CN112758580B

CN112758580B - Goods storage and taking trolley adopting uninterrupted power supply and vertical warehouse

Info

Publication number: CN112758580B
Application number: CN202110065933.9A
Authority: CN
Inventors: 向春芳; 陈锐; 王朝阳
Original assignee: Shanghai Haoxi Intelligent Technology Co ltd
Current assignee: Shanghai Haoxi Intelligent Technology Co ltd
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2024-04-16
Anticipated expiration: 2041-01-20
Also published as: CN112758580A

Abstract

The invention discloses a goods storage and taking trolley adopting uninterrupted power supply, which comprises: the device comprises a vehicle body, a grabbing module, an x-direction wheel module, a y-direction wheel module, a jacking module and a power module, wherein the grabbing module is used for grabbing a container, the jacking module is used for reversing the running of a trolley, and the power module is used for supplying power to the trolley; wherein, power module includes internal power source and external power source, and external power source connects locates the dolly outside, and it provides electric power to the dolly through the transmission of electricity unit that is connected to the dolly to and for internal power source charges, internal power source is used for when external power source outage, can provide the electric power that continues with the electric energy that its self stored to the dolly, in order to guarantee the uninterrupted power source of dolly power supply system. The invention has high degree of concentration, simple structure of the trolley, stable control, 24-hour all-weather work, improved efficiency and warehouse area utilization rate, and reduced cost.

Description

Goods storage and taking trolley adopting uninterrupted power supply and vertical warehouse

Technical Field

The invention relates to the technical field of storage, in particular to a goods storage trolley adopting uninterrupted power supply and a vertical warehouse using the goods storage trolley adopting uninterrupted power supply.

Background

Carriers for picking up standard containers from storage systems have found some applications. For example, a detailed description of a related art storage system is presented in WO 98/49075, technical details of a prior art carrier suitable for such a storage system are disclosed in norwegian patent NO 317366.

Storage systems such as those described above typically include three-dimensional aluminum racks with containers stored in vertical racks of the racks and stacked vertically upward from the warehouse floor. Parallel tracks which are arranged in the orthogonal directions (the x-axis direction and the y-axis direction of a rectangular coordinate system of a reference plane) to form a grid shape are arranged on the top of the goods shelf, a plurality of remote control carriers or robots with wheels are put on the parallel tracks, and reversing can be realized on the parallel tracks through alternating use among the wheels to carry out horizontal transverse or longitudinal movement. And each carrier or robot is provided with a robot arm capable of gripping the uppermost one of the containers in the lower cargo compartment by lifting and lowering. The vehicle or robot typically communicates with the control system via a wireless link and is provided with a rechargeable battery that can be charged to a charging station or directly replaced when needed.

At present, various improvements are made to the above-mentioned vehicle or robot wheels and gripping systems to achieve control over the wheel operation, steering and positioning, and the gripping of containers. However, the improvements often have the defects of complex structure, high control difficulty, large occupied internal space of the trolley and the like, so that the problems of complex algorithm, low response speed and efficiency reduction are caused, and the reduction of the container accommodating space in the trolley is brought. Moreover, such carriers or robots are often expensive and difficult to use widely domestically.

In addition, the carrier or the robot provided with the battery is required to be charged or replaced, and a special position is required to be planned for charging so as to set a charging pile; the power exchange design not only needs to occupy the position of the charging pile, but also needs to reserve the position occupied by the power exchange device. Meanwhile, even if these occupied spaces and costs are not considered, there is a problem in that efficiency is lowered when the carrier or robot cannot operate due to a shortage of electricity (at the time of charging or power exchange).

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a trolley for storing and taking goods and a vertical warehouse with uninterrupted power supply.

In order to achieve the above purpose, the present invention provides the following technical solutions:

according to one aspect of the present invention, there is provided a trolley for accessing cargo using uninterruptible power, comprising:

a body having a hollow interior configured with a first chamber located below and a second chamber located above the first chamber;

the grabbing module is provided with a grabbing unit and a lifting driving unit, the grabbing unit is contained in the first chamber and is used for grabbing a container on a lower goods taking position into the first chamber and keeping the container or grabbing the container in the first chamber and keeping the container downwards on a goods storing position when the trolley is placed on a specified position, and the lifting driving unit is arranged in the second chamber and is used for controlling the grabbing unit to lift between the first chamber and the goods taking position or the goods storing position so as to grab or put down the container;

the x-direction wheel set driving unit is arranged in the second cavity and used for controlling the two pairs of x-direction wheels to synchronously drive the trolley to move on a pair of x-direction parallel tracks;

The y-direction wheel set driving unit is arranged in the second cavity and used for controlling the two pairs of y-direction wheels to synchronously drive the trolley to move on a pair of y-direction parallel tracks, and the x-direction wheels are mutually perpendicular to the y-direction;

a jacking module provided with a vertical displacement unit and a jacking driving unit, wherein the vertical displacement units are respectively arranged on two x-direction side surfaces, two pairs of x-direction wheels are respectively arranged on the vertical displacement units on corresponding sides, the jacking driving unit is arranged in the second cavity and is used for controlling the vertical displacement units to synchronously vertically lift along the x-direction side surfaces so as to synchronously vertically lift the x-direction wheels relative to the y-direction wheels, so that when the x-direction wheels are lowered to a horizontal position lower than the y-direction wheels, the y-direction wheels are separated from the y-direction parallel tracks, the trolley is switched to move along the x-direction parallel tracks, when the x-direction wheels are lifted to a horizontal position higher than the y-direction wheels, the x-direction wheels are separated from the x-direction parallel tracks, the trolley is switched to move along the y-direction parallel tracks, and when the x-direction wheels are in a horizontal position equal to the y-direction wheels, the x-direction wheels and the y-direction wheels are simultaneously abutted against the respective y-direction parallel tracks, and the trolley is braked;

A power module comprising an internal power source and an external power source, the external power source being connected to the outside of the trolley and configured to supply power to the trolley through a power transmission unit connected to the trolley and to charge the internal power source, the internal power source being provided in the second chamber and configured to be able to supply the trolley with continued power from its own stored power when the external power source is de-energized.

Further, the x-direction parallel tracks and the y-direction parallel tracks are mutually and perpendicularly crossed and form a parallel track grid in a plurality of arrangement modes; the power transmission unit is fixedly arranged above the trolley and is provided with a cable, the cable comprises an x-direction cable and a y-direction cable which are connected, the x-direction cable and the y-direction cable are mutually crossed and arranged, a cable grid is formed in a plurality of arrangement modes, the lower end of the cable connection unit is connected with the trolley, the upper end of the cable connection unit is in contact connection with the cable, and the external power supply sequentially supplies power to the trolley and charges the internal power supply through the cable and the cable connection unit; the cable connection unit moves along the trolley, and when the trolley moves along the x-direction parallel track or the y-direction parallel track, the upper end of the cable connection unit correspondingly moves along the x-direction cable line or the y-direction cable line, and when the trolley is positioned at a switching position between the x-direction parallel track and the y-direction parallel track on the parallel track grid, the upper end of the cable connection unit also moves to be exactly positioned at an intersection point of the cable line grid, so that the corresponding connection switching of the cable connection unit between the x-direction cable line and the y-direction cable line is realized.

Further, the x-direction cable wire and the y-direction cable wire are respectively provided with a live wire and a zero wire, the upper end of the cable connection unit is provided with a live wire contact and a zero wire contact which are respectively and correspondingly connected with the live wire and the zero wire, and the live wire contact and the zero wire contact are respectively connected to the trolley through wires to form a power supply or charging loop; the live wire is located above the zero wire, the x-direction cable wire and the y-direction cable wire form a mutually communicated cross connection at each intersection point of the cable grid, the zero wire is divided into two strands, the two strands of the zero wire are respectively arranged on two sides of the live wire, the two strands of the x-direction cable wire are connected with one adjacent strand of the two strands of the y-direction cable wire at each intersection point of the cable grid, the cable connection unit is provided with a guide rod, live wire contacts are arranged on the top surface of the upper end of the guide rod, contact is formed between the zero wires and the bottom surface of the live wire, zero wire contacts are arranged on the side surface of the upper end of the guide rod and form contact with the zero wires on at least one side, and the live wire contacts and the zero wire contacts are respectively connected to the trolley through wires arranged in the guide rod.

Further, an x-direction side plate is arranged on the x-direction side surface of the trolley, a y-direction side plate is arranged on the y-direction side surface of the trolley, a vertical displacement unit is provided with a vertical displacement plate, the vertical displacement plate is arranged on the x-direction side surface of the trolley and is positioned below the x-direction side plate, two pairs of x-direction wheels are arranged on the lower ends of the vertical displacement plate on the corresponding side, and two pairs of y-direction wheels are arranged on the lower ends of the y-direction side plate on the corresponding side; the X-direction wheel set driving unit controls the two pairs of X-direction wheels to synchronously drive the trolley to move on X-direction parallel tracks through the X-direction wheel set transmission unit, the Y-direction wheel set driving unit controls the two pairs of Y-direction wheels to synchronously drive the trolley to move on Y-direction parallel tracks through the Y-direction wheel set transmission unit, the jacking driving unit controls the jacking transmission unit to synchronously vertically lift the vertical displacement unit along the X-direction side surface, and the lifting driving unit controls the lifting transmission unit to lift the grabbing unit between the first cavity and the goods taking position or the goods storage position so as to grab or put down a container.

Further, the x-direction wheel set transmission unit is provided with first to eighth x-direction wheels, wherein the first to fourth x-direction wheels are respectively arranged on the x-direction side plates on two sides, the fifth to eighth x-direction wheels are respectively arranged on the vertical displacement plates on two sides, two pairs of x-direction wheels are respectively correspondingly connected with the fifth to eighth x-direction wheels, a first conveyor belt is sleeved on the first x-direction wheel, the second x-direction wheel, the fifth x-direction wheel and the sixth x-direction wheel, a second conveyor belt is sleeved on the third x-direction wheel, the fourth x-direction wheel, the seventh x-direction wheel and the eighth x-direction wheel, the x-direction wheel set transmission unit is connected with the first x-direction wheel, and the second x-direction wheel is connected with the third x-direction wheel through a first connecting rod shaft penetrating through the second chamber.

Further, the y-direction wheel set transmission unit is provided with a first y-direction wheel set to a seventh y-direction wheel set, wherein the first y-direction wheel set to the fourth y-direction wheel set are arranged on one y-direction side plate on the same side, the fifth y-direction wheel set to the seventh y-direction wheel set are arranged on the other y-direction side plate on the opposite side, two pairs of y-direction wheels are respectively and correspondingly connected with the third y-direction wheel set, the fourth y-direction wheel set, the sixth y-direction wheel set and the seventh y-direction wheel set, the first y-direction wheel set to the fourth y-direction wheel set are sleeved with a third conveyor belt, the fifth y-direction wheel set to the seventh y-direction wheel set are sleeved with a fourth conveyor belt, the y-direction wheel set driving unit is connected with the first y-direction wheel set, and the second y-direction wheel set is connected with the fifth y-direction wheel set through a second connecting rod shaft penetrating through the second chamber.

Further, the jacking transmission unit is provided with a first gear to a fourth gear, wherein the first gear is meshed with the second gear, the jacking transmission unit is arranged on the x-direction side plate on one side of the jacking transmission unit, the third gear is meshed with the fourth gear, the jacking transmission unit is arranged on the x-direction side plate on the other side of the jacking transmission unit, a first crank is arranged on the side face of the first gear, the first crank is movably connected with one vertical displacement plate on the same side through a first connecting rod, a second crank is arranged on the side face of the fourth gear, the second crank is movably connected with the other vertical displacement plate on the opposite side through a second connecting rod, and the jacking transmission unit is connected with the third gear, and the second gear is connected with the fourth gear through a third connecting rod shaft penetrating through the second cavity.

Further, the lifting transmission unit is provided with a ninth x-direction belt wheel and a tenth x-direction belt wheel, wherein the ninth x-direction belt wheel and the tenth x-direction belt wheel are arranged on one x-direction side plate on the same side and are close to one side, a fifth conveyor belt is sleeved on the ninth x-direction belt wheel and the tenth x-direction belt wheel, the lifting driving unit is connected with the ninth x-direction belt wheel, a fourth connecting rod shaft penetrates through the second chamber, one end of the fourth connecting rod shaft is connected with the tenth x-direction belt wheel, the other end of the fourth connecting rod shaft is rotatably arranged on one x-direction side plate on the opposite side, a fifth connecting rod shaft penetrates through the second chamber and is rotatably connected on the x-direction side plate on the two sides, the fifth connecting rod shaft and the fourth connecting rod shaft are relatively parallel to each other, two first connecting belts are respectively wound on one end of the second chamber, two second connecting belts are respectively wound on the other end of the fourth connecting rod shaft, and the second connecting belts are respectively connected with the second connecting belts at the other ends of the second chamber, and the second connecting belt is connected with the corresponding second connecting belt at the lower ends of the second connecting rod unit through the second connecting ends.

Further, the gripping unit is provided with a horizontal bottom plate, the head ends of the two first connecting belts and the head ends of the two second connecting belts are respectively connected to four corner positions on the upper surface of the bottom plate, x-direction vertical plates are respectively arranged on the corresponding sides of the two first connecting belts and the bottom plate on the corresponding sides of the two second connecting belts, two pairs of first gripping hooks are arranged on one x-direction vertical plate, two pairs of second gripping hooks are correspondingly arranged on the other x-direction vertical plate, each pair of first gripping hooks and each pair of second gripping hooks are respectively close to or far away from each other through rotation of meshed gear surfaces, and are used for being matched with gripping grooves correspondingly arranged on the bottom plate to put down or grip a container, two gripping hook driving units are arranged on the bottom plate, each gripping hook driving unit is connected with one of the first gripping hooks of each pair, and the other of the first gripping hooks of each pair of first gripping hooks are connected with one of the second gripping hooks of opposite sides through a sixth shaft; the first connecting belt and the second connecting belt are conductors, the first connecting belt is further connected to the positive electrode of the power supply module, the second connecting belt is further connected to the negative electrode of the power supply module, and the head end of the first connecting belt and the head end of the second connecting belt are coupled to the grapple hook driving unit so as to directly supply power to the grapple hook driving unit through the power supply module.

According to one aspect of the present invention, there is also provided a vertical library comprising:

the goods storing and taking trolley adopting uninterrupted power supply;

the rails comprise a plurality of pairs of x-direction parallel rails and a plurality of pairs of y-direction parallel rails, wherein each pair of the x-direction parallel rails are adjacent and parallel, each pair of the y-direction parallel rails are adjacent and parallel, and the x-direction parallel rails and the y-direction parallel rails are perpendicular to each other and are crossed to form a parallel rail grid; each pair of the x-direction parallel tracks is used for correspondingly supporting two pairs of x-direction wheels on the trolley, and each pair of the y-direction parallel tracks is used for correspondingly supporting two pairs of y-direction wheels on the trolley;

a container storage unit for providing support to the rails and storing containers, the container storage unit being provided with columns supported below the intersections of the parallel rail grids so as to form a garage position accommodating the containers vertically stacked under the parallel rail grids, the trolley gripping or lowering the containers downward through the grid openings of the parallel rail grids by a gripping unit;

the track is provided with one or more trolleys, the trolleys share the same external power supply arranged outside the trolleys, the external power supply is simultaneously connected with a cable connection unit arranged on each trolley through a shared power transmission unit, and the trolleys are simultaneously supplied with power and charged with internal power supplies on the trolleys; the power transmission unit is fixedly arranged above the trolley and is provided with a cable, the cable comprises an x-direction cable and a y-direction cable, the x-direction cable and the y-direction cable are mutually crossed, a cable grid covering the parallel track grid is formed through a plurality of arrangement modes, the cable connection unit is vertically arranged on the top surface of the trolley, and when the trolley is arranged on the grid of the parallel track grid, the upper end of the cable connection unit is just positioned on the intersection point of the cable grid.

Further, the grid of electrical cables is configured such that the intersections of the grid are located at the grid center of the grid of parallel tracks.

Further, the method further comprises the following steps: and the bracket is used for fixing the power transmission unit.

Compared with the prior art, the invention has the advantages that:

(1) Through setting up the power module that has internal power source and external power source, both can utilize internal power source or external power source to provide electric power for the dolly alone, also can regard as uninterrupted power source to use internal power source, with guarantee the power uninterrupted nature of dolly power supply system, can make its all-weather work of 24 hours, save the problem that just can charge for the dolly in the non-operating condition in the past again simultaneously, not only improved efficiency, the area utilization of warehouse (standing storehouse) has been improved moreover, the cost is reduced, and can greatly improve the stability of system power supply and the required power supply of emergency treatment ability, thereby really accomplish the optimization that warehouse running cost is low, the utilization space is big and work efficiency is high.

(2) Through setting up the latticed transmission of electricity unit of external power source, corresponding with latticed track, no matter the dolly is in walking, switching-over or stationary state, can make the cable junction unit with the dolly follow-up always with the cable conductor contact of transmission of electricity unit to can not make the dolly lose electricity, can also regard as uninterrupted power source through the internal power source on the dolly, regard as emergent or interim power supply usefulness.

(3) The cable connection unit moves along with the trolley, and when the trolley moves along the x-direction parallel track or the y-direction parallel track, the upper end of the cable connection unit correspondingly moves along the x-direction cable or the y-direction cable; when the trolley is positioned at a switching position between the x-direction parallel track and the y-direction parallel track on the parallel track grid, the upper end of the cable connection unit also moves to be just positioned at the crossing point of the cable grid, so that the corresponding connection switching of the cable connection unit between the x-direction cable and the y-direction cable is realized.

(4) The driving and transmission mechanical parts for moving, reversing and grabbing and lifting the trolley, the internal power supply and the like are arranged on the upper space (the second chamber) and the side part of the trolley in a centralized manner, so that the space (the first chamber) for accommodating a container is effectively increased, and the carrying capacity of the trolley is improved.

(5) The combined transmission mode of the belt wheel, the conveyor belt and the connecting rod shaft is adopted, so that synchronous movement control of all wheels in a certain direction (x direction or y direction) can be realized by only one driving unit, the problem of speed difference or stall between the wheels can be avoided, the control stability is improved, the mechanical structure is simplified, the dead weight of the trolley is lightened, and the trolley loading space and the loading capacity are enlarged.

(6) The lifting reversing of the wheel (x-direction wheel) is controlled by adopting the crank gear matching structure, so that the wheel reversing and braking can be accurately switched between three states, and when the wheel is put down to a track (x-direction track) to be in a use state, the connecting rod, the crank and the center of the gear are arranged on the same vertical connecting line, the overall stress balance of the lifting module is enhanced, the structure is simple, and the wheel positioning is stable.

(7) The retraction and the extension of four connecting belts (two first connecting belts and two second connecting belts) are simultaneously controlled by utilizing one connecting rod shaft (a fourth connecting rod shaft), so that the stability of the grabbing unit during lifting is ensured; meanwhile, the connecting belt is used as a conductor, so that power supply to the grapple driving unit is realized, the additional arrangement of a battery on the grabbing unit is omitted, the dead weight of the grabbing unit is effectively reduced, and the single grabbing amount is improved.

(8) The setting rotates split grapple, and realizes drawing close each other or keeping away from each other through the rotation of the gear that meshes between a pair of grapple respectively, can realize the grapple and open and shut the steering of in-process, is favorable to better hooking the grab tank on the packing box, has avoided the risk that the packing box dropped.

(9) The plurality of trolleys arranged in the vertical warehouse can share the same external power supply, and the external power supply is simultaneously connected with the conductive guide rods respectively arranged on the trolleys through the shared grid-shaped power transmission units, so that the simultaneous power supply to the trolleys is realized.

Drawings

Fig. 1-2 are schematic illustrations of the configuration of a cart for storing and taking goods using uninterrupted power supply according to a preferred embodiment of the present invention.

Fig. 3-6 are schematic views showing an internal structure of a cargo-storing and taking trolley using uninterrupted power supply according to a preferred embodiment of the present invention.

Fig. 7-9 are schematic diagrams illustrating an x-direction wheel lifting principle according to a preferred embodiment of the present invention.

Fig. 10 is a schematic view of a grabbing unit according to a preferred embodiment of the present invention.

Fig. 11 is a schematic diagram of an arrangement between a grid-shaped power transmission unit and a grid-shaped track according to a preferred embodiment of the present invention.

Fig. 12 is a schematic view showing an arrangement structure between a cable wire and a cable connection unit according to a preferred embodiment of the present invention.

FIG. 13 is a schematic view of a vertical warehouse according to a preferred embodiment of the present invention.

In the drawings, 1. Trolley, 2. Frame, 3/3-1/3-2.X parallel track, 4.X wheels, 5.y wheels, 6/6-1/6-2.y parallel track, 7. Panel, 8. Grab unit, 9. Second belt, 10. Third belt, 11. Second y belt pulley, 12. First y belt pulley, 13. Control box, 14.Y wheel set drive unit, 15. Lift drive unit, 16. Third link shaft, 17. Second x belt pulley, 18. Internal power source, 19. Second link shaft, 20. Second gear, 21.X wheel set drive unit, 22. First gear, 23. Lift drive unit, 24. First x belt pulley, 25. Ninth x belt pulley, 26. Fifth belt pulley, 27. Tenth x belt pulley, 28. Fourth belt pulley, 29. First belt pulley, 30. First link, 31/32, first connecting band, 33/37, second connecting band, 34, y-side plate, 35, vertical displacement plate, 36, x-side plate, 38, first connecting shaft, 39, fifth y-pulley, 40, fourth connecting shaft, 41, roll cassette, 42, roller, 43, fifth connecting shaft, 44, first crank, 45, fourth x-pulley, 46, second connecting rod, 47, fourth gear, 48, second crank, 49, third gear, 50, third x-pulley, 51, sixth connecting shaft, 52, grip controller, 53, floor, 54, limit slot, 55, gear face, 56, x-side plate, 57, grip hook drive unit, 58/59, grips (first grip hook/second grip hook), 60, upright post, 61, parallel track grid, 62, cable connection unit/guide bar, 63, cable conductor, 64, x-direction cable conductor, y-direction cable, 66. Cross-over (cable grid), 67. Live, 68. Live contact, 69. Neutral contact, 70. Neutral, 71/72. Lead, 73. Cargo box, 74. Cargo box storage unit.

Detailed Description

Specific embodiments of the present invention will be described in further detail below with reference to the drawings accompanying the specification.

Please refer to fig. 1-2. The invention relates to a goods storing and taking trolley 1 (a carrier or a robot) adopting uninterrupted power supply, which is provided with a vehicle body; the body may be constructed of frames 2 with a panel 7 disposed between the frames 2 to separate the interior of the cart 1 from the exterior. The vehicle body may take the shape of a cube, but the present invention is not limited thereto. The vehicle body is provided with a wheel module; the wheel module may include an x-direction wheel set and a y-direction wheel set. Wherein the x-direction wheel set may comprise two pairs of x-direction wheels 4 arranged on the lower ends of the two x-direction sides of the vehicle body, and the y-direction wheel set may comprise two pairs of y-direction wheels 5 arranged on the lower ends of the two y-direction sides of the vehicle body. The x-direction wheels 4 and the y-direction wheels 5 can be generally exposed to the outside of the vehicle body.

The x direction and the y direction are mutually perpendicular and are positioned on the horizontal plane. It can be understood with reference to the directions of the x-axis, y-axis and z-axis in the illustrated space rectangular coordinate system (the same applies hereinafter).

It should be noted that the x-direction and the y-direction are only for expressing the relative orientation, and are actually expressed interchangeably, that is, the x-direction may be expressed as the y-direction, and the y-direction may be expressed as the x-direction, as will be understood by those skilled in the art.

The wheel module is supported on the track 3 or 6 and is used for walking along the track 3 or 6. The track 3 or 6 corresponds to the wheel set, and an x-direction parallel track 3 and a y-direction parallel track 6 are provided. The trolley 1 can move on a pair of x-direction parallel tracks 3 by being driven by the synchronization of two pairs of x-direction wheels 4, or can move on a pair of y-direction parallel tracks 6 by being driven by the synchronization of two pairs of y-direction wheels 5 by wheel reversing.

Please refer to fig. 2. The vehicle body has a hollow interior, and a gripping unit 8 is provided in the hollow interior of the vehicle body, and the gripping unit 8 is movable up and down inside and outside the vehicle body for gripping a container 73 (refer to fig. 13) below or lowering the gripped container 73.

Referring to fig. 3-6, wherein fig. 3 and 6 show side view configurations of the cart 1, respectively, and fig. 4-5 show top view and bottom view configurations of the cart 1, respectively. The hollow interior of the body is generally divided into upper and lower relatively independent spaces, i.e., the hollow interior of the body has a first chamber located relatively below the body and a second chamber located above the first chamber and relatively above the body, the first chamber having an open lower end. Fig. 5 also shows a view of the relevant structure of the trolley 1 cut away around the first chamber area, in order to clearly show the internal structure of the trolley 1.

The invention relates to a goods storage and taking trolley 1 adopting uninterrupted power supply, which is provided with main structural components such as a vehicle body, a grabbing module, an x-direction wheel module, a y-direction wheel module, a jacking module, a power supply module and the like.

The grabbing module is provided with a grabbing unit 8 and a lifting driving unit 23. Wherein the gripping unit 8 is receivable in a first chamber of the vehicle body (refer to fig. 6); the gripping unit 8 is used for gripping a container on a lower picking position into the first chamber inside the vehicle body when the trolley 1 is located at a designated picking position from the lower end of the opening of the first chamber, and holding the container in the first chamber in a continuous gripping state so as to be capable of moving along with the trolley 1 on a track for conveying, and gripping and holding the container in the first chamber, and lowering the container onto a storage position when the trolley 1 is located at a designated stock position, and then the gripping unit 8 is retracted into the first chamber to execute a next access instruction.

The lifting drive unit 23 is arranged in a second cavity in the vehicle body; the lifting drive unit 23 is used for controlling the lifting movement of the gripping unit 8 so that the gripping unit 8 can be lifted vertically between the first chamber and the lower picking or stock level for gripping or lowering the container.

Please refer to fig. 3-6. In a preferred embodiment, the side panels 36, 34 may be mounted on the sides of the vehicle body between each two adjacent frame 2 structures; the side panels 36, 34 may include an x-side panel 36 disposed in the x-direction on opposite x-side surfaces of the vehicle body, and a y-side panel 34 disposed in the y-direction on opposite y-side surfaces of the vehicle body. Further, vertical displacement plates (vertical displacement means) 35 are provided on both x-direction side surfaces of the vehicle body at positions below the x-direction side plates 36 so as to be movable up and down in the x-direction, the x-direction side plates 36 and the vertical displacement plates 35 on each side are located at upper and lower ends of the vehicle body side with respect to each other, and a necessary distance is maintained between the x-direction side plates 36 and the vertical displacement plates 35.

The x-direction wheel module is provided with an x-direction wheel set and an x-direction wheel set driving unit 21. The x-direction wheel set comprises two pairs of x-direction wheels 4 arranged on the lower ends of two x-direction lateral vertical displacement plates 35 of the vehicle body (namely, each vertical displacement plate 35 is provided with two x-direction wheels 4). The x-direction wheel set driving unit 21 is disposed in the second chamber and is used for synchronously controlling rotation of the two pairs of x-direction wheels 4, so that the two pairs of x-direction wheels 4 can drive the trolley 1 to move on the pair of x-direction parallel tracks 3 at the same time.

The y-direction wheel module is provided with a y-direction wheel set and a y-direction wheel set driving unit 14. The y-direction wheel set comprises two pairs of y-direction wheels 5 which are arranged on the lower ends of two y-direction side plates 34 of the vehicle body in a bisecting way (namely, each y-direction side plate 34 is provided with two y-direction wheels 5). The y-direction wheel set driving unit 14 is disposed in the second chamber and is used for synchronously controlling rotation of the two pairs of y-direction wheels 5, so that the two pairs of y-direction wheels 5 can drive the trolley 1 to move on the pair of y-direction parallel tracks 6 at the same time.

The jacking module is provided with a vertical displacement unit (vertical displacement plate) 35 and a jacking driving unit 15. The jacking driving unit 15 is disposed in the second chamber, and is used for performing synchronous vertical movement control on the two vertical displacement plates 35, so that the two vertical displacement plates 35 can perform synchronous vertical lifting movement along the x-direction side surface of the vehicle body, and the x-direction wheels 4 mounted on the vertical displacement plates 35 are driven to perform synchronous vertical lifting relative to the y-direction wheels 5.

Please continue to refer to fig. 3-6. In a preferred embodiment, the x-direction wheel set driving unit 21 can be controlled by the x-direction wheel set transmission unit so that two pairs of x-direction wheels 4 synchronously drive the trolley 1 to move on the x-direction parallel tracks 3. For example, the x-direction wheel set transmission unit may be provided with first to eighth x-direction pulleys. The first to fourth x-direction pulleys 24 to 45 are respectively arranged on the x-direction side plates 36 on both sides, the fifth to eighth x-direction pulleys are respectively arranged on the vertical displacement plates 35 on both sides, and the two pairs of x-direction wheels 4 are respectively correspondingly arranged on the fifth to eighth x-direction pulleys. The first belt 29 (synchronous belt, the same applies hereinafter) is fitted over the first, second, fifth and sixth x-direction pulleys 24, 17, and the second belt 9 is fitted over the third, fourth, seventh and eighth x-direction pulleys 50, 45. The x-direction wheel set driving unit 21 may be connected to the first x-direction pulley 24 through a rotating portion thereof to drive the first x-direction pulley 24 to rotate, and the second x-direction pulley 17 may be connected to the third x-direction pulley 50 through a first connecting shaft 38 penetrating the second chamber.

Thus, when the x-direction wheel set driving unit 21 drives the first x-direction pulley 24 to rotate, the rotational torque thereof can be transmitted synchronously on the first x-direction pulleys 24 to the eighth x-direction pulley by the first conveyor belt 29, the first link shaft 38 and the second conveyor belt 9, so that the two pairs of x-direction wheels 4 mounted on the fifth x-direction pulley to the eighth x-direction pulley can be controlled to simultaneously drive the cart 1 to move on the pair of x-direction parallel rails 3.

In a preferred embodiment, the y-direction wheel set driving unit 14 can be controlled by the y-direction wheel set driving unit to synchronously drive the two pairs of y-direction wheels 5 to move the trolley 1 on the y-direction parallel tracks 6. For example, the y-direction wheel set transmission unit may be provided with first to seventh y-direction pulleys 12 to 12. The first y-direction belt pulley 12 to the fourth y-direction belt pulley are arranged on one y-direction side plate 34 on the same side, specifically, the first y-direction belt pulley 12 and the second y-direction belt pulley 11 are arranged above one y-direction side plate 34 on the same side, the third y-direction belt pulley and the fourth y-direction belt pulley are arranged on the lower end of the y-direction side plate 34 on the side, and the two y-direction wheels 5 on the side are respectively correspondingly arranged on the third y-direction belt pulley and the fourth y-direction belt pulley; the fifth to seventh y-direction pulleys 39 to 39 are provided on the other y-direction side plate 34 on the opposite side, specifically, the fifth y-direction pulley 39 is provided on the upper side of one y-direction side plate 34 on the other side, the sixth and seventh y-direction pulleys are provided on the lower end of the other y-direction side plate 34 on the other side, and the other two y-direction wheels 5 on the side are respectively mounted on the sixth and seventh y-direction pulleys correspondingly. The first y-pulley 12 to the fourth y-pulley are sleeved with the third conveyor belt 10, and the fifth y-pulley 39 to the seventh y-pulley are sleeved with the fourth conveyor belt 28. The y-direction wheel set driving unit 14 may be connected to the first y-direction pulley 12 through a rotating portion thereof to drive the first y-direction pulley 12 to rotate, and the second y-direction pulley 11 may be connected to the fifth y-direction pulley 39 through a second link shaft 19 penetrating the second chamber.

In this way, when the y-direction wheel set driving unit 14 drives the first y-direction pulley 12 to rotate, the rotational torque thereof can be transmitted synchronously on the first y-direction pulley 12 to the seventh y-direction pulley through the third belt 10, the second link shaft 19 and the fourth belt 28, so that it is possible to control the two pairs of y-direction wheels 5 respectively mounted on the third y-direction pulley and the fourth y-direction pulley, the sixth y-direction pulley and the seventh y-direction pulley to simultaneously drive the cart 1 to move on the pair of y-direction parallel rails 6.

Please refer to fig. 3-6. In a preferred embodiment, the jacking driving unit 15 is controlled by the jacking transmission unit to vertically raise and lower the vertical displacement plate 35 synchronously along the two x-direction sides. For example, the jacking gear unit may be provided with first gear 22 to fourth gear 47. The first gear 22 and the second gear 20 may be disposed in pairs and meshed with each other, and disposed on the x-direction side plate 36 on one side thereof, for example, may be disposed in a middle position of the x-direction side plate 36 and avoid interference with the first conveyor belt 29; the third gear 49 and the fourth gear 47 may be disposed in pairs and meshed with each other, and disposed on the other side x-direction side plate 36, for example, at a middle position of the other side x-direction side plate 36 and avoid interference with the second conveyor belt 9. Further, a first crank 44 is provided on a side surface of the first gear 22, the first crank 44 is movably (rotatably) connected to one vertical displacement plate 35 under the same side through one first link 30, a second crank 48 is provided on a side surface of the fourth gear 47, and the second crank 48 is movably (rotatably) connected to the other vertical displacement plate 35 under the side through one second link 46. The jacking driving unit 15 may be connected to the third gear 49 through a rotating portion thereof to drive the third gear 49 to rotate, and the second gear 20 is connected to the fourth gear 47 through a third link shaft 16 penetrating into the second chamber.

Thus, when the jacking driving unit 15 drives the third gear 49 to rotate, the rotation torque thereof can be synchronously transmitted to the fourth gear 47, the third link shaft 16, the second gear 20 and the first gear 22 through the third gear 49, so that the second crank 48 respectively mounted on the fourth gear 47 and the first crank 44 respectively mounted on the first gear 22 can be controlled to rotate around the respective gear centers to drive the respectively connected second link 46 and first link 30 to move up and down, thereby synchronously moving up and down the two side vertical displacement plates 35 connected with the lower ends of the second link 46 and first link 30, and changing the relative height of the x-direction wheels 4 mounted on the vertical displacement plates 35.

Please refer to fig. 7-9. The jack-up driving unit 15 can make the vertical displacement plate 35 respectively at three heights shown in the figure by lifting and lowering, and control the vertical displacement plate 35 to stably stay at the heights, so as to realize the switching of the trolley 1 between the x-direction wheel group and the y-direction wheel group, so as to enable the trolley 1 to travel in a reversing manner, or enable the trolley 1 to be in a stopped state and not to move. The method specifically comprises the following steps:

when the cart 1 is located at the switching position between the x-direction parallel rail 3 and the y-direction parallel rail 6, the jack-up driving unit 15 controls the second crank 48 (first crank 44) on the fourth gear 47 (first gear 22) to rotate to a position directly below the rotation center of the fourth gear 47 (first gear 22), the first crank 44 and the second crank 48 will be moved down in physical position, and the vertical displacement plate 35 on the corresponding side will be moved down with respect to the vehicle body, so that the x-direction wheels 4 on the vertical displacement plate 35 will be moved down accordingly. At this time, the first crank 44 and the second crank 48 are stable in stress, and can perform a good supporting function. At this time, the x-direction wheel 4 is lowered to a horizontal position lower than the y-direction wheel 5 (i.e., the lowest end of the x-direction wheel 4 is lowered to a position lower than the lowest end of the y-direction wheel 5, as indicated by a dotted line in the drawing), and falls on the x-direction parallel track 3, so that the whole vehicle body is jacked up by the four x-direction wheels 4, and the y-direction wheel 5 is lifted along the vehicle body to be separated from the y-direction parallel track 6, so that the trolley 1 is switched from being originally located on the y-direction parallel track 6 to being located on the x-direction parallel track 3, and then can move along the x-direction parallel track 3, as shown in fig. 7.

When the cart 1 is located at the switching position between the x-direction parallel rail 3 and the y-direction parallel rail 6, the jack-up driving unit 15 controls the second crank 48 (first crank 44) on the fourth gear 47 (first gear 22) to rotate to a position directly above the rotation center of the fourth gear 47 (first gear 22), the first crank 44 and the second crank 48 will be moved up in physical position, and the vertical displacement plate 35 on the corresponding side will be moved up with respect to the vehicle body, so that the x-direction wheels 4 on the vertical displacement plate 35 will be moved up accordingly. At this time, the x-direction wheels 4 are lifted to a horizontal position higher than the y-direction wheels 5 (i.e. the lowest end of the x-direction wheels 4 is lifted to a position higher than the lowest end of the y-direction wheels 5), in the process, four y-direction wheels 5 gradually descend along the vehicle body and finally fall on the y-direction parallel rails 6, and the four x-direction wheels 4 are separated from the x-direction parallel rails 3, so that the trolley 1 is switched from being originally positioned on the x-direction parallel rails 3 to being positioned on the y-direction parallel rails 6, and then can move along the y-direction parallel rails 6, as shown in fig. 8.

When the cart 1 is located at the switching position between the x-direction parallel rail 3 and the y-direction parallel rail 6, the jack-up driving unit 15 controls the second crank 48 (first crank 44) on the fourth gear 47 (first gear 22) to rotate to a position parallel to the rotation center of the fourth gear 47 (first gear 22), the lowest ends of the x-direction wheels 4 and the lowest ends of the y-direction wheels 5 are also parallel, and at this time, the x-direction wheels 4 are supported on the x-direction parallel rail 3, and at the same time, the y-direction wheels 5 are supported on the y-direction parallel rail 6, and the cart 1 is braked (braked) so as not to be movable, as shown in fig. 9.

By using the braking structure, the trolley 1 can be stably stopped at the goods storage and delivery position to perform safe operation, the traditional complex braking structure is omitted, and the control is convenient.

In a preferred embodiment, rolling mechanisms are provided at both left and right ends of the vertical displacement plate 35 for cooperation with the inner wall of the vertical frame 2 on the vehicle body, so that the vertical displacement plate 35 can reduce resistance and maintain stability when moving up and down. The rolling mechanism may be, for example, a rolling bearing, and a guide rail may be provided on the inner wall of the frame 2 of the vehicle body.

In other preferred embodiments, the frame 2 of the vehicle body is provided protruding from the vehicle body in the x-direction and the y-direction and is flat or substantially flat with the outer side surfaces of the wheels, so that the structural stability of the vehicle body can be enhanced and all eight wheels and the transmission members arranged on the side surfaces of the vehicle body can be protected.

Please refer to fig. 3-6. In a preferred embodiment, the lifting drive unit 23 is controllable by means of a lifting transmission unit to lift the gripping unit 8 between the first compartment of the vehicle body and the picking or depositing position under the trolley 1 for gripping or depositing containers. For example, the lifting drive unit may be provided with a ninth x-pulley 25 and a tenth x-pulley 27. The ninth x-direction pulley 25 and the tenth x-direction pulley 27 are provided on one x-direction side plate 36 on the same side, and can be disposed in a direction close to the y-direction side plate 34 on one side. A fifth belt 26 may be looped over the ninth and tenth pulleys 25 and 27, and the elevation drive unit 23 may be connected to the ninth pulley 25 through its rotation center. The fourth link shaft 40 is disposed through the second chamber and has one end connected to the tenth x-direction pulley 27 and the other end rotatably disposed on one of the x-direction side plates 36 on the opposite side. Meanwhile, a fifth link shaft 43 is penetrated in the second chamber and rotatably connected to the x-direction side plates 36 on both sides, and the fifth link shaft 43 is disposed in parallel with the fourth link shaft 40. Two first connecting bands 31, 32 are wound around one end of the fourth link shaft 40 located in the second chamber (an end above the fourth link shaft 40 shown with reference to fig. 5), and two second connecting bands 33, 37 are wound around the other end of the fourth link shaft 40 located in the second chamber (an end below the fourth link shaft 40 shown with reference to fig. 5); and, the head end of a first one 31 (one located at the outer side) of the two first connecting bands 31, 32 and the head end of a first one 37 (one located at the outer side) of the two second connecting bands 33, 37 are connected to the corresponding side of the lower gripping unit 8, and the head end of a second one 32 (one located at the inner side) of the two first connecting bands 31, 32 and the head end of a second one 33 (one located at the inner side) of the two second connecting bands 33, 37 are respectively hung on the fifth link shaft 43 and are connected to the corresponding other side of the lower gripping unit 8 after being turned via the fifth link shaft 43. Thus, the synchronous lifting of the four connecting belts can be controlled by one lifting driving unit 23, so that the stable lifting of the grabbing unit 8 is ensured, and the structure is simplified.

Please refer to fig. 4. In a preferred embodiment, the first 31, 32 and second 33, 37 connecting strips may be wound on reels in the roll cassette 41, respectively, which reels are fixedly mounted on the fourth link shaft 40. The fifth link shaft 43 may be provided with a roller 42 as a transition structure between the first and second link belts 31, 32, 33, 37 and the fifth link shaft 43, and may prevent the first and second link belts 31, 32, 33, 37 from being deviated.

In addition, a pressing wheel (not shown) may be provided at the outlet position of the roll tape cartridge 41 for applying a certain pressing force to the first connecting belts 31, 32 and the second connecting belts 33, 37 from above, so that the retraction control of the first connecting belts 31, 32 and the second connecting belts 33, 37 is more stable.

Please refer to fig. 10. In a preferred embodiment, the gripping unit 8 may be provided with a horizontal bottom plate 53, and may be, for example, a rectangular bottom plate 53 corresponding to a rectangular vehicle body, but is not limited thereto. The head ends of the two first connection bands 31, 32 and the head ends of the two second connection bands 33, 37 are respectively connected to four corner positions of the upper surface of the bottom plate 53 to maintain the structural stability.

An x-direction vertical plate 56 is provided on the bottom plate 53 on the side close to the two first connecting bands 31, 32 and on the side close to the two second connecting bands 33, 37, respectively. Two pairs of hooks 58 and 59 are respectively disposed on the two x-direction vertical plates 56, that is, two pairs of first hooks 58 and 59 are disposed on one x-direction vertical plate 56, and two pairs of second hooks 58 and 59 (not shown) are disposed on the other x-direction vertical plate 56. The gear surfaces 55 are respectively arranged on the opposite surfaces of each pair of the first grapple hooks 58 and 59 and the opposite surfaces of each pair of the second grapple hooks 58 and 59, so that the first grapple hooks 58 and 59 can be mutually moved close to or away from each other through the relative rotation of the two meshed gear surfaces 55, and likewise, the second grapple hooks 58 and 59 can be mutually moved close to or away from each other through the relative rotation of the two meshed gear surfaces 55. The hooks of each pair of grapples 58 and 59 are disposed outwardly for engagement with correspondingly disposed grappling slots on the cargo box.

The horizontal positions of the first grapple 58, 59 and the second grapple 58, 59 are identical, and the hook portions of the first grapple 58, 59 and the second grapple 58, 59 are provided protruding from the bottom surface of the bottom plate 53.

In a preferred embodiment, the x-direction vertical plate 56 may be slightly offset toward the inside of the bottom plate 53 so that the side portion of the bottom plate 53 is exposed, and a limiting groove 54 is formed at a position corresponding to the first grappling hooks 58, 59 and the second grappling hooks 58, 59 so that the first grappling hooks 58, 59 and the second grappling hooks 58, 59 pass through the limiting groove 54. The limiting groove 54 is utilized to limit the opening angle of the grapples 58 and 59, and also can limit the grapples 58 and 59 to deviate towards the outer side of the x-direction vertical plate 56, so that the accurate grabbing of the container is realized.

Thus, with each pair of first grapples 58, 59 and each pair of second grapples 58, 59 moved toward and away from each other, each pair of grapples 58, 59 can extend into a corresponding grapple slot on the container as they are moved toward each other, and the hooks of the grapples 58, 59 hook the grapple slot on the container to grasp the container by controlling the opening of each pair of grapples 58, 59. When the container is placed in position, the hooks 58, 59 are moved together by reverse manipulation, so that the hooks 58, 59 are disengaged from the container's catch slots to lower the container.

In a preferred embodiment, two grapple driving units 57 may be provided on the base plate 53, each grapple driving unit 57 being connected to one of each pair of first grapples 58, 59 (i.e., to the center of rotation corresponding to the gear face 55). The other of each pair of first grapples 58, 59 may be connected to one of the pair of second grapples 58, 59 on the opposite side by one sixth link shaft 51, respectively (i.e., the sixth link shaft 51 is also connected to the rotation center corresponding to the gear surface 55).

Thus, when the grapple driving unit 57 drives one grapple 58 of each pair of first grapples 58, 59 to rotate, the rotational torque thereof can be transmitted to the opposite pair of second grapples 58, 59 through the sixth link shaft 51 by the meshing action of the gear face 55 of the other grapple 59 of each pair of first grapples 58, 59, so that the pair of first grapples 58, 59 and the pair of second grapples 58, 59 respectively mounted on both sides of the bottom plate 53 can be controlled to be synchronously rotated to open and close, thereby performing reliable gripping of the cargo box.

A grip controller 52 may also be provided on the base 53, which may have a wireless communication function. The device structure of the gripper for gripping a cargo box is formed by an organic combination of the lifting drive unit 23, the lifting drive unit, the gripping unit 8, and the like.

Please refer to fig. 10 in combination with fig. 3-5. In a preferred embodiment, the first 31, 32 and second 33, 37 connecting strips may be made of conductors, for example steel strips. Further, the first connection bands 31, 32 may be connected to the positive electrode of the power supply module, the second connection bands 33, 37 may be connected to the negative electrode of the power supply module, and the head ends of the first connection bands 31, 32 and the head ends of the second connection bands 33, 37 may be coupled to the grapple driving unit 57, i.e., the first connection bands 31, 32 and the second connection bands 33, 37 may be used as wires, so that direct supply of power to the grapple driving unit 57 and the grapple controller 52 through the power supply module may be realized.

In a preferred embodiment, the tail ends of the two first connection strips 31, 32 may be electrically connected to the positive pole of the power module through the tape cartridge 41, and the tail ends of the two second connection strips 33, 37 may be electrically connected to the negative pole of the power module through their respective other tape cartridge 41.

In another preferred embodiment, the two first connecting strips 31, 32 may be electrically connected to the positive pole of the power supply module by the pinch roller pressed against them, and the two second connecting strips 33, 37 may be electrically connected to the negative pole of the power supply module by the other pinch roller pressed against them.

In a preferred embodiment, the roller 42 is an insulator.

The x-direction wheel set driving unit 21, y-direction wheel set driving unit 14, lifting driving unit 15, lifting driving unit 23, and grapple driving unit 57 may be motors (21, 14, 15, 23, 57), and may be, for example, servo motors, and the rotating parts thereof are motor shafts. But is not limited thereto.

Please refer to fig. 11 and fig. 3. The power module includes an internal power source 18 and an external power source; an internal power supply 18 is provided on the body and in the second chamber, and an external power supply is connected to the outside of the trolley 1. Wherein the external power supply provides power to the trolley 1 and charges the internal power supply 18 via a power transmission unit (63) connected to the trolley 1. The internal power supply 18 is arranged in the second chamber on the vehicle body and can be used as a standby power supply, when the external power supply is powered off, the internal power supply 18 can provide continuous power for the trolley 1 by using the electric energy stored by the internal power supply 18, so that the trolley 1 has an uninterrupted power supply function and can continuously work for 24 hours, the configuration quantity of the trolley 1 is saved while the efficiency is ensured, and the power supply required by the stability of system power supply and emergency treatment capability can be greatly improved.

In one example, the internal power source 18 may be a rechargeable battery 18. The external power supply can be in a 48v direct current power supply mode, but is not limited to the 48v direct current power supply mode, and can provide power supplies with various specifications.

A control box 13, which may have a wireless communication function, may also be provided in the second chamber of the trolley 1.

Please refer to fig. 4. In a preferred embodiment, in the second chamber of the trolley 1, it is provided to divide into two areas in the plane direction. In the upper region of the drawing, the battery 18, the lift drive motor 15, and the control box 13 are arranged in this order from right to left; in the lower region of the drawing, the lift drive motor 23, the x-direction wheel set drive motor 21, and the y-direction wheel set drive motor 14 are arranged in this order from right to left; the first link shaft 38 and the third link shaft 16 are arranged on both sides of the jacking driving motor 15 between the control box 13 and the battery 18 in parallel; the second link shaft 19 is disposed vertically with respect to the first link shaft 38 and the third link shaft 16, and is located above the first link shaft 38 and the third link shaft 16, and serves as a boundary between two regions in the second chamber; the fourth link shaft 40 and the fifth link shaft 43 are disposed in parallel with the first link shaft 38 and the third link shaft 16, and are disposed below the battery 18, the control box 13, the lift drive motor 23, the x-direction wheel set drive motor 21, the y-direction wheel set drive motor 14, and the like, so that two upper and lower regions are also formed in the second chamber in the vertical direction. Pulleys, gears, etc. of the respective transmission units are provided on the side surfaces of the vehicle body. By the arrangement structure, all mechanical and electric control elements on the trolley 1 are reasonably distributed, and the space of the body cavity can be designed according to the maximum grabbing container so as to achieve the maximum utilization rate. It is important to be able to effectively lower the centre of gravity of the trolley 1 according to the invention, so that the speed of movement of the trolley 1 can be increased, thereby improving efficiency.

Please refer to fig. 11. The trolley 1 is arranged to travel on a track 3 or 6 and is arranged to enable lane change travel on different tracks 3 or 6 by steering in the x-and y-directions. Therefore, the x-direction parallel tracks 3 and the y-direction parallel tracks 6 are arranged to intersect each other perpendicularly, and the parallel track grid 61 is formed by a plurality of arrangement patterns.

Wherein the size (boundary) of each grid in the parallel track grids 61 corresponds to the size (boundary) of the car body of the car 1, so that when the car 1 stops being positioned on the grid, the four x-direction wheels 4 and the four y-direction wheels 5 on the car 1 can be switched between the x-direction parallel tracks 3 and the y-direction parallel tracks 6 at will through the lifting action of the lifting module.

In a preferred embodiment, the power transmission unit (63) is fixed above the trolley 1, provided with electric cables 64, 65; the cables 64, 65 include an x-direction cable 64 and a y-direction cable 65, and the x-direction cable 64 and the y-direction cable 65 are disposed perpendicularly to each other and cross each other, and form a cable grid 63 by a plurality of arrangements. Wherein the size (boundary) of each of the cable wire meshes 63 corresponds to the body size (boundary) of the cart 1.

The power transmission unit and the trolley 1 can be connected through a cable connection unit 62; the lower end of the cable connecting unit 62 is connected to the cart 1, and the upper end is connected to the cable line in contact. In this way, the external power source can in turn supply power to the trolley 1 and charge the internal power source 18 via the cable wire and cable connection unit 62. A power conversion board and a transformer may be provided in the second chamber of the trolley 1, for example, in the control box 13. The lower end of the cable connection unit 62 is connected to a power conversion board, and the power conversion board is coupled to each of the power utilization units (for example, the x-direction wheel set driving unit 21, the y-direction wheel set driving unit 14, the lifting driving unit 15, the lifting driving unit 23, the grapple driving unit 57, the control box 13, and the like) provided on the cart 1. The power conversion board may also be connected to the internal power source 18 via a transformer, which may be used to directly charge the internal power source 18 and provide power to the gripping unit 8.

Wherein the cable connection unit 62 moves following the carriage 1, and when the carriage 1 moves along the x-direction parallel rail 3 or the y-direction parallel rail 6, the upper end of the cable connection unit 62 also moves along the x-direction cable line 64 or the y-direction cable line 65 correspondingly; when the trolley 1 is located on the parallel track grid 61 in a switching position between the x-direction parallel track 3 and the y-direction parallel track 6, the upper end of the cable connection unit 62 is also moved to be just above the crossing point 66 of the cable grid 63, so that a corresponding connection switching of the cable connection unit 62 between the x-direction cable 64 and the y-direction cable 65 is achieved.

Please refer to fig. 12. In a preferred embodiment, the x-direction cable 64 and the y-direction cable 65 are provided with a live wire 67 and a neutral wire 70, respectively, as the poles of the power supply. Correspondingly, the upper end of the cable connection unit 62 is provided with a live wire contact 68 and a neutral wire contact 69 for realizing corresponding connection with the live wire 67 and the neutral wire 70 respectively; and, live contact 68 and neutral contact 69 may be connected to trolley 1 along cable connection unit 62 by wires 72, 71, respectively, to form a power or charging circuit.

In one example, the hot 67 may be disposed above the neutral 70. Wherein the live wire 67 of the x-direction cable 64 and the live wire 67 of the y-direction cable 65 form a mutually penetrating cross connection at each grid crossing 66 of the cable grid 63, i.e. the live wire 67 of the x-direction cable 64 and the live wire 67 of the y-direction cable 65 are mutually communicating. The neutral wire 70 of the x-direction cable 64 and the neutral wire 70 of the y-direction cable 65 are split into two strands, and the two strands of neutral wires 70 are split on both sides of the hot wire 67 to form a channel-like grid resembling an inverted channel. Wherein two strands of zero lines 70 of the x-direction cable 64 are connected to an adjacent one of the strands of zero lines 70 of the y-direction cable 65 at each grid intersection 66 of the cable grid 63. The cable connection unit 62 may be provided with a guide rod 62, and a live wire contact 68 is provided on the upper top surface of the guide rod 62, and passes through two neutral wires 70 to form contact with the bottom surface of the live wire 67; the zero line contact 69 may be provided on a side of the upper end of the guide bar 62 and form contact with one of the zero lines 70 of at least one of the two zero lines 70 located at both sides thereof. The live contact 68 and neutral contact 69 may be connected to the trolley 1 by means of wires 72, 71, respectively, provided in the guide bar 62.

In a preferred embodiment, at each grid intersection 66 of cable grid 63, zero line 70 of each two x-direction cables 64 and zero line 70 of y-direction cables 65 form a circular arc transition at the intersection to facilitate sliding steering of guide bar 62 at grid intersection 66. The zero line contact 69 may be provided in a plurality or ring-like fashion around the side of the upper end of the guide bar 62 to ensure effective contact with the zero line 70. Other suitable zero line contact 69 configurations may be used in conjunction with the guide bar 62 to ensure effective contact with the zero line 70.

In one example, the live and neutral contacts 68, 69 may each take the form of brushes that make sliding contact with the live and neutral conductors 67, 70 of the cable.

In one example, the live wire 67 and the neutral wire 70 may have a plate-shaped structure and are disposed in a rectangular groove shape perpendicular to each other, and the live wire brush 68 and the neutral wire brush 69 have contact surfaces that are in sliding contact with the live wire 67 and the neutral wire 70, respectively. Good insulation is used between the line 67 and the neutral 70, and between the line 68 and neutral 69 brushes.

Please refer to fig. 13 and 11. The invention also provides a vertical warehouse (stereoscopic warehouse), which can comprise: the above described access trolley 1 with uninterrupted power supply for supporting the rails 3 or 6 of the trolley 1 comprises x-direction parallel rails 3 and y-direction parallel rails 6 and a container storage unit 74 supported and arranged below the rails 3, 6.

The tracks 3, 6 may comprise pairs of x-direction parallel tracks 3 and pairs of y-direction parallel tracks 6. The rails 3, 6 may be grooved rails corresponding to wheels. Wherein, each pair of x-direction parallel tracks 3 are adjacently and parallelly arranged, each pair of y-direction parallel tracks 6 are adjacently and parallelly arranged, and the x-direction parallel tracks 3 and the y-direction parallel tracks 6 are mutually perpendicular and are mutually crossed to form a parallel track grid 61. Each pair of x-direction parallel tracks 3 is for corresponding two pairs of x-direction wheels 4 on the support trolley 1 and each pair of y-direction parallel tracks 6 is for corresponding two pairs of y-direction wheels 5 on the support trolley 1. The trolley 1 achieves a 90 degree vertical turn by reversing at each grid position of the parallel track grid 61.

Meanwhile, two pairs of x-direction parallel rails 3-1 and 3-2 are adjacently disposed, and two pairs of y-direction parallel rails 6-1 and 6-2 are adjacently disposed, so that a double-rail structure is formed on the periphery of the grid of parallel rails 61, as shown in fig. 1. Therefore, two trolleys 1 positioned on any two pairs of adjacent parallel tracks 3-1, 3-2 or 6-1, 6-2 can be mutually intersected, parallel or parallel stopped, so that the planning difficulty of the running route of the trolley 1 is reduced, and the working efficiency of the trolley 1 is improved.

Please refer to fig. 13 and 11. The magazine storage unit 74 is used to provide support for the tracks 3, 6 and to store the magazines 73. In a preferred embodiment, the cargo box storage unit 74 is provided with a plurality of vertical posts 60; the uprights 60 are supported below each intersection of the parallel track grid 61 to form a magazine below the parallel track grid 61 that can accommodate vertically stacked containers 73. The carriage 1 can vertically lift and lower the container 73 in the corresponding storage position downward by the grasping unit 8 through the grid openings of the parallel rail grids 61.

The container 73 can be designed into a standard container body, a partition plate groove can be formed in the container body, the inside of the container 73 is partitioned by utilizing the partition plate, the strength of the container 73 can be increased, the container 73 is matched with the grabbing unit 8, the grabbing error of the container 73 caused by deformation can be prevented, and objects with different volumes can be placed in the container 73.

The magazine storage unit 74 may also be provided with grid-like top brackets corresponding to the parallel track grid 61, together with the uprights 60, to provide support for the tracks.

Further, one or more trolleys 1 may be arranged on the track. The respective carriages 1 share the same external power supply provided outside the carriages 1, and the external power supply is simultaneously connected to the cable connection units 62 (conductive guide rods 62) provided in the respective carriages 1 through the common grid-like power transmission unit 63, thereby simultaneously supplying power to the respective carriages 1 and charging the internal power supply 18 provided in the respective carriages 1.

The power transmission unit 63 may be fixed above the trolley 1 by a bracket, which may take a grid-like structure corresponding to the grid 63 of cables consisting of x-direction cables 64 and y-direction cables 65. The cable wire mesh 63 is above the parallel track mesh 61, and correspondingly covers the parallel track mesh 61. The conductive guide bar 62 is vertically provided on the top surface of the cart 1 in such a position that when the cart 1 is positioned on the grid of the parallel track grid 61 (wheel change-over position), the upper end of the guide bar 62 also follows the cart 1 to be positioned right on the intersection 66 of the cable grid 63, and a 90-degree vertical turn can be achieved.

According to the power requirement of the trolley 1 system, a distribution box (power supply control box) can be installed on the bracket and connected with a power transmission line of the power transmission unit.

In a preferred embodiment, the cable grid 63 is arranged such that the crossing points 66 of the grid are located in the center of the grid of parallel track grids 61, i.e. the guide bars 62 are vertically arranged in the center of the top surface of the trolley 1.

In a preferred embodiment, the guide bar 62 is made of a rigid material, and the lower end of the guide bar 62 is vertically fixed to the center of the top surface of the cart 1.

A conveyor line (not shown) may be provided at each access opening of the vertical warehouse, which may be provided with cargo box weight management capability.

The trolley 1 can be provided with an independent control system (control box 13), and can be controlled by an upper computer by arranging a wireless communication device, so that the movement and storage functions of the trolley 1 are realized.

And intelligent control can be realized on the running, path planning and warehouse running management of the trolley 1 through a vertical warehouse control system.

The intelligent trolley 1 can realize switching and moving in the x-y direction on a track, and after a container 73 below the trolley 1 is grabbed by a grabber (8), the container is lifted into an inner cavity (a first cavity) of the trolley 1 and then transported to an entrance and an exit of a vertical warehouse. The control system is arranged on the trolley 1, and can be independently and manually controlled or remotely controlled through an upper computer. The trolley 1 can be powered by the 90-degree turning grid 63 or the charging power source 18 independently, and can also be powered by the 90-degree turning grid and the charging power source simultaneously so as to ensure the uninterrupted power supply of the system. The trolley 1 and the upper computer and the grabber can realize information exchange through wireless communication.

Compared with a foreign similar three-dimensional warehousing system, the system has the advantages of higher degree of concentration, simpler trolley structure, more stable control, higher efficiency and relatively low cost, can effectively implement import substitution, and is suitable for popularization and application in warehousing center application scenes such as e-commerce and the like.

While the invention has been described with respect to the preferred embodiments, it is not intended to limit the invention thereto, and any person skilled in the art may make variations and modifications without departing from the spirit of the invention, and therefore the scope of the invention is to be determined by the appended claims.

Claims

1. A trolley for storing and taking goods using uninterrupted power supply, comprising:

A power module including an internal power source and an external power source, the external power source being connected to the outside of the cart and configured to supply power to the cart through a power transmission unit connected to the cart and charge the internal power source, the internal power source being provided in the second chamber and configured to supply continued power to the cart with electric energy stored by itself when the external power source is powered off;

the device comprises a trolley, a vertical displacement unit, a horizontal displacement plate, two pairs of x-direction wheels, two pairs of y-direction wheels, a pair of y-direction wheels and a pair of y-direction wheels, wherein the x-direction side surface of the trolley is provided with an x-direction side plate, the y-direction side surface of the trolley is provided with a y-direction side plate, the vertical displacement unit is provided with a vertical displacement plate, the vertical displacement plate is arranged on the x-direction side surface and below the x-direction side plate, the two pairs of x-direction wheels are arranged on the lower ends of the vertical displacement plates on the corresponding sides, and the two pairs of y-direction wheels are arranged on the lower ends of the y-direction side plates on the corresponding sides; the X-direction wheel set driving unit controls the two pairs of X-direction wheels to synchronously drive the trolley to move on X-direction parallel tracks through the X-direction wheel set transmission unit, the Y-direction wheel set driving unit controls the two pairs of Y-direction wheels to synchronously drive the trolley to move on Y-direction parallel tracks through the Y-direction wheel set transmission unit, the jacking driving unit controls the vertical displacement unit to synchronously vertically lift along the X-direction side surface through the jacking transmission unit, and the lifting driving unit controls the lifting driving unit to lift between the grabbing unit and the goods taking position or the goods storage position in the first cavity through the lifting transmission unit so as to grab or put down a container;

The x-direction wheel set driving unit is provided with a first x-direction belt wheel to an eighth x-direction belt wheel, wherein the first x-direction belt wheel to a fourth x-direction belt wheel are respectively arranged on the x-direction side plates on two sides, the fifth x-direction belt wheel to the eighth x-direction belt wheel are respectively arranged on the vertical displacement plates on two sides, two pairs of x-direction wheels are respectively correspondingly connected with the fifth x-direction belt wheel to the eighth x-direction belt wheel, a first conveyor belt is sleeved on the first x-direction belt wheel, the second x-direction belt wheel, the fifth x-direction belt wheel and the sixth x-direction belt wheel, a second conveyor belt is sleeved on the third x-direction belt wheel, the fourth x-direction belt wheel, the seventh x-direction belt wheel and the eighth x-direction belt wheel, the x-direction wheel set driving unit is connected with the first x-direction belt wheel, and the second x-direction belt wheel is connected with the third x-direction belt wheel through a first connecting rod shaft penetrating in the second chamber;

the y-direction wheel set transmission unit is provided with a first y-direction belt wheel to a seventh y-direction belt wheel, wherein the first y-direction belt wheel to the fourth y-direction belt wheel are arranged on one y-direction side plate on the same side, the fifth y-direction belt wheel to the seventh y-direction belt wheel are arranged on the other y-direction side plate on the opposite side, two pairs of y-direction wheels are respectively and correspondingly connected with the third y-direction belt wheel, the fourth y-direction belt wheel, the sixth y-direction belt wheel and the seventh y-direction belt wheel, the first y-direction belt wheel to the fourth y-direction belt wheel are sleeved with a third conveying belt, the fifth y-direction belt wheel to the seventh y-direction belt wheel are sleeved with a fourth conveying belt, the y-direction wheel set driving unit is connected with the first y-direction belt wheel, and the second y-direction belt wheel is connected with the fifth y-direction belt wheel through a second connecting rod shaft penetrating in the second chamber;

The jacking transmission unit is provided with a first gear to a fourth gear, wherein the first gear is meshed with the second gear, the jacking transmission unit is arranged on the x-direction side plate on one side of the jacking transmission unit, the third gear is meshed with the fourth gear, the jacking transmission unit is arranged on the x-direction side plate on the other side of the jacking transmission unit, a first crank is arranged on the side surface of the first gear, the first crank is movably connected with one vertical displacement plate on the same side through a first connecting rod, a second crank is arranged on the side surface of the fourth gear, the second crank is movably connected with the other vertical displacement plate on the opposite side through a second connecting rod, the jacking transmission unit is connected with the third gear, and the second gear is connected with the fourth gear through a third connecting rod shaft penetrating into the second cavity;

the lifting transmission unit is provided with a ninth x-direction belt wheel and a tenth x-direction belt wheel, wherein the ninth x-direction belt wheel and the tenth x-direction belt wheel are arranged on one x-direction side plate on the same side and are arranged close to the y-direction side plate on one side, a fifth conveying belt is sleeved on the ninth x-direction belt wheel and the tenth x-direction belt wheel, the lifting transmission unit is connected with the ninth x-direction belt wheel, a fourth connecting rod shaft penetrates into the second cavity, one end of the fourth connecting rod shaft is connected with the tenth x-direction belt wheel, the other end of the fourth connecting rod shaft is rotatably arranged on one x-direction side plate on the opposite side, a fifth connecting rod shaft penetrates into the second cavity and is rotatably connected on the x-direction side plates on the two sides, the fifth connecting rod shaft and the fourth connecting rod shaft are oppositely arranged in parallel, two first connecting belts are respectively wound on one end of the fourth connecting rod shaft, which is positioned in the second chamber, two second connecting belts are respectively wound on the other end of the fourth connecting rod shaft, the head end of the first connecting belt and the head end of the first second connecting belt are connected with the corresponding side of the grabbing unit below, and the head end of the second connecting belt are connected with the corresponding other side of the grabbing unit below after being turned through the fifth connecting rod shaft;

The grabbing unit is provided with a horizontal bottom plate, the head ends of the two first connecting belts and the head ends of the two second connecting belts are respectively connected to four corner positions of the upper surface of the bottom plate, x-direction vertical plates are respectively arranged on the corresponding sides of the two first connecting belts and the bottom plate on the corresponding sides of the two second connecting belts, two pairs of first grabbing hooks are arranged on one x-direction vertical plate, two pairs of second grabbing hooks are correspondingly arranged on the other x-direction vertical plate, the first grabbing hooks and the second grabbing hooks of each pair are respectively close to or far away from each other through rotation of meshed gear surfaces, and are used for being matched with grabbing grooves correspondingly arranged on a container to put down or grab the container; the first connecting belt and the second connecting belt are conductors, the first connecting belt is further connected to the positive electrode of the power supply module, the second connecting belt is further connected to the negative electrode of the power supply module, and the head end of the first connecting belt and the head end of the second connecting belt are coupled to the grapple hook driving unit so as to directly supply power to the grapple hook driving unit through the power supply module.

2. The trolley for storing and taking cargoes by uninterrupted power supply according to claim 1, wherein the x-direction parallel tracks and the y-direction parallel tracks are mutually perpendicular and crossed, and form a parallel track grid by a plurality of arrangement modes; the power transmission unit is fixedly arranged above the trolley and is provided with a cable, the cable comprises an x-direction cable and a y-direction cable which are connected, the x-direction cable and the y-direction cable are mutually crossed and arranged, a cable grid is formed in a plurality of arrangement modes, the lower end of the cable connection unit is connected with the trolley, the upper end of the cable connection unit is in contact connection with the cable, and the external power supply sequentially supplies power to the trolley and charges the internal power supply through the cable and the cable connection unit; the cable connection unit moves along the trolley, and when the trolley moves along the x-direction parallel track or the y-direction parallel track, the upper end of the cable connection unit correspondingly moves along the x-direction cable line or the y-direction cable line, and when the trolley is positioned at a switching position between the x-direction parallel track and the y-direction parallel track on the parallel track grid, the upper end of the cable connection unit also moves to be exactly positioned at an intersection point of the cable line grid, so that the corresponding connection switching of the cable connection unit between the x-direction cable line and the y-direction cable line is realized.

3. The trolley for storing and taking goods using uninterrupted power supply according to claim 2, wherein the x-direction cable wire and the y-direction cable wire are respectively provided with a live wire and a neutral wire, the upper end of the cable connection unit is provided with a live wire contact and a neutral wire contact for respectively corresponding connection with the live wire and the neutral wire, and the live wire contact and the neutral wire contact are respectively connected to the trolley through wires to form a power supply or charging loop; the live wire is located above the zero wire, the x-direction cable wire and the y-direction cable wire form a mutually communicated cross connection at each intersection point of the cable grid, the zero wire is divided into two strands, the two strands of the zero wire are respectively arranged on two sides of the live wire, the two strands of the x-direction cable wire are connected with one adjacent strand of the two strands of the y-direction cable wire at each intersection point of the cable grid, the cable connection unit is provided with a guide rod, live wire contacts are arranged on the top surface of the upper end of the guide rod, contact is formed between the zero wires and the bottom surface of the live wire, zero wire contacts are arranged on the side surface of the upper end of the guide rod and form contact with the zero wires on at least one side, and the live wire contacts and the zero wire contacts are respectively connected to the trolley through wires arranged in the guide rod.

4. A vertical library, comprising:

a trolley for accessing goods using uninterrupted power supply according to any one of claims 1-3;