CN111717581B

CN111717581B - A child-mother loading and unloading system

Info

Publication number: CN111717581B
Application number: CN202010382093.4A
Authority: CN
Inventors: 艾山; 曹绪祥; 尹佳琪; 谷牧; 浣沙; 戴淦锷
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-08-31
Anticipated expiration: 2040-05-08
Also published as: JP2022537612A; CN111717581A; JP7215775B2; WO2021223351A1

Abstract

The invention relates to a sub-mother loading and unloading system, which includes a cargo warehouse, a transport mother car, and a transport sub-car that shuttles back and forth on the warehouse and the transport mother car; the transport sub-car, the transport mother car and the cargo warehouse are all provided with wireless communication modules , The transport sub-car, the transport mother car, and the warehouse are connected by a wireless communication module signal. There are several cargo support beams in the warehouse. The transport mother car includes a car body, a longitudinal moving component installed on the The lateral movement assembly on the moving assembly, the sub-car parking bracket installed on the lateral movement assembly; the cargo compartment is provided with a first light strip, the first light strip is provided with a first distance sensor, and the end of the sub-car parking bracket A second light strip and a specular reflection sensor are arranged on it, and there is a sub-car shuttle channel between the adjacent support beams. The sub-mother loading and unloading system can realize the automatic loading and unloading of goods without manpower handling the goods, and belongs to the technical field of logistics machinery and equipment.

Description

Primary and secondary loading and unloading vehicle system

Technical Field

The invention relates to the technical field of logistics mechanical equipment, in particular to a primary and secondary loading and unloading vehicle system.

Background

The problems of low automation degree, low efficiency and the like of goods loading and unloading generally exist in the existing logistics industry. At present, automatic stereoscopic warehouses are popularized, goods in warehouse shelves are stored in order according to cabin grids and taken and placed through shuttle transfer vehicles, workers enter and exit the warehouses through a transmission belt or a forklift, but the goods are loaded and unloaded between the truck and the forklift or the transmission belt, and all the goods need to be manually participated, so that the efficiency of the goods transferring process is reduced. Meanwhile, goods are stacked and unstacked for many times in the processes of delivery, loading, unloading and warehousing, so that manpower and time are wasted, and the logistics cost is increased.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention aims to: the utility model provides a primary and secondary handling car system, this system compact structure, easily control, this adjustment mechanism can be to the automatic loading of goods, unload, also can be at the automatic storehouse end handling goods, does not need the manpower to carry the goods to raise the efficiency reaches the unmanned operation in goods handling and warehouse entry, can be the unit by the goods tray simultaneously, the modularization transportation, and the stack is not in the transportation, the unstacking, the conveying efficiency and security are high.

In order to achieve the purpose, the invention adopts the following technical scheme:

a primary and secondary loading and unloading vehicle system comprises a cargo compartment, a primary transport vehicle and secondary transport vehicles which shuttle back and forth on the cargo compartment and the primary transport vehicle; the transport sub-vehicle, the transport main vehicle and the cargo warehouse are all provided with wireless communication modules, the transport sub-vehicle, the transport main vehicle and the cargo warehouse are in signal connection through the wireless communication modules, a plurality of cargo supporting beams are arranged in the cargo warehouse, and the transport main vehicle comprises a vehicle body, a longitudinal moving assembly arranged on the vehicle body, a transverse moving assembly arranged on the longitudinal moving assembly and a sub-vehicle parking support piece arranged on the transverse moving assembly; the goods warehouse is provided with a first light belt, the first light belt is provided with a first distance sensor, the tail end of the sub-vehicle parking support piece is provided with a second light belt and a mirror reflection sensor, and a sub-vehicle shuttle channel exists between adjacent supporting beams. The sub-vehicle parking support is automatically adjusted by aligning the mirror reflection sensor with the first optical band and aligning the first distance sensor with the second optical band, so that the sub-vehicle parking support is adjusted to be at a proper height and keeps a proper distance from the cargo compartment, and then the transport sub-vehicle moves between the cargo compartment and the transport main vehicle to realize loading or unloading of cargos.

Further, the method comprises the following steps: the sub-vehicle parking support comprises fork teeth and a supporting plate arranged below the fork teeth; the fork teeth and the supporting plate are two, the transport sub-vehicle is located between the two fork teeth and is installed on the supporting plate in a sliding mode, and the second optical band and the mirror reflection sensor are located on the supporting plate. The fork teeth and the supporting plate form a vehicle rail, the transport sub-vehicle is stored on the supporting plate of the transport main vehicle, and the fork teeth prevent the transport sub-vehicle from deviating from the vehicle rail.

Further, the method comprises the following steps: the longitudinal moving assembly comprises a frame arranged on the vehicle body and a lifting rod arranged on the frame; the transverse moving assembly comprises a lifting frame arranged on the lifting rod, a torque motor and a polished rod which are arranged on the lifting frame, a lead screw arranged on the lifting frame in a rotating mode, and a vertical plate arranged on the lead screw and the polished rod in a sliding mode; the two screw rods, the two torque motors and the two vertical plates are all provided, the output ends of the two torque motors are respectively connected with the two screw rods, the screw rods and the polish rods are arranged horizontally, the two screw rods are located on the same horizontal straight line, the two vertical plates are respectively installed on the two screw rods, and the two fork teeth are respectively and horizontally fixed on the two vertical plates. The positions of the sub parking pallets in the horizontal direction and the vertical direction are adjusted by the transverse moving assembly and the longitudinal moving assembly together.

Further, the method comprises the following steps: the lifting frame is provided with a fixed plate, and the fixed plate is provided with a sub-vehicle on-site sensor and a first cargo on-site sensor. The sub-vehicle on-site sensor can determine whether the transport sub-vehicle is on the transport main vehicle, and the first cargo on-site sensor can sense whether the transport sub-vehicle moves the cargo to the transport main vehicle.

Further, the method comprises the following steps: the warehouse is equipped with the bin mouth, and the below of the bin mouth of warehouse is equipped with the locating plate, and first light strip and first distance sensor all are located the locating plate. When goods are loaded and unloaded, the sub-vehicle parking support piece is just adjusted to be equal to the bottom of the goods warehouse.

Further, the method comprises the following steps: the supporting plate is also provided with a spring reset switch. When the spring reset switch on the supporting plate touches the positioning plate, the spring reset switch is triggered, the primary transport vehicle completes positioning and stops moving, and the secondary transport vehicle starts to load and unload goods.

Further, the method comprises the following steps: and a second cargo on-site sensor is arranged on the cargo supporting beam. The second goods in-place sensor senses the goods storage position and the spare position in the goods warehouse, and the storage condition of the goods in the goods warehouse is reflected in real time.

Further, the method comprises the following steps: the transport sub-vehicle comprises a frame, wheels and guide wheels which are arranged on the frame in a uniform rotation mode; the wheels and the guide wheels are uniformly distributed on two sides of the frame, the wheels are arranged on the supporting plate in a rolling mode, and the guide wheels are arranged on the side faces of the fork teeth in a rolling mode. The guide wheel guides the transport sub-vehicle to move to the supporting plate of the transport main vehicle.

Further, the method comprises the following steps: the transport sub-vehicle also comprises a lifting slide rail arranged on the frame, a hinge rod hinged with the frame, a lifting plate hinged with the hinge rod and a tray fixed on the lifting plate; the output end of the lifting slide rail is connected with the lifting plate. The goods are lifted or put down through the lifting plate, so that loading and unloading are carried out.

Further, the method comprises the following steps: the side of the cargo supporting beam is provided with an infrared transmitting tube which is positioned in the shuttle channel of the sub-vehicle, and the two sides of the vehicle frame are provided with infrared receiving tubes. The infrared transmitting tube and the infrared receiving tube are mutually induced, so that the accurate position of the transport sub-vehicle in the cargo compartment can be known in time.

In summary, the present invention has the following advantages:

a primary and secondary loading and unloading vehicle system is disclosed, wherein the secondary transport vehicle can transport goods from the primary transport vehicle to a cargo compartment and can also transport the goods from the cargo compartment to the primary transport vehicle, so as to realize loading and unloading of the goods. The sub-vehicle parking support is automatically adjusted by aligning the mirror reflection sensor to the first light band and aligning the first distance sensor to the second light band in the process of adjusting the loading and unloading position, so that the sub-vehicle parking support is just equal to the bottom of the cargo warehouse in height and is connected with the cargo warehouse, and the transport sub-vehicle can stably move between the transport main vehicle and the cargo warehouse. The primary transport vehicle can sense whether the secondary transport vehicle and the goods are on the primary transport vehicle. The second goods in the warehouse can reflect the storage condition of the goods in the warehouse in real time through the in-place sensor, so that the transport mother vehicle can accurately select a proper warehouse to load and unload the goods. The invention has simple and compact structure and strong applicability, and the system can be automatically controlled and operated, thereby greatly improving the efficiency of cargo loading and unloading.

Drawings

Fig. 1 is a schematic structural diagram of a master-slave truck system.

Fig. 2 is a schematic structural view of the cargo compartment.

Fig. 3 is a schematic structural view of the transport parent car and the transport child car.

Fig. 4 is a schematic structural view of the transport mother vehicle.

Fig. 5 is a schematic view of the structure of the sub-vehicle parking tray and the transporting sub-vehicle.

Fig. 6 is a schematic structural view of the transportation sub-vehicle.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and detailed description.

To facilitate a uniform view of the various reference numbers within the drawings, reference numbers appearing in the drawings are now described collectively as follows:

the device comprises a cargo compartment 1, a mother transport vehicle 2, a child transport vehicle 3, a cargo support beam 4, a vehicle body 5, a child vehicle parking support 6, a first optical band 7, a first distance sensor 8, a second optical band 9, a mirror reflection sensor 10, a shuttle channel 11, fork teeth 12, a pallet 13, an elevation hydraulic cylinder 14, a frame 15, a lifting rod 16, a lifting frame 17, a torque motor 18, a lever 19, a lead screw 20, a fixing plate 21, a child vehicle in-place sensor 22, a first cargo in-place sensor 23, a compartment opening 24, a positioning plate 25, a spring reset switch 26, a second cargo in-place sensor 27, a vehicle frame 28, a vehicle wheel 29, a guide wheel 30, a lifting slide rail 31, a hinge rod 32, a tray 33, an infrared transmitting tube 34, an infrared receiving tube 35 and a vertical plate 36.

Referring to fig. 1, 2, 3, 4, 5 and 6, a primary and secondary loading and unloading vehicle system comprises a cargo hold, a primary transport vehicle, and a secondary transport vehicle which shuttles back and forth between the cargo hold and the primary transport vehicle; the sub-transport vehicle, the main transport vehicle and the warehouse are all provided with wireless communication modules (not shown in the figure), the sub-transport vehicle, the main transport vehicle and the warehouse are in signal connection through the wireless communication modules, the main transport vehicle can judge the placement position through the wireless communication modules after being in place, so that the main transport vehicle moves to the general position of a planned sub-vehicle shuttle channel, and then the fork teeth are adjusted to move to be accurately aligned. When the goods are loaded. The transport sub-vehicle loads goods firstly, then the transport sub-vehicle moves to the transport main vehicle, the transport main vehicle transports the transport sub-vehicle and the goods to a bin opening of a goods bin together, the transport sub-vehicle transports and stores the goods in the goods bin finally, the transport sub-vehicle transports the goods in the goods bin to the transport main vehicle during unloading, and the transport main vehicle transports the goods to a designated goods shelf for storage finally. The goods warehouse is internally provided with a plurality of goods supporting beams which are positioned at the bottom of the goods warehouse, the goods supporting beams (along the width direction of the goods warehouse) are uniformly distributed and are parallel to each other, the length of the goods supporting beams is slightly shorter than that of the bottom of the goods warehouse, and the front ends of the fork teeth are protruded, so that the goods supporting beams and the fork teeth can be just butted at the position of the warehouse opening. Two adjacent cargo support beams are used as a position for storing cargos, and all the cargo support beams are distributed along the width of the cargo hold, so that one cargo hold has a plurality of different storage positions, and a plurality of cargos can be placed along the length direction (the depth direction of the cargo hold) of the cargo support beams. In the embodiment, the square pipes are used as the goods supporting beams, a sub-vehicle shuttle channel exists between the adjacent supporting beams, and the width of the sub-vehicle shuttle channel (the distance between the two goods supporting beams) is equal to the width of the transportation sub-vehicle. The primary transport vehicle comprises a vehicle body, a longitudinal moving assembly arranged on the vehicle body, a transverse moving assembly arranged on the longitudinal moving assembly, and a secondary parking support arranged on the transverse moving assembly; the automobile body adopts and is similar with fork truck, and longitudinal movement subassembly and lateral shifting subassembly can drive the position adjustment of sub-car parking support piece on vertical direction and horizontal direction for the sub-car parking support piece can be equal height and aim at sub-car passageway of shuttling with the bottom in storehouse, and the removal through the automobile body makes the sub-car parking support piece can be located the bin gate department in storehouse, realizes transporting the sub-car and can make a round trip to shuttle transportation goods on storehouse and transport mother's car at last. A first optical belt is arranged on the cargo compartment, a first distance sensor is arranged on the first optical belt, the cargo compartment is provided with a compartment opening, the cargo compartment is equivalent to a carriage of a truck, a positioning plate is arranged below the compartment opening of the cargo compartment, and the first optical belt and the first distance sensor are both positioned on the positioning plate; and the secondary car parking support is provided with a second optical band and a specular reflection sensor. Adjust the position of son car parking support when the goods of loading and unloading, the primary transport car utilizes mirror surface reflection sensor and first light area response, make son car parking support automatic adjustment to equal height with the freight warehouse bottom, the primary transport car utilizes second light area and first distance sensor response, make son car parking support automatic adjustment to have a suitable unloading distance with the freight warehouse, and aim at the freight warehouse door perpendicularly, two second light areas on the support are parked through detecting the son car to first distance sensor simultaneously, adjust two prong positions, make two prong and shuttle passageway align, be convenient for transport son car and remove between primary transport car and freight warehouse.

The sub-vehicle parking support comprises fork teeth and a supporting plate arranged below the fork teeth; the fork teeth and the supporting plate are two, the transport sub-vehicle is located between the two fork teeth and is installed on the supporting plate in a sliding mode, and the second optical band and the mirror reflection sensor are located on the supporting plate. The width of the fork teeth is smaller than that of the supporting plate, when the transport sub-vehicle is parked on the transport main vehicle, wheels of the transport sub-vehicle are arranged on the supporting plate, the fork teeth are arranged on two sides of the transport sub-vehicle, and the fork teeth and the supporting plate form a vehicle rail which limits the transport sub-vehicle to move back and forth only in one direction. One end of each fork tooth and one end of the supporting plate are fixed with the transverse moving assembly, the other end of each fork tooth and the other end of the supporting plate are arranged in a suspending mode, the second optical bands at the tail ends of the two fork teeth are used for sensing the first distance sensor on the cargo bin, the middle position between the two fork teeth is obtained, then the fork teeth are horizontally adjusted, the middle positions of the fork teeth are aligned with the middle positions of the shuttle channels of the sub-vehicle on the main vehicle, and the transport sub-vehicle between the two fork teeth can be aligned with the shuttle channels of the sub-vehicle. When the adjusting sub-vehicle parking support is close to the cargo compartment, the second optical band and the specular reflection sensor point to the cargo compartment.

The longitudinal moving assembly comprises a frame arranged on the vehicle body and a lifting rod arranged on the frame; the lifter can use ball screw, and the lateral shifting subassembly is installed on ball screw's slider, and the lead screw through servo motor drive ball screw rotates to drive the lateral shifting subassembly and remove on vertical direction. The transverse moving assembly comprises a lifting frame arranged on the lifting rod, a torque motor and a polished rod which are arranged on the lifting frame, a lead screw arranged on the lifting frame in a rotating mode, and a vertical plate arranged on the lead screw and the polished rod in a sliding mode; the automobile body is provided with an elevation hydraulic cylinder, the frame is connected with the output end of the elevation hydraulic cylinder, the screw rods, the torque motors and the vertical plates are all two, the output ends of the two torque motors are respectively connected with the two screw rods, the screw rods and the polished rod are arranged horizontally, the two screw rods are located on the same horizontal straight line, the two vertical plates are respectively installed on the two screw rods, and the two fork teeth are respectively fixed on the two vertical plates horizontally. The two torque motors can respectively control the two fork teeth to transversely move, so that the width between the two fork teeth can be changed, the two fork teeth are suitable for different cargo bins and pallets, but the two fork teeth move in the same direction and at the same speed in the loading and unloading process, and the distance is unchanged. The riser is equipped with the screw hole, thereby the screw hole of riser and the external screw-thread fit on the lead screw drive the lead screw through torque motor drive riser and move on the horizontal direction, and the upper end slidingtype of riser is installed on the polished rod, and the screw hole is located the middle part of riser, and prong and layer board are located the lower extreme of riser. The polished rod can guide the riser translation, and the polished rod makes the atress of riser more balanced, and is more stable when bearing the weight of the goods.

Be equipped with the fixed plate on the crane, the fixed plate is located the lower extreme of crane and is close to the top of prong, is equipped with sub-car sensor and the first goods sensor in place on the fixed plate, and sub-car sensor in place is located the below of first goods sensor in place, and sub-car sensor in place detects the transportation sub-car whether on the layer board, and first goods sensor in place detects whether there is the goods on the transport mother's car. First goods sensor and sub-car sensor in place can judge whether transportation sub-car is under the tray, and when this system got goods from the goods shelves of automatic storage, automatic warehousing had horizontal adjusting position mechanism, and automatic storage belongs to prior art.

The supporting plate is also provided with a spring reset switch. Spring reset switch is located the terminal of layer board free end and is located mirror surface reflection sensor's next door, and when the layer board was close to the locating plate of storehouse, spring reset switch and locating plate contact, spring reset switch triggered and makes the female car automatic stop remove of transportation, prevents that the female car of transportation from colliding with the storehouse, ensures simultaneously that handling in-process prong and storehouse keep the contact state.

Be equipped with the second goods sensor on throne on the goods supporting beam, the second goods sensor on throne has a plurality of and along the length direction evenly distributed of goods supporting beam. The second goods can detect which position has the goods in the storehouse on the sensor in place, is convenient for transport the female car and fixes a position fast and load and unload on this position.

The transport sub-vehicle comprises a frame, wheels and guide wheels which are arranged on the frame in a uniform rotation mode; the wheel and the guide wheels are uniformly distributed on two sides of the frame, the rotating axis of the wheel is horizontal, the rotating axis of the guide wheels is vertical, the wheel is arranged on the supporting plate in a rolling mode, the guide wheels are arranged on the side faces of the fork teeth in a rolling mode, and the circumferential face of each guide wheel is in contact with the side faces of the fork teeth. The fork teeth prevent the transport sub-vehicle from deviating when moving on the transport main vehicle, and the guide wheels can reduce the friction between the fork teeth and the frame of the transport sub-vehicle and guide the transport sub-vehicle to move on the supporting plate.

The transport sub-vehicle also comprises a lifting slide rail arranged on the frame, a hinge rod hinged with the frame, a lifting plate hinged with the hinge rod and a tray fixed on the lifting plate; the tray can hold the goods, and the output and the lifter plate of lift slide rail are connected. The lifting slide rail is located at the center of the lifting plate, the lifting slide rail can prevent the lifting plate from rotating and overturning when lifting, the tray rises to support the goods when the transport sub-vehicle loads the goods, the goods are placed on the goods supporting beam by descending the lifting plate when the transport sub-vehicle transports the goods into the cargo compartment, and the height of the tray is lower than the height of the goods supporting beam when the lifting plate descends to the lowest position for unloading.

The side of the cargo supporting beam is provided with an infrared transmitting tube which is positioned in the shuttle channel of the sub-vehicle, and the two sides of the vehicle frame are provided with infrared receiving tubes. The both sides of the frame of transportation sub-car all are equipped with two infrared receiving tubes, and when the transportation sub-car removed in the warehouse, infrared receiving tube and the infrared transmitting tube response on the goods supporting beam can the real-time supervision transportation sub-car specific position in the warehouse. When the second infrared receiving tube on the frame is triggered, the fact that the transport sub-vehicle completely enters the truck is proved, and meanwhile the position of the truck is calibrated as a reference point, so that the moving distance of the transport sub-vehicle for placing or taking goods can be known according to the information of the goods on-site sensor on the goods supporting wheel. When the transport sub-vehicle finishes placing or taking the goods and triggers the infrared receiving tube again, the transport main vehicle indicates that the transport main vehicle is going to be loaded, the transport main vehicle can start the sub-vehicle on-site sensor to confirm whether the transport sub-vehicle moves in place.

The working principle of the device is as follows: when loading, the transport sub-vehicle takes the goods from the goods shelf and moves to the sub-vehicle parking support of the transport main vehicle, and the sub-vehicle in-place sensor and the first goods in-place sensor respectively sense whether the transport sub-vehicle and the goods are carried to the transport main vehicle or not; after the fact that the transport sub-vehicle is in place and the goods exist is determined, the transport main vehicle obtains the placement position in advance through the wireless communication module, the transport main vehicle moves to the goods warehouse of the placement position, the transport main vehicle adjusts the position of the sub-vehicle parking support piece through a first distance sensor of the second light band aiming at the goods warehouse and a first light reflection band of the mirror reflection sensor aiming at the goods warehouse in the process, and the mirror reflection sensor at the tail end of the fork tooth is used for sensing with the first light band of the goods warehouse to level, so that the height of the upper surface of the support plate is aligned with the height of the bottom plane of the goods warehouse, and the transport sub-vehicle can conveniently move; the tail ends of the two supporting plates are provided with second light bands, the center positions of the two supporting plates are determined through the sensing distance between the two second light bands and the first distance sensor, the two fork teeth are simultaneously horizontally adjusted, the center of the fork teeth is aligned with the center of the shuttle channel of the sub-vehicle while the distance between the two fork teeth is not changed, and therefore the alignment of the two fork teeth and the shuttle channel of the sub-vehicle is achieved. The first distance sensor of storehouse aims at the distance of response and is 2 meters, when the transport mother car front end (be the automobile body when no-load, be the goods of front end during the goods loading) and storehouse distance be 2 meters, first distance sensor triggers, the transport mother car begins adjusting position and gesture, rotate and the forward motion through automobile body two-wheeled differential, the preliminary alignment is placed goods sub-car passageway of shuttling in advance, automobile body front end perpendicular to door plane simultaneously, the adjusting distance of this process is less than 0.5 meter, accomplish the regulation of position and gesture. When the distance between the front end of the transport bus and the warehouse is 1.5 meters, the transport bus stops advancing, the fork teeth are lifted, the mirror reflection sensor is triggered when aligning to the first reflection band of the warehouse, and the upper surface of the supporting plate is aligned with the plane of the bottom of the warehouse at the moment, so that the height adjustment of the fork teeth is completed. Then the primary transport vehicle continues to advance, the first distance sensor detects the distance value of the second light bands at the front ends of the two real-time supporting plates, so that the speed of the two differential wheels is adjusted in the movement process, the primary transport vehicle is guaranteed to be perpendicular to the positioning plate at the tail of the cargo bin, when the distance between the front ends of the fork teeth and the cargo bin is 0.1 m, the two fork teeth are subjected to horizontal fine adjustment, the position of the two second light bands is detected by the first distance sensor in the process, when the second light bands correspond to the middle positions of the two sections of the first distance sensors triggered, the two fork teeth are located in the center of the first distance sensor band at the lower portion of the pre-placed secondary vehicle shuttle channel, the two fork teeth are accurately aligned with the secondary vehicle shuttle channel, and the horizontal adjustment of the fork teeth is finished. The primary transport vehicle continues to move forwards until the spring reset switch at the tail end of the supporting plate touches the positioning plate of the cargo compartment, the spring reset switch is triggered, the primary transport vehicle stops moving, and the position of the secondary vehicle parking support is close to the bottom in the cargo compartment and is positioned at the same height, and then the primary transport vehicle stops moving (the spring reset switch triggers). The transport sub-vehicle is started immediately, the transport sub-vehicle moves to the warehouse from the transport main vehicle, and when the transport sub-vehicle moves on the shuttle channel of the sub-vehicle of the warehouse, the specific position of the transport sub-vehicle in the warehouse can be known by the system through mutual induction of the infrared transmitting tube in the warehouse and the infrared receiving tube on the transport sub-vehicle. The transport son car transports the goods to suitable position in the freight warehouse and then through the lift of drive lifter plate on the frame for the delivery is deposited on the goods supporting beam, and the second goods on-the-spot sensor on the goods supporting beam can sense whether the transport son car has placed the goods in the freight warehouse, and the transport son car returns the son car along son car shuttle passageway after placing the goods in the freight warehouse on, and the son car on-the-spot sensor on the transport mother car detects whether the transport son car has returned to the transport mother car. When goods in the goods warehouse are unloaded, the process that the primary transport vehicle adjusts the secondary vehicle parking support to a proper unloading position is consistent with the loading process, the primary transport vehicle stops moving after the position of the secondary vehicle parking support is close to the bottom in the goods warehouse and is positioned at the same height, the secondary transport vehicle moves from the primary transport vehicle to the position below the goods in the goods warehouse, then the lifting plate of the secondary transport vehicle is lifted to lift the goods, the primary transport vehicle returns the goods to the primary transport vehicle after lifting the goods, the primary transport vehicle detects whether the secondary transport vehicle and the goods return to the primary transport vehicle through the secondary vehicle on-site sensor and the first goods on-site sensor, and finally the primary transport vehicle transports the goods to a goods shelf or an appointed place, the goods shelf is arranged in the same manner as the goods warehouse, the goods shelf is positioned in the automatic storage, the process that the primary transport vehicle and the secondary transport vehicle take or unload the goods on the goods shelf is the same as the process that the goods take or unload on the goods warehouse, goods aligning devices are arranged on the goods shelves in the automatic storage.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. a sub-mother loading and unloading system, it is characterized in that: comprise warehouse, transport mother car, the transport sub-car that shuttles back and forth on the warehouse and the transport mother car; Wireless communication module, the transport sub-car, the transport mother car, and the warehouse are connected by signals through the wireless communication module. There are several cargo support beams in the warehouse. The transport mother car includes a car body, a longitudinal moving component installed on the car body, A lateral moving assembly installed on the longitudinal moving assembly, and a sub-car parking bracket installed on the lateral moving assembly; a first light strip is arranged on the cargo compartment, and a first distance sensor is arranged on the first light belt, and the sub-car is parked on the pallet. The end of the piece is provided with a second light strip and a specular reflection sensor, and there is a shuttle passage between adjacent support beams;

The sub-car parking bracket includes fork tines and a pallet installed under the fork tines; there are two fork tines and pallets. The sub-car is slidably mounted on the pallet, and the second light strip and the mirror reflection sensor are all located on the pallet.

2. A child-mother loading and unloading system according to claim 1, characterized in that: the longitudinal movement assembly comprises a frame mounted on the vehicle body and a lift rod mounted on the frame; the lateral movement assembly comprises a frame mounted on the lift rod Lifting frame, torque motor and smooth rod all installed on the lifting frame, lead screw installed on the lifting frame in a rotary type, vertical plate mounted on the lead screw and smooth rod in a sliding type; the lead screw, torque motor and vertical plate have two The output ends of the two torque motors are respectively connected with the two lead screws, the lead screws and the polished rod are arranged horizontally, the two lead screws are located on the same horizontal line, the two vertical plates are respectively installed on the two lead screws, the two The fork tines are respectively fixed on the two vertical plates.

3 . The sub-car loading and unloading system according to claim 2 , wherein the lifting frame is provided with a fixing plate, and the fixing plate is provided with a sub-car presence sensor and a first cargo presence sensor. 4 .

4. A child-mother loading and unloading truck system according to claim 1, characterized in that: the warehouse is provided with a warehouse opening, and a positioning plate is provided below the warehouse opening of the warehouse, and the first light strip and the first distance sensor are located at positioning plate.

5. A child-mother loading and unloading system according to claim 4, wherein a spring return switch is further provided on the pallet.

6 . The parent-child loading and unloading system according to claim 1 , wherein a second cargo presence sensor is provided on the cargo support beam. 7 .

7. A child-mother loading and unloading system according to claim 2, characterized in that: the transport sub-car comprises a frame, wheels and guide wheels that are all rotatably mounted on the frame; the wheels and the guide wheels have several, A number of wheels are evenly distributed on both sides of the frame, and a number of guide wheels are evenly distributed on both sides of the frame.

8 . The sub-mother loading and unloading system according to claim 7 , wherein the transport sub-car further comprises a lift rail mounted on the vehicle frame, a hinge rod hinged with the vehicle frame, and a lift plate hinged with the hinge rod. 9 . , The pallet fixed on the lift plate; the output end of the lift rail is connected with the lift plate.

9. A child-mother loading and unloading system according to claim 8, characterized in that: the side of the cargo support beam is provided with an infrared emission tube, the infrared emission tube is located in the shuttle passage of the sub-car, and both sides of the frame are provided with infrared emission tubes. Receive tube.