CN112478559B

CN112478559B - Primary and secondary car

Info

Publication number: CN112478559B
Application number: CN202011479476.XA
Authority: CN
Inventors: 许波; 林万虎; 李忠岩; 宋洋; 周江明
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2022-06-14
Anticipated expiration: 2040-12-15
Also published as: CN112478559A

Abstract

The invention discloses a primary and secondary vehicle, belonging to the technical field of transportation equipment, wherein the primary and secondary vehicle is used for carrying workpieces to enter and exit a target bin and comprises: comprises a motion control system; the main vehicle comprises a rack and a bearing platform arranged on the rack, the rack can move back and forth along the X direction, and the bearing platform can lift along the Z direction; the secondary vehicle is arranged on the bearing platform, can lift along with the bearing platform and can move back and forth along the Y direction relative to the primary vehicle; the docking device comprises an X-direction positioning part movably arranged on the bearing platform, and the X-direction positioning part is used for positioning and docking with a target bin. The invention can carry the workpiece to the three-dimensional storage, and the sub-vehicle does not shake when passing through the rail from the bearing platform to the target bin.

Description

Primary and secondary car

Technical Field

The invention relates to the technical field of transportation equipment, in particular to a primary and secondary vehicle.

Background

In prefabricated construction, the manufacture of prefabricated parts is generally done in advance in professional factories. After the prefabricated parts are manufactured, the prefabricated parts are generally stored in a prefabricated part storage yard.

In the prior art, a prefabricated part storage yard is generally a plane storage, and the floor area of the storage yard is 1.2-2 times of the area of a prefabricated part production line. The storage yards adopting the plane storage state all have the technical problems of high land cost of the storage yard, low turnover efficiency, low land volume rate, low unit output value of land and the like.

Therefore, the storage of the prefabricated parts is gradually changed from a flat storage to a three-dimensional storage. However, in prior art, when adopting transportation equipment to carry the prefabricated component to the three-dimensional storage, for example, adopt the primary and secondary car to carry the operation, the motion control system who is equipped with on the primary and secondary can guarantee that primary and secondary car moves the operation position, when the primary and secondary car gets into the three-dimensional storage, generally earlier remove to the assigned position through motion control system control primary car, the secondary car goes up and down to the operation of appointed height along vertical direction afterwards, but primary positioning is realized through motion control system to the primary and secondary car, and there is certain skew of rocking to cause when the primary and secondary car goes up and down, lead to the secondary car track of primary and secondary car not accurate with the track butt joint position of three-dimensional storage, because the butt joint position is not accurate, lead to often to taking place to rock when primary and secondary car gets into the three-dimensional storage, lead to the work piece transportation unstability.

Disclosure of Invention

The invention aims to provide a primary-secondary vehicle, which can be accurately butted with a target bin position, can convey workpieces to the three-dimensional storage type target bin position, and can ensure the stability of workpiece conveying without shaking when the primary vehicle passes through a rail from a bearing platform to the target bin position.

As the conception, the technical scheme adopted by the invention is as follows:

a primary and secondary vehicle, comprising a motion control system, further comprising:

the primary vehicle comprises a rack and a bearing platform arranged on the rack, the rack can move back and forth along the X direction, and the bearing platform can lift along the Z direction;

the secondary vehicle is arranged on the upper surface of the bearing platform, can lift along with the bearing platform and can move back and forth along a Y direction relative to the primary vehicle, and the Y direction is vertical to the X direction;

the docking device comprises an X-direction positioning part movably arranged on the bearing platform, and the X-direction positioning part is used for positioning and docking with a target bin.

The bearing platform drives the sub-vehicle to lift along the Z direction, and the sub-vehicle is responsible for carrying workpieces, so that the workpieces can be carried to different heights, and the carrying platform can be suitable for carrying the workpieces stored in a three-dimensional manner; when the sub-vehicle passes through the rail, the motion control system controls the bearing platform to drive the sub-vehicle to rise to the position of the bearing surface higher than the target bin position to complete primary positioning; and then the X-direction positioning part extends out, the motion control system controls the bearing platform to descend, and the X-direction positioning part performs X-direction positioning on the bearing platform to enable the bearing platform and the target bin position to complete secondary positioning, so that the sub-vehicle does not shake when passing the rail from the bearing platform to the target bin position, and the stability of workpiece carrying is ensured.

As an alternative of the primary and secondary vehicles, the X-direction positioning portion comprises a first guide piece which is telescopic along the Y direction, a guide groove which is matched with the first guide piece is arranged on the target bin, the guide groove comprises two groove walls which are oppositely arranged along the X direction, and the two groove walls of the guide groove are used for being matched with the first guide piece.

The first guide piece can stretch out and draw back along the Y direction and is matched with the guide groove of the target bin position, and the bearing platform is positioned in the X direction.

As an alternative of the primary and secondary vehicles, the first guide member includes a first guide wheel, a rotation axis of the first guide wheel is arranged along the Y direction, an opening of the guide groove is arranged toward the first guide wheel, a wheel diameter of the first guide wheel is adapted to a groove width of the guide groove, and a round end surface of the first guide wheel is arranged opposite to a groove bottom of the guide groove.

First leading wheel can rotate, and the opening of guide way sets up towards first leading wheel to make first leading wheel roll and fall to the guide way in, realize upwards fixing a position bearing platform at X.

As an alternative of the primary and secondary vehicles, the upper ends of the two groove walls of the guide groove are respectively provided with a guide inclined surface, and the two guide inclined surfaces are arranged opposite to the circumferential side surface of the first guide wheel.

The upper end of the groove wall of the guide groove is provided with a guide inclined surface which can guide the first guide wheel to roll into the guide groove; and the guide inclined plane has certain fault tolerance to the position of the bearing platform in the X direction, and the position of the bearing platform in the X direction is corrected.

As an alternative of the primary and secondary vehicles, a second guide piece is telescopically arranged on the bearing platform along the X direction, the second guide piece is abutted to or separated from the machine frame through telescopic movement of the second guide piece along the X direction, and when the bearing platform is positioned in the X direction with the target bin position through the X direction positioning part, the second guide piece is separated from the machine frame.

The second guide piece is arranged to limit the X-direction shaking of the bearing platform during lifting.

As an alternative of the primary and secondary vehicles, the second guide piece comprises a second guide wheel which can stretch along the X direction, a guide upright post is arranged on the machine frame, and the second guide wheel is arranged opposite to one side surface of the guide upright post.

When the bearing platform is lifted, the second guide wheel extends out to abut against the guide upright post, so that the X-direction shaking of the bearing platform is limited when the bearing platform is lifted; and rolling friction is adopted between the second guide wheel and the guide upright post, so that the friction force is small, and the second guide wheel and the guide upright post are prevented from being damaged.

As an alternative of the primary and secondary vehicles, a third guide part is arranged on the bearing platform and comprises two third guide wheels which are oppositely arranged along the Y direction, the two third guide wheels are oppositely arranged along the Y direction at intervals, and the two third guide wheels are abutted to two side faces of the guide upright post.

And a third guide piece is arranged to limit Y-direction shaking of the bearing platform during lifting.

As an alternative to the primary and secondary vehicles, the docking device comprises a first abutment member for abutting against the target position in the Z direction, and the first abutment member is telescopically arranged along a side portion of the carrying platform.

The first abutting piece extends out and can abut against a bearing surface of the target bin position, and the bearing platform is positioned in the Z direction.

As an alternative of the primary and secondary vehicles, a first secondary vehicle guide rail is arranged on the upper surface of the bearing platform, a second secondary vehicle guide rail corresponding to the first secondary vehicle guide rail is arranged on the bearing surface of the target bin, and when the first abutting piece abuts against the target bin, the top surfaces of the first secondary vehicle guide rail and the second secondary vehicle guide rail are coplanar.

Arranging a first sub-vehicle guide rail on the bearing platform to guide the sub-vehicle to move on the bearing platform; arranging a second sub-vehicle guide rail on the bearing surface of the target bin to guide the sub-vehicle to move on the bearing surface of the target bin; after the bearing platform is positioned in the Z direction by the first butt joint piece, when the sub-vehicle passes through the rail from the bearing platform to the target bin position, the first sub-vehicle guide rail and the second sub-vehicle guide rail are in butt joint, the top surfaces of the first sub-vehicle guide rail and the second sub-vehicle guide rail are coplanar, and the fact that no impact and no shaking exist when the sub-vehicle passes through the rail is fully guaranteed.

As an alternative of the primary and secondary vehicles, the docking device further comprises a second abutting piece, a side blocking piece matched with the second abutting piece is arranged on the rack, and the second abutting piece can abut against the side blocking piece along the Z direction.

When the second abutting part abuts against the side blocking part, the side blocking part can provide vertical upward supporting force for the bearing platform, the bearing platform is more stable, and the sub-vehicle can move on the bearing platform more stably.

As an alternative of the primary and secondary vehicles, at least two side blocking pieces are arranged on the rack at intervals along the Z direction, and the side blocking pieces are arranged in one-to-one correspondence with the bearing surfaces of the target bin at different heights.

The side blocking pieces with different heights are arranged, so that the bearing platform can be kept stable when the bearing platform is butted with the target bin position at different heights.

As an alternative of the primary and secondary vehicles, the primary and secondary vehicles comprise guide rails extending along the X direction, and the machine frame can reciprocate along the guide rails; the walking guide wheel assembly matched with the guide rail is arranged on the rack and comprises two walking guide wheels which are oppositely arranged, and the two walking guide wheels are respectively positioned on two sides of the guide rail and can roll along the guide rail.

The guide rail can guide the movement of the rack along the X direction; the walking guide wheel component can limit the shaking of the rack in the Y direction, and the stability of the motion of the rack is ensured.

As an alternative of the primary and secondary vehicle, the primary and secondary vehicle further comprises a lifting mechanism for driving the bearing platform to lift, the lifting mechanism comprises a motor, a winding drum and a traction rope matched with the winding drum, and the motor can drive the winding drum to reel and unwind the traction rope so as to drive the bearing platform to lift.

The lifting of the bearing platform is realized through the matching of the motor, the winding drum and the traction rope, the lifting speed of the bearing platform can be increased, the bearing platform can adapt to more frequent work, and meanwhile, the bearing platform is easy to purchase and maintain. The primary and secondary vehicles provided by the invention have the following advantages:

(1) the sub-vehicle can be lifted along with the bearing platform, so that the workpieces can be conveyed to different heights, and the sub-vehicle can be suitable for conveying the workpieces of a three-dimensional target bin;

(2) can carry out the secondary positioning to load-bearing platform:

when the secondary vehicle needs to cross the rail to the bearing surface of the target bin, the motion control system controls the primary vehicle to move to the designated position and controls the lifting of the bearing platform, and drives the bearing platform to lift to the height slightly higher than the bearing surface of the target bin, so that the primary positioning of the bearing platform is realized;

and then the X-direction positioning part of the butt joint device is in positioning butt joint with the target bin position, so that the bearing platform and the target bin position are subjected to secondary positioning. Therefore, when the sub-vehicle passes through the rail from the bearing platform to the target bin, the sub-vehicle does not shake, and the impact and even the failure of the sub-vehicle to pass through the rail when the sub-vehicle passes through the rail from the bearing platform to the target bin are avoided.

Drawings

FIG. 1 is a schematic structural diagram of a primary-secondary vehicle provided by an embodiment of the invention;

FIG. 2 is an enlarged view at A in FIG. 1;

fig. 3 is a schematic structural view of a sub-vehicle provided by the embodiment of the invention, which is arranged on a lifting platform;

fig. 4 is a schematic structural diagram of a lifting platform provided in the embodiment of the present invention;

FIG. 5 is an enlarged view at B in FIG. 4;

FIG. 6 is a schematic structural diagram of a sub-vehicle provided in the embodiment of the present invention;

fig. 7 is a schematic diagram of a primary-secondary vehicle and a target position in docking according to an embodiment of the present invention;

FIG. 8 is an enlarged view at C in FIG. 7;

FIG. 9 is a schematic view of a second abutment and a side stop provided by an embodiment of the present invention.

In the figure:

1. carrying out primary vehicle; 11. a frame; 111. a side stop; 112. a guide upright post; 113. a traveling guide wheel; 114. a fixed pulley block; 12. a load-bearing platform; 121. a third guide wheel; 122. a movable pulley; 123. a workpiece temporary storage rack; 124. a first sub-vehicle guide rail; 13. a second guide wheel; 141. a motor; 142. a brake; 143. a speed reducer; 144. a reel; 15. a traveling section; 151. a traveling wheel; 152. a traveling motor;

2. a sub-vehicle; 21. a jacking portion; 22. a chassis section; 23. a sub-vehicle traveling section;

31. a first abutting member; 32. a first guide member; 321. a first guide wheel; 33. a second abutting member;

4. a target bin level; 41. a guide groove; 411. a guide slope; 42. a second sub-vehicle guide rail; 43. a storage rack; 44. a sub-vehicle channel;

5. a guide rail;

6. and (5) a workpiece.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-9, the present embodiment provides a primary and secondary vehicle.

Specifically, the primary-secondary vehicle is used for moving the workpiece 6 in and out of the target bin 4, and the target bin refers to a workpiece storage platform, a stereoscopic warehouse and the like in the embodiment.

Alternatively, in the present embodiment, the workpiece 6 is a prefabricated member, such as a prefabricated plate. Of course, in other embodiments, the workpiece 6 may be other articles.

Referring to fig. 1, in particular, in the present embodiment, the primary-secondary vehicle includes a motion control system, a primary vehicle 1, a secondary vehicle 2, and a docking device.

The parent car 1 comprises a rack 11 and a bearing platform 12 arranged on the rack 11, wherein the rack 11 can move back and forth along the X direction, and the bearing platform 12 can lift along the Z direction; the secondary vehicle 2 is arranged on the upper surface of the bearing platform 12, can lift along with the bearing platform 12 and can move back and forth along the Y direction relative to the primary vehicle 1, and the Y direction is vertical to the X direction; the docking device comprises an X-direction positioning part movably arranged on the bearing platform 12, and the X-direction positioning part is used for positioning and docking with the target bin 4 so as to position the bearing platform 12 in the X direction relative to the target bin 4.

Specifically, the motion control system can move the frame 11 of the primary vehicle 1 along the X direction and can control the bearing platform to lift along the Z direction, and the motion control system in the secondary and primary vehicles belongs to the prior art, for example, a laser sensor and the like are adopted to realize positioning and the secondary and primary vehicles move to the designated position through system feedback control.

Further, in this embodiment, the docking device can be switched to the docking state when the bearing platform 12 is higher than the bearing surface of the target position 4, and is in docking fit with the target position 4 along with the descending of the bearing platform 12, so as to position the bearing platform 12 and the target position 4. Specifically, the X-direction positioning portion can be switched to a butt-joint state when the bearing platform 12 is higher than the bearing surface of the target bin 4, and is in positioning butt-joint with the target bin 4 along with the descending of the bearing platform 12, so as to position the bearing platform 12 relative to the target bin 4 along the X direction.

When the primary and secondary vehicle provided by the embodiment carries a workpiece 6 to enter and exit the target bin 4, the secondary vehicle 2 is arranged on the upper surface of the bearing platform 12, the frame 11 of the primary vehicle 1 moves to a specified position, then the bearing platform 12 drives the secondary vehicle 2 to lift along the Z direction, when the bearing platform 12 is higher than the bearing surface of the target bin 4, the butt joint device is in positioning butt joint with the target bin 4 along with the descending of the bearing platform 12, and the bearing platform 12 and the target bin 4 are positioned; at this time, the sub-vehicle 2 moves to the target position 4 along the Y direction, and the workpiece 6 on the supporting platform 12 is conveyed to the target position 4.

The primary and secondary car that this embodiment provided has following advantage:

(1) the sub-vehicle 2 can be lifted along with the bearing platform 12, so that the workpieces 6 can be conveyed to different heights, and the three-dimensional workpiece conveying of the target bin 4 can be adapted;

(2) the load-bearing platform 12 can be secondarily positioned:

when the secondary vehicle 2 needs to cross the rail to the bearing surface of the target bin 4, the motion control system controls the primary vehicle to move to a specified position and controls the lifting of the bearing platform 12, and drives the bearing platform 12 to lift to a height slightly higher than the bearing surface of the target bin 4, so that the primary positioning of the bearing platform is realized;

subsequently, the X-direction positioning part of the butt joint device is in positioning butt joint with the target bin 4, so that the bearing platform 12 and the target bin 4 are subjected to secondary positioning, and therefore when the sub-vehicle 2 passes through the rail from the bearing platform 12 to the target bin 4, the sub-vehicle 2 does not shake, and impact and even the sub-vehicle 2 cannot pass through the rail when the sub-vehicle 2 passes through the rail from the bearing platform 12 to the target bin 4 are avoided.

It should be noted that, in this embodiment, the sub-vehicle 2 travels along the Y direction, and since the sub-vehicle 2 itself has a plurality of sets of wheel sets, there is a certain deviation when the Y direction rail is docked, and the rail passing influence of the sub-vehicle is not great, and if there is a great deviation between the two X directions, the sub-vehicle rail and the target position rail cannot be docked accurately. Therefore, the X-direction positioning portion is arranged in the embodiment to realize the X-direction positioning of the bearing platform 12 relative to the target bin 4, so as to avoid the situation that the sub-vehicle track and the target bin track cannot be precisely butted.

In this embodiment, the lift of primary car 1 and the removal of secondary car 2 are controlled by motion control system for primary and secondary car can automatic handling work piece, need not artifical the participation, improves primary and secondary car's degree of automation.

Because the work piece 6 in this embodiment is prefabricated component, the weight of prefabricated component is generally bigger, in order to improve the handling capacity of primary and secondary car, in this embodiment, frame 11 is the portal structure to make the primary car be portal crane structure, adopt the material preparation primary car 1 and secondary car 2 that intensity is higher, select the great transmission system of power to realize the lift of load-bearing platform 12, improved the handling capacity of primary and secondary car greatly, make the transport upper limit of primary and secondary car promote 100 tons from traditional 3 tons.

Meanwhile, in the embodiment, the motion control system controls the bearing platform 12 to drive the sub-vehicle 2 to move to the designated position of the bearing surface higher than the target bin 4, so that the bearing platform is initially positioned, and the sub-vehicle 2 is prevented from passing the rail due to the interference of the sub-vehicle 2 and the target bin 4; then the X extends out of the positioning part, the motion control system controls the bearing platform 12 to drive the sub-vehicle 2 to descend, the X performs X positioning on the bearing platform 12 relative to the target bin 4 to the X positioning part, and the bearing platform 12 and the target bin 4 complete positioning at the moment, so that butt joint of the bottom surface of the sub-vehicle 2 and the bearing surface of the target bin 4 is achieved, and overlarge impact is avoided when the sub-vehicle 2 passes through a track from the bearing platform 12 to the target bin 4.

Specifically, in this embodiment, as shown in fig. 2, the mother vehicle 1 further includes a traveling part 15, a traveling wheel 151 is disposed on the traveling part 15, and the traveling wheel 151 rolls along the X direction, so as to drive the mother vehicle 1 to move back and forth along the X direction.

Further, in this embodiment, in order to guide the moving direction of the rack 11, the primary-secondary vehicle includes a guide rail 5 extending along the X direction, and the rack 11 can reciprocate along the guide rail 5.

Optionally, in this embodiment, the motion control system is a closed-loop control system. The motion of the parent car 1 in the X direction is controlled by an electrical closed-loop motion control technique. Specifically, through the electric automatic positioning technology, the position information of the mother vehicle is acquired by using a sensor, the information is compared with the theoretical position of the mother vehicle by a controller, and the motion motor of the mother vehicle is controlled to supplement errors, so that the electric closed-loop motion control technology is realized. It should be noted that the electrical closed-loop motion control technique is a well-established prior art and will not be described herein too much.

Referring to fig. 2, further, a traveling guide wheel assembly matched with the guide rail 5 is arranged on the frame 11, the traveling guide wheel assembly includes two traveling guide wheels 113 arranged oppositely, and the two traveling guide wheels 113 are respectively located at two sides of the guide rail 5 and can be in rolling contact with the guide rail 5. Through setting up the walking guide wheel subassembly, can prevent that frame 11 of mother's car 1 from following the Y to the drunkenness when walking to the precision of mother's car 1 in Y has been guaranteed.

Optionally, in this embodiment, the guide rail 5 is a steel rail.

Specifically, in the present embodiment, the traveling guide wheel assembly is provided on the traveling unit 15, the traveling wheels 151 can roll on the upper surface of the guide rail 5, and the two traveling guide wheels 113 are in rolling contact with both sides of the guide rail 5, respectively.

Optionally, in this embodiment, the primary-secondary vehicle includes two guide rails 5 arranged at an interval, and the traveling part 15 on the rack 11 is arranged corresponding to the guide rails 5. In order to simplify the installation of the product and save the cost, only the walking guide wheel assembly corresponding to one guide rail 5 is optionally arranged on the machine frame 11.

Furthermore, a walking motor 152 is arranged on the frame 11, the walking motor 152 is used for driving the walking wheels 151 of the walking part 15 to rotate, so that the frame 11 moves along the guide rail 5, and the walking speed and the walking direction of the frame 11 can be adjusted by changing the rotating speed and the steering direction of the walking motor 152. Specifically, the travel motor 152 is a reduction motor.

The cross section of the guide rail 5 is I-shaped, the walking wheels 151 are abutted against the upper surface of the upper wing plate of the guide rail 5, and the two walking guide wheels 113 of the walking guide wheel assembly are respectively abutted against the two sides of the web plate of the guide rail 5 in a rolling manner.

Referring to fig. 1 and 2, in order to increase the lifting speed of the carrying platform 12, so that the carrying platform 12 can adapt to more frequent work and is easy to purchase and maintain, in this embodiment, the primary-secondary vehicle further includes a lifting mechanism for driving the carrying platform 12 to lift.

Referring to fig. 2, specifically, the lifting mechanism includes a motor 141, a winding drum 144 and a pulling rope engaged with the winding drum 144, and the motor 141 can drive the winding drum 144 to wind and unwind the pulling rope, so as to drive the loading platform 12 to ascend and descend.

Further, the lifting mechanism comprises a motor 141, a brake 142, a speed reducer 143 and a winding drum 144, the motor 141 is in transmission connection with the brake 142, the brake 142 is in transmission connection with the speed reducer 143, the speed reducer 143 is in transmission connection with the winding drum 144, and the winding drum 144 can realize the winding and unwinding of the traction rope, so that the bearing platform 12 is driven to lift through the traction rope.

Further, referring to fig. 1, a fixed pulley block 114 is further disposed on the top of the frame 11, one end of the traction rope is fixed on the winding drum 144, the other end of the traction rope bypasses the fixed pulley block 114 and is connected to the frame 11 at the end, and the lifting of the bearing platform 12 is realized by winding and unwinding the traction rope on the winding drum 144.

Specifically, in this embodiment, referring to fig. 1, the fixed pulley block 114 is disposed at the upper end of the frame 11, the lifting mechanism is disposed at the lower end of the frame 11, and the end of the traction rope extends upward and passes through the fixed pulley block 114, and then extends downward and is connected to the load-bearing platform 12. The direction of the traction force of the traction rope can be changed by arranging the fixed pulley block 114, so that the lifting mechanism can be arranged at the lower end of the frame 11, and the stability of the frame 11 is improved. Specifically, in the present embodiment, the fixed pulley set 114 includes two fixed pulleys disposed at an interval. The hauling cable from the winding drum 144 extends upwards and passes through two fixed pulleys in sequence, and then extends downwards and is connected with the bearing platform 12. One of the two fixed pulleys is arranged corresponding to the lifting mechanism, so that the traction rope led out from the lifting mechanism is ensured to vertically extend upwards; another fixed pulley corresponds the setting with load-bearing platform 12, guarantees that downwardly extending's haulage rope can follow Z to downwardly extending to guarantee to promote load-bearing platform 12's traction force and can follow Z all the time, avoid traction force to take place to lead to the position in load-bearing platform 12's the horizontal plane to appear the deviation after the slope. Preferably, in this embodiment, the primary-secondary vehicle includes four lifting mechanisms, and the four lifting mechanisms are respectively disposed corresponding to four corners of the carrying platform 12. Through setting up four hoist mechanism, can provide bigger lifting power for load-bearing platform 12, and then can improve primary and secondary car's handling capacity.

Of course, in other embodiments, the lifting mechanisms may be provided in one or other number, as long as the lifting of the carrying platform 12 can be realized, which is not limited herein.

Referring to fig. 3, in the present embodiment, the carrying platform 12 is used for carrying the sub-vehicle 2. Specifically, the movable pulleys 122 corresponding to the lifting mechanisms are arranged on the bearing platform 12, the steel wire rope of the winding drum 144 passes around the fixed pulley block 114, and the end part of the steel wire rope extends downwards, extends through the movable pulleys 122 on the bearing platform 12 and then extends upwards to be connected with the top of the frame 11. By providing a traveling block 122, the lifting mechanism can lift the load-bearing platform 12 with a small lifting force.

The reel 144 enables the load-bearing platform 12 to be raised and lowered by winding and unwinding the traction rope.

Of course, in other embodiments, both ends of the cable may be secured to the drum.

Referring to fig. 3 and 4, in addition, in the present embodiment, a workpiece temporary storage rack 123 is disposed on the carrying platform 12, and the workpiece 6 to be carried is temporarily stored on the workpiece temporary storage rack 123.

Specifically, in this embodiment, the workpiece 6 to be carried is a prefabricated plate, and the workpiece temporary storage rack 123 includes two receiving beams disposed at intervals and opposite to each other, and each receiving beam extends along the Y direction. The workpiece 6 is temporarily stored on the workpiece temporarily storage shelf 123.

Specifically, the workpiece 6 is overlapped on two receiving beams of the workpiece temporary storage rack 123. A walking space of the sub-vehicle 2 is formed between the two oppositely arranged bearing beams. When the sub-cart 2 needs to move the workpiece 6 off the loading platform 12, the lifting part 21 lifts and lifts the workpiece 6 so that the workpiece 6 is lifted off the receiving beam, and then the sub-cart 2 lifts the workpiece 6 off the loading platform 12.

Further, a first sub-cart guide rail 124 extending along the Y direction is further disposed between the two support beams of the workpiece temporary storage rack 123 on the upper surface of the carrying platform 12, and the sub-cart 2 travels on the carrying platform 12 along the first sub-cart guide rail 124. The first sub-vehicle guide rail 124 can guide the traveling of the sub-vehicle 2 in the Y direction.

Specifically, two first sub-vehicle guide rails 124 are arranged on the bearing platform 12 at intervals, and the two first sub-vehicle guide rails 124 can ensure the walking stability of the sub-vehicle 2 on the bearing platform 12, so that the sub-vehicle 2 always keeps a balanced state when walking on the bearing platform 12.

Referring to fig. 1, 4 and 5, in order to prevent the carrying platform 12 from shaking during the lifting along the Z direction, the carrying platform 12 is provided with a shaking-prevention lifting guide. Specifically, the anti-sway lifting guide includes a second guide and a third guide.

Specifically, the bearing platform 12 is provided with a second guide part in a telescopic manner along the X direction, the second guide part is made to abut against or separate from the frame 11 by telescopic movement of the second guide part along the X direction, and when the bearing platform 12 is positioned with the target bin 4 in the X direction by the X direction positioning part, the second guide part is separated from the frame 11.

Specifically, when the carrying platform 12 is lifted, the second guide member extends along the X direction to abut against the frame 11, so as to limit the X-direction shake of the carrying platform 12. When the bearing platform 12 is positioned in the X direction with the target bin 4 by the X direction positioning portion, the second guiding member retracts in the X direction, so that the bearing platform 12 has a moving space in the X direction, and the bearing platform 12 is conveniently positioned in the X direction after the X direction positioning portion extends out.

Specifically, in this embodiment, the second guide member includes a second guide wheel 13 that is retractable in the X direction, the frame 11 is provided with a guide pillar 112, and the second guide wheel 13 is disposed opposite to one side of the guide pillar 112.

Specifically, in this embodiment, when the carrying platform 12 is lifted, the second guide wheel 13 extends and can roll along the guide pillar 112. Specifically, when the bearing platform 12 moves along the Z direction, the second guide wheel 13 extends out and is in rolling contact with the guide upright 112 along the X direction; in order to prevent the second guide wheels 13 from interfering when the docking device is switched to the docked state, the second guide wheels 13 are retracted to disengage the guide posts 112 when the docking device is switched to the docked state.

Specifically, in this embodiment, the bearing platform 12 is provided with a fourth oil cylinder to drive the second guide wheel 13 to extend and retract. When the docking device is switched to the docking state, the second guide wheels 13 retract, and at this time, the shaking limitation on the bearing platform 12 is cancelled, so that the bearing platform 12 has a greater fault-tolerant capability when the docking device is docked with the target bin 4.

In order to limit the Y-direction sway when the bearing platform 12 is lifted, in this embodiment, the bearing platform 12 is provided with a third guiding element, the third guiding element includes two third guiding wheels 121 oppositely arranged along the Y-direction, the two third guiding wheels 121 are oppositely arranged along the Y-direction at intervals, and the two third guiding wheels 121 are abutted to two side surfaces of the guiding upright 112.

The third guide wheel 121 can roll along the guide post 112 so that the third guide member is less worn.

Specifically, in this embodiment, the second guide wheel 13 and the two third guide wheels 121 are respectively located on three sides of the guide upright 112, so as to simultaneously realize the limitation of the X-direction and Y-direction swinging of the lifting platform 12 during lifting. Therefore, the second guide wheel 13 extends out along the X direction to limit the bearing platform 12 to shake upwards in the X direction, and the third guide wheel 121 can limit the bearing platform 12 to shake upwards in the Y direction, so that the bearing platform 12 is ensured to stably lift.

Of course, in other embodiments, the third guide may also be a sliding guide. Specifically, the sliding guide includes guide rail and slider, and the guide rail sets firmly on frame 11 along vertical direction, is equipped with the slider with guide rail sliding fit on load-bearing platform 12. When the bearing platform 12 is lifted, the slide block slides along the guide rail to guide the lifting of the bearing platform 12.

Referring to fig. 6, further, in order to realize the transportation of the workpiece 6 by the sub-cart 2, the sub-cart 2 includes a lifting portion 21 capable of lifting, and the lifting portion 21 can carry the workpiece 6.

Specifically, in the present embodiment, the lifting of the lifting portion 21 is realized by a hydraulic driving method. Of course, in other embodiments, the lifting of the lifting portion 21 may be realized by using an air cylinder, a linear motor, or a screw nut pair, as long as the lifting of the lifting portion 21 can be realized, and the lifting is not limited to this.

The initial position of the sub-vehicle 2 is as follows: is located on the carrying platform 12 and between the two carrying beams of the workpiece temporary storage rack 123, and the prefabricated component to be carried is placed on the workpiece temporary storage rack 123 with the lifting part 21 at the lowest position.

When the workpiece 6 is conveyed, the walking part 15 walks along the guide rail 5 to drive the primary and secondary vehicles to move to a set position in the X direction, the lifting mechanism drives the bearing platform 12 to lift to a set height in the Z direction (the set height is slightly higher than the bottom surface of the target bin 4), then the docking device is switched to a docking state, the bearing platform 12 slowly descends until the docking device is abutted against the target bin 4, then the lifting part 21 of the secondary vehicle 2 ascends to lift the workpiece 6 to be conveyed, the secondary vehicle 2 advances in the Y direction and moves from the bearing platform 12 to the target bin 4, and the workpiece 6 is conveyed into the target bin 4. When the sub-vehicle 2 conveys the workpiece 6 to the target bin 4, the sub-vehicle 2 returns to the bearing platform 12, and the butt joint device exits the butt joint state. The primary vehicle 1 carries the secondary vehicle 2 to move to the next target position.

Referring to fig. 6, in the present embodiment, specifically, the sub-vehicle 2 further includes a chassis part 22 and a sub-vehicle traveling part 23 provided on the chassis part 22. Specifically, the sub-vehicle traveling part 23 includes sub-vehicle traveling wheels. The sub-vehicle traveling wheels are in rolling contact with the upper surface of the first sub-vehicle guide rail 124.

Referring to fig. 7, a plurality of sub-car channels 44 extending along the Y direction are arranged on the carrying surface of the target bin 4 at intervals, a storage rack 43 is vertically arranged on each side of each sub-car channel 44, the width of each sub-car channel 44 is larger than that of each sub-car 2 and smaller than that of each prefabricated part, the prefabricated parts are lifted by the lifting parts 21 of the sub-cars 2 and run into the sub-car channels 44, then the lifting parts 21 descend, and the prefabricated parts are received on the two storage racks 43 corresponding to the sub-car channels 44 along with the descending of the lifting parts 21.

Preferably, a second sub-vehicle guide rail 42 is arranged in the sub-vehicle channel 44, a sub-vehicle traveling part 23 of the sub-vehicle 2 is provided with a sub-vehicle traveling wheel, and the sub-vehicle traveling wheel travels in the sub-vehicle channel 44 along the second sub-vehicle guide rail 42. Specifically, the sub-vehicle traveling wheels are in rolling contact with the upper surface of the second sub-vehicle guide rail 42.

Referring to fig. 7, 8 and 9, in the present embodiment, the docking device includes a first abutment 31 and a second abutment 33 in addition to the X-direction positioning portion.

The first abutment member 31 is configured to abut against the target bay 4 in the Z-direction, and the first abutment member 31 is telescopically arranged along a side portion of the loading platform 12.

Further, a first sub-vehicle guide rail 124 is arranged on the upper surface of the bearing platform 12, a second sub-vehicle guide rail 42 corresponding to the first sub-vehicle guide rail 124 is arranged on the bearing surface of the target bin 4, when the first abutting part 31 abuts against the target bin 4, the top surfaces of the first sub-vehicle guide rail 124 and the second sub-vehicle guide rail 42 are coplanar, the sub-vehicle 2 can move from the first sub-vehicle guide rail 124 to the second sub-vehicle guide rail 42, and the top surfaces of the first sub-vehicle guide rail 124 and the second sub-vehicle guide rail 42 are coplanar to ensure that the sub-vehicle 2 does not shake when passing through the rail.

In particular, the first abutment 31 can project with respect to the load-bearing platform 12 and abut the target bay 4 in the Z-direction.

Further, in the present embodiment, the first abutting piece 31 can extend along the Y direction relative to the bearing platform 12 and abut against the bearing surface of the target bin 4. Specifically, the first abutting part 31 is disposed on an end surface of the bearing platform 12 facing the target position 4, when the docking device is switched to the docking state, the first abutting part 31 extends above the target position 4, and then the first abutting part 31 abuts against the target position 4 along with the descending of the bearing platform 12, so as to position the bearing platform 12 and the target position 4 along the Z direction.

In order to further ensure the positioning effect of the bearing platform 12 and the target position 4 along the Z direction, in the embodiment, specifically, the rack 11 is provided with a side stop 111 cooperating with the second abutting member 33, and the second abutting member 33 can extend along the X direction relative to the bearing platform 12 and abut against the side stop 111 along the Z direction.

Specifically, when the docking device is switched to the docking state, the second abutting member 33 extends above the side stop 111, and then as the carrying platform 12 descends, the second abutting member 33 abuts against the side stop 111 to position the carrying platform 12 and the target position 4 along the Z direction. When the second abutting member 33 abuts against the side stop 111, the side stop 111 can provide a vertically upward supporting force for the carrying platform 12. Preferably, at least two side stoppers 111 are arranged on the rack 11 at intervals along the Z direction, and the side stoppers 111 are arranged in one-to-one correspondence with the bearing surfaces of the target bin 4 with different heights. By arranging the side blocking members 111 with different heights, the bearing platform 12 can be positioned for the second time corresponding to the bearing surfaces of the target bin 4 with different heights.

Specifically, at least two side stoppers 111 are provided on the guide post 112 at intervals in the Z direction.

Specifically, in this embodiment, the X-direction positioning portion includes a first guide 32 that is retractable along the Y-direction, the target space 4 is provided with a guide groove 41 that is engaged with the first guide 32, the guide groove 41 includes two groove walls that are oppositely disposed along the X-direction, and the two groove walls of the guide groove 41 are used for engaging with the first guide 32. Specifically, the first guide member 32 can extend into the guide groove 41 and abut against both groove walls, so as to limit the first guide member 32 from swinging along the X direction, thereby realizing the X-direction positioning of the bearing platform 12.

Further, the first guide member 32 includes a first guide wheel 321, a rotation axis of the first guide wheel 321 is disposed along the Y direction, an opening of the guide groove 41 is disposed toward the first guide wheel 321, a wheel diameter of the first guide wheel 321 is adapted to a groove width of the guide groove 41, and a round end surface of the first guide wheel 321 is disposed opposite to a groove bottom of the guide groove 41.

Specifically, the first guide member 32 extends into the guide groove 41 from top to bottom and two groove walls are in rolling contact, so that the positioning accuracy of the bearing platform 12 and the target bin 4 along the X direction is ensured, and the round end surface is arranged opposite to the bottom of the guide groove 41.

When the positioning portion extends in the X direction, the first guide member 32 extends in the Y direction relative to the bearing platform 12, and can slide into the guide groove 41 when the bearing platform 13 descends, so as to position the bearing platform 12 and the target bin 4 in the X direction.

Preferably, the upper ends of the two groove walls of the guide groove 41 are respectively provided with guide slopes 411, and the first guide wheel 321 is arranged opposite to the circumferential side surfaces of the first guide wheel 321, so that the first guide wheel 321 can roll into the guide groove 41 along the guide slopes 411.

A guide inclined surface 411 is arranged at the upper end of the groove wall of the guide groove 41, and the guide inclined surface 411 can guide the first guide wheel 321 to roll into the guide groove 41; the guiding inclined surface 411 has a certain tolerance to the position of the bearing platform 12 in the X direction, and can correct the position of the bearing platform 12 in the X direction.

Specifically, a guide groove 41 is provided at the entrance of each sub-vehicle passage 44.

The storage capacity of the target bin 4 is enlarged by arranging a plurality of sub-vehicle channels 44 on the bearing surface at the same height of the target bin 4; the entrance of each sub-vehicle channel 44 is provided with a guide groove 41, so that the bearing platform 12 can be butted with different sub-vehicle channels 44, and the sub-vehicle 2 can move from the bearing platform 12 to different sub-vehicle channels 44.

Further, a first sub-cart guide rail 124 is arranged on the upper surface of the bearing platform 12, a second sub-cart guide rail 42 corresponding to the first sub-cart guide rail 124 is arranged on the bearing surface of the target position 4, and the top surfaces of the first sub-cart guide rail 124 and the second sub-cart guide rail 42 are coplanar after being butted. The top surfaces of the two are coplanar, so that the sub-vehicle 2 can be effectively ensured not to shake when passing through the rail.

Specifically, after the bearing platform 12 and the target position 4 are positioned, the first sub-car rail 124 is butted with the second sub-car rail 42, and the top surface of the first sub-car rail 124 is coplanar with the top surface of the second sub-car rail 42, and the sub-car 2 can move from the first sub-car rail 124 to the second sub-car rail 42.

Alternatively, in the present embodiment, the cross-sectional shapes and sizes of the first sub-vehicle rail 124 and the second sub-vehicle rail 42 are the same. When the bearing platform 12 and the target position 4 are positioned, the first abutting piece 31 abuts against the bearing surface of the target position 4 and the upper surface of the bearing platform 12 is flush with the bearing surface of the target position 4. In the design stage, the bottom surface of the first abutment 31 is flush with the bottom surface of the first sub rail 124 on the load-bearing platform 12. With this arrangement, when the bottom surface of the first abutting piece 31 abuts against the bearing surface of the target bin 4, the bottom surface of the first sub-car guide rail 124 on the bearing platform 12 is flush with the bottom surface of the second sub-car guide rail 42 on the bearing surface, thereby ensuring that when the bottom surface of the first abutting piece 31 abuts against the bearing surface of the target bin 4, the top surface of the first sub-car guide rail 124 is flush with the top surface of the second sub-car guide rail 42.

Of course, in other embodiments, the height of the first sub-track 124 may vary from the height of the second sub-track 42. At this time, after the docking device is docked, it is only necessary that the top surface of the first sub-car rail 124 and the top surface of the second sub-car rail 42 are coplanar.

Specifically, during the process of the supporting platform 12 rising along the Z direction, the first abutting piece 31, the first guiding piece 32 and the second abutting piece 33 are all in a contracted state, so that the abutting device is prevented from interfering with the rising and falling of the supporting platform 12. After the bearing platform 12 rises to a set height higher than the bottom surface of the target position 4, the docking device is switched to a docking state, the first abutting piece 31, the first guide piece 32 and the second abutting piece 33 all extend out, then the bearing platform 12 descends, the first guide piece 32 firstly falls into the guide groove 41 when descending, as the bearing platform 12 continues to descend, the first abutting piece 31 abuts against the bearing surface of the target position 4, and meanwhile, the second abutting piece 33 abuts against the side surface stopper 111.

The bearing platform 12 continues to descend, the first abutting part 31 contacts with the bottom surface of the target bin 4, the second abutting part 33 contacts with the side blocking part 111 on the rack 11, and because the bottom surface of the first abutting part 31 is flush with the bottom surface of the first sub-vehicle guide rail 124 on the bearing platform 12, at this time, the first sub-vehicle guide rail 124 on the bearing platform 12 is aligned with the second sub-vehicle guide rail 42 in the target bin 4, at this time, the bearing platform 12 completes the positioning in the Z direction and the X direction, and the sub-vehicle 2 can smoothly walk from the bearing platform 12 to the target bin 4.

Alternatively, in this embodiment, the first abutting part 31, the first guiding part 32 and the second abutting part 33 are all extended and retracted through an oil cylinder. Specifically, the bearing platform 12 is provided with a first oil cylinder to drive the first abutting part 31 to stretch and retract; the bearing platform 12 is provided with a second oil cylinder to drive the first guide part 32 to stretch; the bearing platform 12 is provided with a third driving oil cylinder to drive the second abutting part 33 to stretch and retract.

Preferably, in this embodiment, the opposite ends of the carrying platform 12 are provided with the first abutting parts 31 and the first guiding parts 32, so that the two ends of the carrying platform 12 can be butted. Further, each end of the bearing platform 12 is provided with two first abutting pieces 31 to improve the abutting effect. In particular, the two first abutments 31 are located on either side of the first guide 32.

Preferably, the load-bearing platform 12 is provided with second abutments 33 on opposite sides.

Specifically, in this embodiment, the frame 11 includes four guide columns 112, two guide columns 112 are disposed at intervals on one side of the bearing platform 12 where the second abutting pieces 33 are disposed, the other two guide columns 112 are disposed at intervals on the other opposite side of the bearing platform 12, the bearing platform 12 is disposed with four second abutting pieces 33, and the four second abutting pieces 33 are disposed in one-to-one correspondence with the four guide columns 112.

Furthermore, four second guide wheels 13 are arranged on the bearing platform 12, and the four second guide wheels 13 are arranged in one-to-one correspondence with the four guide upright posts 112; when the bearing platform 12 goes up and down, the four second guide wheels 13 respectively roll and abut against the corresponding guide upright posts 112, so that the bearing platform 12 is limited to shake in the X direction.

Four sets of third guiding members are arranged on the bearing platform 12, and the four sets of third guiding members are arranged in one-to-one correspondence with the four guiding upright posts 112; when the supporting platform 12 is lifted, the four sets of third guiding members respectively roll and abut against the corresponding guiding columns 112, so as to limit the shaking of the supporting platform 12 in the Y direction.

The second guide wheel 13 is matched with the third guide piece to realize the stable lifting of the bearing platform 12.

When the primary and secondary vehicles provided by the embodiment transport the workpiece 6 to the target bin 4, the working process is as follows:

1. the workpieces 6 are stored in the warehousing entrance, the bearing platform 12 is lifted to be flush with the warehousing entrance, the sub-vehicle 1 runs out of the bearing platform 12 and goes to the warehousing entrance to carry the workpieces 6 to the temporary workpiece storage rack 123 of the bearing platform 12;

2. the mother vehicle advances to a preset position in the X direction along the X direction, the bearing platform 12 rises to a set height higher than the target bin position 4 along the Z direction, the second guide wheel 13 extends out to abut against the guide upright post 112 to roll in the rising process of the bearing platform 12, so that the bearing platform 12 is prevented from shaking in the X direction, and the third guide wheel 121 abuts against the guide upright post 112 to roll, so that the bearing platform 12 is prevented from shaking in the Y direction;

3. the second guide wheel 13 retracts, the first abutting part 31, the first guide part 32 and the second abutting part 33 extend, the bearing platform 12 descends slowly, in the descending process, the first guide wheel 321 of the first guide part 32 contacts with the guide groove 41 firstly, along with the continuous descending of the bearing platform 12, the first guide part 32 slides into the guide groove 41, along with the continuous descending of the bearing platform 12, the first abutting part 31 abuts against the bottom surface of the target bin 4, meanwhile, the second abutting part 33 abuts against the side surface stopper 111, and at this time, the first sub-car guide rail 124 on the bearing platform 12 is aligned with the second sub-car guide rail 42 in the target bin 4;

4. the jacking part 21 of the sub-vehicle 2 lifts the workpiece 6 to move towards the target bin 4, and when the sub-vehicle 2 enters the sub-vehicle channel 44, the jacking part 21 descends, and the workpiece 6 falls onto the storage rack 43;

5. the sub-vehicle is returned to the carrying platform 12, and the operation of conveying the workpiece 6 to the target bin 4 is completed.

When the primary and secondary vehicles move the workpiece 6 out of the target bin 4, the working process is as follows:

1. the mother vehicle advances to a preset position in the X direction along the X direction, the bearing platform 12 rises to a set height higher than the target bin position 4 along the Z direction, the second guide wheel 13 extends out to abut against the guide upright post 112 to roll in the rising process of the bearing platform 12, so that the bearing platform 12 is prevented from shaking in the X direction, and the third guide wheel 121 abuts against the guide upright post 112 to roll, so that the bearing platform 12 is prevented from shaking in the Y direction;

2. the second guide wheel 13 retracts, the first abutting part 31, the first guide part 32 and the second abutting part 33 extend, the bearing platform 12 descends slowly, in the descending process, the first guide wheel 321 of the first guide part 32 contacts with the guide groove 41 firstly, along with the continuous descending of the bearing platform 12, the first guide part 32 slides into the guide groove 41, along with the continuous descending of the bearing platform 12, the first abutting part 31 abuts against the bottom surface of the target bin 4, meanwhile, the second abutting part 33 abuts against the side surface stopper 111, and at this time, the first sub-car guide rail 124 on the bearing platform 12 aligns with the second sub-car guide rail 42 in the target bin 4;

3. after the sub-vehicle 2 enters the sub-vehicle channel 44, the jacking part 21 ascends and lifts the workpiece 6, and then the sub-vehicle 2 returns to the bearing platform 12;

4. the primary vehicle 1 drives the secondary vehicle 2 to move to the next target position.

The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a primary and secondary car, includes motion control system, its characterized in that still includes:

the main vehicle comprises a rack and a bearing platform arranged on the rack, the rack can move back and forth along the X direction, and the bearing platform can lift along the Z direction;

the secondary vehicle is arranged on the upper surface of the bearing platform, can lift along with the bearing platform and can move back and forth along the Y direction relative to the primary vehicle;

the docking device comprises an X-direction positioning part movably arranged on the bearing platform, and the X-direction positioning part is used for positioning and docking with a target bin;

the X-direction positioning part comprises a first guide piece which can stretch out and draw back along the Y direction, a guide groove matched with the first guide piece is arranged on the target bin position, the guide groove comprises two groove walls which are oppositely arranged along the X direction, and the two groove walls of the guide groove are used for being matched with the first guide piece;

the docking device comprises a first docking piece for docking with the target bin in the Z direction, and the first docking piece is arranged along the side part of the bearing platform in a telescopic mode;

the upper surface of the bearing platform is provided with a first sub-vehicle guide rail, the bearing surface of the target bin is provided with a second sub-vehicle guide rail corresponding to the first sub-vehicle guide rail, and when the first abutting piece abuts against the target bin, the top surfaces of the first sub-vehicle guide rail and the second sub-vehicle guide rail are coplanar.

2. The mother-son vehicle of claim 1, wherein the first guiding member includes a first guiding wheel, the rotation axis of the first guiding wheel is arranged along the Y direction, the opening of the guiding groove is arranged toward the first guiding wheel, the wheel diameter of the first guiding wheel is adapted to the groove width of the guiding groove, and the round end surface of the first guiding wheel is arranged opposite to the groove bottom of the guiding groove.

3. The child-mother vehicle according to claim 2, wherein the upper ends of the two groove walls of the guide groove are respectively provided with a guide slope, and the two guide slopes are arranged opposite to the circumferential side of the first guide wheel.

4. The child-mother vehicle according to claim 1, wherein a second guide member is telescopically arranged on the carrying platform along the X direction, the second guide member is in contact with or separated from the frame by telescopic movement of the second guide member along the X direction, and when the carrying platform is positioned with the target position in the X direction by the X-direction positioning portion, the second guide member is separated from the frame.

5. The primary-secondary vehicle as claimed in claim 4, wherein the second guiding member comprises a second guiding wheel retractable along the X direction, a guiding column is provided on the frame, and the second guiding wheel is disposed opposite to one side surface of the guiding column.

6. The primary-secondary vehicle of claim 5, wherein a third guiding element is disposed on the carrying platform, the third guiding element includes two third guiding wheels disposed oppositely along the Y direction, the two third guiding wheels are disposed oppositely and at an interval along the Y direction, and the two third guiding wheels abut against two side surfaces of the guiding columns.

7. The child-mother vehicle according to claim 1, wherein the docking device further includes a second abutting member, a side stopper fitted to the second abutting member is provided on the frame, and the second abutting member can abut against the side stopper in the Z direction.

8. The primary-secondary vehicle as claimed in claim 7, wherein the rack is provided with at least two side stoppers at intervals along the Z-direction, and the side stoppers are disposed in one-to-one correspondence with the bearing surfaces of the target bin at different heights.

9. The mother-son vehicle according to claim 1, wherein the mother-son vehicle includes a guide rail extending in the X-direction, the frame being reciprocally movable along the guide rail; the walking guide wheel assembly matched with the guide rail is arranged on the rack and comprises two walking guide wheels which are oppositely arranged, and the two walking guide wheels are respectively positioned on two sides of the guide rail and can roll along the guide rail.

10. The primary-secondary vehicle as claimed in claim 1, further comprising a lifting mechanism for driving the carrying platform to lift, wherein the lifting mechanism comprises a motor, a winding drum and a pulling rope engaged with the winding drum, and the motor can drive the winding drum to release and release the pulling rope to drive the carrying platform to lift.