CN113753455B

CN113753455B - Access vehicle, access system, access method, controller, and storage medium

Info

Publication number: CN113753455B
Application number: CN202110008650.0A
Authority: CN
Inventors: 王国鹏
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-01-05
Filing date: 2021-01-05
Publication date: 2023-09-26
Anticipated expiration: 2041-01-05
Also published as: CN113753455A

Abstract

The invention relates to the technical field of logistics, in particular to an access vehicle, an access system, an access method, a controller and a storage medium. The access vehicle of the present invention includes: a vehicle body; the travelling mechanism is arranged on the vehicle body and drives the vehicle body to travel; the lifting mechanism is arranged on the vehicle body in a lifting manner and used for lifting at least one layer of container in the lifting process relative to the vehicle body; and a transfer mechanism swingably provided on the vehicle body and moving out at least one layer of cargo box from bottom to top among the cargo boxes lifted by the lifting mechanism during swinging with respect to the vehicle body. Based on the above, the access mode is more flexible, and the access efficiency is improved.

Description

Access vehicle, access system, access method, controller, and storage medium

Technical Field

The invention relates to the technical field of logistics, in particular to an access vehicle, an access system, an access method, a controller and a storage medium.

Background

In the field of automated logistics storage, a way of storing containers is to put a plurality of groups of containers stacked in layers in a goods shelf. And the top of the goods shelf is provided with an access vehicle for accessing the container.

In the related art, the storage and retrieval vehicle can only store and retrieve the uppermost container at a time, and each container is taken, the container can be transferred only by walking and carrying, the storage and retrieval mode is not flexible enough, the storage and retrieval efficiency is relatively low, and particularly when the containers stacked on the lower layer are to be stored and retrieved, the containers positioned above can only be transferred to other areas one by one only by walking and carrying the storage and retrieval vehicle, and then the target containers exposed above are stored and taken, so that the storage and retrieval efficiency is affected.

Disclosure of Invention

The embodiment of the invention provides an access vehicle, an access system, an access method, a controller and a computer readable storage medium, so as to improve the access efficiency.

The access vehicle provided by the embodiment of the invention comprises:

a vehicle body;

the travelling mechanism is arranged on the vehicle body and drives the vehicle body to travel;

the lifting mechanism is arranged on the vehicle body in a lifting manner and used for lifting at least one layer of container in the lifting process relative to the vehicle body; and

and the transferring mechanism is arranged on the vehicle body in a swinging way and removes at least one layer of containers from bottom to top in the containers lifted by the lifting mechanism in the swinging process relative to the vehicle body.

In some embodiments, the transfer mechanism includes a support for supporting the cargo box and a transfer drive mechanism disposed on the body and drivingly connected to the support for driving the support to swing.

In some embodiments, the transfer driving mechanism comprises a transfer power mechanism and a swing rod, wherein the transfer power mechanism is arranged on the vehicle body and is in driving connection with the bearing piece through the swing rod.

In some embodiments, the running gear includes two first wheel units disposed on opposite sides of the vehicle body in a first direction, and two second wheel units disposed on opposite sides of the vehicle body in a second direction perpendicular to the first direction, the two first wheel units being liftably disposed with respect to the two second wheel units.

In some embodiments, the first wheel unit includes a wheel seat and a first wheel, the first wheel is disposed on the wheel seat, and the wheel seat is liftably connected to the vehicle body.

In some embodiments, the running gear further comprises a first lifting drive mechanism drivingly connected to the first wheel unit for driving the first wheel unit to lift relative to the second wheel unit.

In some embodiments, the first lift drive mechanism includes a lift power mechanism, a gear, and a rack, the lift power mechanism is drivingly connected to the gear, the gear is engaged with the rack, and the rack is connected to the first wheel unit.

In some embodiments, the lifting mechanism is configured to release at least one of the lifted containers from bottom to top during lowering relative to the vehicle body, and the transfer mechanism is configured to receive the container released by the lifting mechanism during swinging relative to the vehicle body and remove the received container.

In some embodiments, the lifting mechanism is configured such that a maximum number N of single liftable cargo box layers is greater than or equal to 2.

In some embodiments, the lifting mechanism comprises a lifting unit comprising:

the sleeve is used for penetrating through the cargo lifting hole of the cargo box, and the side wall of the sleeve is provided with an opening; and

and the shifting forks are arranged in the sleeves and correspond to the holes one by one, are rotatably connected with the sleeves and move between an extending position and a retracting position, extend out of the sleeves from the holes when in the extending position and are used for supporting a cargo box, and retract into the sleeves when in the retracting position.

In some embodiments, the lifting unit further comprises a fork drive mechanism, which is liftably disposed in the sleeve and drives the fork to rotate between the extended position and the retracted position during lifting.

In some embodiments, the fork driving mechanism includes a first lifting member and a stop, the first lifting member is liftably disposed in the sleeve, the stop is disposed on the first lifting member and corresponds to the forks one by one, and the stop contacts with the corresponding forks and drives the corresponding forks to rotate from the retracted position to the extended position in the lifting process along with the first lifting member.

In some embodiments, the lifting mechanism further comprises a lifting driving mechanism, wherein the lifting driving mechanism is in driving connection with the shifting fork driving mechanism and drives the shifting fork driving mechanism to lift.

In some embodiments, the lifting driving mechanism comprises an electromagnet and a magnetic member, one of the electromagnet and the magnetic member is arranged at the top of the shifting fork driving mechanism, and the other is arranged above the top of the shifting fork driving mechanism and fixedly arranged relative to the sleeve, and the electromagnet and the magnetic member are attracted or separated to drive the shifting fork driving mechanism to lift.

In some embodiments, the lifting unit further includes a reset member in one-to-one correspondence with the shift fork and applying an elastic force to the shift fork to return the shift fork from the extended position to the retracted position.

In some embodiments, the lifting unit comprises at least two forks arranged at intervals in the up-down direction, the difference in height B between the two forks located lowest being greater than the level a of the cargo box.

In some embodiments, B > nA+C, where n is the number of layers the transfer mechanism needs to remove from the container a single time and C is the displacement of the fork in the height direction as it rotates between the extended and retracted positions.

In some embodiments, the lifting mechanism includes a base and at least two lifting units, each disposed on the base and each passing through a respective one of the different lifting apertures in the cargo box via a respective sleeve.

In some embodiments, the access vehicle includes a second lift drive mechanism disposed on the vehicle body and driving the lift mechanism to lift.

In some embodiments, the second lift drive mechanism includes a second lift member and a hoist lift mechanism drivingly connected to the lift mechanism by the second lift member and driving the lift mechanism to lift by driving the second lift member to wind or release.

The storage and retrieval system comprises a goods shelf, wherein the goods shelf is used for storing containers, and the storage and retrieval system further comprises the storage and retrieval vehicle provided by the embodiment of the invention, and the storage and retrieval vehicle is arranged on the top surface of the goods shelf.

In some embodiments, the top surface of the shelf is provided with rails that are staggered laterally and longitudinally, along which the storage cart travels.

In some embodiments, a divider is provided on the track, the divider dividing the track into a first track and a second track in the width direction.

The method for accessing the vehicle based on the embodiment of the invention comprises the following steps:

lifting a cargo box including a target cargo box with a lifting mechanism;

the target container is swung out of the container lifted by the lifting mechanism using the transfer mechanism.

In some embodiments, lifting a cargo box including a target cargo box with a lifting mechanism includes:

Lowering the lifting mechanism so that the sleeves of the lifting units of the lifting mechanism pass through the lifting holes of the cargo box;

rotating a fork of the lifting unit from a retracted position to an extended position so that the fork holds the cargo box;

the lifting mechanism is lifted to lift the container held by the shifting fork.

In some embodiments, swinging the target container out of the container lifted by the lifting mechanism using the transfer mechanism includes:

swinging the transfer mechanism to a position right below the container lifted by the lifting mechanism;

lowering the lifting mechanism to drop the target container onto the transfer mechanism and disengage from the fork holding the target container, the fork holding the target container returning from the extended position to the retracted position;

lifting the lifting mechanism to disengage the sleeve from the target container;

the transfer mechanism is swung to remove the target container which is landed on the transfer mechanism.

In some embodiments, the number of layers of the target container is less than the number of layers of the container lifted by the lifting mechanism, lifting the container including the target container with the lifting mechanism comprises:

lowering the lifting mechanism so that a sleeve of a lifting unit of the lifting mechanism passes through the target container and a lifting hole stacked above the target container;

Rotating at least two forks of the lifting unit from a retracted position to an extended position such that a lowermost fork holds a target container and the remaining forks hold remaining containers stacked above the target container;

the lifting mechanism is lifted to lift the cargo box held by the at least two shifting forks.

lowering the lifting mechanism to drop the target container onto the transfer mechanism and disengage from the fork holding the target container, the fork holding the target container returning from the extended position to the retracted position, the remaining forks still holding containers stacked above the target container;

In some embodiments, the number of layers of the target container is less than the number of layers of the container lifted by the lifting mechanism, and the lifting mechanism is also lowered after the target container is swung out of the container lifted by the lifting mechanism using the transfer mechanism, and the remaining containers lifted by the lifting mechanism are returned.

In some embodiments, lowering the lifting mechanism, placing the remaining containers lifted by the lifting mechanism back comprises:

lowering the lifting mechanism to enable the rest container on the lifting mechanism to fall to the original position of the target container;

the lifting mechanism is further lowered so that a shifting fork of the lifting mechanism is separated from the residual container and returns to the retracted position from the extended position;

the lifting mechanism is lifted and separated from the rest of the cargo box.

In some embodiments, before lifting the container including the target container with the lifting mechanism, determining whether a total number of layers m of the target container and the containers stacked above the target container is greater than a maximum number N of layers of the container that the lifting mechanism can lift at a single time, and lifting the container including the target container with the lifting mechanism when m is less than or equal to N; when m is greater than N, the container stacked above the target container is taken out by the access vehicle until m is less than or equal to N.

The controller provided by the embodiment of the invention comprises a memory and a processor coupled to the memory, wherein the processor is configured to execute the access method of the embodiment of the invention based on the instructions stored in the memory.

The computer readable storage medium provided by the embodiment of the invention stores computer instructions, and the computer instructions are executed by the processor to perform the access method provided by the embodiment of the invention.

Based on the cooperation of hoist mechanism and transfer mechanism, the access car not only has the packing box and promotes the function, still has the packing box function of keeping in for the access car no longer is limited to the single packing box and draws the transport mode, consequently, the access mode is more nimble, is favorable to improving access efficiency.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic diagram of a portion of an access system according to an embodiment of the invention.

FIG. 2 is a partial schematic view of a pallet in an embodiment of the invention.

Fig. 3 is a schematic view of stacking states of containers according to an embodiment of the invention.

Fig. 4 is a schematic perspective view of a single cargo box in an embodiment of the invention.

Fig. 5 is a schematic perspective view of an access vehicle according to an embodiment of the invention.

FIG. 6 is an enlarged partial schematic view of the access vehicle at the travel mechanism and transfer mechanism in an embodiment of the invention.

Fig. 7 is a schematic view of fig. 6 with the first wheel unit omitted.

Fig. 8 is a schematic view of the access cart in a state where the first wheel unit is not lifted.

Fig. 9 is a schematic view of the state of the access vehicle after the first wheel unit is lowered.

Fig. 10 is an enlarged partial schematic view of I of fig. 9.

Fig. 11 is a schematic view of the state of the access vehicle after the first wheel unit is lifted.

Fig. 12 is an enlarged partial schematic view of II of fig. 11.

Fig. 13 is a schematic perspective view of the vehicle according to the embodiment of the invention after the roof is omitted.

Fig. 14 is a schematic perspective view of a lifting mechanism according to an embodiment of the invention.

Fig. 15 is a schematic diagram illustrating the cooperation between the extraction unit and the base when the electromagnet and the magnetic member are not attracted in the embodiment of the present invention.

Fig. 16 is a schematic diagram illustrating the cooperation between the extraction unit and the base when the electromagnet and the magnetic member are attracted in the embodiment of the present invention.

Fig. 17 is a schematic view showing a state where two forks are in a retracted position in the embodiment of the present invention.

Fig. 18 is a schematic view showing a state in which two forks are rotated to an extended position in the embodiment of the present invention.

Fig. 19 is a schematic view showing a state where two forks are extended and pressed by a cargo box in the embodiment of the present invention.

Fig. 20 is a schematic view of a single fork in an extended position in accordance with an embodiment of the present invention.

Fig. 21 is a schematic view of a single fork in an extended position in accordance with an embodiment of the present invention.

Fig. 22 is a schematic view of fig. 20 with the sleeve omitted.

Fig. 23 is a schematic view of fig. 21 with the sleeve omitted.

Fig. 24-27 show different arrangements of forks in different extraction units.

Fig. 28 is a schematic view showing a state in which the access vehicle travels directly above the target cargo box.

Fig. 29 is a schematic view showing a state in which the transfer mechanism of the access cart is swung out.

Fig. 30 is a schematic view showing a state in which a lifting mechanism of the access vehicle lifts a cargo box.

Fig. 31 is a schematic view showing a state in which the lifting mechanism of the access vehicle is separated from the target cargo box.

Fig. 32 is a schematic view showing a state in which the transfer mechanism of the access vehicle moves out the target cargo box.

Fig. 33 is a schematic view showing a state in which the lifting mechanism of the access vehicle returns the remaining cargo box.

FIG. 34 is a flow chart of an access method according to some embodiments of the invention.

Reference numerals:

100. an access system; 10. a vehicle is stored; 20. a goods shelf; 20a, a track; 20b, a first track; 20c, a second track; 20d, a separator; 30. a cargo box; 30a, a goods lifting hole; 30b, a box body; 30c, flanging; 30d, flanging downwards; 30e, target container;

1. A vehicle body; 11. a first vehicle body; 11a, a guide groove; 12. a second vehicle body; 12a, upright posts; 12b, a roof; 12c, a top seat; 12d, a top plate;

2. a walking mechanism; 21. a first wheel unit; 211. a first wheel; 212. a wheel seat; 213. a conducting bar; 214. a first lifting driving mechanism; 214a, a lifting power mechanism; 214b, a first motor; 214c, gears; 214d, a rack; 22. a second wheel unit; 221. a second wheel;

3. a lifting mechanism; 31. a base; 311. an inner cavity; 312. a mounting hole; 32. a lifting unit; 321. a sleeve; 321a, cavity; 321b, opening holes; 322. a shifting fork; 322a, a support surface; 323. a rotating shaft; 324. a fork drive mechanism; 324a, a first pull member; 324b, a stop; 325. a lifting driving mechanism; 325a, an electromagnet; 325b, magnetic member; 326. a reset member; 326a, a return spring; 327. a limiting piece; 327a, a first stop; 327b, a second limiting piece;

4. a second lifting driving mechanism; 41. a second lifting member; 42. a hoisting lifting mechanism; 421. a second motor; 422. a lifting shaft; 423. a support shaft;

5. a transfer mechanism; 51. a support; 511. a supporting plate; 512. a baffle; 52. a transfer drive mechanism; 521. a transfer power mechanism; 521a, a swing motor; 522. and (5) swinging rod.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are within the scope of the present invention.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for defining the components, and are merely for convenience in distinguishing the corresponding components, and the terms are not meant to have any special meaning unless otherwise indicated, so that the scope of the present invention is not to be construed as being limited.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

The access vehicle is used for accessing the container, and is particularly suitable for accessing the container in the stacked multi-layer container. A container is broadly referred to herein as a container for storing cargo and may include other forms of cargo containers such as a closed-around container, as well as a cage which is not closed around, as is commonly understood.

Next, a case where the storage vehicle is applied to the storage system and a container in the rack is stored will be described as an example.

FIGS. 1-33 illustrate an access system and an access cart in an embodiment of the invention.

Referring to FIG. 1, in some embodiments, an access system 100 includes a rack 20 and an access cart 10.

The pallet 20 is used to store a cargo box 30. Referring to fig. 1-2, in some embodiments, the shelf 20 is a frame-type shelf comprising a plurality of shelf units arranged in a matrix. Each of the shelf units is configured to store a plurality of containers 30 stacked in a stack such that multiple layers of containers 30 are stored in each of the shelf units.

The access cart 10 is disposed on a top surface of the pallet 20 for accessing a cargo box 30 in the pallet 20.

The access cart 10 walks on top of the shelves 20 to transfer between the different shelf units to facilitate access to the containers 30 in the different shelf units.

To facilitate the access cart 10 walking on the top surface of the shelves 20, as shown in FIG. 2, in some embodiments, the top surface of the shelves 20 is provided with rails 20a that are staggered laterally and longitudinally. The access cart 10 travels along a track 20a. Wherein the plurality of tracks 20a are arranged at intervals along the first direction X. The plurality of rails 20b are arranged at intervals along a second direction Y perpendicular to the first direction X. And the rails 20a spaced apart along the first direction X intersect the rails 20a spaced apart along the second direction. Forming a grid-like structure. The four tracks 20a intersect to form a mesh. Each mesh corresponds to each goods shelf unit one by one. The multi-level cargo box 30 in each shelf unit is located below the corresponding eyes. Thus, when the truck 10 travels along the track 20a to a position directly above a mesh, the truck 10 is positioned directly above the cargo box 30 in the corresponding shelf unit, and the cargo box 30 in the corresponding shelf unit can be picked up and put down.

Referring to fig. 2, in some embodiments, a partition 20d is provided on the rail 20a, and the partition 20d partitions the rail 20a into a first rail 20b and a second rail 20c in the width direction. Wherein, referring to fig. 2, in some embodiments, the separator 20d is configured as a rib.

Specifically, as shown in fig. 2, in some embodiments, the separator 20d includes a plurality of pieces of stopper bodies that are arranged along the length direction of the rail 20a and that are disconnected from each other at intersections with the respective rails 20a such that each piece of rail portion of the same rail 20a corresponding to each mesh is divided into a first rail section and a second rail section in the width direction, that is, such that the first rail 20b and the second rail 20c each include a plurality of first rail sections and second rail sections that are arranged at intervals in the length direction and that are in one-to-one correspondence with each mesh.

The partition piece 20d not only can limit the access vehicle 10 and prevent the access vehicle 10 from derailing, but also enables the track 20a to form double tracks, the same access vehicle 10 can flexibly select one of the first track 20b and the second track 20c to walk in the running process, and the same track 20a can simultaneously store two access vehicles 10 side by side along the width direction, so that the running mode is more flexible, and particularly when a plurality of access vehicles 10 are arranged on the top surface of the goods shelf 20, the access vehicles 10 can be conveniently and flexibly avoided so as not to be jammed and the access efficiency is influenced.

Fig. 5 illustrates the overall structure of the access cart 10 in some embodiments. Referring to fig. 5, in some embodiments, the access vehicle 10 includes a vehicle body 1, a running gear 2, a lifting mechanism 3, and a transfer mechanism 5.

The vehicle body 1 is used to provide a mounting basis for the running gear 2, the lifting mechanism 3 and the transfer mechanism 5. Referring to fig. 5, in some embodiments, the vehicle body 1 includes a first vehicle body 11 and a second vehicle body 12. The middle part of the first vehicle body 11 is hollowed out. The second vehicle body 12 is connected above the first vehicle body 11, and includes a pillar 12a and a roof 12b. The pillar 12a connects the first vehicle body 11 and the roof 12b, and supports the roof 12b above the first vehicle body 11. Specifically, in some embodiments, the second vehicle body 12 includes four pillars 12a, and the four pillars 12a are connected to four corners of the first vehicle body 11. The roof 12b is connected to the top ends of the four pillars 12a, and is supported by the four pillars 12 a. The vehicle body 1 structure is not only beneficial to reducing the weight of the access vehicle 10 and realizing the light weight design of the access vehicle 10, but also is convenient for the lifting mechanism 3 to lift and the transferring mechanism 5 to swing, thereby being convenient for realizing the lifting, releasing and transferring of the cargo box 30.

The travelling mechanism 2 is arranged on the vehicle body 1 (specifically, the first vehicle body 11) and is used for driving the vehicle body 1 to travel, so as to realize the travelling function of the storage vehicle 10. Referring to fig. 5, in some embodiments, the running gear 2 comprises two first wheel units 21 and two second wheel units 22. Two first wheel units 21 are arranged on opposite sides of the vehicle body 1 in the first direction X. Two second wheel units 22 are arranged on opposite sides of the vehicle body 1 in the second direction Y. With the cooperation of the two first wheel units 21 and the two second wheel units 22, the access vehicle 1 is able to travel in the first direction X and the second direction Y on the top surface of the pallet 20. Wherein each first wheel unit 21 comprises a first wheel 211. Each second wheel unit 22 includes a second wheel 221. The number of first wheels 211 in each first wheel unit 21 and the number of second wheels 221 in each second wheel unit 22 may be 1, 2 or more. For example, in some embodiments, the first wheel unit 21 includes two first wheels 211, one of the two first wheels 211 being a driving wheel and the other being a driven wheel. The second wheel unit 22 includes two second wheels 221, one of the two second wheels 221 being a driving wheel and the other being a driven wheel. The driving wheel and the driven wheel are respectively used for driving walking and providing support.

Referring to fig. 6-12, in some embodiments, two first wheel units 21 are liftable relative to two second wheel units 22. In this way, the relative height positions of the first wheel unit 21 and the second wheel unit 22 can be changed by relatively lifting the first wheel unit 21 and the second wheel unit 22, so that the posture of the travelling mechanism 2 can be adjusted, and the requirements of different working states of the access vehicle 10 can be flexibly met. Wherein, the gesture of running gear 2 includes three kinds, respectively: (1) The first wheel unit 21 and the second wheel unit 22 are equal in height, and the first wheel unit 21 and the second wheel unit 22 are simultaneously supported; (2) The first wheel unit 21 is lower than the second wheel unit 22, the first wheel unit 21 is supported, and the second wheel unit 22 is suspended; (3) The first wheel unit 21 is higher than the second wheel unit 22, the first wheel unit 21 is suspended, and the second wheel unit 22 is supported.

To achieve relative lifting of the first wheel unit 21 and the second wheel unit 22, at least one of the first wheel unit 21 and the second wheel unit 22 may be connected to the vehicle body 1 in a liftable manner. Wherein, when only one of the first wheel unit 21 and the second wheel unit 22 is connected with the vehicle body 1 in a liftable manner, the structure is simpler, and the control is more convenient.

Next, a case where the first wheel unit 21 is connected to the vehicle body 1 so as to be able to be lifted and lowered and the second wheel unit 22 is connected to the vehicle body 1 so as to be unable to be lifted and lowered will be described as an example.

Fig. 8 shows a schematic view of the access cart 10 when the first wheel unit 21 is not lifted. As shown in fig. 8, when the two first wheel units 21 are not lifted, the two first wheel units 21 are flush with the two second wheel units 22, and the first wheels 211 in the first wheel units 21 are flush with the bottom surfaces of the second wheels 221 in the second wheel units 22, with the same height at the center. At this time, the two first wheel units 21 and the two second wheel units 22 together play a supporting role, and the supporting is more stable and reliable. This state is particularly suitable for the condition when the truck 10 performs the cargo box access task, and can enable the truck 10 to perform the cargo box access task more smoothly.

Fig. 9 and 10 show schematic views of the access cart 10 after the first wheel unit 21 is lowered. As shown in fig. 9 and 10, after the two first wheel units 21 are lowered, the bottom surface (center) of the first wheel 211 is lower than the bottom surface (center) of the second wheel 221. In fig. 10, the height of the bottom surface (center) of the first wheel 211 is H1, which is higher than the bottom surface (center) of the second wheel 221. At this time, the first wheel unit 21 is supported, the second wheel unit 22 is suspended, and the access vehicle 10 can conveniently walk in the second direction Y without being hindered by the second wheel unit 22.

Fig. 11 and 12 show schematic views of the access cart 10 after the first wheel unit 21 is raised. As shown in fig. 11 and 12, after the two first wheel units 21 are lifted, the bottom surface (center) of the first wheel 211 is lower than the bottom surface (center) of the second wheel 221. In fig. 11, the first wheel 211 bottom surface (center) is H2 lower than the second wheel 221 bottom surface (center). At this time, the first wheel unit 21 is suspended, the second wheel unit 22 is supported, and the access vehicle 10 can conveniently walk in the first direction X without being hindered by the first wheel unit 21.

It can be seen that by providing the first wheel unit 21 to be liftable relative to the second wheel unit 22, different demands of the access vehicle 10 in traveling in the first direction X, traveling in the second direction Y and performing a cargo box access task can be flexibly satisfied.

To achieve lifting of the first wheel unit 21, referring to fig. 6 and 7, in some embodiments, the first wheel unit 21 includes a wheel seat 212, the first wheel 211 is disposed on the wheel seat 212, and the wheel seat 212 is liftably connected to the vehicle body 1. Specifically, as shown in fig. 6 and 7, in some embodiments, the first vehicle body 11 is provided with a guide groove 11a, the wheel seat 212 is correspondingly provided with a guide bar 213 matched with the guide groove 11a, and the guide bar 213 is slidably connected with the guide groove 11a, so as to realize the liftable arrangement of the wheel seat 212 on the first vehicle body 11. In this way, the wheel seat 212 is lifted and lowered relative to the vehicle body 1, thereby lifting and lowering the first wheel unit 21. In addition, when the number of the first wheels 211 in the first wheel unit 21 is at least two, the wheel seats 212 can be lifted and lowered, so that the first wheels 211 of the same first wheel unit 21 can be lifted and lowered together, the structure is simple, the control is convenient, and the lifting and lowering synchronism of the first wheels 211 is better.

In order to achieve automatic lifting of the first wheel unit 21, referring to fig. 6, in some embodiments, the travelling mechanism 2 further comprises a first lifting driving mechanism 214, and the first lifting driving mechanism 214 is in driving connection with the first wheel unit 21 for driving the first wheel unit 21 to lift relative to the second wheel unit 22. The first wheel unit 21 is driven to automatically lift by the first lifting driving mechanism 214, which is beneficial to more efficiently changing the relative height position between the first wheel unit 21 and the second wheel unit 22, thereby more efficiently controlling the running mechanism 2 to switch between different states.

As one implementation of the first lift drive mechanism 214, referring to fig. 6, the first lift drive mechanism 214 includes a lift power mechanism 214a, a gear 214c, and a rack 214d. The lifting power mechanism 214a is in driving connection with the gear 214 c. The gear 214c is meshed with the rack 214d. The rack 214d is connected to the first wheel unit 21, for example, the rack 214d is connected to the wheel seat 212. Thus, when the lifting power mechanism 214a is started, the gear 214c can drive the rack 214d to lift and lower, and further drive the first wheel unit 21 to lift and lower. The lifting power mechanism 214a may specifically include a first motor 214b.

Of course, the first lift driving mechanism 214 is not limited to the above-described implementation, and for example, as a modification, the first lift driving mechanism 214 may include other components such as a link, a slider, or a screw.

With continued reference to fig. 6, in some embodiments, each first wheel unit 21 corresponds to at least two first wheel lift drive mechanisms 214, and the first wheel lift drive mechanisms 214 corresponding to the same first wheel unit 21 are spaced apart along the second direction Y. In this way, the first wheel unit 21 can be driven to rise and fall more smoothly and reliably.

The lifting mechanism 3 is arranged on the vehicle body 1 in a lifting manner and is used for driving the container 30 to lift so as to lift or replace the container 30.

The transfer mechanism 5 is swingably provided on the vehicle body 1 for removing the cargo box 30 from the cargo box 30 lifted by the lifting mechanism 3.

In some embodiments, the lifting mechanism 3 lifts the cargo box 30 during lifting. The number of layers of the cargo box 30 lifted by the lifting mechanism 3 may be at least one. The transfer mechanism 5 moves out the cargo box 30 from the cargo box 30 lifted by the lifting mechanism 3 during the swinging with respect to the vehicle body 1. The number of layers of the container 30 removed by the transfer mechanism 5 may be at least one, and in particular at least one layer of the container 30 lifted by the lifting mechanism 3 from bottom to top.

Under the cooperation of the lifting mechanism 3 and the transferring mechanism 5, the access vehicle 10 has not only a container lifting function but also a container temporary storage function, so that the access vehicle 10 is not limited to a single container picking and carrying mode any more, and therefore, the access mode is more flexible, and the access efficiency is improved.

Wherein, the maximum value of the number of layers of the container 30 which can be lifted by the lifting mechanism 3 at a time is N. N is limited by the height of the lifting mechanism 3, the height of the single layer cargo box 30, and the like. Generally, the smaller N is, the lower the height of the access vehicle 10 is, the lower the power of power equipment such as a motor is, and the lower the access efficiency is. The greater N generally, the higher the access vehicle 10, the greater the power of the power equipment such as the motor, and the higher the access efficiency.

In some embodiments, N is greater than or equal to 2, so that the access mode is more flexible and the access efficiency is higher. In the case where N is greater than or equal to 2, the lifting mechanism 3 can pick up more than one cargo box 30 at a time, if desired, with greater efficiency than if the truck 10 were to be able to access only one cargo box 30 at a time. In addition, during actual lifting, the lifting mechanism 3 can selectively lift the container 30 with less than or equal to N layers according to specific conditions, and the storage and taking modes are more flexible. The number of layers of the lifting mechanism 3 for actually lifting the cargo box 30 at a time is counted as a, and a is greater than or equal to 1 and less than or equal to N. The value a may be flexibly determined depending on the location of the container 30 to be accessed (which may be simply referred to as the target container 30 e) and the number of layers of stacked containers 30 above.

When the container 30 positioned at the lower layer needs to be stored and taken out, whether the total layer number m of the target container 30e and the container 30 above the target container 30e is larger than N can be judged first, and when the total layer number m of the target container 30e is larger than N, the container 30 stacked above the target container 30e is taken out by using the storage and taking vehicle 10 until the total layer number m is smaller than or equal to N, so that the lifting mechanism 3 and the transferring mechanism 5 are matched, the target container 30e is moved out, and the target container 30e is obtained. In the process of taking out the cargo box 30 stacked above the target cargo box 30e by the access vehicle 10 so that m is less than or equal to N, the taken-out cargo box 30 may be temporarily stored in the transfer mechanism 5, or may be moved to another position by the access vehicle 10, or may be taken out by another access vehicle 10.

In some embodiments, the lifting mechanism 3 is configured to release at least one of the lifted containers 30 from bottom to top during lowering relative to the vehicle body 1, which is convenient for cooperation with the transfer mechanism 5 to effect removal of at least one of the lifted containers 30 from bottom to top, on the one hand, and if there are remaining containers 30 in the lifted containers 30 after the transfer mechanism 5 removes at least one of the lifted containers 30 from bottom to top, the lifting mechanism 3 may replace the remaining containers 30, making the overall container access process more continuous and efficient.

The structures of the lifting mechanism 3 and the transfer mechanism 5 will be further described.

First, the structure of the lifting mechanism 3 will be described with reference to fig. 14 to 27.

Referring to fig. 14-27, in some embodiments, the lifting mechanism 3 includes a lifting unit 32. The lifting unit 32 is used in combination with the cargo box 30 to enable the cargo box 30 to be lifted and lowered together with the lifting mechanism 3, completing the cargo box picking and placing process.

The number of the lifting units 32 may be 1, two or more. In order to realize a more stable and reliable container picking and placing process, the number of the lifting units 32 can be at least two, and the at least two lifting units 32 are combined with different positions of the container 30 to apply force to the different positions of the container 30 in the picking and placing process, so that the stability of the container picking and placing process is improved. For example, referring to fig. 14, in some embodiments, the lifting mechanism 3 includes four lifting units 32. And referring to fig. 30, the four lifting units 32 are respectively coupled to four different positions of the same cargo box 30, for example, four corners of the same cargo box 30, so that the cargo box 30 can be more smoothly lifted.

When the lifting mechanism 3 comprises at least two lifting units 32, referring to fig. 14, in some embodiments the lifting mechanism 3 further comprises a base 31, each lifting unit 32 being arranged on the base 31. For example, in fig. 14, four lifting units 32 are provided on the base 31, and are respectively connected to four corners of the base 31, and are in one-to-one correspondence with four corners of the cargo box 30.

The provision of the base 31 has the advantage that, on the one hand, the mounting arrangement of the lifting units 32 is facilitated and, on the other hand, the simultaneous lifting of the lifting units 32 is also facilitated on the basis of a relatively simple construction.

Referring to fig. 13, in order to achieve automatic lifting of the lifting mechanism 3, in some embodiments, the access cart 10 includes a second lifting drive mechanism 4, and the second lifting drive mechanism 4 is provided on the cart body 1 and drives the lifting mechanism 3 to lift. Under the condition that the base 31 is arranged, the second lifting driving mechanism 4 is only required to be in driving connection with the base 31, the base 31 is driven to lift, the lifting mechanism 3 can be driven to lift integrally, each lifting unit 32 is enabled to lift synchronously, compared with the condition that each lifting unit 32 is respectively provided with one lifting driving mechanism, the structure is simpler, the control is more convenient, and the lifting synchronism of each lifting unit 32 is better.

As one implementation of the second lift drive mechanism 4, see fig. 13, in some embodiments the second lift drive mechanism 4 includes a second lift member 41 and a hoist lift mechanism 42, the hoist lift mechanism 42 being drivingly connected to the lift mechanism 3 by the second lift member 41 and driving the lift mechanism 3 to lift by driving the second lift member 41 to wind or release. The second pulling member 41 may be a high-strength thin steel strip with a thickness of 0.1 mm-0.5 mm, and has a tensile strength up to 1400MPa, high strength, high flexibility, and capability of winding on a shaft. Alternatively, the second lifter 41 may be a soft braid, a wire rope, or the like.

Specifically, as shown in fig. 13, the hoisting mechanism 42 includes a second motor 421, a hoisting shaft 422, and a supporting shaft 423. The lift shaft 422 and the support shaft 423 are both rotatably provided on the vehicle body 1. The second motor 421 is in driving connection with the lift shaft 422. One end of the second pulling member 41 is wound around the lifting shaft 422, and the other end is connected to the lifting mechanism 3 after bypassing the supporting shaft 423 located at one side of the lifting shaft 422. Thus, when the second motor 421 is started, the second pulling member 41 can be driven to wind or release on the lifting shaft 422, thereby raising or lowering the lifting mechanism 3.

More specifically, as shown in fig. 13, in some embodiments, the hoisting lifting mechanism 42 includes two support shafts 423, the two support shafts 423 being disposed on both axial sides of the lifting shaft 422, respectively. The second lifting members 41 are wound around the two axial ends of each supporting shaft 423, and the four second lifting members 41 are guided to extend downwards to be connected with the four corners of the base 31 so as to correspond to the four lifting units 32 one by one, so that the four lifting units 32 are driven to lift synchronously.

Referring to fig. 5 and 13, in some embodiments, the second lift drive mechanism 4 is provided on the roof 12b of the vehicle body 1. Specifically, in some embodiments, the roof 12b includes a roof base 12c and a roof panel 12d. The top base 12c is hollow. The top plate 12d is covered on the top opening of the top base 12 c. The hoisting mechanism 42 is provided inside the top chassis 12 c. In this way, the second lifting driving mechanism 4 is located right above the lifting mechanism 3, so that the lifting mechanism 3 can be driven to lift more conveniently. The hoist lifting mechanism 42 is located inside the roof 12b and is shielded by the roof 12d, so that the whole structure of the storage car 10 is more compact and beautiful.

Next, the structure of the lifting unit 32 will be described.

Referring to fig. 14, in some embodiments, the lifting unit 32 includes a sleeve 321 and a fork 322.

The sleeve 321 is adapted to pass through the pick-up aperture 30a of the cargo box 30. At this time, it can be understood that, as shown in fig. 4, the cargo box 30 is provided with a cargo lifting hole 30a through which the socket 321 passes. The overall shape of the sleeve 321 is adapted to the shape of the lifting aperture 30a. For example, in some embodiments, the pick-up aperture 30a is a circular aperture and the sleeve 321 is generally cylindrical.

When the number of lifting units 32 is at least two, each lifting unit 32 passes through a different lifting aperture 30a in the cargo box 30 by means of a respective sleeve 321. For example, in some embodiments, referring to fig. 4 and 30, the four corners of the cargo box 30 are provided with cargo lifting holes 30a, and the sleeves 321 of the four lifting units 32 are in one-to-one correspondence with the cargo lifting holes 30a at the four corners of the cargo box 30, and pass through the cargo lifting holes 30a at the four corners of the same cargo box 30 during the accessing process. Also, as shown in fig. 4, in some embodiments, the cargo box 30 has lifting holes 30a at the top and bottom corners, and the four lifting holes 30a at the top four corners are in one-to-one correspondence with the four lifting holes 30a at the bottom four corners. At this time, each lifting unit 32 needs to pass through the two lifting holes 30a at the corresponding corners in sequence when passing through the same container 30 from top to bottom.

The sleeve 321 passes through the lifting hole 30a, so that the lifting unit 32 and the cargo box 30 can be combined preliminarily, and further action of the subsequent shifting fork 322 is facilitated. Also, when coupled to the cargo box 30 by passing through the lifting aperture 30a, the sleeve 321 may string the at least two layers of cargo box 30 together by passing through the at least two layers of cargo box 30, which facilitates the lifting of the at least two layers of cargo box 30 at one time by the lifting mechanism 3. The length of sleeve 321 affects the amount of maximum number N of layers of cargo box 30 that lifting mechanism 3 can lift a single time.

To facilitate the passage of the sleeve 321 through the cargo hole 30a, as shown in fig. 14, in some embodiments, the lower end of the sleeve 321 is tapered or spindle-shaped, so that the sleeve 321 can be more smoothly passed through or withdrawn from the cargo hole 30a during the lifting and lowering of the sleeve 321.

As shown in fig. 15-21, in some embodiments, a cavity 321a is provided inside the sleeve 321 for accommodating other structural components of the extraction unit 32, such as a fork 322. An opening 321b is provided in the sidewall of the sleeve 321. Aperture 321b communicates with cavity 321 a.

The shifting forks 322 are disposed in the sleeve 321 and correspond to the openings 321b one by one. A fork 322 is rotatably coupled to the sleeve 321 for movement between an extended position and a retracted position. In the extended position, as shown in fig. 18, 19 and 21, a fork 322 extends from the opening 321b to the outside of the sleeve 321 and serves to hold the cargo box 30. In the retracted position, as shown in fig. 17 and 20, the fork 322 is retracted inside the sleeve 321. For example, in some embodiments, the fork 322 is hinged to the sleeve 321 by a rotation shaft 323, and the rotation shaft 323 is located between the upper and lower ends of the fork 322, so that when the fork 322 rotates about the rotation shaft 323, the upper end of the fork 322 can be extended or retracted from the opening 321b, thereby switching the fork 322 between the extended position and the retracted position.

Based on the above arrangement, the fork 322 can be engaged with or disengaged from the cargo box 30 as it moves between the extended and retracted positions so that the lifting mechanism 3 lifts or releases the cargo box 30.

The extending direction of the fork 322 on the sleeve 321 is not limited, and the extending directions of different forks 322 may be the same, opposite or angled. Fig. 24 to 27 illustrate various cases. The direction in which the fork 322 of each lifting unit 32 protrudes from the socket 321 may be the same or different for a plurality of lifting units 32 on the same base 31. The extension direction may be the same or different for each fork 322 in the same lifting unit 32.

In the process of lifting the cargo box 30, the lifting mechanism 3 is integrally lowered under the drive of the second lifting driving mechanism 4, after the lifting mechanism 3 is lowered to the set position, the state of the shifting fork 322 is switched, so that the shifting fork 322 is switched from the retracted position to the extended position, the cargo box 30 is supported, and then the lifting mechanism 3 is integrally lifted, so that the lifting mechanism 3 and the cargo box 30 are lifted to the required position together.

Referring to fig. 19 and 30, when the fork 322 is rotated to the extended position and engaged with the cargo box 30, the fork 322 may hold the cargo box 30 by catching on the wall of the cargo box around the lifting aperture 30a, forming a support for the cargo box 30. At this time, the cargo box 30 is pressed against the fork 322 and applies downward pressure to the fork 322 (as indicated by the arrow in fig. 19). When the fork 322 is pressed by the cargo box 30, the fork 322 cannot rotate to the retracted position, and thus can be stably held in the extended position, and the cargo box 30 is reliably supported.

Referring to fig. 4, in some embodiments, the cargo box 30 includes a box body 30b, an upturned 30c, and a downturned 30d. The case 30b is hollow inside for storing goods. The upper and lower flanges 30c and 30d are connected to the top and bottom of the case 30, respectively, and extend from the top and bottom of the case 30 toward the outside of the case 30, respectively. The four corners of the upper flange 30c and the lower flange 30d are provided with lifting holes 30a. In this case, the fork 322 may be engaged with the cargo box 30 by being caught under one of the upper flange 30c and the lower flange 30d, thereby supporting the cargo box 30. For example, referring to fig. 30, in some embodiments, the fork 30, when engaged with the cargo box 30, snaps onto the lower surface of the upturned rim 30e to support the cargo box 30. Therefore, the arrangement of the upper and lower flanges is not only convenient for stacking the cargo box 30, but also convenient for clamping and applying force by the shifting fork 322, so that the cargo box 30 is stably and reliably supported.

The surface of the fork 322 for contacting the cargo box 30 (specifically, the upper surface of the fork 322) is a support surface 322a. Referring to fig. 19, in some embodiments, the support surface 322a may be configured as a planar surface. When the fork 322 is in the extended position, the support surface 322a is horizontal. In this way, the support surface 322a can more fully contact the cargo box 30 and more smoothly support the cargo box 30.

To achieve automatic switching of the state of the fork 322, referring to fig. 15 to 23, in some embodiments, the lifting unit 32 further includes a fork driving mechanism 324, and the fork driving mechanism 324 is liftably disposed in the sleeve 321 and drives the fork 322 to rotate between the extended position and the retracted position during lifting. In this way, the fork 322 can be automatically switched between the extended position and the retracted position by the fork drive mechanism 324.

With continued reference to fig. 15-23, in some embodiments, the fork drive mechanism 324 includes a first lift 324a and a stop 324b. The first lifting member 324a is disposed in the sleeve 321 in a liftable manner, and may be a rigid rod, or may be replaced by a carbon fiber rod, a steel wire rope, a high-strength nylon rope, or the like. The stoppers 324b are disposed on the first pulling member 324a and correspond to the shifting forks 322 one by one. The stopper 324b contacts the corresponding fork 322 and drives the corresponding fork 322 to rotate from the retracted position to the extended position during the ascent of the first lift member 324 a. The stoppers 324b are disengaged from the corresponding fork 322 during the descent along with the first pulling member 324 a. After the fork 322 is disengaged from the stopper 324b, the fork 322 is not rotated from the extended position back to the retracted position if the fork 322 is still pressed by the cargo box 30, and the fork 322 is rotated from the extended position back to the retracted position if the fork 322 is also disengaged from the cargo box 30.

Based on the sleeve 321, the fork 322, the first lifter 324a, and the stopper 324b, the lifting mechanism 3 lifts the cargo box 30 as follows:

the first lifting piece 324a is lifted to drive the stop block 324b to lift together, and the stop block 324b abuts against the bottom surface of the shifting fork 322 in the lifting process, so that the shifting fork 322 rotates relative to the sleeve 321, the upper end of the shifting fork 322 rotates to the outside of the opening 321b to form a protrusion protruding out of the outer surface of the sleeve 321, and the protrusion can be clamped at the edge of the container 30 to form a support of the shifting fork 322 on the container 30. Subsequently, the whole lifting mechanism 3 is lifted to a required position together with the cargo box 30, and lifting of the cargo box 30 is achieved. After lifting in place, when the container 30 needs to be released, the first lifting member 324a may be first placed so that the stop 324b is disengaged from the fork 322, so that the container 30 that needs to be released can be subsequently released from the lifting mechanism 3, thereby realizing the release.

Referring to fig. 15 and 16, in some embodiments, the entire elevation of the fork drive mechanism 324 is driven by a lift drive mechanism 325. The lift drive mechanism 325 is drivingly connected to the fork drive mechanism 324, and drives the fork drive mechanism 324 up and down to switch the fork 322 between the extended and retracted positions. Thus, the lift driving mechanism 325 can switch the fork 322 between the extended position and the retracted position by changing the up-down position of the fork driving mechanism 324 relative to the sleeve 321.

The lift drive mechanism 325 may include structural components such as an electromagnet, a motor, a linkage, and the like. The motor may be a rotary motor or a voice coil motor, etc. For example, 1 motor may control all the fork driving mechanisms 324 in the lifting mechanism 3 through the link mechanism, 1 motor may control 2 fork driving mechanisms 324, or 1 motor may control 1 fork driving mechanism 324. The electromagnet or the motor is powered by rechargeable battery, capacitor or wire. A rechargeable battery or capacitor may be disposed within the base 31 to be charged from a main power source (e.g., a battery) of the access vehicle 10 when the lift mechanism 3 is raised to an upper limit position (e.g., a preset distance below the roof 12 b). The wired power may be provided by hanging wires from the top of the access cart 10 to the interior of the base 31.

Fig. 15 and 16 illustrate one implementation of the lift drive mechanism 325. Referring to fig. 15 and 16, in some embodiments, the lift drive mechanism 325 includes an electromagnet 325a and a magnetic member 325b. One of the electromagnet 325a and the magnetic member 325b is disposed on the top of the fork driving mechanism 324, and the other is disposed above the top of the fork driving mechanism 324 and fixedly disposed with respect to the sleeve 321, and the electromagnet 325a and the magnetic member 325b are engaged or disengaged to drive the fork driving mechanism 324 to lift. For example, as shown in fig. 15 and 16, in some embodiments, the magnetic member 325b is mounted on top of the fork driving mechanism 324, and specifically on top of the first pulling member 324 a. The electromagnet 325a is mounted in the base 31, and specifically in the cavity 311 of the base 31, directly above the magnetic member 325b. Specifically, in some embodiments, the bottom surface of the base 31 is provided with a mounting hole 312 that communicates with the inner cavity 311. Both electromagnet 325a and magnetic member 325b are positioned within interior cavity 311. The lift rod 324a extends into the bore 311 through the mounting hole 312.

The fork driving mechanism 324 may be conveniently driven to be lifted based on the electromagnet 325a and the magnetic member 325 b. When the electromagnet 325a is energized, the electromagnet 325a and the magnetic member 325b are attracted, the fork driving mechanism 324 is lifted, and the first lifting member 324a drives the stop block 324b to lift, so that the fork 322 rotates from the retracted position to the extended position. When the electromagnet 325a is de-energized, the electromagnet 325a and the magnetic member 325b are separated, the fork driving mechanism 324 descends, the first pulling member 324a drives the stop block 324b to descend, the stop block 324b is disengaged from the fork 322, no force is applied to the fork 322 to force the fork 322 to rotate towards the extended position, and the fork 322 can be conveniently rotated from the extended position to the retracted position after being disengaged from the cargo box 30.

The electromagnet 325a and the magnetic piece 325b are matched, so that the structure is compact, the number of required parts is small, the occupied space is small, and the number of layers of the container 30 extracted by the sleeve 3 with the same length at one time is increased.

In addition, referring to fig. 17-23, in some embodiments, the lifting unit 32 includes a reset member 326, the reset member 326 being in one-to-one correspondence with the fork 322 and applying an elastic force to the fork 322 to return the fork 322 from the extended position to the retracted position. 17-19, in some embodiments, a reset member 326 is mounted on the shaft 323 with two free ends in contact with the fork 322 and the sleeve 321, respectively. The return member 326 may be a return spring 326a such as a coil spring, a tension spring, or a leaf spring. Thus, in the initial state, the fork 322 is in the retracted position by the reset member 326. The reset member 326 may be compressed and store elastic energy during rotation of the fork 322 from the retracted position to the extended position by the fork drive mechanism 324. When the fork 322 is disengaged from both the fork drive mechanism 324 and the cargo box 30, the reset member 326 releases the spring energy to drive the fork 322 from the extended position back to the retracted position for reset.

In some embodiments, the shift fork 322 is rotated between the extended and retracted positions by an angle of 0-30 °.

To allow the fork 322 to more accurately rotate between the extended and retracted positions, referring to fig. 20-21, in some embodiments, the fork unit 32 further includes a stop 327. The limiting members 327 are in one-to-one correspondence with the shift forks 322 and are used for limiting the rotational displacement of the shift forks 322 so as to prevent the shift forks 322 from excessively rotating.

For example, referring to fig. 20 and 21, in some embodiments, a stop 327 is mounted to the fork drive mechanism 324 and limits rotational displacement of the fork 322 relative to the sleeve 321 by limiting rotational displacement of the fork 322 relative to the fork drive mechanism 324. Specifically, as shown in fig. 20 and 21, in some embodiments, the stop 327 includes a first stop 327a and a second stop 327b. The first limiting member 327a and the second limiting member 327b are disposed above the stop blocks 324b for driving the corresponding shifting fork 322 to rotate, and are disposed on the first pulling member 324a from top to bottom at intervals, and are respectively used for limiting the rotational displacement of the shifting fork 322 from the extended position to the retracted position and from the retracted position to the extended position. When the fork 322 is rotated inward to the retracted position, the first stopper 327a abuts against the fork 322 (specifically, the upper portion of the fork 322) so that the fork 322 cannot continue to rotate in the direction from the extended position to the retracted position, thereby being able to accurately stop at the retracted position. When the fork 322 is rotated outward to the extended position, the second stopper 327b abuts against the fork 322 (specifically, the lower portion of the fork 322) so that the fork 322 cannot continue to rotate in the direction from the retracted position to the extended position, thereby being stopped accurately at the extended position. The first limiting member 327a and the second limiting member 327b may be configured as a rigid structure such as a limiting rod or a limiting block.

The number of the shift forks 322 may be one, two or more in the same lifting unit 32. When the number of the shifting forks 322 in the lifting unit 32 is one, the lifting mechanism 3 only has one layer of shifting forks 322, and all the a-layer containers 30 lifted by the lifting mechanism 3 at one time are supported by the layer of shifting forks 322 of the lifting mechanism 3. When the number of the shifting forks 322 in the lifting unit 32 is at least two, the at least two shifting forks 322 may be arranged at intervals along the up-down direction, so that the lifting mechanism 3 has at least two layers of shifting forks 322, and the at least two layers of shifting forks 322 may support the a-layer containers 30 lifted by the lifting mechanism 3 at one time, in this arrangement, the transfer mechanism 5 is convenient to take out only part of the containers 30 from the a-layer containers 30 lifted by the lifting mechanism 3 at one time, so that separate release of part of the containers 30 in the a-layer containers 30 is realized, which is beneficial to further improving access flexibility and improving access efficiency.

When at least two forks 322 are included in the lifting unit 32, which are spaced apart in the up-down direction, a height difference B between the two forks 322 located at the lowermost position is set to be greater than a layer height a of the cargo box 30 so that the two forks 322 located at the lowermost position support different cargo boxes 30. For example, in some embodiments, B > na+c, where n is the number of layers the transfer mechanism 5 needs to remove from the cargo box 30 a single time, and C is the displacement of the fork 322 in the height direction as it rotates between the extended and retracted positions (also the difference in height of the top end of the fork 322 between the extended and retracted positions). At this time, the two lowest forks 322 may support the n containers 30 to be removed and the containers 30 stacked above the n containers 30, respectively, and the states between the two lowest forks 322 may be independent of each other, and when the one lowest fork 322 is rotated from the extended position to the retracted position, the next-to-last fork 322 may remain in the extended position due to the pressure of the containers 30, thereby realizing the separate release of the lower n containers 30 and facilitating the separate removal of the lower n containers 30. The value of n may be set in advance, for example, the number of layers in which the target cargo box 30e needs to be accessed at a time. For example, in some embodiments, where the number of layers required to access the target cargo box 30e is 1 at a time, n is 1 and B > A+C. As another example, in other embodiments, where the number of layers required to access the target cargo box 30e is 2 at a time, n is 2, and B > 2A+C.

Taking the number of forks 322 in the lifting unit 32 as 2 and the number of layers n of the target container 30e required to be accessed at a time as 1, the following procedure is described for accessing the target container 30 e:

the lifting mechanism 3 is wholly lowered to enable the sleeve 321 to pass through the lifting holes 30a of the target container 30e and a plurality of containers 30 above the target container, and the two shifting forks 322 are respectively positioned below the upper flanges 30d of the target container 30e and the next to last container 30;

then the lifting mechanism 3 is lifted integrally, in the lifting process, the two shifting forks 322 rotate from the retracted position to the extended position, and as the height difference B between the two shifting forks 322 meets the condition that B is more than A+C, before the last shifting fork 322 contacts the target container 30e positioned at the bottommost layer, the 2 nd shifting fork 322 contacts the 2 nd container 30 firstly, and the lifting mechanism 3 is lifted integrally to drive the 2 nd and more containers 30 to lift together, so that the 2 nd container 30 and the target container 30e are separated, and when the last shifting fork 322 contacts the target container 30e and is abutted against the lower surface of the upturned edge 30C of the target container 30e, a certain height difference is generated between the bottom end of the 2 nd container 30 and the top end of the target container 30 e;

Then, the lifting mechanism 3 continues to lift to drive the target container 30e and the container 30 above the target container to lift together until the target container 30e and the container 30 above the target container are lifted to a preset lifting position, and the container lifting process is completed, wherein in the process, the lowest shifting fork 322 is pressed by the target container 30e positioned at the lowest position, the 2 nd shifting fork 322 is pressed by the 2 nd container 30, and a height difference exists between the bottom end of the 2 nd container 30 and the top end of the target container 30 e;

when it is desired to release the target container 30e, the lifting mechanism 3 is lowered as a whole to drop the target container 30e onto the transfer mechanism 5, after which the lifting mechanism 3 is continued to be lowered so that the lowermost fork 322 is disengaged from the target container 30e, and since the first lift 324a has been lowered to the home position and the stop 324b has been disengaged from the fork 322, after the lowermost fork 322 is disengaged from the target container 30e by the distance C, the lowermost fork 322 can be switched from the extended position to the retracted position, during which the 2 nd and above containers 30 are lowered with the lifting mechanism 3, the difference in height between the bottom end of the 2 nd container 30 and the top end of the target container 30e gradually decreases, but still is greater than 0, and the 2 nd container 30 is still pressed against the 2 nd fork 322, and therefore the 2 nd fork 322 remains in the extended position due to being still pressed by the 30, and the 2 nd and above containers 30 are continuously supported without being disengaged from the 2 nd and above containers 30;

When the lowest shifting fork 322 rotates back to the extending position, the lifting mechanism 3 stops descending and starts ascending, so that the sleeve 321 is separated from the lifting hole 30a of the target container 30e, and the lifting mechanism 3 is separated from the target container 30 e;

the separated target container 30e is removed by the transfer mechanism 5 and the remaining containers 30 on the lifting mechanism 3 can be lowered with the lifting mechanism 3, causing the remaining containers 30 to drop to the original position of the target container 30e and causing the entire lifting mechanism 3 to continue to descend so that the penultimate fork 322 is also disengaged from the originally held penultimate container 30 and returned from the extended position to the retracted position;

thereafter, the lifting mechanism 3 is lifted up to disengage the socket 321 from the lifting hole 30a of the remaining cargo box 30, thereby realizing the replacement of the remaining cargo box 30.

Therefore, the access speed and the box pouring speed can be effectively improved, and the container access strategy is more flexible.

Next, the structure of the transfer mechanism 5 will be described.

In some embodiments, the transfer mechanism 5 is configured to receive the cargo box 30 released by the lifting mechanism 3 and remove the received cargo box 30 during swinging relative to the vehicle body 1.

The specific structure of the transfer mechanism 5 is shown in fig. 5 and 6. As shown in fig. 5 and 6, in some embodiments, the transfer mechanism 5 includes a support 51 and a transfer drive mechanism 52.

The support members 51 are used to support the cargo box 30. Referring to fig. 5, in some embodiments, the support 51 includes a tray 511 and a baffle 512. The pallet 511 is used to hold the cargo box 30. The two baffles 512 are connected to opposite ends of the pallet 511 and extend upward from the pallet 511 to limit the container 30 on the pallet 511, prevent the container 30 from falling during the swing of the transfer mechanism 5, and enhance the stability and reliability of the transfer process. In some embodiments, the middle portion of the supporting plate 511 is hollowed out as shown in fig. 5. When the container is dropped onto the pallet 511, the downward flange 30d of the container 30 is caught by the edge of the pallet 511, as shown in fig. 6, and the pallet 511 supports the container 30.

The transfer driving mechanism 52 is provided on the vehicle body 1, and is in driving connection with the support member 51 to drive the support member 51 to swing. A transfer drive 52 may be provided on each of the opposite sides of the support 51. The two transfer driving mechanisms 52 may be respectively in driving connection with the two shutters 512 to more smoothly drive the swing of the supporter 51.

The structure of the single transfer drive 52 can be seen in fig. 6. As shown in fig. 6, in some embodiments, the transfer drive mechanism 52 includes a transfer power mechanism 521 and a swing link 522. The transfer power mechanism 521 is disposed on the vehicle body 1 and is in driving connection with the support member 51 through the swing link 522. The transfer power mechanism 521 may be specifically a swing motor 521a, and may be disposed in the middle of the two first motors 214b, so that the layout is more reasonable and compact. Each of the transfer power mechanisms 521 may correspond to two swing rods 522, where the two swing rods 522 are connected to different positions of the same baffle 512, for example, the two swing rods 522 are connected to the upper portion of the same baffle 512 at equal heights and spaced apart from each other.

The two extreme positions of the swing of the transfer mechanism 5 may be referred to as the pick-up location and the storage location, respectively. Referring to fig. 5, the pick-up location is located on the lifting path of the lifting mechanism 3. In some embodiments, the pick-up location is located directly above the first body 11 and directly below the non-lowered lifting mechanism 3, facilitating the lifting mechanism 3 to release the cargo box 30 onto the transfer mechanism 5. Referring to fig. 6, the storage space is not located on the lifting path of the lifting mechanism 3, and is offset from the lifting path of the lifting mechanism 3. In one embodiment, the inventory location is located outside of the first body 11. In this way, when in the storage space, the transfer mechanism 5 does not affect the lifting of the lifting mechanism 3, so that the lifting mechanism 3 can lift and replace the cargo box 30 conveniently.

In the initial state, the transfer mechanism 5 may be located at the pick-up location. The transfer mechanism 5 may be swung into the stock position before the lifting mechanism 3 is ready to be lowered. After the lifting mechanism 3 lifts the containers 30 into position, the transfer mechanism 5 can be swung from the stock position to the pick-up position if it is desired to remove at least some of the containers 30 lifted by the lifting mechanism 3, at which point the transfer mechanism 5 is located directly below the containers 30 lifted by the lifting mechanism 3. After that, the lifting mechanism 3 descends integrally, the container 30 of the lower n-layer of containers 30 lifted by the lifting mechanism 3 falls onto the transferring mechanism 5, and then the lifting mechanism 3 descends integrally, in the process, the lower n-layer of containers 30 cannot descend continuously due to the blocking of the transferring mechanism 5, so that the lowest fork 322 in the lifting mechanism 3 can be separated from the container 30 of the lower n-layer, when the separation distance meets the rotation requirement of the lowest fork 322, the fork 322 can be rotated from the extending position to the retracting position, the lower n-layer of containers 30 are not restrained any more, and meanwhile, the 2 nd fork 322 and the container 30 supported by the fork are not separated in the process, and therefore, the 2 nd fork 322 cannot rotate from the extending position to the retracting position under the compression action of the supported container 30. Subsequently, the lifting mechanism 3 is lifted up as a whole, and the socket 321 is pulled out from the lifting hole 30a of each container 30 located on the transfer mechanism 5, thereby separating the lifting mechanism 3 from each container 30 on the transfer mechanism 5. Then, the transfer mechanism 5 swings from the picking position to the stock position, so that temporary storage of the lower n-layer cargo box 30 can be realized.

Under the cooperation of the transfer mechanism 5 and the lifting mechanism 3 comprising the sleeve 321 and the shifting fork 322, the storage truck 10 can lift more than one container 30 at a time, and can move the containers 30 of a plurality of layers from bottom to top in the lifted containers 30 to the stock position for temporary storage, so that the containers 30 of a plurality of layers from bottom to top can be directly obtained, and the storage efficiency can be effectively improved because the containers 30 do not need to be carried by walking one by one.

Referring to fig. 34, based on the foregoing access cart 10 of each embodiment, an embodiment of the present invention further provides an access method, which includes:

s100, lifting the container 30 including the target container 30e by using the lifting mechanism 3;

s200, the target cargo box 30e is swung out from the cargo box 30 lifted by the lifting mechanism 3 by the transfer mechanism 5.

In some embodiments, step S100 of lifting the cargo box 30 including the target cargo box 30e using the lifting mechanism 3 includes:

lowering the lifting mechanism 3 so that the socket 321 of the lifting unit 32 of the lifting mechanism 3 passes through the lifting hole 30a of the cargo box 30;

rotating the fork 322 of the lifting unit 32 from the retracted position to the extended position such that the fork 322 holds the cargo box 30;

the lifting mechanism 3 is lifted up to lift the cargo box 30 held by the fork 322.

In some embodiments, step S200 of swinging the target cargo box 30e out of the cargo box 30 lifted by the lifting mechanism 3 using the transfer mechanism 5 includes:

swinging the transfer mechanism 5 to a position immediately below the cargo box 30 lifted by the lifting mechanism 3;

lowering the lifting mechanism 3 to drop the target container 30e onto the transfer mechanism 5 and disengage the fork 322 holding the target container 30e, the fork 322 holding the target container 30e returning from the extended position to the retracted position;

lifting the lifting mechanism 3 to disengage the sleeve 321 from the target cargo box 30 e;

the transfer mechanism 5 is swung to remove the target cargo box 30e that has landed on the transfer mechanism 5.

In some embodiments, the number of layers of the target cargo box 30e is smaller than the number of layers of the cargo box 30 lifted by the lifting mechanism 3, i.e., n < a, and the step S100 of lifting the cargo box 30 including the target cargo box 30e using the lifting mechanism 3 includes:

lowering the lifting mechanism 3 so that the socket 321 of the lifting unit 32 of the lifting mechanism 3 passes through the target cargo box 30e and the lifting hole 30a stacked above the target cargo box 30 e;

rotating at least two forks 322 of the lifting unit 32 from the retracted position to the extended position such that the lowermost fork 322 holds the target container 30e and the remaining forks 322 hold the remaining containers 30 stacked above the target container 30 e;

The lifting mechanism 3 is lifted up to lift the cargo box 30 held by each fork 322.

lowering the lifting mechanism 3 to drop the target container 30e onto the transfer mechanism 5 and disengage the fork 322 holding the target container 30e, the fork 322 holding the target container 30e returning from the extended position to the retracted position, the remaining forks 322 still holding the containers 30 stacked above the target container 30 e;

In some embodiments, the number of layers of the target container 30e is less than the number of layers of the container 30 lifted by the lifting mechanism 3, i.e., n < a, and after the target container 30e is removed from the container 30 lifted by the lifting mechanism 3 using the transfer mechanism 5, the lifting mechanism 3 is also lowered, and the remaining containers 30 lifted by the lifting mechanism 3 are replaced.

In some embodiments, lowering the lifting mechanism 3, placing the remaining containers 30 lifted by the lifting mechanism 3 back comprises:

Lowering the lifting mechanism 3 so that the remaining containers 30 on the lifting mechanism 3 fall to the original positions of the target containers 30e (i.e., the positions of the target containers 30e before being lifted by the lifting mechanism 3);

continuing to lower the lifting mechanism 3 so that the fork 322 of the lifting mechanism 3 is disengaged from the remaining cargo box 30 and the fork 322 returns from the extended position to the retracted position;

the lifting mechanism 3 is lifted up and separated from the remaining cargo box 30.

In some embodiments, before lifting the cargo box 30 including the target cargo box 30e with the lifting mechanism 3, it is also determined whether the total number of layers m of the target cargo box 30e and the cargo boxes stacked above the target cargo box 30e is greater than a maximum value N of the number of layers of the lifting mechanism 3 that can lift the cargo box 30 at a single time, and when m is less than or equal to N, lifting the cargo box 30 including the target cargo box 30e with the lifting mechanism 3; when m is greater than N, the containers 30 stacked above the target container 30e are first removed using the access vehicle until m is less than or equal to N.

The access cart 10, upon receiving an access task, may operate as follows:

(1) The depositing and withdrawing vehicle 10 walks to the position right above the target container 30e according to the three-dimensional coordinates (for example, X6, Y8, Z3) of the target container 30e (see fig. 28);

(2) Judging whether the total layer number m (calculated from top to bottom) of the containers 30 stacked at the position of the target container 30e is larger than the maximum value N of the layer numbers of the containers 30 which can be lifted by the access vehicle 10 once;

(3) When m is greater than N, the access vehicle 10 first moves the containers 30 stacked above the target container 30e to other positions until the number of layers m of the stacked containers 30 at the position of the target container 30e is less than or equal to N;

(4) When it is determined that m is less than or equal to N, the access vehicle 10 starts executing the target cargo box acquisition process.

The sequence of the step (1) and the step (2) may be changed, for example, the step (2) may be performed before the access vehicle 10 walks right above the target cargo box 30 e.

Here, taking n=3, there are 2 layers of containers 30 above the target container 30e, and the number of forks 322 in the lifting unit 32 is 2 as an example, the target container obtaining process in step (4) is further described as follows:

(401) The transfer mechanism 5 swings from the pick-up location to the inventory location (see fig. 29);

(402) Under the action of the second lifting driving mechanism 4, the lifting mechanism 3 continuously descends, and when the sleeve 321 passes through the container hole 30a of the 3-layer container 30 including the target container 30e and the two shifting forks 322 are respectively positioned below the target container 30e and the upper flange 30d of the one-layer container 30 above the target container 30e by a preset distance, the lifting motor stops rotating.

(403) The fork drive mechanism 324 is raised to drive both forks 322 to extend and the lift mechanism 3 is raised to drive the 3 containers 30, including the target container 30e, upwardly (see fig. 30) until the top of the access vehicle 10 is reached to a stop. In this process, after the cargo box 30 is pressed against the fork 322, the fork driving mechanism 324 is lowered, so that the fork driving mechanism 324 is disengaged from the fork 322, and the fork 322 is not retracted and the cargo box 30 is not dropped because the fork 322 is pressed by the cargo box 30.

(404) The transfer mechanism 5 swings from the stock position to the picking position, so that the bearing piece 51 is positioned right below the container 30 lifted by the lifting mechanism 3;

(405) The lifting mechanism 3 descends to bring the lowest target container 30e into contact with the supporting member 51, and then the lifting mechanism 3 descends continuously to disengage the target container 30e from the lowest fork 322, the lowest fork 322 retracts under the action of the resetting member 326, and the lifting mechanism 3 stops descending continuously, at this time, the 2 nd fork 322 still holds the two containers 30 above the target container 30e, and the two containers 30 above the target container 30e do not press against the target container 30 e.

(406) The lifting mechanism 3 is lifted up so that the sleeve 321 is removed from the lifting hole 30a of the target container 30e, and during this process, the two containers 30 above the target container 30e are lifted up together with the lifting mechanism 3 and are still supported by the 2 nd fork 322 and do not fall. Steps (404) - (406) may be seen in fig. 31.

(407) After the sleeve 321 is removed from the pick-up aperture 30a of the target container 30e, the transfer mechanism 5 swings to remove the target container 30e to the inventory level (see fig. 32).

(408) The lifting mechanism 3 is lowered so that the bottom surface of the remaining 2 cargo boxes 30 on the lifting mechanism 3 contacts the cargo box 30 in the shelf 20, and then the lifting mechanism 3 is further lowered so that the next to last fork 322 is separated from the originally held cargo box 30 and retracted by the elastic force of the reset member 326 (see fig. 33).

(409) And the lifting mechanism 3 is lifted to the top, and the box taking process is completed once.

It should be noted that the foregoing manner is merely illustrative, and not limiting, of a manner of accessing the cargo box 30, and the actual access strategy of the cargo box 30 may be flexible and varied. For example, the lifting mechanism 3 may take the uppermost 1-N cargo box 30 in the rack 20 1 time, and take and release the nth cargo box 30 individually, which is suitable for the case where the target cargo box 30e is only one. Alternatively, the lifting mechanism 3 may be configured to remove and release adjacent 1-N pieces at a time, and this is applicable to cases where the target cargo box 30e is multiple and adjacent to each other, as well as cases where a box inversion is required.

Taking the case where 7 containers 30 are stacked above the target container 30e, the target container is the 8 th container, and N is still 3. The pick strategy may be 3 cases removal +2 cases, with the target container pick process being 3+2. Alternatively, the pick strategy may be 3+2+3 or 2+3+3, etc.

The removed target container 30e may be transported by the truck 10 to a picking station for picking. In the course of moving to the picking station, the transfer mechanism 5 can swing to the picking station to achieve a more stable driving process and reduce the risk of overturning the access vehicle 10. During picking, the transfer mechanism 5 may swing to a stock location to facilitate manual or robotic picking of the cargo within the target container 30 e.

The picked containers 30 may be returned to the pallet 20.

The box moving, box taking and picking and then returning can be completed by one access vehicle 10, and can also be completed by matching a plurality of access vehicles 10. After the access vehicle stores 1 container 30, the other access vehicles 10 can be moved.

As the number of layers of containers 30 within the pallet 20 changes, the status of the containers 30 within the pallet 20 may be updated for subsequent more accurate performance of the depositing and dispensing tasks.

The access vehicle 10 can be charged by a battery or a capacitor, and can automatically go to a charging pile for charging when the electric quantity is insufficient. The access cart 10 may communicate wirelessly or by wire. The wireless communication can adopt modes such as infrared communication, wifi or bluetooth.

The present invention additionally provides a controller comprising a memory and a processor coupled to the memory, the processor configured to perform the access method of the embodiments based on instructions stored in the memory.

The memory may be a high-speed RAM memory or a nonvolatile memory (non-volatile memory) or the like. The memory may also be a memory array. The memory may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. The processor may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the control method of the heat pump system of the present invention.

Furthermore, the present invention provides a computer-readable storage medium storing computer instructions that are executed by a processor to perform the access method of the embodiments.

The foregoing description of the exemplary embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. A storage cart (10), comprising:

a vehicle body (1);

the travelling mechanism (2) is arranged on the vehicle body (1) and drives the vehicle body (1) to travel;

a lifting mechanism (3) which is arranged on the vehicle body (1) in a lifting manner and lifts at least one layer of container (30) in the lifting process relative to the vehicle body (1); and

a transfer mechanism (5) which is swingably provided on the vehicle body (1) and which moves out at least one layer of containers (30) from bottom to top among the containers (30) lifted by the lifting mechanism (3) during swinging with respect to the vehicle body (1);

wherein the lifting mechanism (3) comprises a lifting unit (32), the lifting unit (32) comprising:

a sleeve (321) for passing through a cargo lifting hole (30 a) of the cargo box (30), wherein an opening (321 b) is arranged on the side wall of the sleeve (321); and

At least two shift forks (322), at least two shift forks (322) set up in sleeve (321) and with trompil (321B) one-to-one, at least two shift forks (322) are along upper and lower direction interval arrangement, are located two below the difference in height B between shift forks (322) is greater than the layer height A of packing box (30), shift forks (322) rotationally with sleeve (321) are connected to move between extension position and retracted position, when in the extension position, shift forks (322) follow trompil (321B) are stretched out to sleeve (321) outside for hold packing box (30), when in the retracted position, shift forks (322) are retrieved to inside sleeve (321).

2. The access cart (10) according to claim 1, wherein the transfer mechanism (5) comprises a support (51) and a transfer driving mechanism (52), the support (51) is used for supporting the container (30), and the transfer driving mechanism (52) is arranged on the cart body (1) and is in driving connection with the support (51) to drive the support (51) to swing.

3. The access vehicle (10) according to claim 2, characterized in that the transfer drive (52) comprises a transfer power mechanism (521) and a swing link (522), the transfer power mechanism (521) being arranged on the vehicle body (1) and being in driving connection with the support (51) via the swing link (522).

4. The access vehicle (10) according to claim 1, characterized in that the travelling mechanism (2) comprises two first wheel units (21) and two second wheel units (22), the two first wheel units (21) being arranged on opposite sides of the vehicle body (1) in a first direction (X), the two second wheel units (22) being arranged on opposite sides of the vehicle body (1) in a second direction (Y) perpendicular to the first direction (X), the two first wheel units (21) being arranged liftable in relation to the two second wheel units (22).

5. The access cart (10) according to claim 4, wherein the first wheel unit (21) comprises a wheel seat (212) and a first wheel (211), the first wheel (211) being arranged on the wheel seat (212), the wheel seat (212) being liftably connected to the cart body (1).

6. The access cart (10) according to claim 4, wherein the travelling mechanism (2) further comprises a first lifting drive mechanism (214), the first lifting drive mechanism (214) being in driving connection with the first wheel unit (21) for driving the first wheel unit (21) to lift relative to the second wheel unit (22).

7. The access cart (10) of claim 6, wherein the first lift drive mechanism (214) includes a lift power mechanism (214 a), a gear (214 c), and a rack (214 d), the lift power mechanism (214 a) being drivingly connected to the gear (214 c), the gear (214 c) being in meshing engagement with the rack (214 d), the rack (214 d) being connected to the first wheel unit (21).

8. The access vehicle (10) according to claim 1, characterized in that the lifting mechanism (3) is configured to release at least one of the lifted containers (30) from bottom to top during lowering relative to the vehicle body (1), and the transfer mechanism (5) is configured to receive a container (30) released by the lifting mechanism (3) during swinging relative to the vehicle body (1) and to remove the received container (30).

9. The access cart (10) of claim 1, wherein the lifting mechanism (3) is configured such that a maximum number N of layers of the single liftable container (30) is greater than or equal to 2.

10. The access cart (10) of claim 1, wherein the lift unit (32) further comprises a fork drive mechanism (324), the fork drive mechanism (324) being liftably disposed in the sleeve (321) and driving rotation of the fork (322) between the extended position and the retracted position during lifting.

11. The access cart (10) of claim 10, wherein the fork drive mechanism (324) includes a first lift member (324 a) and a stop (324 b), the first lift member (324 a) being liftably disposed in the sleeve (321), the stop (324 b) being disposed on the first lift member (324 a) and in one-to-one correspondence with the fork (322), the stop (324 b) being in contact with the corresponding fork (322) during lifting of the first lift member (324 a) and driving the corresponding fork (322) to rotate from the retracted position to the extended position.

12. The access cart (10) of claim 11, wherein the lifting mechanism (3) further comprises a lift drive mechanism (325), the lift drive mechanism (325) being drivingly connected to the fork drive mechanism (324) for driving the fork drive mechanism (324) up and down.

13. The access cart (10) of claim 12, wherein the lift drive mechanism (325) includes an electromagnet (325 a) and a magnetic member (325 b), one of the electromagnet (325 a) and the magnetic member (325 b) is disposed on top of the fork drive mechanism (324), the other is disposed above the top of the fork drive mechanism (324) and fixedly disposed with respect to the sleeve (321), and the electromagnet (325 a) and the magnetic member (325 b) are attracted to or separated from each other to drive the fork drive mechanism (324) to lift.

14. The access cart (10) of claim 10, wherein the lift unit (32) further includes a return member (326), the return member (326) being in one-to-one correspondence with the fork (322) and exerting an elastic force on the fork (322) that returns the fork (322) from the extended position to the retracted position.

15. The access cart (10) of claim 1, wherein B > na+c, where n is the number of layers the transfer mechanism (5) needs to remove from the container (30) a single time, and C is the displacement of the fork (322) in the height direction when rotated between the extended position and the retracted position.

16. The access cart (10) according to claim 1, wherein the lifting mechanism (3) comprises a base (31) and at least two lifting units (32), the at least two lifting units (32) being arranged on the base (31) and passing through different lifting holes (30 a) on the container (30) respectively through respective sleeves (321).

17. The access cart (10) according to claim 1, wherein the access cart (10) includes a second lift drive mechanism (4), the second lift drive mechanism (4) being provided on the cart body (1) and driving the lifting mechanism (3) to lift.

18. The access cart (10) according to claim 17, wherein the second lift drive mechanism (4) includes a second lift member (41) and a hoist lift mechanism (42), the hoist lift mechanism (42) being drivingly connected to the lift mechanism (3) through the second lift member (41) and driving the lift mechanism (3) to lift by driving the second lift member (41) to wind or release.

19. The access vehicle (10) according to any one of claims 1-18, characterized in that the transfer mechanism (5) moves out at least one of the containers (30) lifted by the lifting mechanism (3) from bottom to top to a storage location outside the vehicle body (1) during swinging relative to the vehicle body (1).

20. A storage and retrieval system (100) comprising a pallet (20), the pallet (20) being adapted to store a cargo box (30), characterized in that the storage and retrieval system (100) further comprises a storage and retrieval vehicle (10) according to any one of claims 1-19, the storage and retrieval vehicle (10) being arranged on a top surface of the pallet (20).

21. The access system (100) of claim 20, wherein the top surface of the shelf (20) is provided with rails (20 a) that are staggered laterally and longitudinally, the access cart (10) walking along the rails (20 a).

22. The access system (100) according to claim 21, wherein a partition (20 d) is provided on the rail (20 a), the partition (20 d) dividing the rail (20 a) into a first rail (20 b) and a second rail (20 c) in the width direction.

23. A method of accessing a vehicle (10) based on any of claims 1-19, comprising:

lifting a cargo box (30) including a target cargo box (30 e) by using the lifting mechanism (3);

the target container (30 e) is swung out of the container (30) lifted by the lifting mechanism (3) by the transferring mechanism (5).

24. The access method according to claim 23, wherein lifting a container (30) including a target container (30 e) with the lifting mechanism (3) comprises:

-lowering the lifting mechanism (3) so that the sleeve (321) of the lifting unit (32) of the lifting mechanism (3) passes through the lifting aperture (30 a) of the cargo box (30);

rotating a fork (322) of the lifting unit (32) from a retracted position to an extended position such that the fork (322) holds the cargo box (30);

the lifting mechanism (3) is lifted up to lift the cargo box (30) held by the fork (322).

25. The access method according to claim 24, characterized in that the swinging out of the target container (30 e) from the container (30) lifted by the lifting mechanism (3) with the transfer mechanism (5) comprises:

swinging the transfer mechanism (5) to a position directly below the container (30) lifted by the lifting mechanism (3);

-lowering the lifting mechanism (3) so that the target container (30 e) falls onto the transfer mechanism (5) and disengages from the fork (322) holding the target container (30 e), the fork (322) holding the target container (30 e) returning from the extended position to the retracted position;

-raising the lifting mechanism (3) to disengage the sleeve (321) from the target container (30 e);

the transfer mechanism (5) is swung, and the target container (30 e) falling on the transfer mechanism (5) is removed.

26. The storing and taking method according to claim 23, wherein the number of layers of the target container (30 e) is smaller than the number of layers of the container (30) lifted by the lifting mechanism (3), lifting the container (30) including the target container (30 e) with the lifting mechanism (3) includes:

lowering the lifting mechanism (3) so that a sleeve (321) of a lifting unit (32) of the lifting mechanism (3) passes through a target container (30 e) and a lifting hole (30 a) stacked above the target container (30 e);

rotating at least two forks (322) of the lifting unit (32) from a retracted position to an extended position such that the lowest fork (322) holds the target container (30 e) and the remaining forks (322) hold the remaining containers (30) stacked above the target container (30 e);

lifting the lifting mechanism (3) to lift the cargo box (30) held by the at least two forks (322).

27. The access method according to claim 26, characterized in that the swinging out of the target container (30 e) from the container (30) lifted by the lifting mechanism (3) with the transfer mechanism (5) comprises:

-lowering the lifting mechanism (3) so that the target container (30 e) falls onto the transfer mechanism (5) and disengages from the fork (322) holding the target container (30 e), the fork (322) holding the target container (30 e) returning from the extended position to the retracted position, the remaining forks (322) still holding containers (30) stacked above the target container (30 e);

28. The storing and taking method according to claim 23, wherein the number of layers of the target container (30 e) is smaller than the number of layers of the container (30) lifted by the lifting mechanism (3), and the lifting mechanism (3) is further lowered to put back the remaining container (30) lifted by the lifting mechanism (3) after the target container (30 e) is swung out of the container (30) lifted by the lifting mechanism (3) by the transferring mechanism (5).

29. The access method according to claim 28, characterized in that said lowering of the lifting mechanism (3) returns the remaining containers (30) lifted by the lifting mechanism (3) comprising:

Lowering the lifting mechanism (3) so that the remaining containers (30) on the lifting mechanism (3) fall to the original positions of the target containers (30 e);

-continuing to lower the lifting mechanism (3) so as to disengage the fork (322) of the lifting mechanism (3) from the remaining containers (30) and return the fork (322) from the extended position to the retracted position;

the lifting mechanism (3) is lifted and separated from the rest of the container (30).

30. The storing and taking method according to claim 23, wherein before lifting the container (30) including the target container (30 e) with the lifting mechanism (3), it is further judged whether or not the total number m of layers of the target container (30 e) and the containers (30) stacked above the target container (30 e) is greater than a maximum value N of the number of layers of the single liftable container (30) by the lifting mechanism (3), and when m is less than or equal to N, the container (30) including the target container (30 e) is lifted with the lifting mechanism (3); when m is greater than N, the container (30) stacked above the target container (30 e) is taken out by the access vehicle (10) until m is less than or equal to N.

31. A controller comprising a memory and a processor coupled to the memory, the processor configured to perform the access method of any of claims 23-30 based on instructions stored in the memory.

32. A computer readable storage medium storing computer instructions for execution by a processor of an access method according to any one of claims 23-30.