WO2022041683A1 - 立体库用穿梭车换层提升机及穿梭车运输装置 - Google Patents

立体库用穿梭车换层提升机及穿梭车运输装置 Download PDF

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Publication number
WO2022041683A1
WO2022041683A1 PCT/CN2021/080358 CN2021080358W WO2022041683A1 WO 2022041683 A1 WO2022041683 A1 WO 2022041683A1 CN 2021080358 W CN2021080358 W CN 2021080358W WO 2022041683 A1 WO2022041683 A1 WO 2022041683A1
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WO
WIPO (PCT)
Prior art keywords
shuttle car
shuttle
vehicle
dimensional
car
Prior art date
Application number
PCT/CN2021/080358
Other languages
English (en)
French (fr)
Inventor
魏旭光
Original Assignee
北京京东乾石科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to JP2023509682A priority Critical patent/JP2023537970A/ja
Priority to US18/041,204 priority patent/US20230294919A1/en
Publication of WO2022041683A1 publication Critical patent/WO2022041683A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0428—Transfer means for the stacker crane between the alleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the present disclosure relates to the field of warehousing and logistics, and more particularly, to a layer-changing hoist of a shuttle car for a three-dimensional warehouse and a shuttle car transport device.
  • the shuttle is an intelligent robot used in the field of warehousing and logistics. Based on programming, it can perform tasks such as picking, transporting, and placing, and can communicate with the host computer or warehouse management system (WMS), combined with radio frequency identification (RFID), barcode identification, etc. Recognition technology to achieve automatic identification, access to goods and other functions. In daily warehousing and logistics, the picking and placing of goods based on shuttle vehicles has gradually become normal. However, in the process of realizing the concept of the present disclosure, the inventors found that there are at least the following problems in the prior art: the existing shuttle car hoist is suitable for a four-way shuttle car, that is, a shuttle car that can move in the left and right and front and rear directions, The hoist can only lift the shuttle in the vertical direction.
  • the utility model relates to a hoist suitable for a two-way shuttle, and the hoist has a lifting function and a rotating function at the same time.
  • the present disclosure provides a shuttle car layer changing elevator for a three-dimensional warehouse and a shuttle car transport device.
  • the shuttle car layer changing hoist comprises: a three-dimensional support frame and a car carrying device for carrying the shuttle car.
  • the three-dimensional support frame is provided with a lifting driving member, and the lifting driving member is used for driving the vehicle carrier to move along the vertical direction.
  • the vehicle-carrying device is located in the three-dimensional support frame, and the vehicle-carrying device includes: a main frame structure and a rotatable vehicle-carrying structure arranged in the main frame structure.
  • a support member is provided within the main frame structure.
  • the rotatable vehicle-carrying structure includes: a rotating disc arranged on the support; a rotary drive member arranged on the support for driving the rotating disc to rotate; and a vehicle-carrying part arranged on the rotating disc for carrying shuttle.
  • the vehicle carrying portion includes: an intermediate support and a vehicle carrying frame.
  • the intermediate support is fixed on the rotating disk, and the displacement driving component and the first guide structure are arranged on the intermediate support.
  • the above-mentioned vehicle carrier is used for placing the shuttle, the vehicle carrier is provided with a moving part matched with the first guide structure, and the displacement driving component is used to drive the vehicle carrier to move along the extending direction of the first guide structure.
  • the vehicle carrier is further provided with a second guide structure matched with the wheels of the shuttle, and the extension direction of the second guide structure is the same as the extension direction of the first guide structure.
  • a side edge of the vehicle carrier along the extending direction of the first guide structure is further provided with a wing plate.
  • guide wheels are provided at the top corners of the main frame structure, and the guide wheels are used to assemble with the three-dimensional support frame in the vertical direction to limit the vertical movement of the vehicle carrier along the main frame structure.
  • openings are provided on the intermediate support at positions other than the displacement driving components, and the openings are used to reduce the weight of the vehicle carrying device on the premise of ensuring strength.
  • the main frame structure includes: a peripheral frame and a support beam disposed on the top plane of the peripheral frame, and the support beam is used to enhance the structural strength and protect the internal structure from impact from foreign objects.
  • the shuttle is a two-way shuttle, and the two-way shuttle is a shuttle that moves in two opposite directions on the same straight line.
  • a shuttle transport device comprises: at least two of any of the above-mentioned shuttle car floor changing elevators; and disposed between two adjacent shuttle car floor changing elevators among the at least two shuttle car floor changing elevators The transverse track for the shuttle car to move between the adjacent shuttle car change layer elevators.
  • at least two shuttle car floor changing elevators are used to be arranged on the edge of the roadway of the three-dimensional shelf. Based on the lifting and rotation of the shuttle car by the shuttle car layer changing elevator, the shuttle car can be used between different heights of the same three-dimensional shelf. And transport items between different three-dimensional shelves.
  • the lifting driving member can drive the vehicle carrying device to move in the vertical direction.
  • the vehicle carrying structure is rotatable in the main frame, and has both lifting and rotating functions.
  • the shuttle car can not only change the height in the vertical direction with the car-carrying device, but also realize the rotation reversal with the car-carrying structure, which can at least partially solve the problem that the existing hoist is only suitable for four
  • the high cost caused by the shuttle car and the complicated setting of the supporting racks and roadways; the hoist has both lifting and rotating functions, which can be applied to the two-way shuttle.
  • the shuttle car transports items between different heights of the same three-dimensional shelf and between different three-dimensional shelves.
  • FIG. 1 schematically shows a three-dimensional structure diagram of a shuttle car layer changing elevator for a three-dimensional warehouse according to an embodiment of the present disclosure
  • Fig. 2 schematically shows the front view of the shuttle car for layer changing elevator as shown in Fig. 1;
  • FIG. 3 schematically shows a schematic three-dimensional structure diagram of a vehicle carrying device according to an embodiment of the present disclosure
  • Fig. 4 schematically shows a top view of the vehicle carrying device shown in Fig. 3;
  • Fig. 5 schematically shows a front view of the vehicle carrying device shown in Fig. 3;
  • FIG. 6 schematically shows a cross-sectional view of the vehicle carrying device shown in FIG. 3 taken along the line A-A1;
  • FIG. 7 schematically shows a perspective structural view of a main frame structure, a rotating disk and a rotating driving member of a vehicle carrying device according to an embodiment of the present disclosure
  • FIG. 8 schematically shows a perspective structural view of an intermediate support of a vehicle carrying portion according to an embodiment of the present disclosure
  • FIG. 9 schematically shows a perspective structural view of a vehicle carrier frame of a vehicle carrier part according to an embodiment of the present disclosure
  • FIG. 10 schematically shows a perspective structural view of the vehicle carrying device according to an embodiment of the present disclosure, cut along the line A-A1;
  • FIG. 11 schematically shows a top view of the structure of a shuttle vehicle transport device in cooperation with a three-dimensional shelf according to an embodiment of the present disclosure.
  • first”, “second” and similar words do not indicate any order, quantity or importance, but are only used to distinguish different components.
  • Words like “connected” or “connected” are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
  • the azimuth terms “upper”, “lower”, “left”, “right”, “top”, “bottom”, etc. are only used to indicate the relative positional relationship. When the absolute position of the described object is changed, the relative positional relationship will also be may change accordingly. It will be understood that when an element such as a layer, film, region or component is referred to as being “on” or “under” another element, it can also be “directly on” or “under” the other element, Or intermediate elements may be present. In the drawings of the present disclosure, the coordinate systems of all drawings are consistent.
  • the embodiments of the present disclosure provide a shuttle car layer changing hoist for a three-dimensional warehouse and a shuttle car transportation device.
  • the shuttle car layer changing hoist for a three-dimensional warehouse has both lifting and rotating functions, and can be applied to a two-way shuttle.
  • the setting of the three-dimensional shelf and the roadway is relatively simple, and the two-way shuttle vehicle can realize the transportation of goods between different heights of the same three-dimensional shelf and between different three-dimensional shelves.
  • the shuttle car layer changing elevator for a three-dimensional warehouse includes: a three-dimensional support frame and a vehicle carrying device for carrying the shuttle car.
  • the three-dimensional support frame is provided with a lift drive member, and the lift drive member is used to drive the vehicle carrier to move along the vertical direction.
  • the vehicle-carrying device is located in the three-dimensional support frame, and the vehicle-carrying device includes: a main frame structure and a rotatable vehicle-carrying structure arranged in the main frame structure.
  • the lifting driving member can drive the vehicle carrying device to move along the vertical direction.
  • the vehicle carrying structure is rotatable in the main frame, and has both lifting and rotating functions.
  • the first exemplary embodiment of the present disclosure provides a shuttle car layer changing elevator for a three-dimensional warehouse, which has both a lifting function and a rotating function for the shuttle car.
  • the shuttle car layer changing elevator for a three-dimensional warehouse of the present disclosure can be applied to a two-way shuttle car, which is a shuttle car that moves in two opposite directions on the same straight line.
  • the two-way shuttle can move along the positive and negative directions of x (front and rear) or the positive and negative directions of y (left and right).
  • the problems of high cost and complicated arrangement of supporting racks and roadways caused by the existing hoist being only suitable for the four-way shuttle can be at least partially solved.
  • the hoist of the present disclosure is also applicable to other types of shuttles, such as four-way shuttles, and the hoist of the present disclosure expands the scope of application of the shuttles.
  • Fig. 1 schematically shows a three-dimensional structure diagram of a shuttle car layer changing hoist for a three-dimensional warehouse according to an embodiment of the present disclosure; main view.
  • the shuttle car layer changing hoist M for a three-dimensional warehouse of the present disclosure includes: a three-dimensional support frame 1 and a vehicle carrying device 2 for carrying the shuttle car.
  • the three-dimensional support frame 1 is provided with a lift drive member 4, and the lift drive member 4 is used to drive the vehicle carrying device 2 to move along the vertical direction.
  • the vehicle-carrying device 2 is located in the three-dimensional support frame 1 , and the vehicle-carrying device 2 includes: a main frame structure and a rotatable vehicle-carrying structure disposed in the main frame structure.
  • a three-dimensional support frame 1 as a support frame of a hoist M, includes: a bottom plate, and four uprights arranged on the bottom plate, connected to one of the tops of the two groups of uprights among the four uprights. two parallel prisms in between, and a beam fixed between the two prisms.
  • the structure of the three-dimensional support frame here is only an example, not a limitation of the protection scope, and other frame structures capable of supporting are all within the protection scope of the present disclosure.
  • the three-dimensional support frame 1 is provided with a lifting driving member 4 , and the lifting driving member 4 may be a device or structure that provides power for the lifting of the rotatable platform 2 .
  • the lift driving member 4 is a servo motor, and based on the servo motor, the received electrical signal can be converted into angular displacement or angular velocity on the motor shaft for output to drive the control object, and has a small electromechanical time constant and linearity. characteristics such as high speed and starting voltage.
  • the transmission member 3 is connected between the vehicle carrying device 2 and the lifting driving member 4 .
  • the transmission member 3 may be a timing belt.
  • the timing belt is connected between the vehicle carrying device 2 and the lifting driving member 4 .
  • the two ends of the synchronous belt are respectively fixed on the transmission parts 213 in the vehicle carrying device 2 which are distributed on the outer side of the frame body 210 of the main frame structure, and on the lower part.
  • the fixed end of the transmission member connecting portion 213 extends to the three-dimensional support frame 1 , and extends along the prism, the upright column of the three-dimensional support frame 1 and the first rotating shaft provided on the bottom plate.
  • a second rotating shaft is also provided on the bottom plate, and the position of the second rotating shaft corresponds to the position of the transmission member connecting portion 213 below the vehicle carrying device.
  • the timing belt can be connected to the transmission element connecting portion 213 below the vehicle carrying device through the bottom plate along the first rotating shaft and around the second rotating shaft.
  • the servo motor as an example of the lifting drive member 4 is used to drive the first rotating shaft.
  • the synchronous belt as an example of the transmission member 3 will be driven at a predetermined speed, thereby driving the vehicle carrying device 2 along the vertical direction. direction (z direction) to move. Based on the driving of the lift driving member 4 and the transmission of the transmission member 3, the vehicle carrying device 2 can be moved in the vertical direction.
  • FIG. 3 schematically shows a schematic three-dimensional structure diagram of a vehicle carrying device according to an embodiment of the present disclosure
  • FIG. 4 schematically shows a top view of the vehicle carrying device as shown in FIG. 3
  • FIG. 5 schematically shows a schematic diagram of FIG. 3
  • Figure 6 schematically shows a cross-sectional view of the vehicle carrying device shown in Figure 3 taken along the line A-A1
  • Figure 7 schematically shows an embodiment according to the present disclosure
  • FIG. 8 schematically shows the three-dimensional structure diagram of the middle support member of the vehicle carrying part according to the embodiment of the present disclosure
  • FIG. 9 schematically shows Figure 10 schematically shows a perspective structural view of the vehicle carrying device according to the embodiment of the present disclosure cut along the line A-A1.
  • the vehicle carrying device 2 includes: a main frame structure 21 and a rotatable vehicle carrying structure disposed in the main frame structure 21 .
  • a support member 210 b is provided in the main frame structure 21 .
  • the rotatable vehicle-carrying structure includes: a rotary disk 212 disposed on the support 210b; a rotary drive member disposed on the support 210b for driving the rotary disk to rotate; The car-carrying part above the rotating disc 212 is used to carry the shuttle car.
  • the vehicle carrying portion includes: an intermediate support member 22 and a vehicle carrying frame 23 .
  • the middle support 22 is fixed on the rotating disk 212 , and a displacement driving member 223 and a first guide structure 222 are arranged on the middle support 22 .
  • the above-mentioned vehicle carrier 23 is used for placing the shuttle.
  • the vehicle carrier 23 is provided with a moving portion 232 that cooperates with the first guide structure 222 , and the displacement driving member 223 is used to drive the vehicle carrier 23 to extend along the first guide structure 222 . direction move.
  • the vehicle carrier 23 is further provided with a second guide structure 234 matched with the wheels of the shuttle, and the extension direction of the second guide structure 234 is the same as that of the first guide structure 222 same direction.
  • the main frame structure 21 includes: a frame body 210 .
  • the frame body 210 includes a peripheral frame 210a and a support member 210b disposed on the bottom plane of the peripheral frame 210a.
  • the frame body 210 further includes a support beam 210c disposed on the top plane of the peripheral frame 210a, and the support beam 210c is used to enhance the structural strength and protect the internal structure from being impacted by foreign objects.
  • the peripheral frame 210a is a cubic frame with 12 edges in total.
  • the outer frame 210a defines a space for placing and rotating the vehicle-carrying structure.
  • the dimensions of the length (y direction) and width (x-direction) need to satisfy the placement and rotation of the vehicle-carrying structure.
  • the plane on which the support member 210b is located can be adjusted according to actual needs, and the above embodiment is only an exemplary implementation.
  • the rotary disk 212 is disposed on the support member 210b, and rotates in a horizontal plane under the driving action of the rotary driving member, and drives the vehicle carrying portion to rotate.
  • the main frame structure 21 further includes: a transmission part connecting part 213 for connecting with the transmission part 3 , and the transmission part connecting parts 213 are symmetrically distributed on the outer side of the frame body 210 .
  • the two groups of transmission connection parts 213 shown in FIG. 7 are symmetrically arranged on the four edges of the peripheral frame 210a along the x-axis, and each group of transmission connection parts 213 is arranged on two parallel upper and lower sides. The middle part of the edge. Based on the symmetrical distribution of the transmission member connecting parts 213, it is helpful to ensure that the main frame structure 21 does not shake or skew during the process of moving in the vertical direction based on the driving of the lift driving member 4 and the transmission of the transmission member 3. .
  • guide wheels 211 are also provided at the top corners of the main frame structure 21 .
  • the top corners of the peripheral frame 210 a are provided with guide wheels 211 .
  • the moving direction and trajectory enable the vehicle carrying device 2 to achieve stable movement.
  • the driving form of the above-mentioned rotary driving member and the corresponding transmission form may be a motor+gear transmission or a motor+synchronous belt transmission or the like.
  • the following is an example of motor + gear transmission.
  • the rotary driving member includes: a servo motor reducer composite structure 215 and a driving gear 214 .
  • the servo motor reducer composite structure 215 is disposed below the support member 210b.
  • the driving gear 214 is disposed above the support member 210b.
  • the composite structure 215 of the servo motor and reducer is a composite structure in which the servo motor and the reducer are axially connected.
  • the rotary disk 212 includes a driven gear 212a, a shaft column 212c and a tray 212b, and the driven gear 212a is connected to the tray 212b through the shaft column 212c.
  • the shaft of the driving gear 214 is connected with the shaft of the composite structure of the servo motor reducer 215, and the driving gear 214 is engaged with the driven gear 212a at the bottom of the rotary disk 212.
  • the driving of the structure 215 makes the driving gear 214 rotate, and drives the tray 212b on the rotating disk 212 to rotate.
  • the rotating disk 212 rotates in the horizontal plane under the driving action of the rotating driving member, and drives the vehicle carrying portion fixed on the rotating disk structure 212 to rotate.
  • the vehicle carrying portion includes: an intermediate support member 22 and a vehicle carrying frame 23 .
  • the intermediate support member 22 is used to be fixed on the rotating disk 212 , and a displacement driving member 223 and a first guide structure 222 are disposed on the intermediate support member 22 .
  • the above-mentioned vehicle carrier 23 is used for placing the shuttle.
  • the vehicle carrier 23 is provided with a moving portion 232 that cooperates with the first guide structure 222 , and the displacement driving member 223 is used to drive the vehicle carrier 23 to extend along the first guide structure 222 . direction move.
  • the intermediate support member 22 includes a support body 220 , a displacement driving member 223 and a first guide structure 222 .
  • the displacement driving member 223 is disposed on the support plate 220, and the displacement driving member 223 includes a fixed portion 223a and a movable portion 223b that can move relative to the fixed portion 223a under its own driving action.
  • the first guide structure 222 may be in the form of a guide rail.
  • the first guide structure 222 is disposed on both sides of the support body 220 , and the extension direction of the first guide structure 222 is consistent with the moving direction of the movable portion 223 b of the displacement driving member 223 .
  • the displacement driving component 223 may be an electric cylinder, an air cylinder, or other types of devices or structures having a fixed part and a movable part that moves in position under its own driving action.
  • the intermediate support member 22 further includes a support base 221 disposed on the support body 220 .
  • the support base 221 is used to connect the displacement driving member 223 and the support body 220 , and the support base 221 and the displacement driving member 223 are connected by
  • the fixed portion 223a is connected to fix the fixed portion 223a of the displacement driving member 223 on the support body 220, and a gap exists between the movable portion 223b of the displacement driving member 223 and the upper surface of the support body 220, so as to satisfy the requirement of the movable portion 223b. move.
  • the above-mentioned support base 221 includes a base and a corner structure located above the base.
  • the corner structure extends in an arc from the plane where the base is located. 223a connection.
  • the vehicle carrier frame 23 includes: a vehicle carrier support frame 230 and a moving part 232 .
  • the vehicle support frame 230 defines a space 231 for accommodating the displacement driving member 223 .
  • the vehicle-carrying support frame 230 is in the form of a quadrilateral frame.
  • a cross beam is arranged inside the quadrangular frame. It is required that after the vehicle carrier frame 23 is assembled with the intermediate support member 22 , the above-mentioned space 231 can accommodate the displacement driving member 223 .
  • the above-mentioned moving part 232 may be a roller set.
  • the vehicle carrier 23 is further provided with a second guide structure 234 matching the wheels of the shuttle, and the extension direction of the second guide structure 234 is the same as that of the first guide structure 222 .
  • a second assembly part 233 is disposed inside the vehicle support frame 230 , as shown in FIG. 9 ; a first assembly part 2231 is disposed at the end of the movable part 223 b as shown in FIG.
  • the vehicle support frame 230 is connected with the movable part 223b of the displacement driving part 223.
  • the connection can be realized by the assembly between the first assembly part 2231 and the second assembly part 233, and the two assembly methods can be pin connection or bolt connection. , screw connection or other connection methods, as illustrated in Figure 8 and Figure 9, are in the form of pin connection. Referring to FIG.
  • the moving part 232 is arranged on the side wall of the vehicle-carrying support frame 230 .
  • the moving part 232 is located on the outer side wall of the vehicle-carrying support frame 230 as an example.
  • Structure 222 is a guide rail. In other examples, as long as the moving part 232 can be matched with the first guide structure 222 , it is within the protection scope of the present disclosure.
  • the arrangement direction of the rollers in the roller set is consistent with the first guide structure 222 , and the moving part 232 is used for assembling with the first guide structure 222 .
  • the movable portion 223b moves relative to the fixed portion 223a, and the first assembly portion 2231 based on the movable portion 223b and the vehicle support
  • the connection between the second assembly parts 233 of the frame 230 drives the vehicle carrier 23 to move in position.
  • the vehicle carrier 23 can move in position along the direction defined by the first guide structure 222 .
  • the second guide structure 234 is fixed above the vehicle support frame 230 .
  • the moving part 232 is shown in the views of FIGS. 5 and 6 . It is located inside the first guide structure 222 , so the blocked part is not shown. In the view of FIG. 5 , the moving part 232 is blocked by the first guide structure 222 , and in the view of FIG.
  • the second support plate 220 is provided with an assembly hole for assembly with the rotating disk structure, which is depicted as a second assembly hole 2201 in FIG.
  • the upper surface of the rotating disk 212 is provided with a first assembly hole 2121, and the positions of the first assembly hole 2121 and the second assembly hole 2201 correspond to each other.
  • the rotating disk 212 and the supporting body are realized 220 is assembled and fixed, so that the rotating disk 212 and the vehicle carrying part are fixed, so that the vehicle carrying part can rotate along with the rotating disk 212 .
  • the first assembling holes 2121 and the second assembling holes 2201 are annularly distributed.
  • an opening 2202 is provided on the intermediate support 22 at a position other than the displacement driving member 223 , and the above-mentioned opening 2202 is used to reduce the weight of the vehicle carrying device on the premise of ensuring the strength. 2 weight.
  • the above-mentioned opening 2202 is provided on at least one side (eg, the left side or the right side, or the left and right sides) of the second assembly hole 2201 on the support plate 220 .
  • the vehicle carrier 23 further includes a wing plate 235 disposed on the outer side of the second guide structure 234 .
  • the above-mentioned arrangement of the flaps 235 helps to avoid the problem that the articles are easily dropped due to the inclination of the articles when the shuttle is transporting articles.
  • this embodiment provides a layer-changing hoist for a shuttle car for a three-dimensional warehouse.
  • the hoisting drive member can drive the car-carrying device to move in the vertical direction.
  • the car-carrying structure In the car-carrying device, the car-carrying structure is in the main frame. It is rotatable and has both lifting and rotating functions.
  • the shuttle When the vehicle-carrying structure carries the shuttle, the shuttle can not only change the height in the vertical direction with the vehicle-carrying device, but also realize the rotation and reversal of the vehicle-carrying structure.
  • the elevator has both lifting and rotating functions, and can be applied to two-way shuttles.
  • the setting of the matching three-dimensional shelves and the roadway is relatively simple, and the two-way shuttle vehicle can realize the transportation of goods between different heights of the same three-dimensional shelf and between different three-dimensional shelves.
  • a second exemplary embodiment of the present disclosure provides a shuttle transport device.
  • FIG. 11 schematically shows a top view of the structure of a shuttle vehicle transport device in cooperation with a three-dimensional shelf according to an embodiment of the present disclosure.
  • the shuttle car transportation device of the present disclosure comprises: at least two shuttle car floor changing elevators; and a transverse track disposed between two adjacent shuttle car floor changing elevators among the at least two shuttle car floor changing elevators, so as to For the shuttle to move between adjacent shuttle hoists.
  • at least two shuttle car floor changing elevators are used to be arranged on the edge of the roadway of the three-dimensional shelf. Based on the lifting and rotation of the shuttle car by the shuttle car layer changing elevator, the shuttle car can be used between different heights of the same three-dimensional shelf. And transport items between different three-dimensional shelves.
  • the shuttle vehicle transportation device of this embodiment includes: p hoists M of any of the above-mentioned hoists arranged at intervals along the first direction, p ⁇ 2; and two hoists arranged adjacent to the p hoists Transverse rails 6 between.
  • the shuttle may be a two-way shuttle.
  • the corresponding three lanes are described as a first lane 7a, a second lane 7b and a third lane 7c from left to right.
  • the installation positions of the hoists M correspond to the roadways 7 one-to-one, and the first direction and the extension direction of the roadway 7 have a predetermined angle.
  • the angle between the first direction and the extending direction of the roadway 7 is taken as an example of 90°.
  • the predetermined angle may be any angle greater than or equal to 90° and less than 180° , for example, can be 100°, 110°, 120°, 125°, 130°, 150°, etc.
  • the distribution of the edges corresponding to the q three-dimensional shelves 8 also changes, and the edges of the q three-dimensional shelves 8 are along the second direction. Distribution, the second direction is parallel to the arrangement direction of the lateral rails, that is, parallel to the first direction, and each lane is arranged in parallel.
  • the shuttle car located on the rotatable vehicle platform in a certain elevator realizes the picking and placing of items at different heights of the three-dimensional shelves on at least one side of the current aisle and
  • the movement between different elevators is realized based on the rotation of the lateral rail and the rotatable carriage of the certain elevator by a predetermined angle or a supplementary angle of the predetermined angle, so as to pick and place items on the three-dimensional shelves corresponding to other aisles.
  • the process of picking and placing goods by the shuttle 5 based on the above-mentioned shuttle transport device will be exemplarily described below.
  • the scenario can be that the shuttle car is empty to pick up the goods, or the cargo is loaded to be released.
  • the current shuttle car 5 is located on the horizontal rail 6 between the elevator in the middle and the elevator on the right. , the shuttle 5 moves to the left.
  • the shuttle 5 can gradually move from the lateral track to the middle of the shuttle on the carrier frame 23 of the layer-changing elevator, and can follow
  • the rotating disc 212 rotates by a predetermined angle or a supplementary angle of the predetermined angle, so that the shuttle 5 can drive down into the second lane 7b.
  • the predetermined angle is 120°
  • the rotary disk 212 can be rotated 60° counterclockwise or 120° clockwise.
  • the predetermined angle is 90°
  • the rotary disk can be rotated 90° clockwise or counterclockwise.
  • the hoisting drive 4 of the hoist will pick up and place the goods according to the goods.
  • the vehicle carrying device 2 is controlled to move along the vertical direction to the height of the layer where the goods to be taken and placed are located.
  • the shuttle 5 can realize the picking and placing of goods at different heights of the three-dimensional shelves 8 near the two sides of the second roadway 7b.
  • the above-mentioned elevator has both a lifting function and a rotating function, which can realize the movement of the shuttle 5 between different lanes and the picking and placing of goods at different heights of the three-dimensional shelf.
  • the above-mentioned shuttle car layer changing hoist has both lifting and rotating functions, and can be applied to a two-way shuttle.
  • the two-way shuttle vehicle can realize the transportation of goods between different heights of the same three-dimensional shelf and between different three-dimensional shelves.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)

Abstract

一种立体库用穿梭车换层提升机（M）及穿梭车运输装置，穿梭车换层提升机包括：立体支撑框架（1）和用于承载穿梭车的载车装置（2）；其中，立体支撑框架上设置有提升驱动件（4），上述提升驱动件用于驱动载车装置沿着竖直方向移动。载车装置位于立体支撑框架内，上述载车装置包括：主框架结构以及设置于主框架结构内的可旋转的载车结构。该提升机同时具备提升和旋转功能，可以适用于双向穿梭车，相配套的立体货架和巷道的设置较为简单，可实现双向穿梭车在同一个立体货架的不同高度层之间以及在不同的立体货架之间的物品运输。

Description

立体库用穿梭车换层提升机及穿梭车运输装置
相关申请的交叉引用
本公开包含与2020年8月25日递交到中国专利局的发明专利申请202010866574.2相关的主题，通过引用将该申请的全部内容包括在此。
技术领域
本公开涉及仓储物流领域，更具体地，涉及一种立体库用穿梭车换层提升机及穿梭车运输装置。
背景技术
穿梭车是应用于仓储物流领域的智能机器人，基于编程可以执行取货、运送以及放置等任务，并可以与上位机或者仓库管理系统(WMS)进行通信，结合射频识别(RFID)、条码识别等识别技术，实现自动化识别、存取货物等功能。在日常的仓储物流中，基于穿梭车进行货物的取放已经逐渐常态化。然而，在实现本公开构思的过程中，发明人发现现有技术中至少存在如下问题：现有的穿梭车提升机适用于四向穿梭车，即在左右和前后方向都能运动的穿梭车，该提升机仅能够对穿梭车进行竖直方向的提升，由于四向穿梭车成本高，使得对应配套的货架和巷道的设置也比较复杂，例如巷道必须设置有十字路口，因此，有必要提出一种能够适用于双向穿梭车的提升机，该提升机同时具有提升功能和旋转功能。
发明内容
有鉴于此，本公开提供了一种立体库用穿梭车换层提升机及穿梭车运输装置。
本公开的一个方面提供了一种立体库用穿梭车换层提升机。该穿梭车换层提升机包括：立体支撑框架和用于承载穿梭车的载车装置。其中，立体支撑框架上设置有提升驱动件，上述提升驱动件用于驱动载车装置沿着竖直方向移动。载车装置位于立体支撑框架内，上述载车装置包括：主框架结构以及设置于主框架结构内的可旋转的载车结构。
根据本公开的实施例，主框架结构内设置有支撑件。可旋转的载车结构包括：设置于支撑件上的旋转盘；设置于支撑件上的旋转驱动件，用于驱动旋转盘发生转动；以及设置于旋转盘之上的载车部，用于承载穿梭车。
根据本公开的实施例，载车部包括：中间支撑件和载车架。其中，中间支撑件固定于旋转盘上，中间支撑件上设置有位移驱动部件和第一导向结构。上述载车架用于放置穿梭车，载车架设置有与第一导向结构相配合的移动部，位移驱动部件用于驱动载车架沿着第一导向结构的延伸方向移动。
根据本公开的实施例，载车架还设置有与穿梭车的车轮相匹配的第二导向结构，第二导向结构的延伸方向与第一导向结构的延伸方向相同。
根据本公开的实施例，载车架沿着第一导向结构的延伸方向的侧缘还设置有翼板。
根据本公开的实施例，主框架结构的顶角设置有导向轮，导向轮用于与立体支撑框架沿着竖直方向进行装配，以限定载车装置沿着主框架结构进行竖直方向的移动。
根据本公开的实施例，在中间支撑件上的除设置位移驱动部件之外的位置设置有开口，上述开口用于在保证强度的前提下减轻载车装置的重量。
根据本公开的实施例，主框架结构包括：外围框架以及设置于外围框架顶平面的支撑梁，支撑梁用于提升结构强度以及保护内部结构免受外物撞击。
根据本公开的实施例，穿梭车为双向穿梭车，双向穿梭车为沿着同一直线上相反的两个方向运动的穿梭车。
根据本公开的另一个方面，提供了一种穿梭车运输装置。上述穿梭车运输装置包括：至少两个上述提及的任一种穿梭车换层提升机；以及设置于至少两个穿梭车换层提升机中相邻的两个穿梭车换层提升机之间的横向轨道，以供穿梭车在相邻的穿梭车换层提升机之间移动。其中，至少两个穿梭车换层提升机用于设置于立体货架的巷道边缘，基于穿梭车换层提升机对穿梭车的提升和旋转，穿梭车能在同一个立体货架的不同高度层之间以及在不同的立体货架之间进行物品运输。
根据本公开的实施例，提升驱动件可以驱动载车装置沿着竖直方向移动，载车装置中，载车结构在主框架内是可旋转的，兼具提升和旋转的功能，在载车结构承载穿梭车时，使得穿梭车既能随着载车装置变化竖直方向的高度，也能实现随着载车结构发生旋转换向，可以至少部分地解决现有的提升机仅适用于四向穿梭车导致的成本高以及配套的货架和巷道设置复杂的问题；该提升机同时具备提升和旋转功能，可以适用于双向穿梭车，相配套的立体货架和巷道的设置较为简单，可实现双向穿梭车在同一个立体货架的不同高度层之间以及在不同的立体货架之间的物品运输。
附图说明
通过以下参照附图对本公开实施例的描述，本公开的上述以及其他目的、特征和优点将更为清楚，在附图中：
图1示意性示出了根据本公开实施例的立体库用穿梭车换层提升机的立体结构图；
图2示意性示出了如图1所示的立体库用穿梭车换层提升机的主视图；
图3示意性示出了根据本公开实施例的载车装置的立体结构示意图；
图4示意性示出了如图3所示的载车装置的俯视图；
图5示意性示出了如图3所示的载车装置的主视图；
图6示意性示出了如图3所示的载车装置沿着A-A1线剖开的截面图；
图7示意性示出了根据本公开实施例的载车装置的主框架结构、旋转盘和旋转驱动件的立体结构图；
图8示意性示出了根据本公开实施例的载车部的中间支撑件的立体结构图；
图9示意性示出了根据本公开实施例的载车部的载车架的立体结构图；
图10示意性示出了根据本公开实施例的载车装置沿着A-A1线剖开的立体结构图；以及
图11示意性示出了根据本公开实施例的穿梭车运输装置与立体货架配合的俯视结构图。
具体实施方式
以下，将参照附图来描述本公开的实施例。但是应该理解，这些描述只是示例性的，而并非要限制本公开的范围。在下面的详细描述中，为便于解释，阐述了许多具体的细节以提供对本公开实施例的全面理解。然而，明显地，一个或多个实施例在没有这些具体细节的情况下也可以被实施。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本公开的概念。
在此使用的术语仅仅是为了描述具体实施例，而并非意在限制本公开。在此使用的术语“包括”、“包含”等表明了所述特征、步骤、操作和/或部件的存在，但是并不排除存在或添加一个或多个其他特征、步骤、操作或部件。
在此使用的所有术语(包括技术和科学术语)具有本领域技术人员通常所理解的含义，除非另外定义。应注意，这里使用的术语应解释为具有与本说明书的上下文相一致的含义，而不应以理想化或过于刻板的方式来解释。
本公开实施例的描述中，使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。方位术语“上”、“下”、“左”、“右”、“顶”、“底”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。可以理解，当诸如层、膜、区域或部件之类的元件被称作位于另一元件“上”或“下”时，该元件可以“直接”位于另一元件“上”或“下”，或者可以存在中间元件。本公开的附图中，所有附图的坐标系是一致的。
本公开的实施例提供了一种立体库用穿梭车换层提升机及穿梭车运输装置，该立体库用穿梭车换层提升机同时具备提升和旋转功能，可以适用于双向穿梭车，相配套的立体货架和巷道的设置较为简单，可实现双向穿梭车在同一个立体货架的不同高度层之间以及在不同的立体货架之间的物品运输。
本公开实施例的立体库用穿梭车换层提升机包括：立体支撑框架和用于承载穿梭车的载车装置。其中，立体支撑框架上设置有提升驱动件，上 述提升驱动件用于驱动载车装置沿着竖直方向移动。载车装置位于立体支撑框架内，上述载车装置包括：主框架结构以及设置于主框架结构内的可旋转的载车结构。提升驱动件可以驱动载车装置沿着竖直方向移动，载车装置中，载车结构在主框架内是可旋转的，兼具提升和旋转的功能。
本公开的第一个示例性实施例提供了一种对穿梭车同时具有提升功能和旋转功能的立体库用穿梭车换层提升机。
本公开的立体库用穿梭车换层提升机可以适用于双向穿梭车，双向穿梭车为沿着同一直线上相反的两个方向运动的穿梭车。例如，本公开图1的坐标系中双向穿梭车可以沿着x的正负方向(前后)或者y的正负方向(左右)进行运动的穿梭车。基于双向穿梭车与本实施例的提升机进行匹配使用，可以至少部分地解决现有的提升机仅适用于四向穿梭车导致的成本高以及配套的货架和巷道设置复杂的问题。
当然，本公开的提升机还适用于其他类型的穿梭车，例如四向穿梭车，本公开的提升机拓展了穿梭车的适用范围。
图1示意性示出了根据本公开实施例的立体库用穿梭车换层提升机的立体结构图；图2示意性示出了如图1所示的立体库用穿梭车换层提升机的主视图。
参照图1和图2所示，本公开的立体库用穿梭车换层提升机M包括：立体支撑框架1和用于承载穿梭车的载车装置2。其中，立体支撑框架1上设置有提升驱动件4，上述提升驱动件4用于驱动载车装置2沿着竖直方向移动。载车装置2位于立体支撑框架1内，上述载车装置2包括：主框架结构以及设置于主框架结构内的可旋转的载车结构。
根据本公开的实施例，参照图1和图2所示，立体支撑框架1作为提升机M的支撑框架，包括：底板，设置于底板上的四条立柱，连接于四条立柱中两组立柱顶部之间的两条平行设置的棱柱，以及固定于两条棱柱之间的梁。当然，这里的立体支撑框架的结构仅作为示例，不作为保护范围的限制，其他能够起到支撑的框架结构均在本公开的保护范围之内。
立体支撑框架1上设置有提升驱动件4，提升驱动件4可以是为可旋转车台2的提升提供动力的装置或结构。根据本公开的实施例，提升驱动件4为伺服电机，基于伺服电机可以将接收到的电信号转化为电机轴上的 角位移或角速度进行输出，以驱动控制对象，具有机电时间常数小、线性度高、始动电压等特性。
参照图1和图2所示，传动件3连接于载车装置2与提升驱动件4之间。根据本公开的实施例，传动件3可以是同步带，参照图1和图2所示，同步带连接于载车装置2与提升驱动件4之间，具体而言，参照图1、图3和图5所示，同步带的两端分别固定于载车装置2中分布于主框架结构的框架体210外侧上、下方的传动件连接部213上，同步带从与载车装置2上方的传动件连接部213固定的一端延伸至立体支撑框架1，沿着立体支撑框架1的棱柱、立柱以及底板上设置的第一转轴延伸。在底板上还设置有第二转轴，第二转轴的位置与载车装置下方的传动件连接部213的位置对应。同步带可以沿着第一转轴经过底板绕着第二转轴连接至载车装置下方的传动件连接部213。作为提升驱动件4示例的伺服电机用于驱动第一转轴，在伺服电机的驱动作用下，作为传动件3示例的同步带会按照预定的速度进行传动，从而带动载车装置2沿着竖直方向(z方向)移动。基于提升驱动件4的驱动和传动件3的传动使得载车装置2沿着竖直方向能够进行移动。
上述有关传动件的描述作为一种示例性方式，其他可以起到传动的结构均在本公开的保护范围之内。
下面结合图3-图10来详细描述载车装置的各个组成部分。
图3示意性示出了根据本公开实施例的载车装置的立体结构示意图；图4示意性示出了如图3所示的载车装置的俯视图；图5示意性示出了如图3所示的载车装置的主视图；图6示意性示出了如图3所示的载车装置沿着A-A1线剖开的截面图；图7示意性示出了根据本公开实施例的载车装置的主框架结构、旋转盘和旋转驱动件的立体结构图；图8示意性示出了根据本公开实施例的载车部的中间支撑件的立体结构图；图9示意性示出了根据本公开实施例的载车部的载车架的立体结构图；图10示意性示出了根据本公开实施例的载车装置沿着A-A1线剖开的立体结构图。
结合图3-图5所示，根据本公开的实施例，载车装置2包括：主框架结构21和设置于主框架结构21内的可旋转的载车结构。
根据本公开的实施例，参照图6和图7所示，主框架结构21内设置有支撑件210b。结合图7-图9所示，可旋转的载车结构包括：设置于支撑件210b上的旋转盘212；设置于支撑件210b上的旋转驱动件，用于驱动旋转盘发生转动；以及设置于旋转盘212之上的载车部，用于承载穿梭车。
根据本公开的实施例，参照图8和图9所示，载车部包括：中间支撑件22和载车架23。其中，中间支撑件22固定于旋转盘212上，中间支撑件22上设置有位移驱动部件223和第一导向结构222。上述载车架23用于放置穿梭车，载车架23设置有与第一导向结构222相配合的移动部232，位移驱动部件223用于驱动载车架23沿着第一导向结构222的延伸方向移动。
根据本公开的实施例，参照图9所示，载车架23还设置有与穿梭车的车轮相匹配的第二导向结构234，第二导向结构234的延伸方向与第一导向结构222的延伸方向相同。
在一实施例中，参照图6和图7所示，主框架结构21包括：框架体210。框架体210包括外围框架210a和设置于外围框架210a底平面的支撑件210b。
根据本公开的实施例，框架体210还包括设置于外围框架210a顶平面的支撑梁210c，该支撑梁210c用于提升结构强度以及保护内部结构免受外物撞击。
根据本公开的实施例，外围框架210a为立方体框架，共有12条棱边。该外围框架210a限定了载车结构放置和进行旋转的空间，外围框架210a的俯视图中，长(y方向)和宽(x方向)的尺寸需要满足载车结构的放置和旋转。
支撑件210b所处的平面根据实际需要可以进行调整，上述实施例仅作为一种示例性实施方式。
旋转盘212设置于支撑件210b上，在旋转驱动件的驱动作用下在水平面内发生旋转，并带动载车部发生旋转。
根据本公开的实施例，参照图7所示，主框架结构21还包括：用于与传动件3连接的传动件连接部213，该传动件连接部213对称分布于框架体210的外侧。例如图7中示例的两组传动件连接部213左右(沿着y 方向)对称设置于外围框架210a的沿x轴分布的四条棱边上，其中每组传动连接部213设置于上下平行的两条棱边的中间部位。基于对称分布的传动件连接部213，有助于保证主框架结构21在基于提升驱动件4的驱动和传动件3的传动进行沿着竖直方向移动的过程中不发生摇晃或者偏斜等问题。
根据本公开的实施例，主框架结构21的顶角还设置导向轮211，具体而言，结合图5和图7所示，外围框架210a的顶角设置有导向轮211，上述导向轮211用于与立体支撑框架1的竖直方向部分(立柱)进行装配(例如卡接)，使得载车装置2沿着立体支撑框架1的竖直方向部分(立柱)移动，限定了载车装置2的移动方向和轨迹，使得载车装置2实现稳定移动。
根据本公开的实施例，上述旋转驱动件进行驱动的形式以及对应的传动形式可以是电机+齿轮传动或者电机+同步带传动等形式。下面以电机+齿轮传动进行示例。
根据本公开的实施例，参照图6和图7所示，旋转驱动件包括：伺服电机减速机复合结构215和主动齿轮214。伺服电机减速机复合结构215设置于支撑件210b下方。主动齿轮214设置于支撑件210b上方。
伺服电机减速机复合结构215为伺服电机和减速机轴向连接的复合结构。
参照图6和图7所示，旋转盘212包括：从动齿轮212a、轴柱212c以及托盘212b，从动齿轮212a通过轴柱212c与托盘212b进行连接。
结合图6、图7和图10所示，主动齿轮214的轴与伺服电机减速机复合结构215的轴连接，主动齿轮214与旋转盘212底部的从动齿轮212a咬合，基于伺服电机减速机复合结构215的驱动使得主动齿轮214发生旋转，并带动旋转盘212上的托盘212b发生旋转。旋转盘212在旋转驱动件的驱动作用下在水平面内发生旋转，并带动固定于旋转盘结构212上的载车部发生旋转。
根据本公开的实施例，参照图3和图8所示，载车部包括：中间支撑件22和载车架23。
中间支撑件22用于固定于旋转盘212上，中间支撑件22上设置有位移驱动部件223和第一导向结构222。上述载车架23用于放置穿梭车，载车架23设置有与第一导向结构222相配合的移动部232，位移驱动部件223用于驱动载车架23沿着第一导向结构222的延伸方向移动。
在一实施例中，参照图8所示，中间支撑件22包括：支撑主体220、位移驱动部件223以及第一导向结构222。位移驱动部件223设置于支撑板220上，该位移驱动部件223包括固定部223a以及在自身驱动作用下相对于固定部223a能发生位置移动的可动部223b。第一导向结构222可以是导轨形式，第一导向结构222设置于支撑主体220两侧，第一导向结构222的延伸方向与位移驱动部件223的可动部223b的位置移动方向一致。
在一实施例中，位移驱动部件223可以是电缸、气缸或者其他类型的具有固定部和在自身驱动作用下发生位置移动的可动部的器件或结构。
根据本公开的实施例，中间支撑件22还包括设置于支撑主体220上的支撑座221，上述支撑座221用于连接位移驱动部件223和支撑主体220，通过支撑座221与位移驱动部件223的固定部223a连接，将位移驱动部件223的固定部223a固定于支撑主体220上，并使得位移驱动部件223的可动部223b与支撑主体220上表面之间具有间隙，从而满足可动部223b的移动。
根据本公开的实施例，上述支撑座221包括底座和位于底座上方的弯角结构，弯角结构从底座所在平面呈弧度延伸，支撑座221的弯角结构端部与位移驱动部件223的固定部223a连接。
根据本公开的实施例，参照图3和图9所示，载车架23包括：载车支撑框架230和移动部232。载车支撑框架230限定有容置位移驱动部件223的空间231。载车支撑框架230呈四边形框，为了提升载车支撑框架的结构强度，在四边形框的内部设置有横梁，该横梁的设置位置和个数以及多个横梁之间的间距要满足上述空间231的要求，使得载车架23与中间支撑件22装配之后，上述空间231能够容置位移驱动部件223。在一实例中，上述移动部232可以是滚轮组。
根据本公开的实施例，载车架23还设置有与穿梭车的车轮相匹配的第二导向结构234，第二导向结构234的延伸方向与第一导向结构222的延伸方向相同。
结合图8和图9来描述载车架23与中间支撑件22之间的装配关系。如图8和图9所示，载车支撑框架230内侧设置有第二装配部233，如图9所示；在可动部223b端部设置有第一装配部2231，如图8所示。载车支撑框架230与位移驱动部件223的可动部223b连接，例如可以通过第一装配部2231和第二装配部233之间的装配实现连接，二者装配的方式可以是销连接、螺栓连接、螺钉连接或者其他连接方式，图8和图9中示例的为销连接的形式。参照图9所示，移动部232设置于载车支撑框架230侧壁，这里以移动部232位于载车支撑框架230的外侧壁进行示例，示例性的，移动部232为滚轮组，第一导向结构222为导轨。其它示例中，只要移动部232可以与第一导向结构222的进行匹配的形式均在本公开的保护范围之内。滚轮组中滚轮的排布方向与第一导向结构222一致，移动部232用于与第一导向结构222进行装配。
结合图8、图9和图10所示，在位移驱动部件223的驱动作用下，可动部223b相对于固定部223a发生位置移动，基于可动部223b的第一装配部2231与载车支撑框架230的第二装配部233之间的连接，带动载车架23也发生位置移动。基于移动部232与第一导向结构222的配合，载车件23能够沿着第一导向结构222限定的方向进行位置移动。
结合图9、图5和图6所示，第二导向结构234固定于载车支撑框架230上方，在移动部232与第一导向结构222进行装配后，图5和图6的视图中移动部232位于第一导向结构222的内侧，因此未示意出被遮挡的部分，图5的视图中移动部232被第一导向结构222遮挡，图6的视图中移动部232被载车支撑框架230遮挡。
根据本公开的实施例，参照图7和图8所示，第二支撑板220上设置有用于与旋转盘结构进行装配的装配孔，在图8中描述为第二装配孔2201，在图7中，旋转盘212的上表面设置有第一装配孔2121，第一装配孔2121和第二装配孔2201的位置对应，基于第一装配孔2121和第二装配孔2201实现旋转盘212和支撑主体220的装配固定，从而实现旋转盘212和载车 部的固定，使得载车部能够随着旋转盘212进行转动。在一实施例中，第一装配孔2121和第二装配孔2201呈环形分布。
根据本公开的实施例，参照图8所示，在中间支撑件22上的除设置位移驱动部件223之外的位置设置有开口2202，上述开口2202用于在保证强度的前提下减轻载车装置2的重量。例如，在支撑板220上的第二装配孔2201的至少一侧(例如左侧或右侧，或者左右两侧)设置有上述开口2202。
根据本公开的实施例，参照9所示，载车架23还包括设置于第二导向结构234的外侧的翼板235。上述翼板235的设置有助于避免穿梭车在输送物品时由于物品倾斜导致的容易掉落的问题。
综上所述，本实施例提供了一种立体库用穿梭车换层提升机，提升驱动件可以驱动载车装置沿着竖直方向移动，载车装置中，载车结构在主框架内是可旋转的，兼具提升和旋转的功能，在载车结构承载穿梭车时，使得穿梭车既能随着载车装置变化竖直方向的高度，也能实现随着载车结构发生旋转换向，可以至少部分地解决现有的提升机仅适用于四向穿梭车导致的成本高以及配套的货架和巷道设置复杂的问题；该提升机同时具备提升和旋转功能，可以适用于双向穿梭车，相配套的立体货架和巷道的设置较为简单，可实现双向穿梭车在同一个立体货架的不同高度层之间以及在不同的立体货架之间的物品运输。
本公开的第二个示例性实施例提供了一种穿梭车运输装置。
图11示意性示出了根据本公开实施例的穿梭车运输装置与立体货架配合的俯视结构图。
本公开的穿梭车运输装置包括：至少两个穿梭车换层提升机；以及设置于至少两个穿梭车换层提升机中相邻的两个穿梭车换层提升机之间的横向轨道，以供穿梭车在相邻的穿梭车换层提升机之间移动。其中，至少两个穿梭车换层提升机用于设置于立体货架的巷道边缘，基于穿梭车换层提升机对穿梭车的提升和旋转，穿梭车能在同一个立体货架的不同高度层之间以及在不同的立体货架之间进行物品运输。
参照图11所示，下面将穿梭车换层提升机简称为提升机。本实施例的穿梭车运输装置包括：沿着第一方向间隔布置的p个上述提及的任一种 提升机M，p≥2；以及设置于p个提升机中相邻的两个提升机之间的横向轨道6。本实施例中，穿梭车可以是双向穿梭车。
上述传输车运输装置用于布置于q个立体货架8的边缘，q≥2，例如图11中以q＝6进行示例，以p＝3进行示例。对应3个巷道自左向右分别描述为第一巷道7a、第二巷道7b和第三巷道7c。
参照图11所示，在q个立体货架8的间隔处共有p个巷道7，提升机M的设置位置与巷道7一一对应，且上述第一方向与巷道7的延伸方向具有预定夹角。本实施例中，以第一方向与巷道7的延伸方向的夹角为90°作为示例，在本公开的其它实施例中，上述预定夹角可以是大于等于90°且小于180°的任意角，例如可以是100°、110°、120°、125°、130°、150°等，对应q个立体货架8的边缘的分布也随着变化，q个立体货架8的边缘沿着第二方向分布，第二方向与横向轨道的排布方向，即与第一方向平行，各个巷道为平行设置的。
根据本公开的实施例，基于旋转驱动以及提升驱动件的驱动，位于某个提升机内的可旋转载车台上的穿梭车实现当前巷道至少一侧的立体货架不同高度层物品的取放以及基于横向轨道和所述某个提升机的可旋转载车台旋转预定夹角或预定夹角的补角实现在不同提升机之间的移动，以在其它巷道对应的立体货架进行物品取放。
下面参照图11来示例性描述基于上述穿梭车运输装置，穿梭车5取放货物操作的过程。场景可以是穿梭车为空载要进行取货，或者载有货物要进行放货，如图11所示，当前穿梭车5位于中间的提升机和右侧的提升机之间的横向轨道6上，穿梭车5向左移动，基于穿梭车的滚轮与第二导向结构234的配合，穿梭车5可以从横向轨道逐步移动至中间的穿梭车换层提升机的载车架23上，并且可以随着旋转盘212进行转动预定角度或者预定角度的补角，从而使得穿梭车5可以向下驶入至第二巷道7b中。例如对应于预定角度为120°的情况，旋转盘212可以逆时针转动60°或者顺时针转动120°，例如对应于预定角度为90°的情况，旋转盘可以顺时针或逆时针转动90°。在第二巷道7b左右两侧的立体货架8上，不同高度层放置相应的货物，在穿梭机还处于提升机的载车架23上时，提升机的提升驱动件4会根据待取放货物所在的层变化，控制载车装置2沿着 竖直方向移动至待取放货物所在的层的高度。接着，穿梭机5可以在第二巷道7b两侧就近的立体货架8的不同高度层实现货物的取放。基于上面的描述可知，基于上述提升机同时具有提升功能和旋转功能，可以实现穿梭车5在不同巷道之间的移动，以及在立体货架的不同高度层货物的取放。
上述穿梭车换层提升机同时具备提升和旋转功能，可以适用于双向穿梭车，与该双向穿梭车相配套的立体货架和巷道的设置较为简单，无需设置十字路口，立体货架排布简单。可实现双向穿梭车在同一个立体货架的不同高度层之间以及在不同的立体货架之间的物品运输。
本领域技术人员可以理解，本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合或/或结合，即使这样的组合或结合没有明确记载于本公开中。特别地，在不脱离本公开精神和教导的情况下，本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合。所有这些组合和/或结合均落入本公开的范围。
以上对本公开的实施例进行了描述。但是，这些实施例仅仅是为了说明的目的，而并非为了限制本公开的范围。尽管在以上分别描述了各实施例，但是这并不意味着各个实施例中的措施不能有利地结合使用。本公开的范围由所附权利要求及其等同物限定。不脱离本公开的范围，本领域技术人员可以做出多种替代和修改，这些替代和修改都应落在本公开的范围之内。

Claims (10)

  1. 一种立体库用穿梭车换层提升机，包括：立体支撑框架和用于承载穿梭车的载车装置，其中，
    所述立体支撑框架上设置有提升驱动件，所述提升驱动件用于驱动所述载车装置沿着竖直方向移动；
    所述载车装置位于所述立体支撑框架内，所述载车装置包括：主框架结构以及设置于所述主框架结构内的可旋转的载车结构。
  2. 根据权利要求1所述的穿梭车换层提升机，其中，所述主框架结构内设置有支撑件；所述可旋转的载车结构包括：
    设置于所述支撑件上的旋转盘；
    设置于所述支撑件上的旋转驱动件，用于驱动所述旋转盘发生转动；以及
    设置于所述旋转盘之上的载车部，用于承载所述穿梭车。
  3. 根据权利要求2所述的穿梭车换层提升机，其中，所述载车部包括：中间支撑件和载车架；
    其中，所述中间支撑件固定于所述旋转盘上，所述中间支撑件上设置有位移驱动部件和第一导向结构；所述载车架设置有与所述第一导向结构相配合的移动部，所述位移驱动部件用于驱动所述载车架沿着所述第一导向结构的延伸方向移动，所述载车架用于放置所述穿梭车。
  4. 根据权利要求3所述的穿梭车换层提升机，其中，所述载车架还设置有与所述穿梭车的车轮相匹配的第二导向结构，所述第二导向结构的延伸方向与所述第一导向结构的延伸方向相同。
  5. 根据权利要求3或4所述的穿梭车换层提升机，其中，所述载车架沿着所述第一导向结构的延伸方向的侧缘还设置有翼板。
  6. 根据权利要求1所述的穿梭车换层提升机，其中，所述主框架结构的顶角设置有导向轮，所述导向轮用于与所述立体支撑框架沿着竖直方向进行装配，以限定所述载车装置沿着所述主框架结构进行竖直方向的移动。
  7. 根据权利要求3所述的穿梭车换层提升机，其中，在所述中间支撑件上的除设置位移驱动部件之外的位置设置有开口，所述开口用于在保证强度的前提下减轻所述载车装置的重量。
  8. 根据权利要求1所述的穿梭车换层提升机，其中，所述主框架结构包括：外围框架以及设置于所述外围框架顶平面的支撑梁，所述支撑梁用于提升结构强度以及保护内部结构免受外物撞击。
  9. 根据权利要求1所述的穿梭车换层提升机，其中，所述穿梭车为双向穿梭车，所述双向穿梭车为沿着同一直线上相反的两个方向运动的穿梭车。
  10. 一种穿梭车运输装置，包括：
    至少两个权利要求1-9中任一项所述的穿梭车换层提升机；
    设置于所述至少两个穿梭车换层提升机中相邻的两个穿梭车换层提升机之间的横向轨道，以供穿梭车在相邻的穿梭车换层提升机之间移动；
    其中，所述至少两个穿梭车换层提升机用于设置于立体货架的巷道边缘，基于所述穿梭车换层提升机对穿梭车的提升和旋转，所述穿梭车能在同一个立体货架的不同高度层之间以及在不同的立体货架之间进行物品运输。
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