JP7215775B2 - Parent-child loading and unloading system - Google Patents

Description

TECHNICAL FIELD The present invention relates to the technical field of logistics machinery and equipment, and more particularly to a parent-child loading and unloading system.

In the conventional logistics industry, there are universal problems such as low automation and low efficiency in loading and unloading of cargo. At present, automated multi-level warehouses are widespread, and cargo is stored in an orderly manner in each cell on the loading platform of the warehouse. However, any loading and unloading process between the truck and the forklift or conveyor belt must be performed manually, reducing the efficiency of the load conveying process. At the same time, in the process of shipping, loading, unloading, and warehousing, the loading and unloading of goods will occur many times, wasting human resources and time, and increasing logistics costs.

SUMMARY OF THE INVENTION In view of the technical problems existing in the prior art, the object of the present invention is to provide a parent-child loading and unloading system. The system has a compact structure and is easy to control. The adjustment mechanism enables automatic loading and unloading of goods, and it is also possible to load and unload goods at the end of an automated warehouse. Since there is no need to load and unload cargo, it is possible to improve efficiency and unmanned loading and unloading of cargo and loading and unloading. , transportation efficiency and safety are high.

In order to achieve the above object, the present invention employs the following technical means.
A parent-child loading and unloading system, which includes a warehouse, a transportation master vehicle, and a transportation vehicle that oscillates between the warehouse and the transportation vehicle; A wireless communication module establishes a signal connection between the child car, the parent car for transport, and the warehouse. The warehouse is equipped with multiple load-bearing beams. a lateral movement assembly attached to the longitudinal movement assembly; and a child car parking receiver attached to the lateral movement assembly, wherein the warehouse is provided with a first light belt, and the first light belt is provided with a first distance sensor A second light belt and a specular reflection sensor are provided at the end of the child car parking receptacle, and a child car reciprocating path exists between adjacent support beams. By aligning the specular reflection sensor with the first optical belt and aligning the first distance sensor with the second optical belt, the child car parking support is automatically adjusted to adjust the child car parking support to an appropriate height. to maintain an appropriate distance from the warehouse, and then the transport child car moves between the warehouse and the transport parent car to realize the loading and unloading of goods.

Further, the child car parking pad includes prongs and a support plate mounted below the prongs, the prongs and the support plate being two together, and the transport child car positioned between the two prongs. and slidably mounted on the support plate, and the second optical belt and the specular sensor are both disposed on the support plate. The prongs and support plate form a track, the transport car is stored on the transport parent car support plate, and the prongs prevent the transport car from coming off the track.

Further, the longitudinal movement assembly includes a frame attached to the vehicle body and a lift rod attached to the frame, and the lateral movement assembly includes a lift frame attached to the lift rod, a torque motor and a torque motor attached to the lift frame. a feed rod, a lead screw rotatably mounted on the lifting frame, and a vertical plate slidably mounted on the lead screw and the feed rod, wherein each of the lead screw, torque motor and vertical plate has two , the output ends of the two torque motors are respectively connected to two lead screws, the lead screws and feed rods are both horizontally installed, the two lead screws are located on the same horizontal straight line, and the two The vertical plates are respectively attached to two lead screws, and two prongs are horizontally fixed to the two vertical plates respectively. The horizontal and vertical position of the child car parking pad is adjusted by both the lateral movement assembly and the longitudinal movement assembly.

Furthermore, the lift frame is provided with a fixed plate, and the fixed plate is provided with a child car in-place sensor and a first load in-place sensor. A child car in-place sensor can determine whether a transport car is on the transport car and a first load-in-place sensor can determine whether the transport car has carried a load onto the transport car. can be detected.

Further, the warehouse is provided with a warehouse entrance, a positioning plate is installed under the warehouse entrance of the warehouse, and the first optical belt and the first distance sensor are both positioned on the positioning plate. When loading and unloading cargo, the child car parking receptacle is adjusted to just the same height as the bottom of the warehouse.

Furthermore, the support plate is further provided with a spring reset switch. When the spring reset switch on the support plate hits the positioning plate, the spring reset switch is activated, the positioning of the carrier car is completed, the movement is stopped, and the carrier car is activated to start loading and unloading. .

Additionally, a second load-in-place sensor is provided on the load support beam. The second parcel in-place sensor detects the parcel storage position and empty position in the warehouse, and reflects the parcel storage status in the warehouse in real time.

Further, the carrier vehicle includes a body frame, wheels and guide wheels rotatably mounted on the body frame, the wheels and the guide wheels being plural in number, and the plurality of wheels being distributed evenly on both sides of the body frame. , the guide wheels are evenly distributed on both sides of the body frame, the wheels are rollably mounted on the support plate, and the guide wheels are rollably positioned on the sides of the prongs. The guide wheels guide the transport child car to move onto the support plate of the transport parent car.

Furthermore, the transporter further includes an elevating slide rail attached to the body frame, a hinge rod hinged to the body frame, a lift plate hinged to the hinge rod, and a pallet fixed to the lift plate. and the output end of the lifting slide rail is connected to the lifting plate. Loading and unloading is performed by lifting and lowering cargo using a lifting plate.

In addition, an infrared light emitting tube is installed on the side of the load support beam, the infrared light emitting tube is located in the child car reciprocating path, and both sides of the vehicle frame are respectively provided with infrared light receiving tubes. Since the infrared light emitting tube and the infrared light receiving tube sense each other, it is possible to quickly know the exact position of the transporter in the warehouse.

That is, the present invention has the following advantages.
In the parent-child loading and unloading system, the present invention can transport the cargo from the transportation parent vehicle into the warehouse, or transport the cargo from the warehouse to the transportation parent vehicle. Realize During the adjustment of the loading and unloading position, the specular reflection sensor is aligned with the first light belt, the first distance sensor is aligned with the second light belt, and the child car bicycle parking support is automatically adjusted so that the child car parking support is located at the bottom of the warehouse. and the warehouse at exactly the same height, so that the carrier car can move smoothly between the carrier car and the warehouse. The transport car can sense whether there is a transport car or a load on the transport car. A second load-in-place sensor in the warehouse can reflect the storage status of the load in the warehouse in real time, so that the transport parent vehicle can accurately select the appropriate warehouse to load and unload the load. . The present invention is simple in structure, compact, and has strong applicability. The system can be automatically controlled and operated, greatly improving the efficiency of cargo loading and unloading.

FIG. 1 is a diagram showing the configuration of a parent-child type loading and unloading system. FIG. 2 is a diagram showing the structure of a warehouse. FIG. 3 is a diagram showing the configuration of a transport parent car and a transport child car. FIG. 4 is a diagram showing the configuration of a transport parent car. FIG. 5 is a diagram showing the configuration of the child car parking receptacle and the transport child car. FIG. 6 is a diagram showing the configuration of a transporter.

The present invention will now be described in more detail with reference to the drawings and specific embodiments.

In order to make it easy to see each reference numeral in the attached drawings of the description in a unified manner, the reference numerals appearing in the attached drawings of the description will be uniformly explained as follows.
1: warehouse, 2: transportation parent car, 3: transportation child car, 4: load support beam, 5: car body, 6: child car bicycle parking receiver, 7: first light belt, 8: first distance sensor, 9: 2nd light belt 10: specular reflection sensor 11: child wheel reciprocating path 12: prongs 13: support plate 14: elevation hydraulic cylinder 15: frame 16: elevation rod 17: elevation frame 18: torque Motor, 19: Feed rod, 20: Lead screw, 21: Fixed plate, 22: Child car in-place sensor, 23: First cargo in-place sensor, 24: Warehouse doorway, 25: Positioning plate, 26: Spring reset switch , 27: second load in-place sensor, 28: body frame, 29: wheel, 30: guide wheel, 31: elevating slide rail, 32: hinge rod, 33: pallet, 34: infrared light emitting tube, 35: infrared light receiving tube , 36: vertical plate.

As shown in FIGS. 1, 2, 3, 4, 5, and 6, the parent-child loading and unloading system includes a warehouse, a transportation parent vehicle, and a transportation child vehicle that shuttles between the warehouse and the transportation parent vehicle. . A wireless communication module is provided in each of the transport child car, the transport parent car, and the warehouse (not shown). A wireless communication module establishes a signal connection between the transport child car, the transport parent car, and the warehouse. The transport parent car can determine the storage position by the wireless communication module after arrival, thereby moving to the approximate position of the planned transport car round-trip path, and then by coordinating the movement of the prongs. , an accurate alignment is performed. During loading, the carrier car first loads the cargo. The transport child car then travels to the transport parent car. Subsequently, the transport parent vehicle carries the transport child vehicle together with the cargo to the warehouse entrance/exit of the warehouse. Finally, the transporter car transports and stores the cargo in the warehouse. During loading and unloading, the transport child vehicle transports the cargo in the warehouse to the transport parent vehicle. Finally, the transport parent car carries and stores the cargo in the designated loading platform. A plurality of load-supporting beams are provided in the warehouse, the load-supporting beam is located at the bottom of the warehouse, and the multiple load-supporting beams (in the direction along the width of the warehouse) are evenly distributed and parallel to each other. be. The load support beam is slightly shorter than the bottom of the warehouse and the prongs protrude so that the two can be joined just at the warehouse doorway. Two adjacent load support beams are positioned to store one load, all load support beams are distributed along the width of the warehouse, and one warehouse has a plurality of different storage positions. , a plurality of packages are stored along the length of the package support beam (the depth of the warehouse). In this embodiment, square pipes are used as the load-bearing beams, and between adjacent support beams there is a child car round-trip passage. Equal to the width of the child car. The transportation parent car includes a carbody, a longitudinal movement assembly attached to the carbody, a lateral movement assembly attached to the longitudinal movement assembly, and a child car parking lot attached to the lateral movement assembly. The car body is adopted like a forklift. The longitudinal movement assembly and the lateral movement assembly can vertically and horizontally position the child car parking cradle so that the child car parking cradle is level with the bottom of the warehouse and located in the child car round-trip aisle. By moving the car body, the child car parking tray can be positioned at the entrance and exit of the warehouse, and finally the transport child car can transport the goods back and forth between the warehouse and the main transport car. do. A first optical belt is installed in the warehouse, a first distance sensor is installed in the first optical belt, a warehouse entrance is installed in the warehouse, the warehouse corresponds to the trunk of a truck, and the warehouse is located below the warehouse entrance. is installed with a positioning plate, and the first optical belt and the first distance sensor are both positioned on the positioning plate. A second light belt and a specular reflection sensor are provided in the child car parking receptacle. When adjusting the position of the child car parking bay for loading and unloading, the transportation parent car uses the mirror reflection sensor and the sensing of the first light belt to ensure that the child car parking bay is level with the bottom of the warehouse. Let it adjust automatically. The transportation parent car uses the sensing of the second light belt and the first distance sensor to automatically adjust the child car parking receptacle to the appropriate unloading distance from the warehouse, and align it vertically with the warehouse doorway of the warehouse. At the same time, the first distance sensor adjusts the position of the two prongs by detecting the two second light belts on the child car parking lot, aligning both prongs with the round-trip path so that the transport child car is in contact with the transport parent. Make it easy to move between cars and warehouses.

The child car parking pad includes prongs and a support plate mounted below the prongs. There are two prongs and two support plates. A transporter is positioned between the two prongs and the transporter is slidably mounted on the support plate. A second optical belt and a specular sensor are both located on the support plate. The width of the prongs is less than the width of the support plate. When the transport car is parked on the transport car, the wheels of the transport car are on the support plate. There are prongs on each side of the transporter. The prongs and support plate form a track that defines that the transporter can reciprocate in only one direction. One end of the prongs and one end of the support plate are both fixed to the lateral movement assembly, and the other end of the prongs and the other end of the support plate are suspended in the air. Using the second light belt at the ends of the two prongs and the first distance sensor on the warehouse to sense the middle position between the two prongs, and adjust the prongs horizontally to find the middle position of the prongs with the middle position of the child car shuttle path on the transport parent car to allow the transport child car between the two prongs to align with the child car shuttle path. A second light belt and a specular sensor are aimed at the warehouse when the child car parking receptacle is adjusted to be in proximity to the warehouse.

The longitudinal movement assembly includes a frame attached to the vehicle body and a lift rod attached to the frame. A ball screw can be used for the lifting rod. A lateral movement assembly is attached to the slider of the ball screw. The ball screw lead screw is rotationally driven by a servomotor to vertically move the traverse assembly. A lateral translation assembly includes a lift frame attached to the lift rod, a torque motor and feed rod attached to the lift frame, a lead screw rotatably attached to the lift frame, and slidably attached to the lead screw and feed rod. Including vertical planks. The vehicle body is provided with an elevation hydraulic cylinder, and the frame is connected to the output end of the elevation hydraulic cylinder. There are two lead screws and torque motors and vertical plates. The output ends of the two torque motors are respectively connected to two lead screws. Both the lead screw and feed rod are installed horizontally. The two lead screws are positioned on the same horizontal straight line. The two vertical plates are attached to two lead screws respectively. Two prongs are horizontally fixed to two longitudinal plates respectively. The two torque motors can respectively control the lateral movement of the two prongs, thereby changing the width between the two prongs, adapting to different warehouses and pallets, but during loading and unloading Both move in the same direction at the same speed, and the distance does not change. A threaded hole is provided in the longitudinal plate, and the threaded hole in the longitudinal plate engages an external thread on the lead screw. A torque motor drives the lead screw to move the vertical plate horizontally. The upper end of the longitudinal plate is slidably attached to the feed rod, the threaded hole is in the center of the longitudinal plate, and the prongs and support plate are at the lower end of the longitudinal plate. A feed rod can translate the vertical plate. The feed rod makes the load bearing of the vertical plate more balanced and more stable when carrying the load.

A fixed plate is provided on the lift frame, and the fixed plate is located at the lower end of the lift frame and above the prongs. The fixed plate is provided with a child car in-place sensor and a first cargo in-place sensor. A child car in-place sensor is located below the first load in-place sensor. A child car in-place sensor detects whether the transport child car is on the support plate. A first load-in-place sensor detects whether there is a load on the transport carriage. A first load sensor and a child car in-place sensor can determine whether the transport child car is directly under the pallet. This system has a lateral position adjustment mechanism in the automated warehouse when receiving the goods from the loading platform of the automated warehouse, and the automated warehouse belongs to the prior art.

A spring reset switch is also provided on the support plate. A spring reset switch is located at the end of the floating end of the support plate, next to the specular sensor. When the support plate approaches the positioning plate of the warehouse, the spring reset switch contacts the positioning plate, and the trigger of the spring reset switch automatically stops the transportation parent car from moving, preventing the collision between the transportation parent car and the warehouse. prevent and keep the prongs in contact with the warehouse during loading and unloading.

A second load-in-place sensor is provided on the load support beam. The second load-in-place sensors are multiple and evenly distributed along the length of the load support beam. The second load-in-place sensor can detect where the load is located in the warehouse, which is convenient for the transport carriage to quickly find the unloading position.

The transporter includes a body frame, wheels and guide wheels rotatably mounted on the body frame. There are multiple wheels and guide wheels. The plurality of wheels are evenly distributed on both sides of the body frame, and the plurality of guide wheels are evenly distributed on both sides of the body frame. The axis of rotation of the wheel is horizontal and the axis of rotation of the guide wheel is vertical. A wheel is rollably mounted on the support plate, and a guide ring is rollably positioned on the side of the prongs, with the peripheral surface of the guide ring contacting the side of the prongs. The prongs prevent the carriage from slipping as it moves on the carriage, and the guide wheels reduce the friction between the prongs and the body frame of the carriage, allowing the carriage to move on the support plate. guide to.

The cart further includes a lift slide rail attached to the body frame, a hinge rod hinged to the body frame, a lift plate hinged to the hinge rod, and a pallet fixed to the lift plate. A pallet can receive a load. The output end of the elevating slide rail is connected to the elevating plate. The elevating slide rail is located in the center of the elevating plate. The lifting slide rail functions to prevent the lifting plate from rotating and overturning during lifting. When transporting cargo inside the pallet, the lift plate is lowered to place the load on the load support beam. lower than

An infrared light-emitting tube is installed on the side of the cargo support beam, the infrared light-emitting tube is located in the sub-car reciprocating path, and an infrared light-receiving tube is installed on both sides of the vehicle body frame. Two infrared receiving tubes are installed on both sides of the body frame of the transporter. As the transporter moves through the warehouse, the infrared receiver tube interacts with the infrared emitter tube on the load support beam, allowing real-time monitoring of the specific position of the transporter within the warehouse. When the second infrared receiving tube on the body frame is triggered, it proves that the transporter has completely returned to the track, and this is also used as a reference point to locate the vehicle, thereby locating the cargo. Based on information from the load-in-place sensors on the support beam, the distance traveled by the transporter to deposit or receive the load can be known. When the transport car has finished placing or picking up the luggage and triggers the infrared receiver tube again, it indicates to board the transport car. The transport parent vehicle activates the child vehicle in-place sensor and checks to see if the transport vehicle moves into position.

Working principle of this device: During loading, the transporter car moves to the child car parking lot of the transporter car after taking out the cargo from the loading platform, and the child car in-place sensor and the first cargo in-place sensor are They respectively detect whether the transport child car and the package have already been transported to the transport parent car. After determining the presence of the transport child car and the presence of the goods, the transport parent car will know the storage location in advance through the wireless communication module and move to the storage location warehouse. In this process, the transportation parent car adjusts the position of the child car parking pad by aligning the second light belt with the first distance sensor of the warehouse and the specular reflection sensor with the first reflective belt of the warehouse, and prong Using the specular reflection sensor at the end of the warehouse and the sensing of the first light belt in the warehouse, the height of the upper surface of the support plate is leveled to match the height of the bottom plane of the warehouse to facilitate the movement of the transporter. There is a second optical belt at the end of the two supporting plates, and the sensing distance between the two second optical belts and the first distance sensor determines the center position of both, and the two prongs are horizontally adjusted at the same time. , prevent the two prongs from changing the pitch, and at the same time, the center of the prongs and the center of the child wheel round-trip path are coincident, thereby realizing the alignment of the two prongs and the child wheel round-trip path. In this process the two prongs are respectively driven by two torque motors to achieve horizontal adjustment of the two prongs. The sensing distance of the first distance sensor in the warehouse is 2 meters, and the first distance sensor is activated when the distance between the front end of the transport parent car (the car body when empty and the goods at the front end when loaded) and the warehouse reaches 2 meters. Then, the transport parent car begins to adjust its position and posture, and by the differential speed rotation and forward motion of the two car body wheels, it is rudimentary to match the back-and-forth path of the child car that complements the cargo in advance, and the front end of the car body moves into the warehouse entrance. perpendicular to the plane. The adjustment distance of this process is less than 0.5 meters, and the position and attitude adjustment is completed. When the distance between the leading end of the transportation carriage and the warehouse reaches 1.5 meters, the transportation carriage stops moving forward, the prongs rise, and when the specular sensor aligns with the first reflective belt of the warehouse, the specular sensor be a trigger. At this time, the height of the upper surface of the support plate and the bottom plane of the warehouse are aligned, and the height adjustment of the prongs is completed. After that, the transportation parent car continues to move forward, and the first distance sensor detects the real-time distance value of the second optical belt at the tip of the two support plates, so that the speed of the two differential wheels is adjusted during movement, and the transportation Ensure that the parent vehicle remains perpendicular to the warehouse tail positioning plate. The two prongs make a fine horizontal adjustment when the distance between the prong tips and the warehouse is 0.1 meters. This process detects the position of the two second optical belts with the first distance sensor. When the second light belt corresponds to the middle position of the triggered two-stage first distance sensor, and is located in the center of the first distance sensor under the pre-stored child car round-trip path, the two prongs Accurate alignment with the vehicle shuttle path completes the leveling of the prongs. The transport carriage continues forward movement until the spring reset switch at the end of the support plate hits the warehouse positioning plate, triggering the spring reset switch and the transport carriage stops moving. Due to the adjustment process described above, the transport parent car stops moving (activation of the spring reset switch) after the position of the child car parking receptacle is positioned close to the bottom in the warehouse and at the same height. Immediately after that, the transporter car starts operation, the transporter car moves from the transporter car into the warehouse, and when the transporter car moves in the warehouse's child car round-trip passage, the infrared light emitting tube and the transporter car in the warehouse By sensing each other by the upper infrared receiver tubes, the system can reveal the specific position of the transporter within the warehouse. After transporting the cargo to the proper position in the warehouse, the transporter car drives the lifting plate on the body frame to store the cargo to be shipped on the cargo support beam. A second load-in-place sensor on the load support beam can sense whether the transporter has already placed the load in the warehouse. After placing the cargo in the warehouse, the transport child car returns to the transport parent car along the child car round-trip path, and the child car in-place sensor on the transport child car detects whether the transport child car has returned to the transport parent car. to detect When the goods in the warehouse are unloaded, the process of adjusting the child car parking receptacle to the proper unloading position by the transport parent car coincides with the loading process. When the position of the child car parking tray is close to the bottom in the warehouse and level with it, the transport parent car stops moving, the transport child car moves from the transport parent car to the bottom of the warehouse load, and the transport car The load is lifted by raising the lifting plate of the child car. The transport child car returns to the transport parent car on its original road after picking up the load. The transportation parent car detects whether or not the transportation child car and the package have returned to the transportation parent car by the child car in-place sensor and the first package in-place sensor. Finally, the transport parent car transports the load to a loading platform or designated point. The installation of the loading platform in this application is the same as that of the warehouse, the loading platform is located in the automated warehouse, and the process of loading and unloading the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading process of the loading and unloading process of the loading and unloading process of the loading and unloading of the loading and unloading of the loading and unloading process of the loading and unloading process of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading of the loading and unloading. There is a device for arranging packages on the loading platform in the automated warehouse.

The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and can be changed, modified, or modified without departing from the spirit and principle of the present invention. Permutations, combinations and simplifications are included within the scope of the invention as equivalent permutations.

(Appendix)
(Appendix 1)
A parent-child loading and unloading system,
including a warehouse, a transportation parent vehicle, and a transportation child vehicle that shuttles between the warehouse and the transportation parent vehicle;
A wireless communication module is provided in the transport child car, the transport parent car, and the warehouse,
signal connection between the transport child car, the transport parent car, and the warehouse is performed by the wireless communication module;
A plurality of load support beams are provided in the warehouse,
the transport parent car includes a carbody, a longitudinal movement assembly attached to the carbody, a lateral movement assembly attached to the longitudinal movement assembly, and a child car parking lot attached to the lateral movement assembly;
A first optical belt is provided in the warehouse, a first distance sensor is provided on the first optical belt,
A second light belt and a mirror reflection sensor are provided at the end of the child car parking support,
characterized in that there is a child car reciprocating passage between the adjacent load support beams,
Parent-child loading and unloading system.

(Appendix 2)
The child car parking pad includes a prong and a support plate attached below the prong,
both the prongs and the support plate are two;
the transporter is positioned between two of the prongs and slidably mounted on the support plate;
The second optical belt and the specular sensor are both arranged on the support plate,
The parent-child loading and unloading system of paragraph 1.

(Appendix 3)
the longitudinal motion assembly includes a frame attached to the vehicle body and a lifting rod attached to the frame;
The lateral movement assembly includes a lift frame attached to the lift rod, a torque motor and feed rod attached to the lift frame, a lead screw rotatably attached to the lift frame, the lead screw and the a vertical plate slidably attached to the feed rod;
Each of the lead screw, the torque motor and the vertical plate has two,
the output ends of the two torque motors are respectively connected to the two lead screws;
the lead screw and the feed rod are both horizontally installed;
The two lead screws are positioned on the same horizontal straight line,
The two vertical plates are respectively attached to the two lead screws,
The two prongs are respectively fixed to the two vertical plates,
Parent-child loading and unloading system according to Appendix 2.

(Appendix 4)
The lifting frame is provided with a fixed plate, and the fixed plate is provided with a child car in-place sensor and a first cargo in-place sensor,
Parent-child loading and unloading system according to Appendix 3.

(Appendix 5)
The warehouse is provided with a warehouse entrance, the warehouse is provided with a positioning plate below the warehouse entrance, and the first optical belt and the first distance sensor are both positioned on the positioning plate. to be
Parent-child loading and unloading system according to Appendix 2.

(Appendix 6)
The support plate is further provided with a spring reset switch,
Parent-child loading and unloading system according to clause 5.

(Appendix 7)
wherein the load support beam is provided with a second load-in-place sensor,
The parent-child loading and unloading system of paragraph 1.

(Appendix 8)
the transporter includes a body frame, wheels and guide wheels rotatably attached to the body frame;
There are a plurality of the wheels and the guide wheels,
a plurality of said wheels evenly distributed on both sides of said body frame;
the plurality of guide wheels are evenly distributed on both sides of the vehicle body frame;
The wheels are rotatably mounted on the support plate,
wherein the guide wheels are rollably positioned on the sides of the prongs,
Parent-child loading and unloading system according to Appendix 2.

(Appendix 9)
The transporter further comprises an elevating slide rail attached to the body frame, a hinge rod hinged to the body frame, a lift plate hinged to the hinge rod, and a lift plate fixed to the lift plate. and a pallet, wherein the output end of the elevating slide rail is connected to the elevating plate,
Parent-child loading and unloading system according to clause 8.

(Appendix 10)
an infrared light emitting tube is provided on a side surface of the load support beam;
The infrared light emitting tube is positioned in the sub-wheel reciprocating passage,
An infrared receiving tube is provided on each side of the vehicle frame,
Parent-child loading and unloading system according to clause 9.

Claims (10)

A parent-child loading and unloading system,
including a warehouse, a transportation parent vehicle, and a transportation child vehicle that shuttles between the warehouse and the transportation parent vehicle;
A wireless communication module is provided in the transport child car, the transport parent car, and the warehouse,
signal connection between the transport child car, the transport parent car, and the warehouse is performed by the wireless communication module;
A plurality of load support beams are provided in the warehouse,
the transport parent car includes a carbody, a longitudinal movement assembly attached to the carbody, a lateral movement assembly attached to the longitudinal movement assembly, and a child car parking lot attached to the lateral movement assembly;
A first optical belt is provided in the warehouse, a first distance sensor is provided on the first optical belt,
A second light belt and a mirror reflection sensor are provided at the end of the child car parking support,
A sub-wheel round-trip path exists between the adjacent load support beams ,
The child car parking receptacle includes a prong and a support plate attached below the prong,
both the prongs and the support plate are two;
the transporter is positioned between two of the prongs and slidably mounted on the support plate;
The second optical belt and the specular sensor are both arranged on the support plate ,
Parent-child loading and unloading system. the longitudinal motion assembly includes a frame attached to the vehicle body and a lifting rod attached to the frame;
The lateral movement assembly includes a lift frame attached to the lift rod, a torque motor and feed rod attached to the lift frame, a lead screw rotatably attached to the lift frame, the lead screw and the a vertical plate slidably attached to the feed rod;
Each of the lead screw, the torque motor and the vertical plate has two,
the output ends of the two torque motors are respectively connected to the two lead screws;
the lead screw and the feed rod are both horizontally installed;
The two lead screws are positioned on the same horizontal straight line,
The two vertical plates are respectively attached to the two lead screws,
The two prongs are respectively fixed to the two vertical plates,
Parent-child loading and unloading system according to claim 1 . The lifting frame is provided with a fixed plate, and the fixed plate is provided with a child car in-place sensor and a first cargo in-place sensor,
Parent-child loading and unloading system according to claim 2 . The warehouse is provided with a warehouse entrance, the warehouse is provided with a positioning plate below the warehouse entrance, and the first optical belt and the first distance sensor are both positioned on the positioning plate. to be
Parent-child loading and unloading system according to claim 1 . The support plate is further provided with a spring reset switch,
Parent-child loading and unloading system according to claim 4 . wherein the load support beam is provided with a second load-in-place sensor,
Parent-child loading and unloading system according to claim 1. the transporter includes a body frame, wheels and guide wheels rotatably attached to the body frame;
There are a plurality of the wheels and the guide wheels,
a plurality of said wheels evenly distributed on both sides of said body frame;
the plurality of guide wheels are evenly distributed on both sides of the vehicle body frame;
The wheels are rotatably mounted on the support plate,
wherein the guide wheels are rollably positioned on the sides of the prongs,
Parent-child loading and unloading system according to claim 1 . The transporter further comprises an elevating slide rail attached to the body frame, a hinge rod hinged to the body frame, a lift plate hinged to the hinge rod, and a lift plate fixed to the lift plate. and a pallet, wherein the output end of the elevating slide rail is connected to the elevating plate,
Parent-child loading and unloading system according to claim 7 . an infrared light emitting tube is provided on a side surface of the load support beam;
The infrared light emitting tube is positioned in the sub-wheel reciprocating passage,
An infrared receiving tube is provided on each side of the vehicle frame,
Parent-child loading and unloading system according to claim 8 . A parent-child loading and unloading system,
including a warehouse, a transportation parent vehicle, and a transportation child vehicle that shuttles between the warehouse and the transportation parent vehicle;
A wireless communication module is provided in the transport child car, the transport parent car, and the warehouse,
signal connection between the transport child car, the transport parent car, and the warehouse is performed by the wireless communication module;
A plurality of load support beams are provided in the warehouse,
the transport parent car includes a carbody, a longitudinal movement assembly attached to the carbody, a lateral movement assembly attached to the longitudinal movement assembly, and a child car parking lot attached to the lateral movement assembly;
A first optical belt is provided in the warehouse, a first distance sensor is provided on the first optical belt,
A second light belt and a mirror reflection sensor are provided at the end of the child car parking support,
A sub-wheel round-trip path exists between the adjacent load support beams,
wherein the load support beam is provided with a second load-in-place sensor,
Parent-child loading and unloading system.

Images