CN214691530U

CN214691530U - Goods storing and taking trolley and vertical warehouse

Info

Publication number: CN214691530U
Application number: CN202120146767.0U
Authority: CN
Inventors: 陈锐; 王朝阳; 向春芳
Original assignee: Shanghai Haoxi Intelligent Technology Co ltd
Current assignee: Shanghai Haoxi Intelligent Technology Co ltd
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-11-12
Anticipated expiration: 2031-01-20

Abstract

The utility model discloses a access goods dolly and vertical storehouse, include: the lifting driving unit is arranged in a second cavity above the first cavity and used for controlling the lifting of the grabbing unit; the x-direction wheel module and the y-direction wheel module are provided with an x-direction wheel group driving unit and a y-direction wheel group driving unit which are arranged in the second chamber and used for respectively controlling two pairs of x-direction wheels and two pairs of y-direction wheels to move on the x-direction or y-direction parallel tracks; the jacking module is provided with a vertical displacement unit and a jacking driving unit, the two pairs of x-direction wheels are arranged on the vertical displacement unit, and the jacking driving unit is arranged in the second cavity and used for controlling the vertical lifting of the vertical displacement unit so as to realize the switching of the driving direction or the braking of the trolley. The utility model discloses simple structure, the dolly dead weight is light, and packing box accommodation space is big.

Description

Goods storing and taking trolley and vertical warehouse

Technical Field

The utility model relates to a storage technical field especially relates to a deposit and withdraw goods dolly and use this vertical warehouse of deposit and withdraw goods dolly.

Background

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

Storage systems such as those described above typically include three-dimensional aluminum pallets with containers stored in vertical compartments of the pallets and stacked vertically upward from the warehouse floor. Parallel rails arranged in orthogonal directions (the x-axis and the y-axis of a reference plane rectangular coordinate system) to form a grid are arranged on the top of the goods shelf, a plurality of remote-control carriers or robots with wheels are thrown on the parallel rails, and the wheels are alternately used to realize reversing on the parallel rails so as to horizontally move transversely or longitudinally. And each carrier or robot is provided with a robot hand capable of grabbing the uppermost container in the lower cargo compartment by lifting. The vehicle or robot communicates with the control system, usually via a wireless link, and is equipped with a rechargeable battery that can be recharged to a charging station or directly replaced when needed.

Currently, there are different improvements to the wheel and gripping system of the above mentioned vehicles or robots to achieve control of wheel movement, steering and positioning, and container gripping. However, the improvements usually have the defects of complex structure, high control difficulty, large occupied space inside the trolley and the like, so that the problems of complex algorithm, low response speed and low efficiency are caused, and the accommodation space of a container in the trolley is reduced. Moreover, such vehicles or robots are often expensive and difficult to use widely in the country.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the above-mentioned defect that prior art exists, provide a access goods dolly and vertical storehouse.

In order to achieve the above object, the utility model provides a following technical scheme:

according to an aspect of the utility model, the utility model provides a storage and take goods dolly, include:

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

the grabbing module is provided with a grabbing unit and a lifting driving unit, the grabbing unit is accommodated in the first chamber and used for grabbing and holding a container on a lower goods taking position into the first chamber when the trolley is located on a specified position, or downwards putting the container grabbed and held in the first chamber onto a goods storage position, and the lifting driving unit is arranged in the second chamber and used for controlling the grabbing unit to lift between the first chamber and the goods taking position or the goods storage position so as to grab or put down the container;

the x-direction wheel module is provided with an x-direction wheel set and an x-direction wheel set driving unit, the x-direction wheel set comprises two pairs of x-direction wheels which are respectively arranged at the lower ends of two x-direction side surfaces of the vehicle body, and the x-direction wheel set driving unit is arranged in the second cavity and is used for controlling the two pairs of x-direction wheels to synchronously drive the trolley to move on a pair of x-direction parallel tracks;

the y-direction wheel module is provided with a y-direction wheel set and a y-direction wheel set driving unit, the y-direction wheel set comprises two pairs of y-direction wheels which are respectively arranged at the lower ends of two y-direction side surfaces of the vehicle body, the y-direction wheel set driving unit is arranged in the second cavity and is used for controlling the two pairs of y-direction wheels to synchronously drive the trolley to move on a pair of y-direction parallel tracks, and the x direction is vertical to the y direction;

the jacking module is provided with a vertical displacement unit and a jacking driving unit, the vertical displacement unit is respectively arranged on two x-direction side surfaces, two pairs of x-direction wheels are respectively arranged on the vertical displacement unit on the corresponding side, the jacking driving unit is arranged in the second chamber and is used for controlling the vertical displacement unit to synchronously vertically lift along the x-direction side surfaces so as to drive the x-direction wheels to synchronously vertically lift relative to the y-direction wheels, so that the y-direction wheels are separated from the y-direction parallel rails when the x-direction wheels are lowered to a horizontal position lower than the y-direction wheels, the trolley is switched to move along the x-direction parallel rails, and the x-direction wheels are separated from the x-direction parallel rails when the x-direction wheels are raised to a horizontal position higher than the y-direction wheels so as to realize that the trolley is switched to move along the y-direction parallel rails, and when the x-direction wheel is positioned at a horizontal position equal to the y-direction wheel, the x-direction wheel and the y-direction wheel respectively collide against the x-direction parallel track and the y-direction parallel track simultaneously, so that the trolley is braked.

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

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

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

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

Further, the lifting transmission unit is provided with a ninth x-direction belt wheel and a tenth x-direction belt wheel, wherein the ninth x-direction belt wheel and the tenth x-direction belt wheel are arranged on one x-direction side plate on the same side and are arranged close to the y-direction side plate on one side, a fifth conveyor belt is sleeved on the ninth x-direction belt wheel and the tenth x-direction belt wheel, the lifting drive unit is connected with the ninth x-direction belt wheel, a fourth connecting rod shaft is arranged in the second chamber in a penetrating manner, one end of the fourth connecting rod shaft is connected with the tenth x-direction belt wheel, the other end of the fourth connecting rod shaft is arranged on one x-direction side plate on the opposite side in a rotating manner, a fifth connecting rod shaft is arranged in the second chamber in a penetrating manner and is connected to the x-direction side plates on the two sides in a rotating manner, the fifth connecting rod shaft and the fourth connecting rod shaft are arranged in parallel relatively, and two first connecting belts are respectively wound on one end of the fourth connecting rod shaft in the second chamber, two second connecting belts are respectively wound on the other end of the fourth connecting rod shaft in the second chamber, wherein the head end of the first connecting belt and the head end of the first connecting belt are connected with the corresponding side of the grabbing unit below the fourth connecting rod shaft, and the head end of the first connecting belt and the head end of the second connecting belt are connected with the corresponding other side of the grabbing unit below the fourth connecting rod shaft after being bent by the fifth connecting rod shaft.

Furthermore, the grabbing unit is provided with a horizontal bottom plate, the head ends of the two first connecting belts and the head ends of the two second connecting belts are respectively connected to four corner positions of the upper surface of the bottom plate, x-direction vertical plates are respectively arranged on the bottom plates of the corresponding sides of the two first connecting belts and the corresponding sides of the two second connecting belts, one of the x-direction vertical plates is provided with two pairs of first grabbing hooks, the other x-direction vertical plate is correspondingly provided with two pairs of second grabbing hooks, the first grabbing hooks and the second grabbing hooks are respectively close to or far away from each other through rotation of meshed gear surfaces and are used for being matched with grabbing grooves correspondingly arranged on a container to put down or grab the container, the bottom plate is provided with two grabbing hook driving units, and each grabbing hook driving unit is connected with one of the first grabbing hooks, the other of each pair of the first grappling hooks is connected to one of the pair of the second grappling hooks on the opposite side by a sixth link shaft.

Furthermore, the first connecting belt and the second connecting belt are conductors, the first connecting belt is further connected to the anode of a power supply arranged on the trolley, the second connecting belt is further connected to the cathode of the power supply, and the head end of the first connecting belt and the head end of the second connecting belt are coupled to the grapple driving unit so as to directly supply power to the grapple driving unit through the power supply.

Furthermore, the trolley is powered by the power supply arranged in the second chamber, and the power supply is a rechargeable battery.

According to an aspect of the utility model, the utility model discloses still provide a vertical warehouse, include:

the goods storing and taking trolley is characterized in that the goods storing and taking trolley is provided with a storage box;

the track comprises a plurality of pairs of x-direction parallel tracks and a plurality of pairs of y-direction parallel tracks, each pair of the x-direction parallel tracks are arranged adjacently and parallelly, each pair of the y-direction parallel tracks are arranged adjacently and parallelly, and the x-direction parallel tracks and the y-direction parallel tracks are arranged perpendicularly and crosswise to each other to form a parallel track grid; each pair of the x-direction parallel rails is used for correspondingly supporting two pairs of x-direction wheels on the trolley, and each pair of the y-direction parallel rails is used for correspondingly supporting two pairs of y-direction wheels on the trolley;

a container storage unit for providing support to the rails and storing containers, the container storage unit being provided with uprights supported below the intersections of the grid of parallel rails so as to form storage locations below the grid of parallel rails for accommodating vertically stacked containers, the trolleys being adapted to pick up or drop down the containers by means of pick-up units through the grid openings of the grid of parallel rails;

the rail is provided with one or more trolleys, every two pairs of x-direction parallel rails are arranged adjacently, and every two pairs of y-direction parallel rails are also arranged adjacently, so that a double-rail structure is formed on the periphery of the grid of the parallel rail grids.

Compared with the prior art, the utility model has the advantages of:

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

(2) The combined transmission mode of the belt wheel, the conveyor belt and the connecting rod shaft is adopted, so that synchronous movement control of all wheels in a certain direction (x direction or y direction) can be realized only by one driving unit, the problem of speed difference or stall generated among the wheels can be avoided, the control stability is improved, the mechanical structure is simplified, the self weight of the trolley is reduced, and contribution is made to enlarging the loading space and the loading capacity of the trolley.

(3) The lifting reversing of the wheel (x is to the wheel) is controlled by adopting a crank gear matching structure, the three states of wheel reversing and braking can be accurately switched, and when the wheel is put down to the rail (x is to the rail) and is in a use state, the connecting rod, the crank and the gear are arranged to be in the same vertical connecting line, so that the integral stress balance of the lifting module is enhanced, the structure is simple, and the wheel is stably positioned.

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

(5) The rotation is to open grapple, and realizes drawing close each other or keeping away from through the rotation of engaged with gear respectively between a pair of grapple, can realize the grapple and open and shut turning to of in-process, is favorable to hooking the groove of grabbing on the packing box better, has avoided the risk that the packing box dropped.

(6) The two pairs of tracks are adjacently arranged, so that a double-track structure is formed on the periphery of the parallel track grids, two trolleys positioned on any two pairs of adjacent parallel tracks can be mutually intersected, paralleled or stopped, the planning difficulty of trolley running routes is reduced, and the working efficiency of the trolleys is improved.

Drawings

Fig. 1-2 are schematic views of the external structure of a cargo storage cart according to a preferred embodiment of the present invention.

Fig. 3-6 are schematic views of the internal structure of a cargo car according to a preferred embodiment of the present invention.

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

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

Fig. 11 is a schematic view of a vertical warehouse structure according to a preferred embodiment of the present invention.

In the figure, 1, a trolley, 2, a frame, 3/3-1/3-2. x-direction parallel tracks, 4. x-direction wheels, 5. y-direction wheels, 6/6-1/6-2. y-direction parallel tracks, 7, a panel, 8, a grabbing unit, 9, a second conveyor belt, 10, a third conveyor belt, 11, a second y-direction belt wheel, 12, a first y-direction belt wheel, 13, a control box, 14. y-direction wheel group driving unit, 15, a jacking driving unit, 16, a third connecting rod shaft, 17, a second x-direction belt wheel, 18, (internal) power supply, 19, a second connecting rod shaft, 20, a second gear, 21. x-direction wheel group driving unit, 22, a first gear, 23, a lifting driving unit, 24, a first x-direction belt wheel, 25, a ninth x-direction belt wheel, 26, a fifth conveyor belt wheel, 27, a tenth x-direction belt wheel, 28, 29, a first conveyor belt wheel, 30. the first link, 31/32, the first link belt, 33/37, the second link belt, 34, y-side plate, 35, vertical displacement plate, 36, x-side plate, 38, the first link shaft, 39, the fifth y-pulley, 40, the fourth link shaft, 41, tape cassette, 42, roller, 43, fifth link shaft, 44, first crank, 45, fourth x-pulley, 46, the second link, 47, fourth gear, 48, second crank, 49, third gear, 50, third x-pulley, 51, sixth link shaft, 52, grab controller, 53, bottom plate, 54, limit slot, 55, gear face, 56. x-vertical plate, 57, grab hook drive unit, 58/59, grab hook (first grab hook/second grab hook), 60, column, 61, parallel rail grid, 73, cargo box, 74, cargo box storage unit.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

Please refer to fig. 1-2. The utility model relates to a goods storing and taking trolley 1 (a carrier or a robot) which is provided with a trolley body; the body may be constructed of frames 2 with panels 7 disposed between the frames 2 to separate the interior of the cart 1 from the exterior. The vehicle body may have a cubic shape, but the present invention is not limited thereto. The vehicle body is provided with a wheel module; the wheel module can include an x-direction wheel set and a y-direction wheel set. The x-direction wheel set can comprise two pairs of x-direction wheels 4 which are respectively arranged at the lower ends of the two x-direction side surfaces of the car body, and the y-direction wheel set can comprise two pairs of y-direction wheels 5 which are respectively arranged at the lower ends of the two y-direction side surfaces of the car body. The x-direction wheel 4 and the y-direction wheel 5 may be exposed to the outside of the vehicle body in general.

The x direction and the y direction are perpendicular to each other and are located on a horizontal plane. This can be understood by referring to the directions of the x-axis, y-axis and z-axis in the illustrated rectangular spatial coordinate system (the same applies hereinafter).

It should be noted that the x direction and the y direction are only used for expressing relative orientations, and the relative orientations can be expressed interchangeably, that is, the x direction can be expressed as the y direction, and the y direction can also be expressed as the x direction, which can be understood by those skilled in the art.

The wheel module is supported on the rail 3 or 6 and is used for walking along the rail 3 or 6. The track 3 or 6 corresponds to a wheel set and is provided with an x-direction parallel track 3 and a y-direction parallel track 6. The trolley 1 can move on a pair of x-direction parallel rails 3 through synchronous driving of two pairs of x-direction wheels 4, or the trolley 1 can move on a pair of y-direction parallel rails 6 through synchronous driving of two pairs of y-direction wheels 5 through reversing of the wheels.

Please refer to fig. 2. The vehicle body has a hollow interior, and a grasping unit 8 is provided in the hollow interior of the vehicle body, and the grasping unit 8 can be moved up and down inside and outside the vehicle body to grasp a cargo box 73 (refer to fig. 11) therebelow or to put down the grasped cargo box 73.

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

The utility model discloses a storage goods dolly 1 is equipped with the automobile body, snatchs the module, and the x that the wheel module contains is to wheel module and y to the wheel module, jacking module to and major structure component parts such as power. Wherein the power supply is an onboard internal power supply 18 on the trolley 1.

The grabbing module is provided with a grabbing unit 8 and a lifting driving unit 23. Wherein the grasping unit 8 is receivable in a first chamber of the vehicle body (refer to fig. 6); the grabbing unit 8 is used for descending from the lower end of the opening of the first chamber when the trolley 1 is located at the appointed goods taking position, grabbing the goods box on the goods taking position below into the first chamber in the interior of the trolley body, keeping the goods box in the first chamber in a continuous grabbing state, so that the goods box can move on the rail together with the trolley 1 to be conveyed, and can grab and keep the goods box in the first chamber, when the trolley 1 is located at the appointed goods storing position, the goods box is placed downwards onto the goods storing position, then the grabbing unit 8 is folded into the first chamber, and a next goods box fetching instruction is executed.

The lifting driving unit 23 is arranged in a second chamber inside the vehicle body; the lifting drive unit 23 is used to control the lifting movement of the gripping unit 8 so that the gripping unit 8 can be vertically lifted in the first chamber between a lower pick-up or storage location for gripping or depositing a container.

Please refer to fig. 3-6. In a preferred embodiment,

side panels

36, 34 may be mounted on the sides of the body between each two adjacent frame 2 structures; the

side panels

36, 34 may include x-direction side panels 36 disposed along the x-direction on opposite x-direction sides of the vehicle body and y-direction side panels 34 disposed along the y-direction on opposite y-direction sides of the vehicle body. Further, vertical displacement plates (vertical displacement units) 35 which can move up and down are provided on both x-direction side surfaces of the vehicle body and at positions below the x-direction side plates 36 in the x-direction, the x-direction side plates 36 and the vertical displacement plates 35 on each side are located at the upper and lower ends of the vehicle body side with respect to each other, and a necessary distance is maintained between the x-direction side plates 36 and the vertical displacement plates 35.

The x-direction wheel module is provided with an x-direction wheel set and an x-direction wheel set driving unit 21. The x-direction wheel set comprises two pairs of x-direction wheels 4 which are respectively arranged at the lower ends of two x-direction lateral vertical displacement plates 35 of the vehicle body (namely, two x-direction wheels 4 are respectively arranged on each vertical displacement plate 35). The x-direction wheel set driving unit 21 is disposed in the second chamber and configured to perform synchronous rotation control on the two pairs of x-direction wheels 4, so that the two pairs of x-direction wheels 4 can simultaneously drive the cart 1 to move on the pair of x-direction parallel rails 3.

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

The jacking module is provided with a vertical displacement unit (vertical displacement plate) 35 and a jacking driving unit 15. The jacking driving unit 15 is disposed in the second chamber and configured to control the two vertical displacement plates 35 to move synchronously and vertically, so that the two vertical displacement plates 35 can move synchronously and vertically along the x-direction side of the vehicle body, and drive the x-direction wheels 4 mounted on the vertical displacement plates 35 to move synchronously and vertically relative to the y-direction wheels 5.

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

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

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

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

Please refer to fig. 3-6. In a preferred embodiment, the jacking driving unit 15 can control the vertical displacement plate 35 to synchronously vertically lift along two x-direction sides through the jacking transmission unit. For example, the jacking transmission unit may be provided with the first to fourth gears 22 to 47. The first gear 22 and the second gear 20 may be disposed in pairs and engaged with each other, and disposed on the x-direction side plate 36 on one side, for example, may be disposed at a middle position of the x-direction side plate 36 and avoid interference with the first belt 29; the third gear 49 and the fourth gear 47 may also be provided in pairs and engaged with each other and provided on the other side x-direction side plate 36, for example, may be provided at a central position of the other side x-direction side plate 36 and avoid interference with the second conveyor belt 9. And, there is the first crank 44 on the side of the first gear 22, the first crank 44 can be connected movably (rotated) with a vertical displacement plate 35 below the same side through a first connecting rod 30, there is the second crank 48 on the side of the fourth gear 47, the second crank 48 can be connected movably (rotated) with another vertical displacement plate 35 below the same side through a second connecting rod 46. The jacking driving unit 15 can be connected with a third gear 49 through a rotating part thereof to drive the third gear 49 to rotate, and the second gear 20 is connected with a fourth gear 47 through a third connecting rod shaft 16 arranged in the second chamber in a penetrating way.

Thus, when the jacking driving unit 15 drives the third gear 49 to rotate, the rotation torque can be synchronously transmitted to the fourth gear 47, the third link shaft 16, the second gear 20 and the first gear 22 through the third gear 49, so that the second crank 48 mounted on the fourth gear 47 and the first crank 44 mounted on the first gear 22 can be controlled to rotate around the respective gear centers, the second link 46 and the first link 30 connected to each other are driven to move up and down, and the vertical displacement plates 35 on two sides connected to the lower ends of the second link 46 and the first link 30 can also move up and down synchronously, so that the relative height of the x-direction wheel 4 mounted on the vertical displacement plate 35 can be changed.

Please refer to fig. 7-9. The jacking driving unit 15 can make the vertical displacement plate 35 respectively at the three heights shown in the figure by lifting and lowering, and control the vertical displacement plate 35 to stably stay at the heights, so as to realize the switching of the trolley 1 between the x-direction wheel set and the y-direction wheel set, so that the trolley 1 can run in a reverse direction, or the trolley 1 is in a stop state and cannot move. The method specifically comprises the following steps:

when the trolley 1 is located at the switching position between the x-direction parallel track 3 and the y-direction parallel track 6, the jacking driving unit 15 controls the second crank 48 (the first crank 44) on the fourth gear 47 (the first gear 22) to rotate to a position directly below the rotation center of the fourth gear 47 (the first gear 22), the first crank 44 and the second crank 48 will move down in physical position, so that the vertical displacement plate 35 on the corresponding side moves down relative to the trolley body, and the x-direction wheel 4 on the vertical displacement plate 35 moves down accordingly. At this time, the first crank 44 and the second crank 48 are stressed stably, and can play a good supporting role. At this time, the x-direction wheels 4 are lowered to a horizontal position lower than the y-direction wheels 5 (i.e. the lowest ends of the x-direction wheels 4 are lowered to be lower than the lowest ends of the y-direction wheels 5, as indicated by the dashed lines in the figure), and the x-direction wheels 4 fall on the x-direction parallel rails 3, so that the whole vehicle body is jacked up by the four x-direction wheels 4, and the y-direction wheels 5 are lifted along with the vehicle body to be separated from the y-direction parallel rails 6, so that the trolley 1 is switched from the original position on the y-direction parallel rails 6 to the x-direction parallel rails 3 and can move along the x-direction parallel rails 3, as shown in fig. 7.

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

When the trolley 1 is located at the switching position between the x-direction parallel track 3 and the y-direction parallel track 6, the jacking driving unit 15 controls the lowest end of the x-direction wheel 4 to be level with the lowest end of the y-direction wheel 5 when the second crank 48 (the first crank 44) on the fourth gear 47 (the first gear 22) is rotated to be located at the position level with the rotation center of the fourth gear 47 (the first gear 22), and at this time, the x-direction wheel 4 is supported on the x-direction parallel track 3, and at the same time, the y-direction wheel 5 is supported on the y-direction parallel track 6, and the trolley 1 is braked (braked) and cannot move, as shown in fig. 9.

By utilizing the braking structure, the trolley 1 can be stably stopped at the goods storing and taking position for safe operation, the complicated braking structure in the past is omitted, and the control is convenient.

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

In other preferred embodiments, the frame 2 of the vehicle body is disposed to protrude from the vehicle body in the x-direction and the y-direction and is flush or substantially flush with the outer side surface of the wheel, so that structural stability of the vehicle body can be enhanced and all eight wheels and transmission components disposed on the side surface of the vehicle body can be protected.

Please refer to fig. 3-6. In a preferred embodiment, the lifting drive unit 23 is controllable by means of a lifting gear unit to lift the pick-up unit 8 between the first compartment of the body and a pick-up or storage space below the trolley 1 for picking up or depositing a container. For example, the elevating transmission unit may be provided with a ninth x-direction pulley 25 and a tenth x-direction pulley 27. The ninth x-direction pulley 25 and the tenth x-direction pulley 27 are provided on the same one x-direction side plate 36 and may be provided in a position close to the one y-direction side plate 34. A fifth belt 26 may be sleeved on the ninth x-directional pulley 25 and the tenth x-directional pulley 27, and the elevation driving unit 23 may be connected to the ninth x-directional pulley 25 through a rotation center thereof. The fourth link shaft 40 is inserted into the second chamber, and has one end connected to the tenth x-direction pulley 27 and the other end rotatably mounted on one of the x-direction side plates 36 on the opposite side. Meanwhile, the fifth link shaft 43 is inserted into the second chamber and rotatably connected to the x-direction side plates 36 at both sides, and the fifth link shaft 43 and the fourth link shaft 40 are arranged in parallel relatively. Two first connecting

belts

31 and 32 are respectively wound on one end (the upper end of the fourth link shaft 40 shown in fig. 5) of the fourth link shaft 40 positioned in the second chamber, and two second connecting

belts

33 and 37 are respectively wound on the other end (the lower end of the fourth link shaft 40 shown in fig. 5) of the fourth link shaft 40 positioned in the second chamber; moreover, a head end of a first one 31 (one located at the outer side) of the two first connecting

belts

31, 32 and a head end of a first one 37 (one located at the outer side) of the two second connecting

belts

33, 37 are connected to the corresponding side of the lower grasping unit 8, and a head end of a second one 32 (one located at the inner side) of the two first connecting

belts

31, 32 and a head end of a second one 33 (one located at the inner side) of the two second connecting

belts

33, 37 are respectively hung on the fifth link shaft 43 and are connected to the corresponding other side of the lower grasping unit 8 after being turned by the fifth link shaft 43. Therefore, the synchronous lifting of the four connecting belts can be controlled by one lifting driving unit 23, so that the stable lifting of the grabbing unit 8 is ensured, and the structure is simplified.

Please refer to fig. 4. In a preferred embodiment, the first and

second connection belts

31, 32, 33, 37 may be wound around a spool in the tape cassette 41, respectively, the spool being fixedly mounted on the fourth link shaft 40. The fifth link shaft 43 may be provided with a roller 42 as a transition structure between the first and

second link belts

31 and 32 and 33 and 37 and the fifth link shaft 43, and may prevent the first and

second link belts

31 and 32 and 33 and 37 from being deviated.

In addition, a pressing roller (not shown) may be further provided at the exit position of the tape cassette 41 to apply a certain pressing force to the first connecting

tapes

31, 32 and the second connecting

tapes

33, 37 from above, so that the control of the winding and unwinding of the first connecting

tapes

31, 32 and the second connecting

tapes

33, 37 is more stable.

Please refer to fig. 10. In a preferred embodiment, the grabbing unit 8 may be provided with a horizontal bottom plate 53, for example, but not limited thereto, a rectangular bottom plate 53 corresponding to a rectangular car body. The head ends of the two first connecting

straps

31, 32 and the head ends of the two second connecting

straps

33, 37 are connected to the four corner positions of the upper surface of the bottom plate 53, respectively, to keep the structure stable.

An x-direction standing plate 56 is respectively arranged on the bottom plate 53 close to one side of the two first connecting

belts

31 and 32 and one side of the two second connecting

belts

33 and 37. Two pairs of grabbing

hooks

58 and 59 are respectively arranged on the two x-direction vertical plates 56, namely, two pairs of first grabbing hooks 58 and 59 are arranged on one x-direction vertical plate 56, and two pairs of second grabbing hooks 58 and 59 (not shown) are correspondingly arranged on the other x-direction vertical plate 56. Gear faces 55 are provided on the opposite faces of each pair of

first hooks

58, 59 and on the opposite faces of each pair of

second hooks

58 and 59, respectively, so that the

first hooks

58, 59 of each pair can be moved toward or away from each other by the relative rotation of the two engaged gear faces 55, and similarly, the

second hooks

58 and 59 of each pair can be moved toward or away from each other by the relative rotation of the two engaged gear faces 55. The hook portion of each pair of grapples 58 and 59 is disposed outwardly for engagement with a correspondingly disposed grapple slot on the cargo container.

The horizontal positions of the first and second grapples 58, 59 and 58, 59 are identical, and the hook portions of the first and second grapples 58, 59 and 58, 59 are disposed to protrude from the bottom surface of the bottom plate 53.

In a preferred embodiment, the x-direction standing plate 56 is slightly offset toward the inside of the bottom plate 53, so that the side of the bottom plate 53 is exposed, and the position corresponding to the

first grapple

58, 59 and the

second grapple

58, 59 is provided with the limiting groove 54, so that the

first grapple

58, 59 and the

second grapple

58, 59 pass through the limiting groove 54. The limiting groove 54 can limit the opening angle of the grapples 58 and 59 and can also limit the grapples 58 and 59 to deviate towards the outer side of the x-direction vertical plate 56, so that the container can be accurately grabbed.

In this way, by utilizing the mutual approaching or separating of each pair of first grapples 58 and 59 and each pair of second grapples 58 and 59, each pair of grapples 58 and 59 can extend into the corresponding grapple slot on the container when approaching, and the grapples 58 and 59 are controlled to be opened, so that the hook parts of the grapples 58 and 59 hook the grapple slot on the container to grab the container. When the container is positioned, the grapples 58, 59 can be pulled out of the grapple slots of the container by moving the grapples 58, 59 together by reverse operation to lower the container.

In a preferred embodiment, two grapple drive units 57 may be provided on the base plate 53, each grapple drive unit 57 being connected to one of the first grapples 58, 59 of each pair (i.e., to the center of rotation corresponding to the gear face 55). The other of each pair of

first grabbers

58, 59 can be connected to one of the pair of

second grabbers

58, 59 on the opposite side via a sixth link shaft 51, respectively (i.e., the sixth link shaft 51 is also connected to the center of rotation corresponding to the gear face 55).

Thus, when the grapple driving unit 57 drives one grapple 58 of each pair of first grapple 58, 59 to rotate, the rotation torque thereof can be transmitted to the opposite pair of second grapple 58, 59 through the sixth link shaft 51 by the engagement of the gear face 55 of the other grapple 59 of each pair of first grapple 58, 59, thereby controlling the pair of first grapple 58, 59 and the pair of second grapple 58, 59 respectively installed at both sides of the bottom plate 53 to rotate synchronously to open and close, and performing the reliable grabbing of the cargo box.

A grip controller 52, which may have a wireless communication function, may also be provided on the base plate 53. The device structure of the grabber for grabbing the container is formed by organically combining the lifting driving unit 23, the lifting transmission unit, the grabbing unit 8 and the like.

Please refer to fig. 10 in conjunction with fig. 3-5. In a preferred embodiment, the first connecting

strips

31, 32 and the second connecting

strips

33, 37 are made of a conductor, which may be a steel strip, for example. Also, the

first connection belts

31, 32 may be connected to the positive pole of the power supply 18, the

second connection belts

33, 37 may be connected to the negative pole of the power supply 18, and the head ends of the

first connection belts

31, 32 and the head ends of the

second connection belts

33, 37 may be coupled to the grapple driving unit 57, that is, the

first connection belts

31, 32 and the

second connection belts

33, 37 may be used as wires at the same time, so that it is possible to directly supply power to the grapple driving unit 57 and the grapple controller 52 through the power supply 18.

In a preferred embodiment, the trailing ends of the two first connecting

strips

31, 32 may be electrically connected to the positive pole of the power source 18 by a ribbon cassette 41, and the trailing ends of the two second connecting

strips

33, 37 may be electrically connected to the negative pole of the power source 18 by the other ribbon cassette 41 corresponding thereto.

In another preferred embodiment, the two first connection strips 31, 32 can be electrically connected to the positive pole of the power source 18 by means of press wheels bearing thereon, and the two second connection strips 33, 37 can be electrically connected to the negative pole of the power source 18 by means of the other press wheel bearing thereon.

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

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

Please refer to fig. 3. An internal power source 18 is provided on the body and is located in the second chamber.

In one example, the internal power source 18 may be a rechargeable battery 18.

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

Please refer to fig. 4. In a preferred embodiment, in the second chamber of the trolley 1, in the plane direction, a division into two zones can be provided. In the upper area of the figure, the battery 18, the jacking driving motor 15 and the control box 13 are sequentially arranged from right to left; in the lower area of the figure, a lifting drive motor 23, an x-direction wheel set drive motor 21 and a y-direction wheel set drive motor 14 are sequentially arranged from right to left; the first connecting rod shaft 38 and the third connecting rod shaft 16 are arranged on two sides of the jacking driving motor 15 between the control box 13 and the battery 18 in parallel; the second link shaft 19 is provided perpendicularly to the first link shaft 38 and the third link shaft 16, is positioned above the first link shaft 38 and the third link shaft 16, and defines a boundary between two regions in the second chamber; the fourth link shaft 40 and the fifth link shaft 43 are arranged in parallel with the first link shaft 38 and the third link shaft 16, and are disposed below the battery 18, the control box 13, the lifting drive motor 23, the x-direction wheel set drive motor 21, the y-direction wheel set drive motor 14, and the like, so that two upper and lower regions are also formed in the second chamber in the vertical direction. The pulleys, gears, and the like of the respective transmission units are provided on the side surface of the vehicle body. Such setting structure makes the utility model discloses each machinery and automatically controlled component obtain rational arrangement on the dolly 1, more make the space of automobile body cavity can be according to snatching the design of the biggest packing box to reach the biggest utilization ratio. Importantly, the utility model discloses the focus of dolly 1 is effectively reduced to multiplicable dolly 1 rate of motion has improved efficiency from this.

Please refer to fig. 11. The trolley 1 is arranged to travel on the rails 3 or 6 and is arranged to be able to switch tracks on different rails 3 or 6 by turning in the x-direction and the y-direction. Therefore, the x-direction parallel rails 3 and the y-direction parallel rails 6 are arranged to intersect each other perpendicularly, and the parallel rail grid 61 is formed by arranging a plurality of them.

The size (boundary) of each grid in the parallel rail grids 61 corresponds to the size (boundary) of the body of the trolley 1, so that when the trolley 1 stops being located on the grids, the four x-direction wheels 4 and the four y-direction wheels 5 on the trolley 1 can be switched between the x-direction parallel rails 3 and the y-direction parallel rails 6 through the jacking action of the jacking module.

Please refer to fig. 11. The utility model also provides a vertical warehouse (stereoscopic warehouse), the vertical warehouse can include: the above-described cargo cart 1, the rails 3 or 6 for supporting the cart 1, includes x-direction parallel rails 3 and y-direction parallel rails 6, and a cargo box storage unit 74 supported and disposed below the rails 3, 6.

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

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

Please refer to fig. 11. A container storage unit 74 is used to provide support to the rails 3, 6 and to store containers 73. In a preferred embodiment, the container storage unit 74 is provided with a plurality of vertical columns 60; the posts 60 are supported below each intersection of the grid of parallel rails 61 to form a magazine site below the grid of parallel rails 61 that can hold vertically stacked containers 73. The trolley 1 can vertically lift downwards into the corresponding storage position by the grabbing unit 8 through the grid openings of the parallel rail grid 61 to grab or put down the cargo box 73.

The cargo box 73 can be designed into a standard box body, partition plate grooves can be formed in the box body, partition plates are used for separating the interior of the cargo box 73, the strength of the cargo box 73 can be increased, the cargo box 73 can be matched with the grabbing unit 8, grabbing errors caused by deformation of the cargo box 73 can be prevented, and the cargo box 73 can be suitable for articles with different volumes to be placed in the cargo box 73.

The cargo box storage unit 74 may also be provided with grid-like top brackets corresponding to the parallel rail grids 61, which together with the columns 60 provide support for the rails.

Furthermore, one or more trolleys 1 can be arranged on the track.

A conveyor line (not shown) may be provided at each of the entrances and exits of the vertical warehouse, and may be provided with container weight management capability.

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

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

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

Compare foreign similar three-dimensional warehouse system, the utility model discloses the intensive degree is higher, and the dolly structure is simpler, and control is more stable, and efficiency is higher, and cost low relatively, can effectively implement import substitution, is suitable for to popularize and be suitable for in the storage center application scene such as electricity merchant.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited to the embodiments, and those skilled in the art can make modifications and changes without departing from the spirit of the present invention.

Claims

1. A cargo access cart, comprising:

2. The cart for storing and taking goods as claimed in claim 1, wherein said x-direction side of said cart is provided with an x-direction side plate, said y-direction side is provided with a y-direction side plate, said vertical displacement unit is provided with a vertical displacement plate, said vertical displacement plate is provided on said x-direction side and located below said x-direction side plate, two pairs of said x-direction wheels are provided on lower ends of said vertical displacement plates on corresponding sides, and two pairs of said y-direction wheels are provided on lower ends of said y-direction side plates on corresponding sides; the X-direction wheel set driving unit enables two pairs of X-direction wheels to synchronously drive the trolley to move on an X-direction parallel track through control of the X-direction wheel set transmission unit, the Y-direction wheel set driving unit enables two pairs of Y-direction wheels to synchronously drive the trolley to move on a Y-direction parallel track through control of the Y-direction wheel set transmission unit, the jacking driving unit enables the vertical displacement unit to synchronously vertically lift along the X-direction side face through control of the jacking transmission unit, and the lifting driving unit enables the grabbing unit to lift between the goods taking position or the storage position in the first chamber through control of the lifting transmission unit so as to grab or put down a container.

3. The goods storage and retrieval cart of claim 2, wherein the x-direction wheel set transmission unit is provided with a first x-direction pulley to an eighth x-direction pulley, wherein the first x-direction pulley to a fourth x-direction pulley are respectively disposed on the x-direction side plates at two sides, the fifth x-direction pulley to an eighth x-direction pulley are respectively disposed on the vertical displacement plates at two sides, two pairs of the x-direction wheels are respectively and correspondingly connected with the fifth x-direction pulley to the eighth x-direction pulley, a first transmission belt is sleeved on the first x-direction pulley, the second x-direction pulley, the fifth x-direction pulley and the sixth x-direction pulley, a second transmission belt is sleeved on the third x-direction pulley, the fourth x-direction pulley, the seventh x-direction pulley and the eighth x-direction pulley, the x-direction wheel set driving unit is connected with the first x-direction pulley, and the second x-direction pulley is connected with the third x-direction pulley through a first connection rod shaft disposed in the second chamber And (4) wheels.

4. The cart for storing and taking goods as claimed in claim 2, wherein the y-direction wheel set transmission unit is provided with a first y-direction pulley to a seventh y-direction pulley, wherein the first y-direction belt wheel to the fourth y-direction belt wheel are arranged on one y-direction side plate on the same side, the fifth y-direction belt wheel to the seventh y-direction belt wheel are arranged on the other y-direction side plate on the opposite side, the two pairs of y-direction wheels are respectively and correspondingly connected with the third y-direction belt wheel, the fourth y-direction belt wheel, the sixth y-direction belt wheel and the seventh y-direction belt wheel, a third conveying belt is sleeved on the first y-direction belt wheel to the fourth y-direction belt wheel, a fourth conveying belt is sleeved on the fifth y-direction belt wheel to the seventh y-direction belt wheel, the y-direction wheel set driving unit is connected with the first y-direction belt wheel, and the second y-direction belt wheel is connected with the fifth y-direction belt wheel through a second connecting rod shaft penetrating through the second cavity.

5. The goods storage and retrieval cart of claim 2, wherein the jacking transmission unit is provided with a first gear to a fourth gear, wherein the first gear and the second gear are engaged and arranged on the x-direction side plate on one side, the third gear and the fourth gear are engaged and arranged on the x-direction side plate on the other side, a first crank is arranged on a side surface of the first gear, the first crank is movably connected with one vertical displacement plate on the same side through a first connecting rod, a second crank is arranged on a side surface of the fourth gear, the second crank is movably connected with the other vertical displacement plate on the opposite side through a second connecting rod, the jacking driving unit is connected with the third gear, and the second gear is connected with the fourth gear through a third connecting rod shaft inserted into the second cavity.

6. The goods storage and retrieval cart of claim 2, wherein the elevation driving unit is provided with a ninth x-directional pulley and a tenth x-directional pulley, wherein the ninth x-directional pulley and the tenth x-directional pulley are disposed on one of the x-directional side plates on the same side and disposed near the y-directional side plate on one side, a fifth conveyor belt is sleeved on the ninth x-directional pulley and the tenth x-directional pulley, the elevation driving unit is connected to the ninth x-directional pulley, a fourth link shaft is inserted into the second chamber, one end of the fourth link shaft is connected to the tenth x-directional pulley, the other end of the fourth link shaft is rotatably disposed on one of the x-directional side plates on the opposite side, a fifth link shaft is inserted into the second chamber and rotatably connected to the x-directional side plates on both sides, the fifth link shaft and the fourth link shaft are disposed in parallel, and two first connection belts are respectively wound around one end of the fourth link shaft located in the second chamber, two second connecting belts are respectively wound on the other end of the fourth connecting rod shaft in the second chamber, wherein the head end of the first connecting belt and the head end of the first connecting belt are connected with the corresponding side of the grabbing unit below the fourth connecting rod shaft, and the head end of the first connecting belt and the head end of the second connecting belt are connected with the corresponding other side of the grabbing unit below the fourth connecting rod shaft after being bent by the fifth connecting rod shaft.

7. The trolley for storing and taking out cargoes according to claim 6, wherein the grabbing unit is provided with a horizontal bottom plate, the head ends of the two first connecting belts and the head ends of the two second connecting belts are respectively connected to four corner positions on the upper surface of the bottom plate, the bottom plates on the corresponding sides of the two first connecting belts and the corresponding sides of the two second connecting belts are respectively provided with an x-direction vertical plate, one of the x-direction vertical plates is provided with two pairs of first grabbing hooks, the other x-direction vertical plate is correspondingly provided with two pairs of second grabbing hooks, each pair of first grabbing hooks and each pair of second grabbing hooks are respectively close to or far away from each other through rotation of meshed gear surfaces and are used for being matched with grabbing grooves correspondingly arranged on a cargo container to put down or grab the cargo container, the bottom plate is provided with two grabbing hook driving units, and each grabbing hook driving unit is connected with one of the first grabbing hooks, the other of each pair of the first grappling hooks is connected to one of the pair of the second grappling hooks on the opposite side by a sixth link shaft.

8. The cart for storing and taking goods as claimed in claim 7, wherein said first connection belt and said second connection belt are conductors, said first connection belt is further connected to an anode of a power supply provided on said cart, said second connection belt is further connected to a cathode of said power supply, a head end of said first connection belt and a head end of said second connection belt are coupled to said grapple driving unit to directly supply power to said grapple driving unit through said power supply.

9. The cart for storing and taking cargo of claim 8, wherein said cart is powered by said power source disposed in said second chamber, said power source being a rechargeable battery.

10. A vertical library, comprising:

the access cargo trolley of any one of claims 1-9;