CN115636200A - Shifting and positioning mechanism of shuttle in high-density intelligent warehousing system - Google Patents

Abstract

The invention discloses a transfer positioning mechanism of a shuttle vehicle in a high-density intelligent storage system, which solves the problem of difficult positioning when the shuttle vehicle is transferred from a goods shelf track to a target goods shelf track; the movable transfer support of the shuttle car is designed to be capable of conducting self-adaptive alignment and alignment with the shuttle car track when the support falls onto the shuttle car track from the upper side of the shuttle car track, so that the matching precision requirement between the support and the shuttle car track is lowered.

Description

Shifting and positioning mechanism of shuttle in high-density intelligent warehousing system

Technical Field

The invention relates to a high-density intelligent warehousing system, in particular to a transferring and positioning mechanism and a transferring and positioning method of a shuttle vehicle in the high-density intelligent warehousing system.

Background

The intelligent warehousing system of the high-density shuttle is provided with the shuttle, and the shuttle is a main device for carrying the goods units in the goods shelf; running rails of the shuttle cars are arranged below each layer of goods shelves in the same roadway of the high-density intelligent storage goods shelves, and the shuttle cars run on the running rails in a shuttling mode to complete the transshipment of goods on the goods shelves at different goods positions; when the shuttle car will carry the goods in other layer tunnel, just need to transport the shuttle car to the track in other tunnels on, specific process is: driving a shuttle car to the end part of a goods shelf track of a roadway, driving a forklift or a forklift type carrying robot to the end part of the goods shelf track, extending a pallet fork below the shuttle car, then lifting the pallet fork, vertically moving the shuttle car upwards to be separated from the shuttle car track, then carrying the shuttle car by the forklift, driving the shuttle car to the position right above a shuttle car track of another target goods shelf, vertically dropping the pallet fork, and dropping the shuttle car onto the target goods shelf shuttle car track; in order to realize that the shuttle car can reliably and stably run along the direction of a shuttle car track and ensure that the shuttle car is not rubbed with the track, guide wheels are arranged on two sides of the shuttle car, the distance between the outer sides of the guide wheels on the two sides of the shuttle car and the inner width of the shuttle car track is designed to be very close, and the matching allowance of the guide wheels and the track is within 3 mm, so that the shuttle car is moved away from the track, particularly in the process of placing the shuttle car down to the track, the matching degree requirement of the shuttle car and the track is high, the collision phenomenon of the shuttle car and the track can occur if the shuttle car is not noticed slightly, and equipment damage is caused; each row of goods shelves in the high-density intelligent storage system is generally provided with 5-6 layers, the height is as high as nearly 10 meters, and the operation is more difficult for transferring shuttle cars on high-level goods shelves; when the shuttle vehicle is transferred and transported by adopting a manual operation forklift, an operator cannot directly view the working condition of a fork body at a high-rise position, the shuttle vehicle and the track are difficult to align and match, the phenomenon that the shuttle vehicle cannot smoothly enter the track often occurs, and the shuttle vehicle is often inclined and falls; if the forklift type AGV is adopted, the positioning accuracy of the forklift type AGV is generally about 5-10 mm, and errors caused by factors such as roadway ground flatness, forklift gantry self-accuracy, goods shelf verticality and the like are added, so that the positioning accuracy of the forklift type AGV is greater than the gap between the width of a shuttle car body and the width of a shuttle car track, and the warehouse entering and exiting efficiency is influenced; how to realize the rapid and accurate transferring of the shuttle vehicle becomes a problem to be solved on site.

Disclosure of Invention

The invention provides a transfer positioning mechanism of a shuttle car in a high-density intelligent warehousing system, which solves the technical problem of difficult positioning when the shuttle car is transferred from a goods shelf rail to a target goods shelf rail.

The invention solves the technical problems by the following technical scheme:

the general concept of the invention is: designing a movable transfer support of a shuttle vehicle, enabling the support to be subjected to self-adaptive alignment and alignment with a shuttle vehicle track when the support falls onto the shuttle vehicle track from the upper part of the shuttle vehicle track, so as to transfer the matching precision between the shuttle vehicle and the shuttle vehicle track into the matching precision between a movable transfer frame and the shuttle vehicle track, greatly reducing the matching precision between the movable transfer support and the shuttle vehicle track, arranging the movable transfer support and the end part track of a goods shelf where the shuttle vehicle is located in parallel, lifting the movable transfer support by a forklift after the shuttle vehicle enters the end part track of the goods shelf, positioning and transferring the shuttle vehicle onto the movable transfer support, moving the movable transfer support carrying the shuttle vehicle to the upper part of the end part track of another target goods shelf, enabling the movable transfer support to be subjected to self-adaptive matching with the end part track of the target goods shelf through falling of the fork vehicle, conveniently entering the end part track of the target goods shelf, and continuously descending the movable transfer support to transfer the shuttle vehicle onto the end part track to finish transferring and transferring of the shuttle vehicle; the matching of the shuttle car and the goods shelf rail is converted into the matching of the transfer support and the goods shelf rail, and the self-adaptive alignment matching mechanism is designed on the transfer support, so that the precision requirement of the alignment of the shuttle car and the rail is greatly reduced.

A transfer positioning mechanism of a shuttle car in a high-density intelligent storage system comprises a storage shelf where the shuttle car is located, a shuttle car transfer target storage shelf, the shuttle car and a forklift, wherein a shuttle car traveling track is arranged in the storage shelf where the shuttle car is located, the shuttle car is arranged on the shuttle car traveling track, the shuttle car transfer target storage shelf is provided with a shuttle car transfer target traveling track, a half-mouth-shaped transfer support is movably arranged at the end part, close to a roadway shelf, of the storage shelf where the shuttle car is located, a rear fork sleeve channel steel beam and a front fork sleeve channel steel beam which are parallel to each other are fixedly arranged at the bottom end of the half-mouth-shaped transfer support, a rear wedge-shaped guide vertical plate is arranged on the top end surface of the rear fork sleeve channel steel beam, a front side guide wedge-shaped vertical plate is arranged on the front suspension arm longitudinal beam of the half-mouth-shaped transfer support, a front side guide vertical plate is arranged on the rear suspension arm longitudinal beam of the half-mouth-shaped transfer support, and a front wedge-shaped guide vertical plate is arranged on the front side guide vertical plate; a front positioning pin hole and a rear positioning pin hole are respectively arranged on the lower bottom surface of the shuttle car; the front supporting and positioning plugboard and the rear supporting and positioning plugboard are respectively arranged on a right cross beam board of the semi-square-shaped transfer support, a rear U-shaped socket is arranged on the outer side vertical surface of a rear upright post of a goods shelf close to a roadway of a storage goods shelf where a shuttle vehicle is located, a front U-shaped socket is arranged on the outer side vertical surface of a front upright post of the goods shelf close to the roadway of the storage goods shelf where the shuttle vehicle is located, the front supporting and positioning plugboard and the front U-shaped socket of the semi-square-shaped transfer support are spliced together, the rear supporting and positioning plugboard and the rear U-shaped socket of the semi-square-shaped transfer support are spliced together, and a rear goods fork sleeve channel steel cross beam and a front goods fork sleeve channel steel cross beam on the semi-square-shaped transfer support are arranged under a walking track where the shuttle vehicle is located; the front cantilever longitudinal beam of the half-square shifting support is arranged on the front outer side of the running track of the shuttle vehicle, and the rear cantilever longitudinal beam of the half-square shifting support is arranged on the rear outer side of the running track of the shuttle vehicle.

A track support rear connecting plate is arranged between the rear upright post of the goods shelf close to the roadway and the end part of the travelling track where the shuttle car is located, and a track support front connecting plate is arranged between the front upright post of the goods shelf close to the roadway and the end part of the travelling track where the shuttle car is located; an inverted V-shaped front gap is arranged between a front cantilever longitudinal beam and a right cross beam plate of the semi-square-shaped transfer support, an inverted V-shaped rear gap is arranged between a rear cantilever longitudinal beam and the right cross beam plate of the semi-square-shaped transfer support, a rail support front connecting plate is movably arranged in the inverted V-shaped front gap, and a rail support rear connecting plate is movably arranged in the inverted V-shaped rear gap.

A fork truck is arranged in a roadway on the outer side of the end part of a travelling track where the shuttle car is located, a fork body on the fork truck is movably inserted in a rear fork sleeve channel steel beam and a front fork sleeve channel steel beam, and the width of the fork body is smaller than the width of an inserting sleeve of the rear fork sleeve channel steel beam; and a forklift blocking block is arranged in a roadway on the outer side of the end part of the travelling track where the shuttle vehicle is located.

A method for transferring and positioning a shuttle in a high-density intelligent storage system comprises a storage shelf where the shuttle is located, a shuttle transfer target storage shelf, the shuttle and a forklift, wherein a shuttle traveling track is arranged in the storage shelf where the shuttle is located, the shuttle is arranged on the shuttle traveling track, the shuttle transfer target storage shelf is provided with a shuttle transfer target traveling track, and a front positioning pin hole and a rear positioning pin hole are respectively arranged on the lower bottom surface of the shuttle; the method is characterized by comprising the following steps:

the method comprises the following steps that firstly, a half-square-shaped transfer support is manufactured according to the size of a storage shelf, wherein the half-square-shaped transfer support consists of a right cross beam plate, a rear cantilever longitudinal beam and a front cantilever longitudinal beam, the rear cantilever longitudinal beam is fixedly connected to the left rear end of the right cross beam plate, and the front cantilever longitudinal beam is fixedly connected to the left front end of the right cross beam plate to form a half-square-shaped frame; two rear wedge-shaped guide vertical plates are arranged on the rear cantilever longitudinal beam at intervals in parallel, a front side guide wedge-shaped surface is arranged on the rear wedge-shaped guide vertical plate, two front wedge-shaped guide vertical plates are arranged on the front cantilever longitudinal beam at intervals in parallel, and a rear side guide wedge-shaped surface is arranged on the front wedge-shaped guide vertical plates; the bottom end of the half-square-shaped transfer support is fixedly provided with a rear fork sleeve channel steel beam and a front fork sleeve channel steel beam which are parallel to each other, and the sleeve body width of the rear fork sleeve channel steel beam and the sleeve body width of the front fork sleeve channel steel beam are both larger than the width of a fork body of a forklift; a rear positioning pin is arranged on the top end surface of the rear fork sleeve channel steel cross beam, and a front positioning pin is arranged on the top end surface of the front fork sleeve channel steel cross beam;

secondly, arranging a front U-shaped socket on the outer side vertical surface of a front rack upright post of a storage rack close to a roadway where the shuttle vehicle is located, and arranging a rear U-shaped socket on the outer side vertical surface of a rear rack upright post of the storage rack close to the roadway where the shuttle vehicle is located; a front U-shaped socket and a rear U-shaped socket are also arranged on the outer side vertical surface of a front upright post of the goods shelf close to the roadway of the shuttle vehicle transfer target storage goods shelf;

thirdly, mounting the semi-square shifting support finished in the first step on the end part of the storage shelf close to the roadway, where the shuttle is located, and the concrete process is as follows: inserting a front supporting and positioning insertion plate and a front U-shaped socket of the half-square-shaped transfer support together, inserting a rear supporting and positioning insertion plate and a rear U-shaped socket of the half-square-shaped transfer support together, and arranging a rear fork sleeve groove steel cross beam and a front fork sleeve groove steel cross beam on the half-square-shaped transfer support under a travelling track where a shuttle vehicle is located; the front cantilever longitudinal beam of the half-square-shaped transfer support is arranged on the front outer side of the running track where the shuttle vehicle is located, and the rear cantilever longitudinal beam of the half-square-shaped transfer support is arranged on the rear outer side of the running track where the shuttle vehicle is located;

fourthly, moving the shuttle car to a shuttle car walking track right above the rear fork sleeve groove steel beam and the front fork sleeve groove steel beam;

fifthly, operating the forklift to align the running track of the shuttle car so that two fork bodies on the forklift are inserted into the rear fork sleeve groove steel beam and the front fork sleeve groove steel beam;

sixthly, controlling the two fork bodies on the operation forklift to ascend along the vertical direction up and down, driving the semi-square-shaped transfer support to ascend along the vertical direction up and down, enabling the rear positioning pin to ascend along with the front fork sleeve groove steel cross beam and enter the front positioning pin hole, and enabling the rear positioning pin to ascend along with the front fork sleeve groove steel cross beam and enter the rear positioning pin hole; the half-square shifting support continuously rises along with the rising of the two forks, the shuttle vehicle is transferred to the half-square shifting support from the shuttle vehicle walking track and is separated from the shuttle vehicle walking track, meanwhile, the front supporting and positioning plug board is separated from the front U-shaped socket, and the rear supporting and positioning plug board is separated from the rear U-shaped socket;

seventhly, the forklift carries the shuttle vehicle, withdraws from the storage shelf where the shuttle vehicle is located from the upper portion of the shuttle vehicle walking track, and moves to the exit lane where the shuttle vehicle is used for transferring the target storage shelf;

eighthly, moving the half-square-shaped transfer support inserted on the two insertion bodies and the shuttle vehicle on the half-square-shaped transfer support by operating the two insertion bodies of the forklift to a position right above a shuttle vehicle transfer target walking track of a shuttle vehicle transfer target storage shelf;

the shuttle car falls down along the vertical direction, then a fork sleeve steel beam and a front fork sleeve steel beam fall, in the falling process of the semi-square-shaped transfer support, front side guide wedge surfaces on two rear wedge guide vertical plates on a rear suspension arm longitudinal beam on the semi-square-shaped transfer support are in contact fit with a rear side track of a transfer target walking track of the shuttle car, and rear side guide wedge surfaces on two front wedge guide vertical plates on a front suspension arm longitudinal beam on the semi-square-shaped transfer support are in contact fit with a front side track of the transfer target walking track of the shuttle car, so that the matching alignment of the semi-square-shaped transfer support and the transfer target walking track of the shuttle car is realized, in the process, the two forks move back and forth in a fork sleeve steel beam and a front fork sleeve steel beam, and the shuttle car accurately enters the target walking track of the shuttle car by matching the alignment process, the semi-square-shaped transfer support continuously descends along with the two forks, the shuttle car is transferred to the front fork sleeve steel beam, and meanwhile, a front fork support plug board is inserted on the front side of the front fork sleeve steel beam of the transfer target walking track, and a front fork support plug board is arranged on the front side of the shuttle car transfer support vertical plate;

and tenth, the shuttle vehicle moves the target walking track along the shuttle vehicle to the target cargo space.

The invention solves the problem that the shuttle vehicle has higher requirement on the matching degree of the shuttle vehicle and the passage when the shuttle vehicle is transferred to other goods shelf rails; the safety of the shuttle and the track in the transferring process is ensured, the rapid transferring and matching operation is realized, the system is simple in structure, and the maintenance and the replacement are easy.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of a storage shelf 1 where the shuttle of the invention is located;

fig. 3 is a schematic structural view of the transfer holder 7 in the shape of a half square of the present invention;

fig. 4 is a diagram showing a fitting relationship between the forklift 24 of the present invention and the half-square transfer rack 7 provided on the shuttle running rail 2;

fig. 5 is a schematic view of the structure of the forklift 24 of the present invention when it moves the shuttle car 6 off the shuttle car running track 2;

fig. 6 is a schematic view of the forklift 24 of the present invention taking out the shuttle car 6 from the shuttle car running track 2;

fig. 7 is a schematic structural view of the forklift 24 of the present invention when moving the shuttle 6 into the shuttle transfer target storage rack 25;

fig. 8 is a schematic configuration diagram of the transfer rack 7 shaped like a half-square of the present invention when it is transferred onto the shuttle transfer target travel rail.

Detailed Description

The invention is described in detail below with reference to the accompanying drawings:

a shifting and positioning mechanism of a shuttle car in a high-density intelligent storage system comprises a storage shelf 1 where the shuttle car is located, a shuttle car shifting target storage shelf 25, the shuttle car 6 and a forklift 24, wherein a shuttle car walking track 2 is arranged in the storage shelf 1 where the shuttle car is located, the shuttle car 6 is arranged on the shuttle car walking track 2, the shuttle car shifting target storage shelf 25 is provided with a shuttle car shifting target walking track, a half-square shifting and supporting frame 7 is movably arranged at the end part of the storage shelf 1 where the shuttle car is located, close to a roadway shelf, the bottom end of the half-square shifting and supporting frame 7 is fixedly provided with a rear fork sleeve channel steel beam 16 and a front fork sleeve channel steel beam 17 which are parallel to each other, a rear positioning pin 10 is arranged on the top end face of the rear fork sleeve channel steel beam 16, a front positioning pin 11 is arranged on the top end face of the front fork sleeve channel steel beam 17, a rear wedge guide vertical plate 21 is arranged on the rear suspension arm longitudinal beam of the half-square shifting and a front wedge vertical plate 21 is arranged on the front wedge vertical plate 22, and a front wedge vertical plate 22 is arranged on the front side guide arm and a front wedge vertical plate 22 is arranged on the front wedge vertical plate; a front positioning pin hole 12 and a rear positioning pin hole 13 are respectively arranged on the lower bottom surface of the shuttle car 6; a front supporting and positioning plugboard 14 and a rear supporting and positioning plugboard 15 are respectively arranged on a right cross beam plate of the half-square-shaped transfer support 7, a rear U-shaped socket 9 is arranged on an outer side vertical surface of a rear rack upright post 4 of a storage rack 1 adjacent to a roadway where a shuttle vehicle is arranged, a front U-shaped socket 8 is arranged on an outer side vertical surface of a front rack upright post of the storage rack 1 adjacent to the roadway where the shuttle vehicle is arranged, the front supporting and positioning plugboard 14 of the half-square-shaped transfer support 7 is spliced with the front U-shaped socket 8, the rear supporting and positioning plugboard 15 of the half-square-shaped transfer support 7 is spliced with the rear U-shaped socket 9, and a rear fork sleeve channel steel cross beam 16 and a front fork sleeve channel steel cross beam 17 on the half-square-shaped transfer support 7 are arranged right below a walking track 2 where the shuttle vehicle is arranged; the front cantilever longitudinal beam of the half-square-shaped transfer support 7 is arranged on the front outer side of the travelling rail 2 where the shuttle vehicle is located, and the rear cantilever longitudinal beam of the half-square-shaped transfer support 7 is arranged on the rear outer side of the travelling rail 2 where the shuttle vehicle is located.

A track support rear connecting plate 3 is arranged between a goods shelf rear upright post 4 close to the roadway and the end part of the travelling track 2 where the shuttle vehicle is positioned, and a track support front connecting plate 18 is arranged between a goods shelf front upright post close to the roadway and the end part of the travelling track 2 where the shuttle vehicle is positioned; an inverted V-shaped front gap 20 is arranged between the front cantilever longitudinal beam and the right cross beam plate of the half-square transferring support 7, an inverted V-shaped rear gap 19 is arranged between the rear cantilever longitudinal beam and the right cross beam plate of the half-square transferring support 7, a track support front connecting plate 18 is movably arranged in the inverted V-shaped front gap 20, and a track support rear connecting plate 3 is movably arranged in the inverted V-shaped rear gap 19.

A forklift 24 is arranged in a tunnel at the outer side of the end part of the travelling track 2 where the shuttle car is positioned, a fork body 23 on the forklift 24 is movably inserted in the rear fork sleeve channel steel beam 16 and the front fork sleeve channel steel beam 17, and the width of the fork body 23 is smaller than the width of an inserting sleeve of the rear fork sleeve channel steel beam 16; and a forklift barrier block 5 is arranged in a roadway on the outer side of the end part of the walking track 2 where the shuttle vehicle is located.

A positioning and transferring method of a shuttle car in a high-density intelligent warehousing system comprises a warehousing goods shelf 1 where the shuttle car is located, a shuttle car transferring target warehousing goods shelf 25, the shuttle car 6 and a forklift 24, wherein a shuttle car walking track 2 is arranged in the warehousing goods shelf 1 where the shuttle car is located, the shuttle car 6 is arranged on the shuttle car walking track 2, a shuttle car transferring target walking track is arranged on the shuttle car transferring target warehousing goods shelf 25, and a front positioning pin hole 12 and a rear positioning pin hole 13 are respectively arranged on the lower bottom surface of the shuttle car 6; the method is characterized by comprising the following steps:

firstly, manufacturing a half-square-shaped transfer support 7 according to the size of a storage shelf, wherein the half-square-shaped transfer support 7 consists of a right cross beam plate, a rear cantilever longitudinal beam and a front cantilever longitudinal beam, the rear cantilever longitudinal beam is fixedly connected to the left rear end of the right cross beam plate, and the front cantilever longitudinal beam is fixedly connected to the left front end of the right cross beam plate to form a half-square-shaped frame; two rear wedge-shaped guide vertical plates 21 are arranged on the rear cantilever longitudinal beam at intervals in parallel, a front side guide wedge-shaped surface is arranged on the rear wedge-shaped guide vertical plates 21, two front wedge-shaped guide vertical plates 22 are arranged on the front cantilever longitudinal beam at intervals in parallel, and a rear side guide wedge-shaped surface is arranged on the front wedge-shaped guide vertical plates 22; a rear fork sleeve channel steel beam 16 and a front fork sleeve channel steel beam 17 which are parallel to each other are fixedly arranged at the bottom end of the half-square-shaped transfer support 7, and the sleeve body width of the rear fork sleeve channel steel beam 16 and the sleeve body width of the front fork sleeve channel steel beam 17 are both larger than the width of a fork body 23 of a forklift 24; a rear positioning pin 10 is arranged on the top end surface of the rear fork sleeve channel steel beam 16, and a front positioning pin 11 is arranged on the top end surface of the front fork sleeve channel steel beam 17;

secondly, arranging a front U-shaped socket 8 on the outer side vertical surface of a front rack upright post of the storage rack 1 where the shuttle vehicle is located, which is close to the roadway, and arranging a rear U-shaped socket 9 on the outer side vertical surface of a rear rack upright post of the storage rack 1 where the shuttle vehicle is located, which is close to the roadway; a front U-shaped socket 8 and a rear U-shaped socket 9 are also arranged on the outer vertical surface of the front upright post of the goods shelf close to the roadway of the shuttle vehicle transfer target storage goods shelf 25;

thirdly, mounting the half-square-shaped transfer support 7 manufactured in the first step on the end part of the storage shelf 1 of the shuttle vehicle close to the roadway, wherein the concrete process is as follows: inserting a front supporting and positioning insertion plate 14 of the half-square-shaped transfer support 7 and a front U-shaped socket 8 together, inserting a rear supporting and positioning insertion plate 15 of the half-square-shaped transfer support 7 and a rear U-shaped socket 9 together, and arranging a rear fork sleeve groove steel beam 16 and a front fork sleeve groove steel beam 17 on the half-square-shaped transfer support 7 under a travelling rail 2 where the shuttle vehicle is located; the front cantilever longitudinal beam of the half-square-shaped transfer support 7 is arranged on the front outer side of the travelling rail 2 where the shuttle vehicle is located, and the rear cantilever longitudinal beam of the half-square-shaped transfer support 7 is arranged on the rear outer side of the travelling rail 2 where the shuttle vehicle is located;

fourthly, moving the shuttle car 6 to a shuttle car walking track 2 right above a rear fork sleeve channel steel beam 16 and a front fork sleeve channel steel beam 17;

fifthly, operating the forklift 24 to align the running track 2 where the shuttle is located, so that two fork bodies 23 on the forklift 24 are inserted into the rear fork sleeve groove steel beam 16 and the front fork sleeve groove steel beam 17;

sixthly, controlling the two fork bodies 23 on the operation forklift 24 to ascend along the vertical direction up and down to drive the half-square-shaped transfer support 7 to ascend along the vertical direction up and down, enabling the rear positioning pin 10 to ascend along with the front fork sleeve groove steel beam 17 and enter the front positioning pin hole 12, and enabling the rear positioning pin 10 to ascend along with the fork sleeve groove steel beam 16 and enter the rear positioning pin hole 13; the half-square-shaped transfer support 7 continuously rises along with the rising of the two fork bodies 23, the shuttle car 6 is transferred from the shuttle car walking track 2 to the half-square-shaped transfer support 7 and is separated from the shuttle car walking track 2, meanwhile, the front supporting and positioning plug board 14 is separated from the front U-shaped socket 8, and the rear supporting and positioning plug board 15 is separated from the rear U-shaped socket 9; a rear fork sleeve groove steel crossbeam 16 and a front fork sleeve groove steel crossbeam 17 in the half-square-shaped transfer support 7 play a role in supporting the shuttle car 6 and goods thereon, and a right crossbeam plate, a front cantilever longitudinal beam and a rear cantilever longitudinal beam in the half-square-shaped transfer support 7 form a protection frame to play a role in protecting the shuttle car 6;

seventhly, the forklift 24 carries the shuttle 6 to withdraw from the storage shelf 1 where the shuttle is located from the upper part of the shuttle walking track 2 and move to an exit roadway where the shuttle transfer target storage shelf 25 is located;

eighthly, moving the half-square shifting support 7 inserted in the two insertion bodies 23 and the shuttle 6 on the half-square shifting support by operating the two insertion bodies 23 of the forklift 24 to a position right above a shuttle shifting target walking track of the shuttle shifting target storage shelf 25;

ninthly, operating the two forks 23 to fall along the vertical direction, enabling the shuttle 6 to fall along the vertical direction, enabling the fork sleeve channel steel beam 16 and the front fork sleeve channel steel beam 17, enabling front side guide wedge faces on the two rear wedge guide vertical plates 21 on the rear cantilever longitudinal beam on the half-square transfer support 7 to be in contact fit with a rear side rail of a shuttle transfer target walking track, enabling the two forks 23 to move back and forth in the fork sleeve channel steel beam 16 and the front fork sleeve channel steel beam 17 in a matching mode in the process of enabling the shuttle 6 to accurately enter the shuttle transfer target walking track, enabling the half-square transfer support 7 to continuously fall along with the two rear forks 23, enabling the shuttle 6 to move back and forth in the fork sleeve channel steel beam 16 and the front fork sleeve channel steel beam 17 in a matching mode in the matching mode, enabling the shuttle 6 to move back and forth in the shuttle transfer target walking track, enabling the front fork sleeve channel steel beam 7 to move back and forth in the fork sleeve channel steel beam 16 and front fork sleeve channel steel beam to move back and enabling a front fork sleeve channel steel beam 9 of the shuttle to be plugged in a front side supporting upright plate of a shuttle supporting plate 14 and a rack supporting upright plate of a shuttle rack to be positioned at the same time; particularly, a front wedge-shaped guide vertical plate 22 on the front cantilever longitudinal beam and a rear wedge-shaped guide vertical plate 21 on the rear cantilever longitudinal beam are matched with a shuttle vehicle walking track through wedge surfaces on the front wedge-shaped guide vertical plates, so that the half-square-shaped transfer support 7 has a self-adaptive centering and aligning function in the descending process, and the shuttle vehicle 6 moves along with the half-square-shaped transfer support 7 in the front and rear directions, so that the central line of the shuttle vehicle 6 is superposed with the central line of the shuttle vehicle walking track, and the shuttle vehicle 6 can accurately enter the shuttle vehicle walking track; the rear side of the upper end of the front wedge-shaped guide vertical plate 22 is provided with a rear vertical surface of the upper end of the front wedge-shaped guide vertical plate, the front side of the upper end of the rear wedge-shaped guide vertical plate 21 is provided with a front vertical surface of the upper end of the rear wedge-shaped guide vertical plate, and the distance between the rear vertical surface of the upper end of the front wedge-shaped guide vertical plate and the front vertical surface of the upper end of the rear wedge-shaped guide vertical plate is equal to the distance between two outer side profiles of the shuttle vehicle walking track; after the semi-square transfer support 7 is aligned by centering, finally, the semi-square transfer support is descended to a position lower than the top end face of the shuttle vehicle walking track; the accurate positioning of the half-square-shaped transfer support 7 and the shuttle 6 is ensured through the rear positioning pin 10 and the front positioning pin 11, the accurate positioning between the half-square-shaped transfer support 7 and the shuttle walking track is ensured through the rear vertical surface of the upper end of the front wedge-shaped guide vertical plate on the front wedge-shaped guide vertical plate 22 and the front vertical surface of the upper end of the rear wedge-shaped guide vertical plate on the rear wedge-shaped guide vertical plate 21, and the positioning is realized through the adjusting movement of the half-square-shaped transfer support 7 on the fork body 23 in the process;

and step ten, the shuttle car 6 moves along the shuttle car transfer target walking track to the target cargo space.

Claims (3)

1. A shifting and positioning mechanism of a shuttle in a high-density intelligent warehousing system comprises a warehousing goods shelf (1) where the shuttle is located, a shuttle shifting target warehousing goods shelf (25), a shuttle (6) and a forklift (24), a shuttle vehicle walking track (2) is arranged in the storage shelf (1) where the shuttle vehicle is positioned, the shuttle vehicle (6) is arranged on the shuttle vehicle walking track (2), a shuttle transfer target traveling track is arranged on the shuttle transfer target storage shelf (25), it is characterized in that a half-square shifting bracket (7) is movably arranged at the end part of the storage shelf (1) where the shuttle is positioned, which is close to the roadway shelf, a rear fork sleeve groove steel crossbeam (16) and a front fork sleeve groove steel crossbeam (17) which are parallel to each other are fixedly arranged at the bottom end of the half-square-shaped transfer support (7), a rear positioning pin (10) is arranged on the top end surface of the rear fork sleeve channel steel beam (16), a front positioning pin (11) is arranged on the top end surface of the front fork sleeve channel steel beam (17), a rear wedge-shaped guide vertical plate (21) is arranged on a rear cantilever longitudinal beam of the half-square-shaped transfer support (7), a front side guide wedge-shaped surface is arranged on the rear wedge-shaped guide vertical plate (21), a front wedge-shaped guide vertical plate (22) is arranged on a front cantilever longitudinal beam of the semi-square-shaped transfer support (7), and a rear side guide wedge-shaped surface is arranged on the front wedge-shaped guide vertical plate (22); a front positioning pin hole (12) and a rear positioning pin hole (13) are respectively arranged on the lower bottom surface of the shuttle (6); a front supporting and positioning plugboard (14) and a rear supporting and positioning plugboard (15) are respectively arranged on a right cross beam plate of a half-square-shaped transfer support (7), a rear U-shaped socket (9) is arranged on the outer side vertical surface of a rear rack upright post (4) of a storage rack (1) where a shuttle vehicle is located and close to a roadway, a front U-shaped socket (8) is arranged on the outer side vertical surface of a front rack upright post of the storage rack (1) where the shuttle vehicle is located and close to the roadway, the front supporting and positioning plugboard (14) and the front U-shaped socket (8) of the half-square-shaped transfer support (7) are plugged together, the rear supporting and positioning plugboard (15) and the rear U-shaped socket (9) of the half-square-shaped transfer support (7) are plugged together, and a rear fork sleeve channel steel crossbeam (16) and a front fork sleeve channel steel crossbeam (17) on the half-square-shaped transfer support (7) are arranged under a walking track (2) where the shuttle vehicle is located; the front cantilever longitudinal beam of the half-square-shaped transfer support (7) is arranged on the front outer side of the running track (2) where the shuttle vehicle is located, and the rear cantilever longitudinal beam of the half-square-shaped transfer support (7) is arranged on the rear outer side of the running track (2) where the shuttle vehicle is located.

2. The transfer positioning mechanism of the shuttle car in the high-density intelligent warehousing system according to claim 1, characterized in that a track support rear connecting plate (3) is arranged between the rear column (4) of the goods shelf close to the roadway and the end of the running track (2) where the shuttle car is located, and a track support front connecting plate (18) is arranged between the front column of the goods shelf close to the roadway and the end of the running track (2) where the shuttle car is located; an inverted V-shaped front gap (20) is arranged between a front cantilever longitudinal beam and a right cross beam plate of the half-square-shaped transfer support (7), an inverted V-shaped rear gap (19) is arranged between a rear cantilever longitudinal beam and the right cross beam plate of the half-square-shaped transfer support (7), a track support front connecting plate (18) is movably arranged in the inverted V-shaped front gap (20), and a track support rear connecting plate (3) is movably arranged in the inverted V-shaped rear gap (19).

3. The transfer positioning mechanism of the shuttle car in the high-density intelligent warehousing system as claimed in claim 1 or 2, characterized in that a forklift (24) is arranged in a tunnel outside the end part of the running track (2) where the shuttle car is located, a fork body (23) on the forklift (24) is movably inserted into the rear fork pocket channel steel beam (16) and the front fork pocket channel steel beam (17), and the width of the fork body (23) is smaller than the inserting sleeve width of the rear fork pocket channel steel beam (16); a forklift blocking block (5) is arranged in a roadway on the outer side of the end part of the travelling track (2) where the shuttle vehicle is located.

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