can fork cargo, then drive the first adjusting rod 14240 and the second adjusting rod 14242 to shrink by driving device
To clamp cargo with driving the first pallet fork 1420 and 1422 fast and stable of the second pallet fork, to ensure that clamping type pallet fork can
Smoothly safely access cargo.
It is understood that the automated warehousing may not include above-mentioned all devices, for example, piler 12 and shuttle
14, such equipment can be configured according to the selected section that works needed for automated warehousing, for example, being to deposit in the automated warehousing
When storage and the storage of allocation and transportation large cargo, it may include storing goods shelf 11 and the piler 12 moved around storing goods shelf 11,
The shuttle 14 moved on storing goods shelf 11；Shuttle is included in storing goods shelf 11 and moves up alternatively, in the automated warehousing
Dynamic shuttle 14, and cargo or shuttle 14 are promoted and transported using elevator.
It is understood that above method embodiment can be organically combined, for example, storing goods shelf 11 is refering to execution
Embodiment can completely or partially be combined as new embodiment, and the embodiment part that piler 12 participates in executing can be all or part of
In conjunction with new embodiment etc. is formed, shuttle 14 participates in the implementation that the embodiment part executed completely or partially can combine composition new
Example etc..
In other embodiments, the automated warehousing of the application includes storage system, transport system and radio frequency.Its
In, storage system may include above-mentioned storing goods shelf 11, and transport system may include above-mentioned piler 12 and/or shuttle
14, radio frequency may include Prospect of Robot Sorting System or artificial sorting.For storage system for storing cargo, transport system is used for will
Cargo is sent from storage system to radio frequency, by Prospect of Robot Sorting System or is accomplished manually by order-picking, realize that goods is dynamic and people not
Dynamic " goods to people " sorts pattern, reduces picking distance and intensity, can improve picking efficiency and accuracy rate.
In other embodiments, the automated warehousing of the application further includes system control device, the system control device into
One step includes memory, processor and telecommunication circuit.Telecommunication circuit is used to communicate with other equipment realization, specifically may include sending out
Send device and receiver.Memory is used to store the data of all kinds of instructions and processor of processor execution in processing procedure,
Wherein, which includes non-volatile memory portion, for storing above-mentioned all kinds of instructions.In another embodiment, the storage
Device can only be cached as the memory of processor the processor execution all kinds of instructions, all kinds of instruction actual storages in terminal it
In external equipment, processor with external equipment by connecting, by calling all kinds of instructions of external storage, to execute respective handling.
Processor controls the operation of the system control device.Processor may be a kind of IC chip, the processing energy with signal
Power.Processor can also be general processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It is general
Processor can be microprocessor or the processor can also be any conventional processor etc..
In the present embodiment, processor is executed by all kinds of instructions for calling memory to store in the various embodiments described above
The method for accessing cargo.
In several embodiments provided herein, it should be understood that disclosed method and apparatus can pass through it
Its mode is realized.For example, device embodiments described above are only schematical, for example, stroke of module or unit
Point, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be the INDIRECT COUPLING by some interfaces, device or unit
Or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, and be shown as unit
Component may or may not be physical unit, you can be located at a place, or may be distributed over multiple networks
On unit.Some or all of unit therein can be selected according to the actual needs to realize the mesh of present embodiment scheme
's.
In addition, each functional unit in each embodiment of the application can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
It these are only presently filed embodiment, be not intended to limit the scope of the claims of the application, it is every to utilize the application
Equivalent structure made by specification and accompanying drawing content or principle of equal effects transformation, are applied directly or indirectly in other relevant technologies
Field includes similarly in the scope of patent protection of the application.
Claims (10)
1. a kind of shuttle vehicle type automated warehousing, which is characterized in that including storing goods shelf and shuttle；
The storing goods shelf is provided with fluctuating orbit, the fluctuating orbit is for supplying for storing cargo on the storing goods shelf
The shuttle is walked in non-horizontal directions；
The shuttle includes vehicle body and the climbing device that is arranged on the vehicle body, and the climbing device is used for band
The vehicle body is moved to move on the fluctuating orbit.
2. shuttle vehicle type automated warehousing according to claim 1, which is characterized in that
The storing goods shelf includes column, and the fluctuating orbit is arranged on the column；
The climbing device includes that the climbing for being symmetrically disposed on the gear of the vehicle body both sides and being coupled with the gear is driven
Dynamic motor, the fluctuating orbit are equipped with the fit structure engaged with the gear, and the climbing driving motor is described for driving
Gear rotate, make the gear pass through with the fluctuating orbit engaged transmission, to drive the shuttle in the fluctuating orbit
Upper movement.
3. shuttle vehicle type automated warehousing according to claim 2, which is characterized in that
The fit structure of the fluctuating orbit includes uniformly being arranged on the column back to the recessed of the side of the storing goods shelf
Slot.
4. shuttle vehicle type automated warehousing according to claim 2, which is characterized in that
The fit structure of the fluctuating orbit includes being set on the column back to the rack of the side of the storing goods shelf.
5. shuttle vehicle type automated warehousing according to claim 2, which is characterized in that
The storing goods shelf includes symmetrically arranged first shelf and the second shelf, first shelf and second shelf it
Between there are the activity spaces for shuttle movement, the fluctuating orbit to be arranged in first shelf and second shelf
One end of the upper close activity space.
6. shuttle vehicle type automated warehousing according to claim 5, which is characterized in that
The climbing device includes extensible member and retractable driving device；Described extensible member one end is fixed with the vehicle body to be connected
It connects, the other end is connect by connecting shaft with the gear, and the connecting shaft is used under climbing driving motor driving drive
Gear is rotated around the connecting shaft；The retractable driving device is coupled with the extensible member, for driving the extensible member to carry out
It is flexible, to the mobile gear.
7. shuttle vehicle type automated warehousing as claimed in claim 6, which is characterized in that
The shuttle further includes walking mechanism, and the walking mechanism includes at least one set of driving wheel, at least one set of driven wheel, row
Walk driving motor；
The driving wheel and the driven wheel are respectively arranged at the both sides of the bottom of the vehicle body, the travel driving motor
It is set to the inside of the vehicle body, the travel driving motor is for driving the driving wheel and the driven wheel being driven to transport
It is dynamic.
8. shuttle vehicle type automated warehousing according to claim 1, which is characterized in that
The vehicle body includes loading platform and access device, and the loading platform is used for bearing goods, the access device
For cargo to be placed in the loading platform, or cargo is taken out from the loading platform；
The access device includes clamping type pallet fork, and the clamping type pallet fork is including the first pallet fork, the second pallet fork and apart from adjusting
Mechanism；Wherein, first pallet fork and second pallet fork are set on the vehicle body, first pallet fork and described
Cargo is placed in the loading platform for coordinating gripping cargo or takes out cargo from the loading platform by two pallet forks；
The distance adjusting mechanism is connected to first pallet fork and/or second pallet fork, for move first pallet fork and/or
Second pallet fork is adjusted, to adjust the spacing of first pallet fork and second pallet fork.
9. a kind of shuttle vehicle type automated warehousing, which is characterized in that including storage system, transportation system and radio frequency；
The storage system includes storing goods shelf, and for storing cargo, the storing goods shelf is described in claim any one of 1-8
Shuttle vehicle type automated warehousing in storing goods shelf；
The transportation system includes shuttle, and the transportation system is used within the storage system be scheduled cargo or will
Cargo is transported from the storage system to radio frequency；The shuttle is claim 1-8 any one of them shuttle vehicle types
Shuttle in automated warehousing；
The radio frequency includes Prospect of Robot Sorting System or sorts station, for what is transported from the transportation system according to order requirements
Picking is completed in cargo.
10. a kind of shuttle, which is characterized in that the shuttle is that claim 1 to 9 any one of them shuttle vehicle type is automatic
Change the shuttle in storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810596918.5A CN108706265A (en) | 2018-06-11 | 2018-06-11 | A kind of shuttle vehicle type automated warehousing and shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810596918.5A CN108706265A (en) | 2018-06-11 | 2018-06-11 | A kind of shuttle vehicle type automated warehousing and shuttle |
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| CN108706265A true CN108706265A (en) | 2018-10-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810596918.5A Pending CN108706265A (en) | 2018-06-11 | 2018-06-11 | A kind of shuttle vehicle type automated warehousing and shuttle |
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