WO2021223351A1

WO2021223351A1 - Primary-secondary loading and unloading vehicle system

Info

Publication number: WO2021223351A1
Application number: PCT/CN2020/115779
Authority: WO
Inventors: 艾山; 曹绪祥; 尹佳琪; 谷牧; 浣沙; 戴淦锷
Original assignee: 广州大学
Priority date: 2020-05-08
Filing date: 2020-09-17
Publication date: 2021-11-11
Also published as: JP2022537612A; CN111717581B; CN111717581A; JP7215775B2

Abstract

A primary-secondary loading and unloading vehicle system, comprising a goods container (1), a primary transportation vehicle (2), and a secondary transportation vehicle (3) that shuttles back and forth between the goods container (1) and the primary transportation vehicle (2). Wireless communication modules are arranged on the secondary transportation vehicle (3), the primary transportation vehicle (2), and the goods container (1); the secondary transportation vehicle (3), the primary transportation vehicle (2), and the goods container (1) are in signal connection with each other by means of the wireless communication modules; several goods supporting beams (4) are provided in the goods container (1); the primary transportation vehicle (2) comprises a vehicle body (5), a longitudinal moving assembly mounted on the vehicle body (5), a lateral moving assembly mounted on the longitudinal moving assembly, and a secondary vehicle parking and supporting member (6) mounted on the lateral moving assembly; a first light band (7) is provided on the goods container (1); a first distance sensor (8) is provided on the first light band (7); a second light band (9) and a specular reflection sensor (10) are provided on the tail end of the secondary vehicle parking and supporting member (6); and a secondary vehicle shuttling channel (11) is present between adjacent supporting beams (4). The primary-secondary loading and unloading vehicle system can realize the automatic loading and unloading of goods without the need for manually carrying the goods.

Description

Child-mother loading and unloading system

Technical field

The invention relates to the technical field of logistics machinery and equipment, in particular to a child-mother loading and unloading system.

Background technique

The existing logistics industry generally has problems such as low automation and low efficiency in loading and unloading goods. At present, automated three-dimensional warehouses have been promoted. The goods in the warehouse shelves are stored in an orderly manner and are picked and placed by shuttle transfer vehicles. Workers enter and leave the warehouse through transmission belts or forklifts, but the process of loading and unloading goods between trucks and forklifts or conveyor belts , All require manual participation, which reduces the efficiency of the cargo transshipment process. At the same time, multiple goods are stacked and unstacked during the process of unloading, loading, unloading, and warehousing, which wastes manpower and time and increases logistics costs.

Summary of the invention

In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a child-mother loading and unloading system with compact structure and easy control. The adjustment mechanism can automatically load and unload goods, and can also be used at the automated warehouse Loading and unloading of goods does not require manual handling of goods, thereby improving efficiency and achieving unmanned operation of goods loading and unloading and in and out of the warehouse. At the same time, the cargo pallet can be used as a unit, modular transportation, no stacking or unstacking during transportation, transportation efficiency and safety high.

In order to achieve the above objective, the present invention adopts the following technical solutions:

A parent-child loading and unloading system includes a cargo warehouse, a mother transport vehicle, and a transport child vehicle that shuttles back and forth between the warehouse and the mother transport vehicle; the transport child vehicle, the mother transport vehicle, and the warehouse are all equipped with wireless communication modules to transport the child The vehicle, the mother transport vehicle, and the cargo warehouse are signally connected by a wireless communication module. There are several cargo support beams in the cargo warehouse. The mother transport vehicle includes a body, a longitudinal moving component installed on the vehicle body, and a longitudinal moving component. The horizontal movement component, the sub-car parking bracket installed on the horizontal movement component; the first light belt is provided on the warehouse, the first distance sensor is arranged on the first light belt, and the end of the sub-car parking bracket is provided The second light belt and the specular reflection sensor have a shuttle channel between adjacent support beams. The mirror reflection sensor is aligned with the first light band and the first distance sensor is aligned with the second light band to automatically adjust the sub-car parking bracket, so that the sub-car parking bracket is adjusted to a suitable height and kept at a suitable distance from the cargo warehouse. Then the transport child vehicle moves between the cargo warehouse and the transport mother vehicle to load or unload the goods.

Further, the carriage parking bracket includes fork teeth and a pallet installed below the fork teeth; there are two fork tines and pallets, and the transport vehicle is located between the two fork teeth and the transport vehicle is slidably mounted on On the pallet, the second light strip and the specular reflection sensor are all located on the pallet. The fork teeth and the pallet form a rail, and the transport child cart is stored on the pallet of the mother transport vehicle, and the fork teeth prevent the transport child from deviating from the rail.

Further, the longitudinal movement component includes a frame installed on the vehicle body and a lifting rod installed on the frame; the lateral movement component includes a lifting frame installed on the lifting rod, a torque motor and a light beam installed on the lifting frame, and rotating The lead screw mounted on the lifting frame, the vertical plate mounted on the lead screw and the polished rod by the sliding type; the lead screw and the torque motor and the vertical plate have two, and the output ends of the two torque motors are respectively connected to the two lead screws , The lead screw and the polished rod are arranged horizontally, the two lead screws are located on the same horizontal straight line, the two vertical plates are respectively installed on the two lead screws, and the two prongs are respectively fixed horizontally on the two vertical plates. The horizontal and vertical positions of the child car parking bracket are jointly adjusted by the horizontal movement component and the longitudinal movement component.

Furthermore, the lifting frame is provided with a fixed plate, and the fixed plate is provided with a sub-car in position sensor and a first cargo in-position sensor. The child vehicle presence sensor can determine whether the transport child vehicle is on the parent transport vehicle, and the first cargo presence sensor can sense whether the transport child vehicle has moved the goods to the parent transport vehicle.

Further, the cargo warehouse is provided with a warehouse opening, and a positioning plate is arranged under the warehouse opening of the cargo warehouse, and the first light belt and the first distance sensor are both located on the positioning plate. When loading and unloading goods, the parking bracket of the sub-car is just adjusted to the same height as the bottom of the cargo warehouse.

Furthermore, a spring return switch is also provided on the pallet. When the spring return switch on the pallet touches the positioning plate, the spring return switch is triggered, the transport mother vehicle is positioned and stops moving, the transport child vehicle starts, and starts loading and unloading goods.

Furthermore, a second cargo in-position sensor is provided on the cargo support beam. The second cargo in-position sensor senses the storage position and vacant position of the cargo in the cargo warehouse, and reflects the storage situation of the cargo in the cargo warehouse in real time.

Furthermore, the transport vehicle includes a frame, wheels and guide wheels that are all rotatingly mounted on the frame; there are several wheels and guide wheels, and the several wheels are evenly distributed on both sides of the frame, and there are several guide wheels. Evenly distributed on both sides of the frame, the wheels are installed on the pallet in a rolling manner, and the guide wheels are installed on the side of the tines in a rolling manner. The guide wheel guides the transport child vehicle to move to the pallet of the transport mother vehicle.

Further, the transport vehicle also includes a lifting slide mounted on the frame, a hinge rod hinged to the frame, a lifting plate hinged to the hinge rod, and a pallet fixed on the lifting plate; the output end of the lifting slide and Lifting board connection. Lift or lower the goods through the lifting plate for loading and unloading.

Furthermore, the side of the cargo support beam is provided with infrared emitting tubes, which are located in the shuttle channel of the sub-car, and both sides of the frame are equipped with infrared receiving tubes. The infrared transmitting tube and the infrared receiving tube sense each other, so that the accurate position of the transport vehicle in the warehouse can be known in time.

In general, the present invention has the following advantages:

A child-mother loading and unloading vehicle system. In the present invention, the transport child vehicle can transport goods from the parent transport vehicle to the warehouse, and can also move the goods from the warehouse to the parent transport vehicle to realize the loading and unloading of the goods. During the adjustment of the loading and unloading position, the mirror reflection sensor is aligned with the first light belt and the first distance sensor is aligned with the second light belt to automatically adjust the sub-car parking bracket, so that the sub-car parking bracket is just as high as the bottom of the cargo warehouse. Connected with the cargo warehouse, the transport sub-car can move smoothly between the mother transport cart and the cargo warehouse. The transport parent vehicle can sense whether the transport child vehicle and the goods are on the transport parent vehicle. The second cargo in-position sensor in the cargo warehouse can reflect the storage situation of the cargo in the cargo warehouse in real time, so that the transport mother vehicle can accurately select the appropriate cargo warehouse to load and unload the cargo. The invention has a simple and compact structure and strong applicability. The system can be automatically controlled and operated, which greatly improves the efficiency of cargo loading and unloading.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the child-mother loading and unloading truck system.

Figure 2 is a schematic diagram of the structure of the warehouse.

Figure 3 is a schematic diagram of the structure of the transport mother vehicle and the transport child vehicle.

Figure 4 is a schematic diagram of the structure of the transport mother vehicle.

Fig. 5 is a schematic diagram of the structure of the sub-car parking bracket and the transport sub-car.

Figure 6 is a schematic diagram of the structure of the transport subcar.

Detailed ways

Hereinafter, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

In order to facilitate the unified viewing of the various reference signs in the drawings of the specification, the reference signs appearing in the drawings of the specification are described as follows:

1 is the warehouse, 2 is the mother transport vehicle, 3 is the transport child vehicle, 4 is the cargo support beam, 5 is the vehicle body, 6 is the child vehicle parking bracket, 7 is the first light belt, 8 is the first distance sensor, 9 is the second light belt, 10 is the mirror reflection sensor, 11 is the shuttle channel of the subcar, 12 is the fork, 13 is the pallet, 14 is the elevation hydraulic cylinder, 15 is the frame, 16 is the lifting rod, 17 is the lifting frame, 18 is a torque motor, 19 is a smooth rod, 20 is a lead screw, 21 is a fixed plate, 22 is a vehicle in-position sensor, 23 is the first cargo in-position sensor, 24 is a warehouse, 25 is a positioning plate, and 26 is a spring Reset switch, 27 is the second cargo in-position sensor, 28 is the frame, 29 is the wheel, 30 is the guide wheel, 31 is the lifting slide, 32 is the articulated rod, 33 is the tray, 34 is the infrared emission tube, and 35 is the infrared The receiving tube, 36 is a vertical plate.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, and Figure 6, a parent-child loading and unloading system includes a warehouse, a transport mother vehicle, and a transport child vehicle that shuttles back and forth between the warehouse and the transport mother vehicle. ; The transport child vehicle, transport mother vehicle, and warehouse are all equipped with wireless communication modules (not shown in the figure). The transport child vehicle, transport mother vehicle, and warehouse are connected by wireless communication module signals, and the transport mother vehicle is in place After that, the wireless communication module can determine the placement position to move to the general position of the planned shuttle channel of the subcar, and then adjust the movement of the tines to accurately align it. When loading. The transport child car loads the goods first, and then the transport child car moves to the transport mother car. Then the transport mother car transports the transport child car and the goods to the warehouse mouth together, and finally the transport child car moves and stores the goods in the warehouse. When unloading, the transport sub-car transports the goods in the warehouse to the transport parent vehicle, and finally the transport parent vehicle transports the goods to the designated shelf for storage. There are several cargo support beams in the cargo warehouse. The cargo support beams are located at the bottom of the cargo warehouse. The cargo support beams (along the width of the cargo warehouse) are evenly distributed and parallel to each other. The cargo support beams are slightly longer than the length of the bottom of the cargo warehouse. Short, protruding front end of the prongs, so that the two can be docked just at the mouth of the warehouse. Two adjacent cargo support beams are used as a location for storing goods. All the cargo support beams are distributed along the width of the warehouse, so that a warehouse has multiple different storage positions along the length of the cargo support beam (storage warehouse). Multiple goods can be placed on the depth direction). In this embodiment, a square tube is used as the cargo support beam, there is a shuttle channel between adjacent support beams, and the width of the shuttle channel (the distance between the two cargo support beams) of the shuttle is equal to the width of the transport carriage. The mother transport vehicle includes a vehicle body, a longitudinal moving component installed on the vehicle body, a horizontal moving component installed on the longitudinal moving component, and a child car parking bracket installed on the horizontal moving component; the vehicle body adopts a longitudinal moving component similar to a forklift. And the horizontal movement component can drive the sub-car parking bracket to adjust the position in the vertical and horizontal directions, so that the sub-car parking bracket can be at the same height as the bottom of the cargo warehouse and aligned with the shuttle channel of the sub-car. The child car parking bracket can be located at the mouth of the cargo warehouse, and finally the transport child car can shuttle the cargo back and forth between the cargo warehouse and the transportation mother car. The warehouse is provided with a first light belt, the first light belt is provided with a first distance sensor, the warehouse is equipped with a warehouse, the warehouse is equivalent to the carriage of a truck, and a positioning plate is arranged under the warehouse mouth. A light belt and the first distance sensor are both located on the positioning plate; a second light belt and a mirror reflection sensor are arranged on the child car parking support. When adjusting the position of the child car parking bracket for loading and unloading goods, the transport mother car uses the mirror reflection sensor and the first light belt to sense, so that the child car parking bracket is automatically adjusted to the same height as the bottom of the cargo warehouse, and the transport mother car uses the second light. With sensing with the first distance sensor, the parking pallet of the sub-car is automatically adjusted to a proper unloading distance from the cargo warehouse, and it is vertically aligned with the warehouse opening. At the same time, the first distance sensor detects the position on the parking pallet of the sub-car Two second light belts, adjust the position of the two prongs so that the two prongs are aligned with the shuttle channel, which is convenient for the transport child to move between the transport mother vehicle and the cargo warehouse.

The vehicle parking bracket includes fork teeth and a pallet installed under the fork teeth; there are two fork teeth and pallets. The transport vehicle is located between the two fork teeth and the transport vehicle is slidably mounted on the pallet. Both the second light band and the specular reflection sensor are located on the pallet. The width of the fork teeth is smaller than the width of the pallet. When the transport child car is parked on the mother transport vehicle, the wheels of the transport child car are on the pallet, and the two sides of the transport child car are fork teeth. The fork teeth and the pallet form a limit. The transport subcar can only move back and forth in one direction. One end of the prongs and one end of the pallet are both fixed to the lateral movement component, and the other end of the prongs and the other end of the pallet are suspended in the air. The second light strip at the ends of the two prongs and the first distance sensor on the cargo warehouse are used. Induction, the intermediate position between the two forks is obtained, and the forks are adjusted horizontally so that the intermediate position of the forks is aligned with the intermediate position of the shuttle channel of the child car on the mother car, so that the transport child car between the two forks can be Align the shuttle channel of the sub-car. When the parking bracket of the adjusting subcar is close to the cargo warehouse, the second light belt and the mirror reflection sensor point to the cargo warehouse.

The longitudinal movement component includes a frame installed on the car body and a lifting rod installed on the frame; the lifting rod can use a ball screw, and the horizontal moving component is installed on the slider of the ball screw, and the ball screw is driven by the servo motor. The lever rotates, thereby driving the horizontal movement assembly to move in the vertical direction. The lateral movement components include a lifting frame installed on the lifting rod, a torque motor and a light bar all installed on the lifting frame, a screw mounted on the lifting frame in a rotating manner, and a vertical plate mounted on the screw and polished rod in a sliding manner; The body is equipped with an elevation hydraulic cylinder. The frame is connected to the output end of the elevation hydraulic cylinder. There are two lead screws, torque motors and vertical plates. The output ends of the two torque motors are respectively connected to two lead screws, the lead screw and the polished rod. Both are arranged horizontally, the two lead screws are located on the same horizontal straight line, the two vertical plates are respectively installed on the two lead screws, and the two prongs are respectively fixed horizontally on the two vertical plates. Two torque motors can respectively control the lateral movement of the two fork teeth, so that the width between the two fork teeth can be changed to adapt to different warehouses and pallets, but they move in the same direction and at the same speed during loading and unloading. Change. The vertical plate is provided with threaded holes. The threaded hole of the vertical plate is matched with the external thread on the screw. The screw is driven by the torque motor to drive the vertical plate to move in the horizontal direction. The upper end of the vertical plate is slidably mounted on the polished rod. The threaded hole Located in the middle of the vertical board, the fork tines and the pallet are located at the lower end of the vertical board. The polished rod can guide the vertical plate to move, and the polished rod makes the force of the vertical plate more balanced and more stable when carrying goods.

The lifting frame is provided with a fixed plate, which is located at the lower end of the lifting frame and close to the top of the tines. The fixed plate is provided with a sub-car in position sensor and a first cargo in-position sensor. The sub-car in position sensor is located in the first cargo in-position sensor. Below the position sensor, the child vehicle in-position sensor detects whether the transport child vehicle is on the pallet, and the first cargo in-position sensor detects whether there is goods on the transport mother vehicle. The first cargo sensor and the subcar in position sensor can determine whether the transport subcar is directly below the pallet. When the system picks up the goods from the automatic storage shelf, the automatic storage has a horizontal position adjustment mechanism, and the automatic storage belongs to the existing technology.

The pallet is also provided with a spring return switch. The spring return switch is located at the end of the suspended end of the pallet and next to the mirror reflection sensor. When the pallet is close to the positioning plate of the cargo warehouse, the spring return switch contacts the positioning plate, and the spring return switch is triggered to make the transport mother car stop moving automatically, preventing the transport mother The truck collides with the cargo warehouse, and at the same time, ensure that the fork teeth and the cargo warehouse are in contact during loading and unloading.

The cargo supporting beam is provided with second cargo in-position sensors, and the second cargo in-position sensors are evenly distributed along the length direction of the cargo supporting beam. The second cargo in-position sensor can detect which position in the cargo warehouse has cargo, which is convenient for the transportation mother vehicle to quickly locate the position for loading and unloading.

The transport subcar includes a frame, wheels and guide wheels that are all rotatingly mounted on the frame; there are several wheels and guide wheels, and several wheels are evenly distributed on both sides of the frame, and several guide wheels are evenly distributed on the car. On both sides of the frame, the rotation axis of the wheel is horizontal, and the rotation axis of the guide wheel is vertical. The wheel is installed on the pallet in a rolling manner, and the guide wheel is installed on the side of the fork tooth in a rolling manner. The circumferential surface of the guide wheel is in contact with the side of the fork tooth. . The fork teeth prevent the transport vehicle from deviating when it moves on the transport mother vehicle. The guide wheel can reduce the friction between the fork teeth and the frame of the transport child vehicle and guide the transport child vehicle to move on the pallet.

The transport vehicle also includes a lifting slide mounted on the frame, a hinged rod hinged to the frame, a lifting plate hinged to the hinge rod, and a pallet fixed on the lifting plate; the pallet can hold the goods and the output of the lifting slide The end is connected with the lifting plate. The lifting slide is located in the center of the lifting plate. The lifting slide can prevent the lifting plate from rotating and overturning when lifting. The pallet rises to lift the goods when the transport vehicle loads the goods, and the transport vehicle transports the goods to the warehouse. When the lifting plate is lowered to place the goods on the cargo support beam, the height of the pallet is lower than the height of the cargo support beam when the lifting plate is lowered to the lowest position for unloading.

The side of the cargo support beam is provided with an infrared emitting tube, which is located in the shuttle channel of the sub-car, and both sides of the frame are equipped with infrared receiving tubes. There are two infrared receiving tubes on both sides of the frame of the transport sub-car. When the transport sub-car is moving in the warehouse, the infrared receiving tube and the infrared emitting tube on the cargo support beam can be sensed, which can monitor the transport sub-car in real time. The specific location in the warehouse. When the second infrared receiver tube on the frame is triggered, it proves that the transport vehicle has completely arrived in the truck. At the same time, this is also used as a reference point to calibrate the position of the vehicle, so that it can be based on the information of the cargo in-position sensor on the cargo support wheel. Know the movement distance of the transport vehicle to place or pick up the goods. When the transport child vehicle finishes placing the goods or picking up the goods, and the infrared receiver is triggered again, it indicates that it is going to be on the transport parent vehicle, and the transport parent vehicle will activate the child vehicle presence sensor to confirm whether the transport child vehicle is in place.

The working principle of this device: when loading goods, the transport vehicle moves from the shelf to the child vehicle parking bracket of the transport mother vehicle, and the child vehicle in-position sensor and the first cargo in-position sensor respectively sense the transport child vehicle. And whether the goods have been transported to the mother transport vehicle; after confirming that the transport child vehicle is in place and there is goods, the transport mother vehicle learns the placement location through the wireless communication module in advance, and the transport parent vehicle moves to the warehouse where the transport location is placed, and transports in the process The mother car relies on the second light belt to align the first distance sensor of the cargo warehouse and the mirror reflection sensor to the first reflective belt of the cargo warehouse to adjust the position of the child car parking bracket, through the mirror reflection sensor at the end of the fork, and the cargo warehouse The first light belt of the pallet is sensed and leveled, so that the height of the top surface of the pallet is aligned with the height of the bottom plane of the cargo warehouse, which is convenient for the movement of the transportation cart; The sensing distance between the second light belt and the first distance sensor is used to determine the center position of the two tines, and the two tines are adjusted horizontally at the same time, so that the center of the tines is aligned with the center of the shuttle channel of the subcar without changing the distance between the two tines. Therefore, the alignment of the two fork teeth with the shuttle channel of the sub-car is realized. In this process, the two fork teeth are respectively driven by two torque motors to realize the horizontal adjustment of the two fork teeth. The first distance sensor of the cargo warehouse is aligned with the sensing distance of 2 meters. When the front end of the transport mother car (the car body when unloaded, the front-end goods when loaded) and the cargo warehouse are 2 meters away, the first distance When the sensor is triggered, the mother transport vehicle starts to adjust the position and attitude. Through the two-wheel differential rotation and forward movement of the vehicle body, it is initially aligned with the shuttle channel of the pre-placed cargo child vehicle. At the same time, the front end of the vehicle body is perpendicular to the plane of the warehouse. The adjustment distance of this process Less than 0.5 meters, complete the adjustment of position and posture. When the distance between the front end of the transport mother car and the cargo warehouse is 1.5 meters, the mother transport car stops moving forward, the tines are lifted, and the mirror reflection sensor is aligned with the first reflective tape of the cargo warehouse, the mirror reflection sensor is triggered. The height of the bottom plane of the cargo warehouse is aligned to complete the height adjustment of the fork teeth. Then the mother transport vehicle continues to move forward, and the first distance sensor detects the distance value of the second light strip at the front of the two pallets in real time, so as to adjust the speed of the two differential wheels during the movement to ensure the positioning plate at the rear of the transport mother vehicle and the warehouse. Keep it vertical. When the distance between the front end of the tines and the cargo warehouse is 0.1 meters, the two tines perform horizontal fine-tuning. This process relies on the first distance sensor to detect the positions of the two second light bands. When the middle position of the first distance sensor is located at the center of the first distance sensor belt at the lower part of the shuttle channel of the pre-placed sub-car, the two tines are precisely aligned with the shuttle channel of the sub-car, and the level adjustment of the tines ends. The mother transport vehicle continues to move forward until the spring return switch at the end of the pallet touches the positioning plate of the cargo warehouse, which triggers the spring return switch, and the movement of the mother transport vehicle stops. Through the above adjustment process, the position of the child car parked on the pallet is consistent with that in the cargo warehouse. When the bottom of the vehicle is close to and at the same height, the transport mother vehicle stops moving (the spring return switch is triggered). Immediately after the transport subcar is started, the transport subcar is moved from the mother transport vehicle to the cargo warehouse. When the transport subcar moves on the shuttle channel of the cargo warehouse, it passes through the infrared emission tube in the cargo warehouse and on the transport subcar. The infrared receiving tubes of the system sense each other, so that the system can know the specific position of the transport vehicle in the warehouse. The transport subcar moves the goods to a suitable position in the warehouse and then drives the lifting plate on the frame to lift the goods, so that the goods are stored on the cargo support beam. The second cargo in-position sensor on the cargo support beam can sense the transport sub-car. Whether the truck has placed the goods in the cargo warehouse, the transport sub-car will return the goods to the sub-car along the shuttle channel after the cargo is placed in the cargo warehouse. Back to the transport mother car. When unloading the cargo in the cargo warehouse, the process of the transport mother car adjusting the child car parking pallet to a suitable unloading position is the same as the loading process, and the position of the child car parking pallet is close to and at the same level as the bottom of the cargo warehouse. After the height, the transport mother vehicle stops moving, the transport child vehicle moves from the transport mother vehicle to the bottom of the cargo in the warehouse, and then the lifting plate of the transport child vehicle rises to hold the goods, and the transport child vehicle lifts the goods and returns to the original road for transportation. On the parent vehicle, the transport parent vehicle pair uses the child vehicle in-position sensor and the first cargo in-position sensor to detect whether the transport child vehicle and the goods are back on the transport parent vehicle. Finally, the transport parent vehicle transports the goods to the shelf or the designated location. The shelf settings in the application are the same as the warehouse. The shelves are located in the automatic storage. The process of picking up or unloading goods on the shelves by the transport mother and transport sub-cars is the same as the process of picking up or unloading from the warehouse. The shelves in the automatic storage There is a device for adjusting the goods.

The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, etc. made without departing from the spirit and principle of the present invention Simplified, all should be equivalent replacement methods, and they are all included in the protection scope of the present invention.

Claims

A child-mother loading and unloading system, which is characterized in that it includes a cargo warehouse, a transport mother vehicle, and a transport child vehicle that shuttles back and forth between the warehouse and the transport mother vehicle; the transport child vehicle, the transport mother vehicle, and the warehouse are all equipped with wireless communication Module, the transport child vehicle, the transport mother vehicle, and the cargo warehouse are connected by a wireless communication module signal. There are several cargo support beams in the cargo warehouse. The horizontal movement component on the longitudinal movement component, the child car parking bracket installed on the horizontal movement component; the first light belt is provided on the warehouse, and the first distance sensor is provided on the first light belt. The end is provided with a second light belt and a mirror reflection sensor, and there is a shuttle channel between adjacent support beams.
The parent-child loading and unloading system according to claim 1, characterized in that: the child vehicle parking bracket includes fork teeth and a pallet installed below the fork teeth; there are two fork teeth and pallets, and the transport child vehicle is located Between the two tines and the transport cart is slidably mounted on the pallet, the second light belt and the mirror reflection sensor are both located on the pallet.
The mother-child loading and unloading system according to claim 2, characterized in that: the longitudinal movement component includes a frame installed on the vehicle body and a lifting rod installed on the frame; the lateral moving component includes a lifting frame installed on the lifting rod , Torque motors and light bars installed on the lifting frame, rotary screw mounted on the lifting frame, sliding vertical plates mounted on the screw and polished rod; screw and torque motors and vertical plates have two, The output ends of the two torque motors are respectively connected to two lead screws. The lead screws and polished rods are arranged horizontally. The two lead screws are located on the same horizontal straight line. The two vertical plates are respectively installed on the two lead screws. Two fork teeth They are respectively fixed on two vertical boards.
The parent-child loading and unloading system according to claim 3, wherein the lifting frame is provided with a fixed plate, and the fixed plate is provided with a child vehicle in-position sensor and a first cargo in-position sensor.
The parent-child loading and unloading system according to claim 2, characterized in that: the cargo warehouse is provided with a warehouse opening, a positioning plate is arranged below the warehouse opening, and the first light belt and the first distance sensor are both located on the positioning plate superior.
The mother-child loading and unloading truck system according to claim 5, wherein the pallet is also provided with a spring return switch.
The parent-child loading and unloading system according to claim 1, wherein a second cargo in-position sensor is provided on the cargo support beam.
The parent-child loading and unloading system according to claim 2, characterized in that: the transport vehicle includes a frame, wheels and guide wheels that are both rotatably installed on the frame; there are several wheels and guide wheels, and several The wheels are evenly distributed on both sides of the frame, a number of guide wheels are evenly distributed on both sides of the frame, the wheels are installed on the pallet in a rolling manner, and the guide wheels are installed on the side of the tines in a rolling manner.
The parent-child loading and unloading system according to claim 8, characterized in that: the transport child vehicle further comprises a lifting slide mounted on the frame, an articulated rod hinged to the frame, a lifting plate articulated to the hinge rod, and a fixed The tray on the lifting board; the output end of the lifting slide is connected with the lifting board.
The parent-child loading and unloading system according to claim 9, characterized in that: the side of the cargo support beam is provided with an infrared emitting tube, the infrared emitting tube is located in the shuttle channel of the child vehicle, and both sides of the frame are provided with infrared receiving tubes .