CN214731685U - Shuttle and commodity circulation warehouse system - Google Patents

Abstract

An object of the utility model is to provide a simple structure, arrange nimble and the low shuttle of the technique degree of difficulty and commodity circulation warehouse system. The shuttle car includes: a vehicle frame; the jacking mechanisms are arranged on the vehicle frame and used for lifting the goods; the driving wheel assembly is used for driving the shuttle car to move in the guide rail; and the mobile positioning unit is arranged at the bottom of the vehicle frame and is used for transmitting a positioning signal to the guide rail and receiving a corresponding feedback signal so as to realize the positioning of the shuttle vehicle on the guide rail. The logistics warehouse system comprises: the goods shelf is provided with a plurality of goods shelf layers, and each goods shelf layer is provided with a plurality of goods positions; the guide rails are arranged at the lower part of the goods shelf layer, and the top surface of the guide rails is provided with an opening; and the shuttle cars are positioned in the guide rails and used for transporting goods.

Description

Shuttle and commodity circulation warehouse system

Technical Field

The utility model belongs to logistics equipment field relates to a shuttle and contain commodity circulation warehouse system of this shuttle.

Background

In order to improve the area utilization rate of logistics warehouses and store more goods, a stacker or a shuttle car is often adopted to carry out warehouse entry and exit operation on goods supported by a tray at present, namely, the goods are placed on the tray, and the stacker or the shuttle car is taken and placed together with the tray to realize warehouse entry and exit of the goods.

Stacker among the prior art is provided with the fork usually, and it utilizes the extending structure of fork to realize that the goods level is got and is put, because of the flexible distance restriction that extending structure exists, can only realize three goods positions generally and get and put, can not realize getting to more distant goods position and put. Also, because the forks need to be secured to the body of the stacker and typically only extend laterally, the flexibility of picking and placing the load is limited. Correspondingly, in a logistics warehouse adopting a stacker, the arrangement of goods shelves and the like needs to be matched with the stacker, and the purposes of flexibly arranging and storing various goods with different sizes are difficult to achieve.

The shuttle car generally includes two forms, namely a four-way pallet shuttle car and a child-mother shuttle car. The four-direction pallet shuttle can move transversely and straightly, so that the four-direction pallet shuttle is free to move, but has a complex structure and a large weight and volume, and a corresponding turning plate needs to be arranged at a turning part, so that the goods shelf is required to have high installation precision and is difficult to modify conveniently; the primary and secondary shuttle car comprises a secondary car and a primary car, the direct tray taking and placing actions are completed by the secondary car, and the size of the secondary car needs to be set to be corresponding to the tray, so that the problems of complex structure and poor flexibility in actual use are caused.

In addition, some combined movable forks have been proposed in the prior art, i.e., more than two forks are used in combination to improve flexibility. However, the coordination and synchronization technology of the moving fork is difficult, and the complex environment such as a warehouse is also easy to make mistakes.

SUMMERY OF THE UTILITY MODEL

For overcoming above-mentioned problem, provide a simple structure, arrange nimble and the shuttle and commodity circulation warehouse system that the technology degree of difficulty is low, the utility model discloses a following technical scheme.

As an embodiment, the utility model provides a shuttle for the setting transports the goods in the goods shelves that have the guide rail, a serial communication port, include: a vehicle frame; the jacking mechanisms are arranged on the vehicle frame and used for lifting the goods; the driving wheel assembly is used for driving the shuttle car to move in the guide rail; and the mobile positioning unit is arranged at the bottom of the vehicle frame and is used for transmitting a positioning signal to the guide rail and receiving a corresponding feedback signal so as to realize the positioning of the shuttle vehicle on the guide rail.

The shuttle vehicle according to the above embodiment may further have a technical feature that the raising mechanism includes: the supporting bottom plate is arranged on the vehicle frame; the lower end of the jacking screw rod is rotatably arranged on the supporting bottom plate; the jacking nut is in threaded connection with the jacking screw rod; the jacking frame is fixedly connected with the jacking nut; the jacking motor is arranged in the jacking screw rod and drives the jacking screw rod to rotate around the jacking screw rod, so that the jacking screw rod drives the jacking frame to move up and down through the jacking nut, and the goods are lifted up and down.

The shuttle vehicle according to the above embodiment may further include the following features: a plurality of through positioning holes are distributed on the guide rail, and the moving positioning unit in the shuttle car can be a diffuse reflection photoelectric sensor which emits light to the direction of the guide rail and receives corresponding reflected light.

Further, the shuttle vehicle according to the above embodiment may further include: the cargo detection unit is used for detecting whether cargo exists above the cargo detection unit and comprises a diffuse reflection photoelectric sensor which emits light upwards and receives corresponding reflected light; and the adjacent cargo space detection unit comprises two diffuse reflection photoelectric sensors which respectively emit light towards the upper part of the front side and the upper part of the rear side and respectively receive corresponding reflected light.

The shuttle vehicle according to the above embodiment may further include the following features: the jacking mechanism further comprises a supporting bottom plate and a follow-up assembly, the supporting bottom plate is fixedly installed on the vehicle frame, the follow-up assembly comprises a follower fixing frame with the lower end fixedly installed on the supporting bottom plate and a cam bearing follower installed at the upper end of the follower fixing frame, the outer wall of the jacking frame is provided with a guide groove extending in the vertical direction, and the cam bearing follower is embedded in the guide groove, so that when the jacking screw rod is driven by the jacking motor to rotate, the jacking nut and the jacking frame move in the vertical direction under the matched guiding effect of the guide groove and the cam bearing follower.

The shuttle vehicle according to the above embodiment may further include the following features: the jacking mechanism further comprises a harmonic reducer, the flexible gear end of the harmonic reducer is connected with a flexible gear output fixing flange, and the flexible gear output fixing flange is fixedly connected with the top end of the jacking screw rod.

The shuttle vehicle according to the above embodiment may further include the following features: the number of the driving wheel assemblies is multiple, and each group of driving wheel assemblies consists of a driving motor, a speed reducer connected to the output end of the driving motor, a driving transmission shaft connected to the speed reducer and two driving wheels respectively installed at two ends of the driving transmission shaft.

Further, the shuttle vehicle according to the above embodiment may further include: each group of auxiliary wheel assemblies consists of an auxiliary bearing seat fixedly arranged on the frame, an auxiliary transmission shaft arranged on the auxiliary bearing seat through a bearing and auxiliary wheels fixedly arranged at the outer end of the auxiliary transmission shaft.

Further, the shuttle vehicle according to the above embodiment may further include: each group of guide wheel assemblies consists of a guide wheel fixing frame fixedly arranged on the frame, a guide transmission shaft arranged on the guide wheel fixing frame and a guide bearing arranged on the guide transmission shaft.

Further, the shuttle vehicle according to the above embodiment may further include: sweep a yard unit for reading the goods position code of goods position department thereby obtains the positional information of current goods position.

As another embodiment, the utility model also provides a logistics warehouse system, a serial communication port, include: the goods shelf is provided with a plurality of goods shelf layers, and each goods shelf layer is provided with a plurality of goods positions for placing goods; the guide rails are arranged at the lower part of the goods shelf layer, and the top surface of the guide rails is provided with an opening; and the plurality of shuttle cars are positioned in the guide rails and used for transporting goods, wherein the shuttle cars are the shuttle cars in any one of the above embodiments.

In addition, the logistics warehouse system according to the above embodiment may further include the following technical features: the goods are placed on the guide rail through the tray, and the shuttle in the guide rail corresponding to the tray jacks up the tray through the jacking mechanism, so that the goods are driven to move.

Further, the logistics warehouse system according to the above embodiment may further have the following technical features: the bottom surface of the tray can also be provided with at least 2 grooves, each groove is respectively embedded on different guide rails, and at least 2 shuttle vehicles in different guide rails are linked to jack up the same tray so as to drive the goods to move.

Utility model with the functions and effects

According to the utility model provides a shuttle is because the shuttle is equipped with the mobile location unit, and the guide rail is equipped with and removes mobile location unit matched with locating hole, consequently can realize the location of shuttle on the guide rail, avoids the problem that can not accurately align after the shuttle reachs the goods position. From this, the shuttle of this embodiment can work with the mode of two above cooperations lift a goods jointly, but does not need these shuttles to carry out mutual pairing or communication connection at all, and the technical difficulty is low, realizes easily.

Furthermore, in the logistics warehouse system provided by the utility model, because each shelf layer is provided with a plurality of guide rails, each guide rail is provided with a shuttle respectively, and a plurality of shuttles on the same shelf layer can lift a piece of goods at the same time, even if the sizes of the goods and the trays thereof are different, the goods and the trays thereof can be lifted stably, thereby ensuring smooth transportation of the goods; moreover, the guide rail interval of different goods positions can also change adaptively, from this, can set up the different goods positions of a plurality of sizes on same goods shelves layer, lets the goods position arrange more in a flexible way.

Drawings

Fig. 1 is a structural diagram of a logistics warehouse system according to an embodiment of the present invention;

FIG. 2 is a diagram of a guide structure according to an embodiment of the present invention;

fig. 3 is a view of an angle of the shuttle of the embodiment of the present invention;

fig. 4 is a structural view of another angle of the shuttle vehicle according to the embodiment of the present invention;

FIG. 5 is a block diagram of a vehicle frame according to an embodiment of the present invention;

fig. 6 is a structural view of a jacking mechanism of an embodiment of the present invention;

fig. 7 is a cross-sectional structural view of a jacking mechanism of an embodiment of the present invention;

fig. 8 is a structural view of a jacking frame of an embodiment of the present invention;

FIG. 9 is a block diagram of a drive wheel assembly according to an embodiment of the present invention;

FIG. 10 is a block diagram of an auxiliary wheel assembly according to an embodiment of the present invention;

FIG. 11 is a block diagram of a guide wheel assembly in accordance with an embodiment of the present invention;

fig. 12 is a block diagram of a charging brush plate according to an embodiment of the present invention;

fig. 13 is a schematic diagram of the shuttle car of the embodiment of the present invention jacking and lifting the goods.

Reference numerals: 100-a logistics warehouse system; 10-a shelf layer; 11-a support beam; 20-a guide rail; 21-a guide rail base plate; 211-positioning holes; 22-guide rail side plate; 23-top edge plate; 30-a shuttle vehicle; 31-a vehicle frame; 311-frame floor; 312-a front endplate; 313-a rear end plate; 314-side panels; 315-a cover plate; 32-a jacking mechanism; 321-a support floor; 322-jacking lead screw; 3221-crossed roller bearings; 3222-lead screw supporting seat; 323-jacking motor; 3230-motor support frame; 3231-motor fixing seat; 3232-harmonic reducer; 3233-flexible gear output fixing flange; 3234-motor mounting flange; 3235-rigid wheel fixing flange; 324-jacking nuts; 325-jacking frame; 3251-a guide groove; 326-a follower assembly; 3261-follower holder; 3262-cam bearing follower; 327-jacking plate; 33-a drive wheel assembly; 331-a drive motor; 332-T type decelerator; 333-driving a transmission shaft; 334-driving wheels; 34-an auxiliary wheel assembly; 341-auxiliary bearing seat; 342-an auxiliary drive shaft; 343-an auxiliary wheel; 35-a guide wheel assembly; 351-a guide wheel fixing frame; 352-a guide transmission shaft; 353-a guide bearing; 36-a mobile positioning unit; 37-a cargo detection unit; 38-adjacent cargo space detection unit; 39-code scanning unit; 40-a wireless module; 401-a WiFi antenna; 41-charging brush plate; 411-conductor plate; 412-nylon sheet; 42-a battery; 43-emergency stop switch; 44-power switch 200-cargo; 201-a tray; 2011-grooves.

Detailed Description

The following describes a specific embodiment of the logistics warehouse system according to the present invention with reference to the accompanying drawings and examples. In the following description, the description of the up and down directions is based on the direction in the normal use state, and the front and rear directions refer to the front and rear of the traveling direction of the shuttle car, respectively.

< example >

Fig. 1 is a schematic structural diagram of a logistics warehouse system according to an embodiment of the present invention.

As shown in fig. 1, the logistics warehouse system 100 of the present embodiment has racks, rails 20, and shuttles 30.

Wherein, the quantity of goods shelves is a plurality of, and every goods shelf is multilayer structure, shows one of them goods shelf layer 10 in figure 1.

As shown in fig. 1, each shelf level 10 is provided with two rails 20 at a distance L. Each guide rail 20 is mounted on the supporting beams 11 of the respective shelf level 10, i.e. in the lower part of the respective shelf level 10.

The shelf level 10 also has a plurality of cargo spaces, and each cargo 200 is placed on the corresponding cargo space by a pallet 201.

In this embodiment, the tray 201 is a tray shaped like a Chinese character 'chuan', and the bottom thereof has two recesses 2011 capable of accommodating the guide rails 20, and the two recesses 2011 are respectively fitted to the two guide rails 20, so that the tray 201 is simultaneously supported by the two guide rails 20. In addition, the shelf level 10 also has an access end, which may be located at the end or at an intermediate location along the length of the shelf level 10, for connection to other transport mechanisms to facilitate access to the cargo 200 placed at the access end.

Fig. 2 is a diagram of a guide rail structure according to an embodiment of the present invention.

As shown in fig. 2, the guide rail 20 in this embodiment is formed by connecting a plurality of guide rail sections, each of which has a frame-shaped structure with an open top surface, and has a guide rail bottom plate 21, two guide rail side plates 22, and two top side plates 23. The guide rail bottom plate 21 is fixed on the supporting beam 11, two guide rail side plates 22 are respectively formed by extending upwards from two side edges of the bottom edge, the top of each guide rail side plate 22 is provided with a top edge plate 23 extending inwards horizontally, and the top surface of the top edge plate 23 is used for supporting the tray 11.

A plurality of positioning holes 211 are distributed on the guide rail bottom plate 21 at predetermined intervals, and a part of the supporting cross beam 11 corresponding to the positioning holes 211 is also provided with a through hole, so that each positioning hole 211 is a hollow structure penetrating through the guide rail bottom plate 21 and the supporting cross beam 11.

As shown in fig. 1, one shuttle car 30 is disposed in each guide rail 20, and the two shuttle cars 30 simultaneously move in the corresponding guide rail 20 for carrying goods.

Fig. 3 is a structural view of an angle of the shuttle car according to the embodiment of the present invention, fig. 4 is a structural view of another angle of the shuttle car according to the embodiment of the present invention, fig. 3 shows the structure of the top portion and one side portion of the shuttle car, and fig. 4 shows the structure of the bottom portion and the other side portion of the shuttle car.

As shown in fig. 3 and 4, the shuttle 30 includes a vehicle frame 31, a jacking mechanism 32, a driving wheel assembly 33, an auxiliary wheel assembly 34, a guide wheel assembly 35, a mobile positioning mechanism 36, a cargo detecting unit 37, a code scanning unit 38, an adjacent cargo position detecting unit 39, a battery mechanism 40, a charging mechanism 41, a wireless module 42, and a control unit (not shown in the drawings).

Fig. 5 is a structural view of a vehicle frame according to an embodiment of the present invention.

As shown in fig. 3 to 5, the vehicle frame 31 includes a vehicle frame bottom panel 311, a front end panel 312, a rear end panel 313, two vehicle frame side panels 314, and a hood panel 315. The front end plate 312 and the rear end plate 313 are respectively disposed at the front end portion of the frame bottom plate 311, the two frame side plates 314 are respectively disposed at both sides of the frame bottom plate 311, and both side edges of the cover plate 315 are respectively fixed to the upper end portions of the two frame side plates 314, whereby the entire vehicle frame 31 has a substantially rectangular frame structure. The cover plate 315 is shorter in length than the frame side plate 314 and the frame bottom plate 311, and therefore, a cavity open upward is provided between the front end of the cover plate 315 and the front end plate 312 and between the rear end of the cover plate 315 and the rear end plate 313. In addition, the cover plate is omitted in fig. 3 in order to more clearly show the internal structure.

As shown in fig. 3, in the present embodiment, the number of the jacking mechanisms 32 is two, and the jacking mechanisms are respectively arranged in the cavities between the front end of the aforementioned cover plate 315 and the front end plate 312 and between the rear end of the cover plate 315 and the rear end plate 313.

Fig. 6 is the structure diagram of climbing mechanism of the embodiment of the present invention, and fig. 7 is the structure diagram of the cross-section of the climbing mechanism of the embodiment of the present invention.

As shown in fig. 3 and 6-7, the jacking mechanism 32 includes a supporting bottom plate 321, a jacking screw 322, a jacking motor 323, a jacking nut 324, a jacking frame 325, a follower assembly 326 and a jacking plate 327; in addition, the jacking plates 327 are omitted from fig. 6 for clarity of illustration of the structure.

The support base 321 is fixedly mounted on the rail base 21.

The outer wall of the lower end of the jacking screw 322 is provided with a cross roller bearing 3221, and the cross roller bearing 3221 is mounted on a screw supporting seat 3222, so that the jacking screw 322 is rotatably mounted on the supporting bottom plate 321.

As shown in fig. 7, the jacking screw rod 322 is a hollow structure, the jacking motor 323 is accommodated in the jacking screw rod 322, and the jacking motor 323 is fixedly mounted on the supporting base plate 321 through the motor fixing seat 3231. Meanwhile, a motor support frame 3230 is fixedly connected to the outer side of the jacking motor 323, and the motor support frame 3230 is fixedly connected with a motor fixing flange 3234; the output end of the jacking motor 323 is also provided with a harmonic reducer 3232, the rigid gear end of the harmonic reducer 3232 is fixedly connected with a motor fixing flange 3234 through a rigid gear fixing flange 3235, and the flexible gear end is fixedly connected with the top end of the jacking screw rod 322 through a flexible gear output fixing flange 3233, so that the jacking motor 323 can drive the screw rod 322 to rotate around the screw rod through the harmonic reducer 3232 and the flexible gear output fixing flange 3233.

The outer side of the jacking screw rod 322 is provided with a jacking nut 324, and the jacking nut 324 is in threaded connection with the jacking screw rod 322.

Fig. 8 is a structural diagram of a jacking frame according to an embodiment of the present invention.

As shown in fig. 7 to 8, the jacking frame 325 is formed in a cylindrical shape, and has an inner wall fixedly connected to the jacking nut 323 and an outer wall provided with two guide grooves 3251 extending in the up-down direction.

The number of the follower assemblies 326 is two, and each corresponds to the guide groove 3251. Each group of follower assemblies 326 is composed of a follower fixing frame 3261 with the lower end fixedly arranged on the supporting bottom plate 321 and a cam bearing follower 3262 arranged at the upper end of the follower fixing frame 3261; the cam bearing followers 3262 are embedded in the corresponding guide grooves 3251, so that when the jacking screw 322 is driven by the jacking motor 323 to rotate, the jacking nut 324 and the jacking frame 325 move in the up-down direction under the guiding action of the guide grooves 3251 and the cam bearing followers 3262, that is, the jacking frame 325 can be driven by the jacking motor 323 to lift and lower under the matching of the jacking screw 322, the jacking nut 324, the guide grooves 3251 and the cam bearing followers 3262.

The lifting plate 327 is a rectangular plate and is fixedly mounted on the top of the lifting frame 325 through a lifting connecting plate 3271, for supporting the tray 201.

Fig. 9 is a structural view of a drive wheel assembly according to an embodiment of the present invention.

As shown in fig. 3-4 and 9, the number of the driving wheel assemblies 33 of the present embodiment is two, the two driving wheel assemblies 33 are respectively disposed at the front position and the rear position of the middle portion of the vehicle frame 31, and each driving wheel assembly 331 is composed of a driving motor 331, a T-shaped speed reducer 332 connected to the output end of the driving motor 331, a driving transmission shaft 333 connected to the T-shaped speed reducer 332, and two driving wheels 334 respectively mounted at the two ends of the driving transmission shaft 333. Two ends of the driving transmission shaft 333 penetrate through the two frame side plates 314 respectively, so that the two driving wheels 334 are located outside the frame side plates 314, can contact with the guide rail bottom plate 21 of the guide rail 20, and rotate under the driving of the driving motor 331 and drive the shuttle 100 to move along the guide rail 20 as a whole.

Fig. 10 is a structural view of an auxiliary wheel assembly according to an embodiment of the present invention.

As shown in fig. 3-4 and 10, the number of the auxiliary wheel assemblies 34 in this embodiment is six, and the six auxiliary wheel assemblies are symmetrically disposed at two sides of the front portion, two sides of the middle portion, and two sides of the rear portion of the frame 31, and each group of the auxiliary wheel assemblies 34 is composed of an auxiliary bearing seat 341 fixedly mounted on the frame side plate 314, an auxiliary transmission shaft 342 mounted on the auxiliary bearing seat 341 through a bearing, and an auxiliary wheel 343 fixedly mounted at the outer end of the auxiliary transmission shaft 342. Auxiliary wheel 343 is a driven wheel that does not have a power mechanism and functions to assist in movement as the drive wheel assembly drives shuttle 100 to move as a whole.

Fig. 11 is a structural view of a guide wheel assembly according to an embodiment of the present invention.

As shown in fig. 3 to 4 and 11, the guide wheel assemblies 35 of the present embodiment are four in number, and are respectively provided at both sides of the front end and both sides of the rear end of the vehicle frame 31. Each set of guide wheel assemblies 35 is composed of a guide wheel fixing frame 351 fixedly installed on the side plate 312, a guide transmission shaft 352 installed on the guide wheel fixing frame 351, and a guide bearing 353 installed on the guide transmission shaft 352. Wherein, the guide bearing 353 is a rubber-coated bearing, and the outer ring thereof is made of rubber; when the shuttle 100 moves, the outer race contacts the rail side plate 22 of the rail 20, and functions as a guide direction.

As shown in fig. 4, the mobile positioning unit 36 of the present embodiment is a diffuse reflection photoelectric sensor provided at the frame floor 311, and the diffuse reflection photoelectric sensor is located at a position corresponding to the positioning hole 211 on the rail floor 21 in the width direction, and can emit light toward the rail floor 21 and receive the corresponding reflected light, so that whether the light reaches the positioning hole 211 can be determined according to the reflected light signal. Each positioning hole 211 of the present embodiment corresponds to each cargo space, and accordingly, the mobile positioning unit 36 determines that the shuttle car 100 reaches a certain cargo space when the positioning hole 211 is reached.

In addition, the frame bottom 311 is provided with a through hole corresponding to the mobile positioning unit 36, so that the optical signal and the reflected signal can pass through the through hole conveniently.

As shown in fig. 3, the cargo detecting unit 37 of the present embodiment includes two diffuse reflection photoelectric sensors provided at a position rearward of the middle of one side plate 214 and forward of the middle of the other side plate 214, respectively. The two diffuse reflection photoelectric sensors emit light upwards and receive corresponding reflected light, so that whether the tray 201 and the goods 200 exist above the two diffuse reflection photoelectric sensors can be judged according to the reflected light signals.

The adjacent cargo space detection unit 38 of the present embodiment includes two diffuse reflection photoelectric sensors respectively disposed at the outer sides of the front end plate 312 and the rear end plate 313, and the two diffuse reflection photoelectric sensors respectively emit light toward the front side upper side and the rear side upper side and respectively receive corresponding reflected light, so that whether the pallet 201 and the cargo 200 exist in the front side upper side and the rear side upper side (i.e., the adjacent front side cargo space and the rear side cargo space) can be determined according to the reflected light signals.

As shown in fig. 3, a code scanning unit 39 is further provided on the side plate 214. In this embodiment, the guide rail side plate 22 is provided with a goods position code corresponding to each goods position, and the goods positions are bar codes; the code scanning unit 39 is a bar code reader, and the position of the bar code reader corresponds to the bar code, and is used for scanning the bar code after the shuttle car 100 arrives at a certain cargo space, so as to obtain the position information of the current cargo space.

The wireless module 40 of this embodiment is a WiFi communication module, and is disposed on the side plate 412, and is used for communicating with a central control system of a logistics warehouse. In addition, two WiFi antennas 401 are attached to the wireless module 40, and the WiFi antennas 401 are respectively located at the positions of the rear end plate 313 and the front end plate 312.

The control unit of this embodiment is a single chip microcomputer provided with a control program, and is electrically connected to the jacking motor 323, the driving motor 331, the mobile positioning unit 36, the goods detection unit 37, the adjacent goods location detection unit 38, the code scanning unit 39, and the wireless module 40, and is used for controlling the work of these components.

Fig. 12 is a structural view of a charging brush plate according to an embodiment of the present invention.

As shown in fig. 3, a battery 42 is provided in the vehicle frame 31 for supplying power to various power-requiring components including the control unit; as shown in fig. 4 and 12, a charging brush plate 41 electrically connected to the battery 42 is fixed to the bottom surface of the frame floor 311, and the charging brush plate 41 is composed of two conductor plates 411 arranged in parallel on the outer side and a nylon plate 412 fixed to the side close to the frame floor 311, both of which are close to the frame floor 311 in length. The guide rail bottom plate 21 of this embodiment is further provided with a fixed charging brush electrically connected to an external power source through a wire, the position of the charging brush plate 41 corresponds to the fixed charging brush, and when the shuttle car 100 moves to the fixed charging brush in the guide rail 20, the charging brush plate 41 can contact with the fixed charging brush, thereby charging the battery 42.

In addition, in this embodiment, an emergency stop switch 43 and a power switch 44 are further provided near the front panel 312. An emergency stop switch 43 is provided on the power supply control circuit of the drive motor 331 for emergency-cutting off the power supply of the drive motor 331 to stop the forward movement of the shuttle 100 in an emergency, which is manually pressed; the power switch 44 is used to turn off or on the battery 42.

The operation of the shuttle car 100 of the present embodiment for picking and placing the goods 200 will be described below with reference to the accompanying drawings.

When the goods 200 in a certain goods position need to be taken out, the central control system sends a goods taking instruction to the two shuttle cars 30 on the goods shelf layer 11 where the goods position is located. After the wireless module 40 receives the goods taking instruction, the control unit sends an operation signal to the driving motor 331 according to the goods taking instruction, so that the driving wheel assembly drives the shuttle 30 to move on the guide rail 20; during the moving process, the control unit judges whether the goods reach the goods position according to the signal fed back by the moving positioning unit 36, and further judges whether the reached goods position is a preset goods position needing goods taking according to the signal fed back by the code scanning unit 39.

Fig. 13 is a schematic diagram of the shuttle car of the embodiment of the present invention jacking and lifting the goods, wherein fig. 13(a) is before the jacking, and fig. 13(B) is after the jacking.

As shown in fig. 13, after the predetermined cargo space is reached, the control unit determines whether cargo exists in the current cargo space according to the detection signal of the cargo detection unit 37, and sends back the in-place information to the central control system through the wireless module 40 when the cargo exists.

After receiving the in-place information of the two shuttle vehicles 30, the central control system sends a jacking instruction to the two shuttle vehicles 30 respectively. The control unit sends an operation signal to the jacking motor 323 according to the jacking instruction received by the wireless module 40, so that the jacking motor 323 drives the jacking screw rod 322 to rotate, and further drives the jacking frame 325 and the jacking plate 327 to ascend along the direction indicated by the arrow F in fig. 13 (a). The four lifting plates 327 of the two shuttles 30 are raised to pass over the top openings of the guide rails 20, and thus, the pallet 201 is contacted from four positions to the bottom of the pallet 201, and the pallet 201 and the cargo 200 are lifted together and separated from the bearing surface of the top side plate 23 of the guide rails 20. That is, the two shuttles 30 located in different guide rails 20 are linked to jack up the same pallet 201, so that the pallet 201 is separated from the support of the guide rails 20, and the pallet 201 and the cargo 200 are lifted. Then, in the lifted state, the control units of the two shuttle cars 100 respectively send operation signals to the respective driving motors 331 according to the positions (for example, other cargo spaces or the input and output end portions of the rack layer 11) to be transported of the cargo 200, so that the two shuttle cars 100 simultaneously lift the tray 201 containing the cargo 200 and drive the tray to move to the positions to be transported. After the position to be transported is determined according to the code scanning result of the code scanning unit 39, the control unit sends a reverse operation signal to the jacking motor 323, so that the jacking mechanism 32 lowers the pallet 201 and the goods 200 onto the guide rail 20 at the preset position, and the transportation of the goods 200 is completed.

Effects and effects of the embodiments

According to the shuttle that this embodiment provided, because the shuttle is equipped with the mobile location unit, the guide rail is equipped with the locating hole with mobile location unit matched with, consequently can realize the location of shuttle on the guide rail, avoids the problem that can not accurately align after the shuttle reachs the goods yard. From this, the shuttle of this embodiment can work with the mode of two above cooperations lift a goods jointly, but does not need these shuttles to carry out mutual pairing or communication connection at all, and the technical difficulty is low, realizes easily. In addition, the code scanning unit on the shuttle car can also scan the codes of the bar codes on the guide rail so as to determine the current goods position, so that the shuttle car can further accurately find the goods position needing to lift or put down the goods.

The jacking mechanism in the embodiment comprises a jacking screw rod, a jacking nut, a jacking frame and a jacking motor, and the jacking effect is realized by driving the jacking screw rod and the jacking nut to drive the jacking frame to lift through the jacking motor, so that jacking can be realized with large torque and the structure is very compact; the jacking mechanism in the form is matched with the driving wheel assembly at the lower part of the frame, so that the shuttle can move in a small space such as a guide rail at the lower part of the goods shelf, and goods are lifted by the jacking mechanism to move along the guide rail. From this, the shuttle of this embodiment can realize freight in the goods shelf layer that has the guide rail, and its whole is small, and correspondingly required space is little, very nimble.

In the commodity circulation warehouse system of this embodiment, owing to set up two guide rails in every shelf layer, be equipped with the shuttle respectively in every guide rail, these two shuttles can lift a goods simultaneously, consequently, even the size of goods and tray is different, also can steadily lift, guarantees the smooth and easy transportation of goods. Moreover, for various trays with different sizes, the guide rail spacing at different goods positions can be adaptively changed (for example, the guide rail spacing at the goods position corresponding to a certain large-size tray is enlarged), so that a plurality of goods positions with different sizes can be arranged on the same shelf layer, and the arrangement is more flexible.

In addition, the arrangement of the guide rails can be changed to adapt to trays with different sizes, and the specifications of the shuttle cars in the guide rails can be completely the same, so that even if the trays with different sizes exist in the same warehouse, the shuttle cars with the same specification can be adopted for conveying goods, and different shuttle cars do not need to be arranged for each type of tray.

The shuttle car in the embodiment is also provided with a goods detection unit, so that whether goods exist or not can be detected after the shuttle car reaches a preset goods position, and whether the goods fall or not can also be detected in the lifting moving process; in addition, adjacent goods position detecting element can detect whether there is the goods on the adjacent goods position of shuttle place goods position, consequently can discover the goods that moving route the place ahead goods position placed lifting the removal in-process, avoids taking place the condition of goods collision.

In addition, in the shuttle car of the embodiment, the charging brush plate is arranged on the bottom surface of the car frame bottom plate, so that the charging brush plate can be matched with the fixed charging brush to charge the battery; the fixed brush that charges can set up in the optional position of guide rail in a flexible way, also makes the wire on the goods shelves layer arrange more nimble. Because the length of the charging brush plate is close to that of the bottom plate of the car frame, and the charging brush plate is longer, the charging brush plate is easier to contact with the fixed charging brush during charging.

The above embodiments are provided to illustrate specific embodiments of the present invention, and the logistics warehouse system of the present invention is not limited to the form described in the above embodiments.

In the embodiment, the number of the guide rails of each goods shelf layer is two, and each guide rail is provided with a shuttle vehicle; however, the utility model discloses in, can set up more or less guide rail quantity according to the actual demand (for example goods position and goods size) on each shelf layer, can also set up two or more shuttle in every guide rail, these shuttle can carry out simultaneous transport or relay formula segmentation transportation under the control of center control system.

For example, when the tray size is great, can set up more than three guide rail, set up the recess of more than three difference gomphosis on each guide rail in the tray bottom surface, set up the shuttle respectively in every guide rail simultaneously, when needs transport the tray and goods on it, this more than three shuttle can realize linkage jack-up this tray through central control system, and then drives its removal. For another example, two shuttle vehicles can be adopted to jack the tray in the same guide rail in a linkage manner, so that the large-size tray can be stably lifted and moved.

The embodiment is illustrated in the form of the goods being placed in the pallet, but the goods may be in the form of goods not being placed in the pallet as long as they have a corresponding outer package (e.g., having a certain rigidity and a flat bottom) that allows the lifting plate to lift.

In addition, the embodiment adopts diffuse reflection photoelectric sensor and locating hole complex mode to realize the location, however the utility model discloses in, the location also can adopt other modes to realize. For example, an infrared transceiving positioning mode can be adopted, namely, an infrared transmitter is adopted to form a cargo detection unit, a positioning hole on the guide rail is replaced by an infrared receiver, and whether the positioning hole and the positioning hole are aligned or not is judged through an infrared sensing signal, so that whether the cargo reaches a cargo space or not is judged.

Further, the cargo space code of the embodiment may be replaced by other forms besides bar codes, such as two-dimensional codes or RFID tags, and the code scanning unit may be replaced by other forms of readers, such as a camera or an RFID tag reader, accordingly.

Claims (13)

1. A shuttle for positioning in a rack having guide rails for transporting goods, comprising:

a vehicle frame;

the jacking mechanisms are arranged on the vehicle frame and used for lifting the goods;

the driving wheel assembly is used for driving the shuttle car to move in the guide rail;

and the mobile positioning unit is arranged on the vehicle frame and used for transmitting a positioning signal and receiving a corresponding feedback signal so as to realize the positioning of the shuttle vehicle.

2. The shuttle of claim 1, wherein:

wherein, climbing mechanism has:

a support floor provided on the vehicle frame;

the lower end of the jacking screw rod is rotatably arranged on the supporting bottom plate;

the jacking nut is in threaded connection with the jacking screw rod;

the jacking frame is fixedly connected with the jacking nut;

the jacking motor is arranged in the jacking screw rod and drives the jacking screw rod to rotate around the jacking screw rod, so that the jacking screw rod drives the jacking frame to move up and down through the jacking nut, and then the goods are lifted and lowered.

3. The shuttle of claim 2, wherein:

wherein the jacking mechanism also comprises a supporting bottom plate and a follow-up component,

the supporting bottom plate is fixedly arranged on the vehicle frame,

the follower component comprises a follower fixing frame with the lower end fixedly arranged on the supporting bottom plate and a cam bearing follower arranged at the upper end of the follower fixing frame,

the outer wall of the jacking frame is provided with a guide groove extending along the up-down direction,

the cam bearing follower is embedded in the guide groove, so that when the jacking screw rod is driven by the jacking motor to rotate, the jacking nut and the jacking frame move along the vertical direction under the matched guiding action of the guide groove and the cam bearing follower.

4. The shuttle of claim 2, wherein:

wherein, the jacking mechanism also comprises a harmonic reducer, the flexible gear end of the harmonic reducer is connected with a flexible gear output fixing flange,

and the flexible gear output fixing flange is fixedly connected with the top end of the jacking screw rod.

5. The shuttle of claim 1, wherein:

wherein, a plurality of through positioning holes are distributed on the guide rail,

the mobile positioning unit is a diffuse reflection photoelectric sensor which emits light rays towards the guide rail direction and receives corresponding reflected light.

6. The shuttle of claim 1, further comprising:

the cargo detection unit is used for detecting whether the cargo exists above and comprises a diffuse reflection photoelectric sensor which emits light to the above and receives corresponding reflected light; and

the adjacent cargo space detection unit comprises two diffuse reflection photoelectric sensors which respectively emit light towards the upper part of the front side and the upper part of the rear side and respectively receive corresponding reflected light.

7. The shuttle of claim 1, wherein:

wherein the number of the driving wheel assemblies is multiple groups,

each group of driving wheel assembly consists of a driving motor, a speed reducer connected to the output end of the driving motor, a driving transmission shaft connected to the speed reducer and two driving wheels respectively installed at two ends of the driving transmission shaft.

8. The shuttle of claim 1, further comprising:

a plurality of groups of auxiliary wheel components,

each group of auxiliary wheel assemblies consists of an auxiliary bearing seat fixedly arranged on the frame, an auxiliary transmission shaft arranged on the auxiliary bearing seat through a bearing and an auxiliary wheel fixedly arranged at the outer end of the auxiliary transmission shaft.

9. The shuttle of claim 1, further comprising:

a plurality of groups of guide wheel assemblies are arranged,

each group of guide wheel assemblies consists of a guide wheel fixing frame fixedly arranged on the vehicle frame, a guide transmission shaft arranged on the guide wheel fixing frame and a guide bearing arranged on the guide transmission shaft.

10. The shuttle of claim 1, further comprising:

sweep a yard unit for reading the goods position code of goods position department thereby obtains the positional information of current goods position.

11. A logistics warehouse system, comprising:

the goods shelf is provided with a plurality of shelf layers, and each shelf layer is provided with a plurality of goods positions for placing goods;

the guide rails are arranged on the goods shelf, and the top surface of each guide rail is provided with an opening; and

a plurality of shuttle cars respectively positioned in the guide rails for transporting the goods,

wherein the shuttle vehicle is the shuttle vehicle of any one of claims 1 to 9.

12. The logistics warehouse system of claim 11, wherein:

the goods are placed on the guide rails by pallets,

and the shuttle in the guide rail corresponding to the tray jacks up the tray through a jacking mechanism, so that the goods are driven to move.

13. The logistics warehouse system of claim 12, wherein:

the bottom surface of the tray is provided with at least 2 grooves, each groove is respectively embedded on different guide rails, and at least 2 shuttle vehicles in different guide rails are linked to jack up the same tray so as to drive the goods to move.

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