CN118977955A - Shuttle vehicle, three-dimensional storage retrieval system and retrieval method - Google Patents

Abstract

The application discloses a shuttle, a three-dimensional warehouse access system and a goods taking method. The vehicle body comprises a frame and a bearing frame. The bearing frame is arranged on the rack and used for containing and bearing goods. The hooking structure is arranged on the vehicle body and comprises a hook for hooking cargoes. The hook is configured to be movable in a longitudinal direction relative to the vehicle body to hook cargo into the carrier. The hook is further configured to be rotatable relative to the vehicle body around a vertical shaft extending in the vertical direction so as to change the position of the hook relative to the goods, and the hook is configured to pull the goods to move a set distance in the longitudinal direction; and after rotating around the vertical shaft, the goods are pushed to move along the longitudinal direction continuously. Compared with the synchronous belt conveying mechanism arranged in the related art, the shuttle disclosed by the embodiment of the application has the advantages that all structures of the synchronous belt conveying mechanism are removed, and goods are conveyed to place by adopting two-step hooking of the hooks, so that the structure of the shuttle is simplified.

Description

Shuttle vehicle, three-dimensional warehouse access system and goods taking method

Technical Field

The application relates to the technical field of logistics, in particular to a shuttle, a three-dimensional warehouse access system and a goods taking method.

Background

In recent years, with the rapid development of the logistics industry, the stereo garage access system is increasingly widely applied due to the large storage density, high efficiency and flexible operation.

The three-dimensional warehouse storage and taking system comprises a goods shelf, a shuttle car and an automatic guiding transport car. The goods shelves are used for storing goods, the shuttle car shuttles in the goods way of goods shelves to deposit and withdraw goods, and the automatic guide transport car shuttles on ground and is in butt joint with the shuttle car to deposit and withdraw goods. When a shuttle is docked with an automated guided vehicle or a pallet to pick up a load, the load must be moved from the pallet or automated guided vehicle to the carrier of the shuttle. The structure of the existing shuttle is complex.

It should be noted that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Disclosure of Invention

The application provides a shuttle, a three-dimensional warehouse access system and a goods taking method, which are used for simplifying the structure of the shuttle.

The first aspect of the present application provides a shuttle vehicle comprising:

The vehicle body comprises a rack and a bearing frame, wherein the bearing frame is arranged on the rack and used for accommodating and bearing goods; and

The hooking structure is arranged on the vehicle body and comprises a hook for hooking the goods, the hook is configured to be movable relative to the vehicle body in the longitudinal direction so as to hook the goods into the bearing frame, the hook is also configured to be rotatable relative to the vehicle body around a vertical shaft extending in the vertical direction so as to change the position of the hook relative to the goods, and the hook is configured to pull the goods to move for a set distance in the longitudinal direction; and after rotating around the vertical shaft, the goods are pushed to move along the longitudinal direction continuously.

In some embodiments, the hooking structure further comprises a substrate, a pressing plate and a synchronous belt mechanism, wherein the synchronous belt mechanism comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt wound on the outer sides of the first synchronous wheel and the second synchronous wheel, the synchronous belt extends along the longitudinal direction, the hook is connected with the substrate, the pressing plate is arranged on the upper side of the substrate to press the synchronous belt on the substrate, and one of the first synchronous wheel and the second synchronous wheel is driven to rotate so that the synchronous belt moves to drive the hook to move.

In some embodiments, the substrate includes a contact zone in contact with the timing belt, the contact zone being provided with a strip-shaped aperture.

In some embodiments, the hooking structure further comprises a rotating mechanism, and the hook is connected to the rotating mechanism to rotate under the driving of the rotating mechanism.

In some embodiments, the rotating mechanism comprises a rotary table connected with the hook, a first gear and a second gear, wherein the rotary table is coaxially connected with the first gear, and the second gear is meshed with the first gear to drive the first gear to rotate.

In some embodiments, the hook is configured to be vertically liftable relative to the vehicle body to hook or disengage the cargo.

In some embodiments, the carrier is disposed on a lower side of the frame, and the shuttle further includes a lifting structure disposed on an upper side of the frame to move the vehicle body.

In some embodiments, the bottom surface of the carrier is for supporting cargo, and the bottom surface of the carrier is configured to be hollow.

In some embodiments, the carrier includes two side support plates disposed opposite to each other at both ends in the lateral direction, and lower ends of the side support plates are configured in a bent structure to form a carrying portion for supporting the cargo, with a gap between the two carrying portions of the two side support plates.

In some embodiments, the lifting structure includes a lifting frame and a connecting column, the lifting frame being connected to the frame by the connecting column, the connecting column having elasticity.

The second aspect of the application provides a three-dimensional inventory system, which comprises a goods shelf, a lifting mechanism, an automatic guiding transport vehicle and the shuttle vehicle.

In some embodiments, the rack comprises a plurality of shelves arranged in a vertical direction, the shelves are used for storing goods and comprise a bottom shelf positioned at the bottommost part, the shuttle further comprises a lifting structure arranged on the upper side of the rack to drive the vehicle body to move, the lifting structure comprises a lifting upright extending in the vertical direction, the lifting structure of the shuttle is movably arranged along the lifting upright to enable the shuttle to achieve docking with the shelves, each shelf comprises a plurality of storage positions arranged in a transverse direction, the lifting mechanism is movably arranged in the transverse direction relative to the rack to enable docking of the shuttle with the storage positions, and the bottom end of the lifting upright is configured to be not lower than the bottom shelf.

The third aspect of the application provides a goods taking method based on the shuttle, which comprises the following steps:

the hook is controlled to hook the goods and pull the goods to move along the longitudinal direction for a set distance;

The hook is controlled to be separated from the goods and is controlled to rotate around the vertical shaft; and

The control hook again hooks the goods and pushes the goods to move along the longitudinal direction.

According to the technical scheme provided by the embodiment of the application, the shuttle comprises a vehicle body and a hooking structure. The vehicle body comprises a frame and a bearing frame. The bearing frame is arranged on the rack and used for containing and bearing goods. The hooking structure is arranged on the vehicle body and comprises a hook for hooking cargoes. The hook is configured to be movable in a longitudinal direction relative to the vehicle body to hook cargo into the carrier. The hook is further configured to be rotatable relative to the vehicle body around a vertical shaft extending in the vertical direction so as to change the position of the hook relative to the goods, and the hook is configured to pull the goods to move a set distance in the longitudinal direction; and after rotating around the vertical shaft, the goods are pushed to move along the longitudinal direction continuously. According to the shuttle disclosed by the embodiment of the application, the hooks can rotate around the vertical shaft relative to the vehicle body, so that the hooks can be controlled to pull goods and then control the hooks to rotate, so that the hooks push the goods, and further, the loading of a container is realized through twice hooking.

Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

Fig. 1 is a schematic perspective view of a stereo garage access system according to some embodiments of the present application.

Fig. 2 is a schematic side view of a stereo library access system according to some embodiments of the present application.

Fig. 3 is a schematic front view of a stereo library access system according to some embodiments of the present application.

Fig. 4 is a schematic structural view of the lifting mechanism in fig. 1.

Fig. 5 is a schematic view of the structure of the automatic guided vehicle in fig. 1.

FIG. 6 is a diagram illustrating a structure of the cache bit in FIG. 1.

Fig. 7 is a schematic structural diagram of a shuttle according to some embodiments of the present application.

Fig. 8 is a schematic structural view of the lifting structure in fig. 7.

Fig. 9 is a schematic view of another angle of the lifting structure shown in fig. 8.

Fig. 10 is an enlarged schematic view of the part M in fig. 9.

Fig. 11 and 12 are schematic structural views of a guide structure of the lifting structure shown in fig. 8.

Fig. 13 is an enlarged schematic view of the portion N in fig. 12.

Fig. 14 is a schematic structural view of the vehicle body in fig. 7.

Fig. 15 is an enlarged schematic view of the P part in fig. 14.

Fig. 16 is a schematic view of a part of the structure of the vehicle body in fig. 7.

Fig. 17 is an enlarged schematic view of the Q part in fig. 16.

Fig. 18 is a schematic structural view of the hooking structure in fig. 7.

Fig. 19 is a schematic view of the hooking structure shown in fig. 18 at another angle.

Fig. 20 is a partially enlarged schematic view of the platen shown in fig. 18.

Fig. 21 is a schematic structural view of the substrate in fig. 18.

Fig. 22 is a schematic view of the lead screw motor of fig. 19.

Fig. 23 is a schematic structural view of the lifting bracket in fig. 18.

Fig. 24 is a schematic view of the rotation mechanism in fig. 18.

Fig. 25 is a schematic view of the structure of a cargo box according to some embodiments of the application.

Fig. 26-29 are process diagrams of a shuttle car picking up a good from a shelf according to some embodiments of the present application.

Fig. 30 and 31 illustrate a docking process of a shuttle with an automated guided vehicle according to some embodiments of the present application.

Reference numerals:

10. A shuttle;

1. a hoisting structure; 11. hoisting the frame body; 111. a vertical plate; 112. a transverse beam; 113. a longitudinal plate; 14. a guide structure; 141. a fixing frame; 142. a first roller; 143. a second roller; 144. a synchronous belt pressing plate; 15. a rubber column; 2. a vehicle body; 21. a frame; 211. a side plate; 212. a connecting plate; 22. a synchronous belt; 23. a carrier; 231. a side support plate; 2311. a carrying part; 24. a second synchronizing wheel; 25. a first guide rail; 26. a support shaft; 211. a first motor; 214. a first synchronizing wheel; 215. a tensioning wheel;

3. Hooking the structure; 31. a pressing plate; 32. a substrate; 321. a bar-shaped hole; 322. a first hole; 323. a second hole; 33. a first slider; 34. a lifting frame; 35. a hook; 36. a hook bracket; 37. a rotation mechanism; 38. rotating the connecting plate; 39. a limiting piece; 310. a second guide rail; 311. a slider fixing member; 312. a second motor; 313. a second slider;

20. A goods shelf; 201. A layer rack;

30. A lifting mechanism; 301. Lifting the upright post;

40. automatically guiding the transport vehicle;

50. caching bits;

60. a walking rail;

A. And (5) cargo.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways and the spatially relative descriptions used herein are construed accordingly.

The shuttle includes a carriage for carrying and accommodating cargo. When a shuttle car takes goods from a goods shelf or an automatic guiding carrier car, the goods need to be transferred from the goods shelf or the automatic guiding carrier car to a bearing frame, and then the goods need to be separated from the goods shelf or the automatic guiding carrier car and moved to the bearing frame to be fully borne by the bearing frame.

In the following description, the direction in which the load is moved towards the carrier is referred to as the "longitudinal direction X", which refers to the front-rear direction, that is to say the direction in which the load a enters or leaves the carrier, along which the load a enters or leaves the carrier. The vertical direction Z in the embodiment of the present application refers to the height direction. The lateral direction Y refers to the left-right direction. The vertical direction Z, the longitudinal direction X and the transverse direction Y are perpendicular to each other.

The inventor finds that the shuttle vehicle in the related art comprises a hook and a synchronous belt conveying mechanism in the research process. The picking process comprises the following steps: firstly, hooking the goods by using a hook and pulling the goods to walk for a distance; and then the synchronous belt conveying mechanism conveys the cargoes into place. Therefore, the goods taking action of the shuttle needs to be carried out by the hook and the synchronous belt mechanism together to deliver goods in place, and the synchronous belt conveying mechanism comprises the synchronous belt, the synchronous wheel, the tension wheel, the motor and the like, so that the structure is complex, and the structure of the shuttle is complex. In addition, the pick-up control of the shuttle also needs to coordinate and control the hook and the synchronous belt conveying mechanism, so the control is complex.

In order to solve the problem, the embodiment of the application provides a shuttle, which improves the movement mode of a hook relative to a vehicle body, and the embodiment of the application provides that the hook of a hooking structure can rotate around a vertical shaft, so that goods can be pulled by the hooking structure to enable the goods to enter a bearing frame, and then the hook of the hooking structure is controlled to rotate around the vertical shaft to enable the position of the hook to be changed into a state of pushing the goods so as to push the goods to enter a position. According to the shuttle disclosed by the embodiment of the application, goods can be sent into the position by means of the hook without arranging a synchronous belt conveying mechanism, so that the structure of the shuttle is simplified.

A shuttle and a three-dimensional warehouse access system based on the shuttle and a method for picking up goods by the shuttle according to some embodiments of the present application will be described in detail with reference to fig. 1 to 31.

Referring to fig. 1 to 6, a stereoscopic warehouse access system of some embodiments of the present application includes a shuttle 10, a rack 20, a lifting mechanism 30, and an automatic guided vehicle 40.

Referring to fig. 7, the shuttle 10 according to the embodiment of the present application includes a vehicle body 2 and a hooking structure 3. The vehicle body 2 includes a frame 21 and a carrier 23. A carrier 23 is provided on the frame 21 for receiving and carrying the goods a. The hooking structure 3 is provided on the vehicle body 2 and includes a hook 35 for hooking the cargo a. The hook 35 is configured to be movable in the longitudinal direction X with respect to the vehicle body 2 to hook the cargo a into the carrier 23. The hook 35 is further configured to be rotatable relative to the vehicle body 2 about a vertical axis extending in the vertical direction Z to change the position of the hook 35 relative to the cargo, the hook 35 being configured to pull the cargo a first to move a set distance in the longitudinal direction X; and after rotating around the vertical axis, the goods a are pushed to continue to move along the longitudinal direction X.

According to the shuttle disclosed by the embodiment of the application, the hook 35 can rotate around the vertical shaft relative to the vehicle body 2, so that the hook 35 can be controlled to pull the goods A and then control the hook 35 to rotate, so that the hook 35 pushes the goods A, and the loading of a container is realized through twice hooking.

As shown in fig. 7 and 18, the hooking structure 3 of the embodiment of the present application further includes a hooking bracket 36, and the hooking bracket 36 extends along the longitudinal direction X to extend the hooking member 35. Because the hooking structure 3 is disposed on the frame 21, even if the hook 35 pulls the goods a to move backward to the limit position along the longitudinal direction X, the hook bracket 36 occupies a section of position along the longitudinal direction X, so that the hook 35 still cannot reach the end of the carrier, and the goods cannot be completely hooked in place once, which is just based on the problem, in this embodiment, the hook 35 can continue to push the goods to move along the longitudinal direction X by rotating the hook 35 around the vertical axis, and then the loading of the goods can be realized by hooking twice.

The picking process of the shuttle according to the embodiment of the present application is described with reference to fig. 26 to 29. As shown in fig. 26, the cargo a is a container, and the first step is to hook: the control hook 35 moves forward and descends into the pick-up point of the cargo a, in particular a cargo box; as shown in fig. 27, the control hook 35 is moved rearward to pull the container toward the carrier, at which point the hook 35 has moved to an extreme position. And a second step of hooking: the hook 35 is controlled to move upwards to unhook, as shown in fig. 28, the hook 35 is controlled to move forwards and rotate 180 degrees to enable the hook 35 to enter the hooking point of the container, only the direction is rotated, then the hook 35 is controlled to descend into the hooking point, the container is pushed backwards to the state of fig. 29, and the container is in place. Otherwise, the steps are the same when the box is put.

The hook 35 of the embodiment of the present application is required to achieve movement in the longitudinal direction X, rotation about the vertical axis, and movement in the height direction Z. The driving mechanism for realizing the above operation will be described in detail.

As shown in fig. 14 to 17 and 18, in some embodiments, the hooking structure 3 further includes a base plate 32, a pressing plate 31, and a timing belt driving mechanism. The timing belt drive mechanism includes a first timing wheel 214, a second timing wheel 24, and a timing belt 22 wound around the outside of the first and second timing wheels 214, 24. The timing belt 22 extends in the longitudinal direction X, and the hook 35 is connected to the substrate 32. The pressing plate 31 is disposed on the upper side of the base plate 32 to press the synchronous belt 22 against the base plate 32, and one of the first synchronous wheel 214 and the second synchronous wheel 24 is driven to rotate to move the synchronous belt 22 and thus the hook 35.

As shown in fig. 20 and 21, the pressing plates 31 press the two ends of the substrate 32 to press the synchronous belt 22, so that the synchronous belt 22 can drive the substrate 32 to move simultaneously when moving, and further drive the hook 35 to move. To increase the tightness of the hold-down plate 31 and the substrate 32 against the timing belt 22 to increase the tightness between the timing belt 22 and the substrate 32, in some embodiments, the substrate 32 includes a contact area in contact with the timing belt 22, the contact area being provided with a plurality of strip-shaped holes 321.

The plurality of bar holes 321 form teeth for clamping the synchronous belt 22, and when the synchronous belt is clamped, the synchronous belt can be clamped into the bar holes, so that the synchronous belt can be firmly clamped, the substrate 32 is prevented from being separated from the synchronous belt, and the reliability of hook movement is improved.

Specifically, the length direction of the bar-shaped hole 321 is perpendicular to the longitudinal direction X, so that the length direction of the bar-shaped hole 321 is perpendicular to the moving direction of the timing belt to better clamp the timing belt.

In some embodiments, as shown in fig. 18, the hooking structure 3 further comprises a rotation mechanism 37. The hook 35 is connected to the rotation mechanism 37 to rotate under the driving of the rotation mechanism 37.

As shown in fig. 24, the rotation mechanism 37 includes a rotary table connected to the hook 35, a first gear, and a second gear, the rotary table being coaxially connected to the first gear, the second gear being engaged with the first gear to drive the first gear to rotate. Specifically, as shown in fig. 24, the second gear is coaxially connected with a driving mechanism, and the driving mechanism drives the second gear to rotate, so that the first gear is driven to rotate through meshing with the first gear, and the rotary table is linked with the first gear, so that the hook rotates around the vertical shaft.

The axis of the first gear is disposed along the vertical shaft.

In some embodiments, the hook 35 is configured to be liftable in a vertical direction Z relative to the vehicle body 2 to hook or disengage cargo.

Specifically, the shuttle 10 includes a hoist frame 34. The lifting frame 34 is connected with a hook 35. And the lifting frame 34 can lift relative to the base plate 32 to drive the hook 35 to lift so that the hook hooks the picking point of the container or is separated from the picking point. Of course, the hook is matched with the back-and-forth movement in operation to separate and hook the goods.

The inventors of the present application have also found during the course of the study that the shuttle of the related art includes a vehicle body and a load-bearing place provided above the vehicle body. Thus, when the goods are stored, the goods are placed above the body of the shuttle. Referring to fig. 1, the bottom end of the shelf is grounded and extends upward. And a lifting upright post is arranged on the goods shelf. The body of the shuttle of the related art needs to cooperate with the lifting upright to achieve lifting. The lower part of the bottommost layer of the goods shelf is also provided with a buffer storage position, the car body needs to be lowered to a position lower than the bottommost layer of the goods shelf, and the position is lower than the bottommost layer of the goods shelf, so that the lifting upright post also needs to be extended to a position lower than the bottommost layer of the goods shelf to guide the shuttle car. The position of the bottom end of the lifting upright post is very low, so that the automatic guide transport vehicle needs to avoid the lifting upright post in the process of ground shuttle, and the difficulty of an algorithm is increased. Especially when the automatic guiding transport vehicle needs to be in butt joint with the buffer storage position, whether the position of the lifting upright post can shield the target buffer storage position or not needs to be considered, so that the control logic of the automatic guiding transport vehicle can be complex.

In order to solve the above problems, the embodiment of the application proposes that the shuttle is arranged in a hoisting mode, that is, the vehicle body is arranged at the upper side, the goods are stored at the lower side of the vehicle body, and the vehicle body is matched with the lifting upright post by utilizing the hoisting structure, so that the lifting upright post is not required to be arranged very low even if the vehicle body is required to be in butt joint with the buffer storage position, in other words, the bottom end of the lifting upright post can be moved upwards to be flush with the layer frame at the bottommost layer, so that the automatic guided transport vehicle can not collide with the lifting upright post in the process of shuttling on the ground, the control algorithm is simpler, the shuttling travel is shorter, and the goods storing and taking efficiency is improved.

Referring to fig. 1 to 3 and fig. 7, the shuttle 10 according to some embodiments of the present application further includes a hoisting structure 1. Wherein the carrier 23 is arranged at the underside of the frame 21 and serves for accommodating the load a. The hoisting structure 1 is arranged on the upper side of the frame 21 to drive the car body 2 to move.

According to the embodiment of the application, the shuttle adopts a hoisting mode, namely, the load bearing of the goods A is in a hoisting mode, the stand 21 is arranged on the upper side of the bearing frame 23, so that when the shuttle is matched with the lifting upright post for guiding, the position of the stand 21 is positioned on the upper side, and correspondingly, the bottom end of the lifting upright post can correspondingly move upwards, so that the automatic guided transport vehicle can randomly shuttle on the ground without colliding with the lifting upright post, and further, the goods storage and taking efficiency is improved.

Referring to fig. 1, a stereoscopic garage access system of some embodiments of the present application includes a shuttle 10, a rack 20, a lifting mechanism 30, and an automated guided vehicle 40.

Referring to fig. 2 to 4, the lifting mechanism 30 is provided at a side of the shelf 20 and includes a lifting column 301 for guiding the movement of the shuttle 10 in the vertical direction. The hoisting structure 1 of the shuttle 10 cooperates with the lifting column 301 to move in the vertical direction Z. According to the embodiment of the application, the shuttle 10 is arranged in a hoisting mode, so that when the bearing frame 23 of the shuttle 10 is in butt joint with the buffer position positioned at the lower side of the goods shelf 20, the rack 21 of the shuttle 10 is positioned at the upper side of the buffer position, and therefore, the lifting upright post 301 is only arranged at the upper side of the buffer position to realize the cooperation with the shuttle, so that the automatic guiding carrier 40 does not touch the lifting upright post in the ground shuttle process, and the position of the lifting upright post is not required to be considered when the shuttle path of the automatic guiding carrier 40 is designed for a control algorithm, so that the control program is simplified.

As shown in fig. 5, the automatic guided vehicle 40 includes a traveling mechanism at the bottom and a lifting mechanism and a tray provided above the traveling mechanism. The pallet is used for carrying goods A.

In the description of the various embodiments of the present application, the vertical direction Z refers to the height direction, and correspondingly, two ends in the vertical direction Z are respectively an upper end and a lower end, or are a top end and a bottom end. Referring to fig. 7 and 14, the hoist structure 1of the shuttle 10 according to the embodiment of the present application is provided at the top end, and the carriage 23 is provided at the bottom end, thereby forming a hoist form. The top of the bearing frame 23 is connected with the frame 21, and the bottom surface of the bearing frame 23 is used for supporting and bearing goods A. The carrier 23 has a receiving chamber for receiving the goods a, which are placed in the receiving chamber. The bottom surface of the carrier 23 provides support for the goods a.

Referring to fig. 14, in some embodiments, the bottom surface of the carrier 23 is used to support the load a. And the bottom surface of the carrier 23 is configured to be hollow. The hollow refers to that the middle part of the bottom surface of the bearing frame 23 is hollowed. That is to say the edges of the goods a are supported by the carrier 23. This allows the middle of the bottom surface of the carrier 23 to communicate with the outside. When the bearing frame 23 and the automatic guiding transport vehicle are in butt joint, the automatic guiding transport vehicle moves to the lower part of the bearing frame 23 and can lift the tray of the automatic guiding transport vehicle to the hollow area of the bearing frame 23, so that the contact with the goods A is realized, then the gravity bearing of the goods A is transferred to the tray of the automatic guiding transport vehicle from the bearing frame 23 by a certain distance, and the automatic guiding transport vehicle moves outwards, so that the movement of the goods A can be realized, and the goods taking process is finished.

Therefore, the shuttle in the embodiment of the application adopts a hoisting mode, and the bottom surface of the bearing frame 23 is set to be in a hollow structure, so that the automatic guiding transport vehicle can be directly in butt joint with the shuttle to carry out the operation of taking and placing goods, and further, the shuttle is not required to firstly place the goods in a buffer position each time, and then the AGV is in butt joint with the buffer position to finish taking the goods, thereby improving the efficiency.

Of course, in some embodiments, when there is no shuttle AGV nearby, the load may be buffered in the buffer location before the AGV takes the load through the buffer location. The above described direct docking pick approach is used to increase efficiency when there is a shuttle AGV in the vicinity.

In some embodiments, referring to fig. 14 and 16, the carrier 23 includes two side support plates 231 disposed opposite to both ends in the lateral direction Y. The lower ends of the side support plates 231 are configured in a bent structure to form the bearing portions 2311 for supporting the cargo a, with a gap between the two bearing portions 2311 of the two side support plates 231.

That is, the bottom surface of the carrier 23 of the embodiment of the present application includes only two oppositely disposed carrying portions 2311. This allows the bottom surface of the carrier 23 to be hollowed out in a large area, and only two carrier portions 2311 are located at both ends. This creates conditions for the AGV's pallet to be able to lift to a position where it contacts and carries the load A.

The gap between the two bearing portions 2311 of the two side support plates 231 is formed hollow. And then make the tray can contact the goods through this clearance, realize the direct butt joint between AGV and the shuttle.

In embodiments not shown in other figures, the bottom surface of the carrier may also include a plurality of carriers extending at the peripheral edge of the carrier. Referring to fig. 14, the bearing parts may be provided at both ends in the longitudinal direction X, and the bottom surface of the bearing frame may be formed hollow as well.

As can be seen from the above description, the bottom surface of the carrier is used for carrying goods and the middle part is hollowed out. The area of the carrying portion of the carrier for supporting and carrying the weight of the cargo is made small and thus the strength of the carrier needs to be improved. In some embodiments, the carrier is provided with reinforcing ribs.

Referring to fig. 8 to 10, in some embodiments, the lifting structure 1 includes a lifting frame 11 and a connection column. The hoisting frame 11 is connected to the frame 21 via a connecting column. The connecting column has elasticity. The connecting column has elasticity, so that when different positions of the frame 21 of the vehicle body 2 are asynchronous, the connecting column can generate certain elastic deformation to prevent structural members of the vehicle body from deforming.

Specifically, as shown in fig. 9, the connection post includes a rubber post 15. And the hoisting structure 1 comprises two sets of rubber columns 15 at both ends in the transverse direction Y, respectively. Each group of rubber columns 15 includes two rubber columns disposed at intervals in the longitudinal direction X. Thus, when the left and right ends of the vehicle body 2 are out of sync, the elastic deformation of the rubber column can prevent the structural members of the vehicle body 2 from deforming.

The embodiment of the application also provides a delivery method of the shuttle vehicle based on the embodiments, which comprises the following steps:

the control hook 35 hooks the goods a and pulls the goods a to move a set distance along the longitudinal direction X;

the hook 35 is controlled to be separated from the goods A and the hook 35 is controlled to rotate around the vertical shaft; and

The control hook 35 again hooks the goods a and pushes the goods a to continue moving in the longitudinal direction X.

The goods taking method of the shuttle vehicle can realize goods delivery and placement by independently controlling the action of the hook, and compared with the prior art which needs to coordinate and control the synchronous belt conveying mechanism and the hook, the goods taking method of the shuttle vehicle does not need to coordinate and control, and has simple control strategy.

As shown in fig. 1 to 3, the present application further provides a three-dimensional warehouse access system, which includes a shelf 20, a lifting mechanism 30, an automatic guided vehicle 40, and the shuttle 10. The lifting mechanism 30 is provided on the shelf 20. And the lifting mechanism 30 comprises a lifting column 301 extending in a vertical direction Z. The hoisting structure 1 of the shuttle 10 is configured to be movably arranged along the lifting column 301. As shown in fig. 1, the shelf 20 includes a plurality of shelves 201 disposed in the vertical direction Z. The shelves 201 are used to carry cargo. This allows the shuttle 10 to move along the lifting column 301 to reach different elevations for cargo access when it is desired to interface with shelves at different elevations for cargo access.

Each shelf 201 includes a plurality of storage bits arranged in the lateral direction Y. And the lifting mechanism 30 is configured to be movable in a lateral direction Y relative to the rack 20 to move the shuttle 10 to a different storage location. Specifically, the lifting mechanism 30 includes a lifting crown block. And a traveling rail extending in the transverse direction Y is provided on the shelf 20, and the lifting crown block moves along the traveling rail.

As shown in FIG. 1, the stereoscopic warehouse access system of the embodiment of the application further comprises a buffer location 50 provided on the underside of the shelf 20. The buffer bit 50 is used to buffer the cargo. For example, when the shuttle 10 has removed the load stored on the pallet 20 and no AGV is nearby, the shuttle 10 may first buffer the load in the buffer 50 and then continue to remove the load. The AGV performs the pick by interfacing with the buffer station 50.

The plurality of shelves 201 of the present embodiment include a bottom shelf at the very bottom. The bottom end of the lifting column 301 of the lifting mechanism 30 is not lower than the bottom layer frame. In this way, during the process of moving the lifting mechanism 30 along the transverse direction Y, the lifting upright 301 does not extend to the buffer location 50 to block the goods in the buffer location, so that the butt joint of the AGV and the buffer location 50 is not affected by the lifting upright 301. Thus, the position of the lifting mechanism in the transverse direction Y does not need to be considered when the movement of the AGV is controlled, and the control of the AGV is simplified.

As shown in fig. 30 and 31, the present application further provides a method for picking up goods based on a stereoscopic warehouse access system, which includes the following steps:

Control automatically guiding the transport vehicle 40 to move under the shuttle 10;

The control automatically guides the tray of the transport vehicle 40 to lift upward and receive the goods transferred by the shuttle 10.

The bottom surface of the carrier 23 is used for supporting and carrying the goods a, and the bottom surface of the carrier 23 is hollow, and the control of automatically guiding the tray of the transport vehicle 40 to lift upwards and receive the goods transported by the shuttle 10 includes: the control tray is lifted upwards and reaches the hollow of the bottom surface and contacts with the goods A to bear the goods.

According to the embodiment of the application, the shuttle is in a hoisting mode, the bottom surface of the bearing frame 23 is in a hollow structure, so that the automatic guiding transport vehicle can be directly in butt joint with the shuttle to take and place cargoes, the shuttle is not required to place cargoes in a buffer position each time, and then the AGV is in butt joint with the buffer position to finish taking cargoes, so that the efficiency is improved.

The structure and operation of the stereo library access system according to some embodiments of the present application will be described in detail with reference to fig. 1 to 31.

The three-dimensional warehouse access system is a system capable of realizing operations such as storage, warehouse-out, warehouse-in and the like of cargoes. As shown in fig. 1, the stereoscopic warehouse access system of the present embodiment includes a plurality of racks 20, a lifting mechanism 30, a shuttle 10, and an automatic guided vehicle 40.

The shelf 20 is for storing the goods a, the shelf 20 is of a three-dimensional structure, and the shelf 20 includes a plurality of shelves disposed in a height direction. Each shelf includes a plurality of memory bits. A aisle is formed between two adjacent shelves 20. The shuttle 10 moves within the aisle to deposit or retrieve goods at different storage locations of the racks 20. The storage locations on two adjacent shelves 20 may be correspondingly configured so that the shuttle 10 may access loads located on both sides of the aisle at one location.

The lifting mechanism 30 is used to lift the shuttle 10 to different heights to enable the shuttle 10 to access different tiers of cargo of the rack 20.

The automated guided vehicle 40 shuttles over the ground to deliver the cargo to the shuttle 10, and the shuttle 10 then deposits the cargo onto the pallet 20. Or the automated guided vehicle 40 may pick up goods from the shuttle 10.

As shown in fig. 1 and 2, the underside of the shelf 20 is also provided with a buffer location 50, with buffer location 50s being provided below the bottom-most floor of the shelf. The buffer bit 50 is used to buffer the cargo. For example, when the shuttle is retrieving a load stored on shelf 20 and there is no AGV nearby, the shuttle may first buffer the load in buffer 50 and then continue to retrieve the load. The AGV performs the pick by interfacing with the buffer station 50.

As shown in fig. 2 to 4, a lifting mechanism 30 is provided on the shelf 20. And the lifting mechanism 30 comprises a lifting column 301 extending in a vertical direction Z. The shuttle 10 is configured to lift in a vertical direction Z along the lifting column 301.

As shown in fig. 5, the automatic guided vehicle 40 includes a traveling mechanism, a jacking mechanism, and a tray. Wherein, the tray is used for bearing the goods, and climbing mechanism sets up in order to be used for lifting goods A in the below of tray.

As shown in fig. 6, the buffer location 50 is secured to the bottom shelf of the pallet 20, and the buffer location 50 includes a pallet for lifting the cargo box.

As shown in fig. 7, the shuttle 10 of the present embodiment includes a hoisting structure 1, a vehicle body 2, and a hooking structure 3.

As shown in fig. 8, the hoisting structure 1 includes a hoisting frame 11, a guide structure 14 provided on the hoisting frame 11, and a rubber column 15. The lifting frame 11 comprises vertical plates 111, longitudinal plates 113 and transverse beams 112. The vertical plates 111 extend in a vertical direction Z, the longitudinal plates 113 extend in a longitudinal direction Y, and the transverse beams 112 extend in a transverse direction X and are arranged between two opposite longitudinal plates 113.

As shown in fig. 9, the bottom surface of the lateral beam 112 is provided with rubber columns 15. The hoisting structure 1 is connected with the vehicle body 2 through a rubber column 15. The rubber column 15 has elasticity so that when different positions of the vehicle body 2 are not synchronized, the rubber column 15 is elastically deformed to prevent the vehicle body from being deformed.

The vertical plate 111 is provided with a guide structure 14. The guide structure 14 is used to cooperate with the lifting column 301 to guide the movement of the shuttle 10. In particular, the guide wheels of the guide structure 14 roll in the grooves of the lifting columns 301 for guiding.

As shown in fig. 11 to 13, the guide structure 14 includes a fixing frame 141, a first roller 142, a second roller 143, and a timing belt pressing plate 144. The total of eight first rollers 142 are divided into two groups, one on the left side and one on the right side, and the two groups of first rollers 142 are used for clamping the groove edges of the lifting upright 301, so as to provide guiding in the vertical direction Z. The two second rollers 143 are mounted in the grooves of the lifting column 301 for guiding in the longitudinal direction Y. The body 2 is enabled to move up and down along the lifting column under the guidance of the guide structure 14 by means of the hoisting structure 1.

As shown in fig. 12 and 13, a gap B is formed between the timing belt pressing plate 144 and the fixing frame 141. The gap B is used for clamping and pressing the synchronous belt so as to drive the shuttle car to move along the vertical direction Z.

As shown in fig. 14, the vehicle body 2 includes a frame 21 and a carrier 23. The vehicle body 2 is arranged at the lower side of the hoisting structure 1. The frame 21 includes a frame-type structure, and includes two side plates 211 disposed opposite in the transverse direction X and two connection plates 212 disposed opposite in the longitudinal direction Y. Each side plate 211 is perpendicular to the transverse direction X. Each connecting plate 212 is perpendicular to the longitudinal direction Y and connects the opposite two side plates 211. As shown in fig. 14, the upper end of the side plate 211 is provided with a connection hole. The hoisting structure 1 is connected with the vehicle body 2 through a rubber column 15, specifically, the rubber column 15 is inserted in the connecting hole.

The carrier 23 is arranged below the frame 21 and serves to accommodate load. As shown in fig. 14, the carrier 23 includes two side support plates 231 disposed opposite to each other at both lateral ends. An upper end of each side support plate 231 is connected to the frame 21, and a lower end of the side support plate 231 is configured in a bent structure to form a bearing portion 2311 for supporting a load. The side support plate 231 is a bent plate structure. The bearing portion 2311 is horizontally disposed to support the load. The two bearing portions 2311 support the cargo in common.

Specifically, the carrier 23 is formed by bending a sheet metal part. And a plurality of groups of reinforcing ribs are welded on the outer side surface of the bearing frame 23 to improve the strength thereof.

The two bearing portions 2311 are located at both ends in the lateral direction Y, respectively, with a gap between the two bearing portions 2311. That is to say the lower end face of the carrier 23 is hollow. In this way, when the shuttle 10 transfers the cargo to the automatic guided vehicle 40, the automatic guided vehicle 40 moves below the shuttle 10 and lifts the pallet into the carrier 23 through the gap to carry the cargo. Therefore, the automatic guiding transportation vehicle 40 and the shuttle vehicle 10 are directly connected in a butt joint mode, time for placing the automatic guiding transportation vehicle and the shuttle vehicle in a buffer storage position is saved, and efficiency is further improved.

As shown in fig. 14 to 17, the shuttle 10 further includes a timing belt 22, a first timing wheel 214, a first guide rail 25, a support shaft 26, a second timing wheel 24, a tensioning wheel 215, and a first motor 211, which are provided on the frame 21. An output shaft of the first motor 211 is drivingly connected to the first synchronizing wheel 214 to drive the first synchronizing wheel 214 to rotate. Rotation of the first synchronizing wheel 214 rotates the second synchronizing wheel 24 via the timing belt 22. The second synchronizing wheel 24 is mounted on the support shaft 26 and rotates relative to the support shaft 26. Thus, the first motor 211 drives the first synchronous wheel 214 to rotate so as to drive the synchronous belt 22 to move. The tensioner 215 is used to tension the timing belt while providing the timing belt 22 with a sufficient wrap angle on the first timing wheel 214.

As shown in fig. 14, two sets of timing belts are provided on both lateral sides of the frame 21, respectively. The two groups of synchronous belts jointly drive the hooking structure 3 to move along the longitudinal direction.

As shown in fig. 18 and 19, the hooking structure 3 includes a pressing plate 31, a base plate 32, a first slider 33, a lifting frame 34, a hook 35, a hook bracket 36, a rotating mechanism 37, a rotating connection plate 38, a limiting piece 39, a second guide rail 310, a second slider 313, a slider fixing piece 311, and a second motor 312.

The substrate 32 is a mounting base for hooking other components of the structure 3. The pressing plates 31 are respectively mounted at both ends of the upper surface of the substrate 32. The pressing plate 31 is used for pressing the synchronous belt 22 so that the hooking structure 3 moves along the longitudinal direction X under the driving of the synchronous belt 22. The lower surface of the base plate 32 is provided with first sliders 33 at both ends thereof, respectively. The first slider 33 is in sliding engagement with the first rail 25 to move the hooking structure 3 along the extending direction of the first rail 25, i.e. the longitudinal direction X.

As shown in fig. 19, the second motor 312 includes a lead screw motor mounted on the base plate 32. As shown in fig. 18, a limit piece 39 is provided at the end of the screw shaft of the screw motor to limit the screw shaft, preventing the screw shaft from coming out. The lower end of the base plate 32 is also connected to a second slider 313 through a slider fixture 311. The second slider 313 is in sliding engagement with the second guide rail 310 extending in the vertical direction Z. The lifting frame 34 is connected with a screw motor to be lifted and lowered in the vertical direction Z by the drive of the screw motor.

The rotation mechanism 37 is mounted on the lifting frame 34 and a rotation connection plate 38 is connected to the lower side of the rotation mechanism 37. Two hook brackets 36 are mounted on either side of the swivel connection plate 38.

As shown in fig. 21, the base plate 32 includes a first hole 322 at the center and two second holes 323 at both sides, respectively. As shown in fig. 23, the lifter 34 is a sheet metal bent member. The lifting frame 34 includes a horizontal plate positioned in the middle and connected with the hooks 35, and vertical plates disposed at both ends of the horizontal plate. The vertical plate is inserted through the second hole 323 of the base plate 32. The screw shaft of the screw motor is inserted into the first hole 322. The upper surface of the horizontal plate is connected with a screw motor, and the lower surface is connected with a rotating mechanism 37. The second guide rail 310 is disposed on the vertical plate of the lifting frame 34, and the second slider 313 is fixedly connected with the lower surface of the base plate 32, so that when the lifting frame 34 is driven by the screw motor to lift in the vertical direction, the second guide rail 310 and the second slider 313 form sliding fit to guide the movement of the lifting frame in the vertical direction.

The hook bracket 36 extends in the longitudinal direction X to extend the hook 35. Therefore, when the hook 35 moves backward to the limit position along the longitudinal direction, the hook 35 is still positioned in the middle of the carrier, so that the cargo cannot be completely hooked in place at one time, and the cargo is completely introduced into the carrier. Based on this problem, the hook 35 can be hooked twice by the rotating mechanism 37 to achieve the loading of the goods.

As shown in fig. 25, the cargo a may be a cargo box. The container is provided with a hooking point A1. The hooking points A1 are arranged on the upper side of the container, and the hooking points are arranged on two sides of the container. Because the middle position is softer, in order to avoid the deformation of the position of the middle position to be larger, the inner side of the hooking point, which is close to the container, is provided with a reinforcing rib. As shown in fig. 25, the hooking point A1 includes a groove structure. The two ends of the groove structure are connected to the container, so that the hook 35 can extend into the gap between the container and the groove structure to achieve hooking when hooking the container.

The rotation mechanism 37 is rotatable so that it can rotate the hook 35 to any angle, preferably 180 °. Therefore, the hook of the embodiment can be lifted up and down, can be moved back and forth, and can also rotate in the horizontal plane.

As shown in fig. 18, the hook 35 is a vertically arranged bent rod. As shown in fig. 26, when the cargo box is to be picked up, the bending bar is inserted into the pick-up point A1 and moved in the longitudinal direction to pull the cargo box. As shown in fig. 27, the hook moves rearward to the extreme position. At this time, as shown in fig. 28, the hook is driven by the rotating mechanism to rotate 180 degrees, and as shown in fig. 29, the hook is controlled to enter the hooking point again and push the container to move backwards and push the container into place. As can be seen from fig. 29, after the push box is in place, the hook 35 is located at the end of the carrier, which is only possible due to the arrangement of the rotating mechanism. That is, the limit of the rearward movement of the hook 35 is expanded.

As shown in fig. 26, the hook 35 is a bent rod, and specifically, the hook 35 includes a connecting rod connected to the hook bracket 36 and a hooking rod extending downward from an end of the connecting rod. In the first step of hooking, as shown in fig. 26, the hooking rod extends into the inner side of the hooking point A1, and the connecting rod is located at the longitudinal front side of the hooking rod, the inner side of the hooking rod abuts against the hooking point A1, and the container moves forward along the longitudinal direction X under the pulling of the hook 35. As shown in fig. 28, in the second hooking step, the hooking rod extends into the inside of the hooking point A1, but the position of the container is changed due to the rotation of the hook around the vertical axis, at this time, the connecting rod is located at the rear side of the hooking rod, and the outer side of the hooking rod abuts against the hooking point A1, so that the container continues to move forward along the longitudinal direction X under the pushing of the hook 35.

As shown in fig. 30 and 31, the shuttle of the present embodiment adopts a hoisting mode, the frame of the vehicle body is on the upper side, and the container is on the lower side, so that the bottom end of the lifting upright post can move upwards, and the lifting upright post can move upwards to a height not lower than the bottom layer frame.

In the present embodiment, as shown in fig. 2, two traveling rails 60 are provided at the upper and lower ends of the shelf 20, respectively. The lifting mechanism 30 may move along the travel rail 60. The height of the walking rail at the lower end of the two walking rails is the same as the height of the bottom shelf of the shelf 20. Therefore, when setting up the lifting column of hoist mechanism 30, the bottom of lifting column is not less than the walking track's of lower extreme height can, promotes the column and can not interfere AGV to lift the packing box and walk and can not interfere the butt joint of AGV and buffer memory position on ground this moment. The scheduling of the AGVs is much simplified and no calculation of the position of the lifting mechanism 30 is required to avoid collisions with the lifting columns. Meanwhile, as can be seen from fig. 30 and 31, the hollow structure is arranged on the lower side of the shuttle, so that the AGV can be directly docked with the shuttle without passing through the buffer position, and the container taking and placing is completed.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present application or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the application, it is intended to cover the scope of the application as claimed.

Claims (13)

1. A shuttle, comprising:

a vehicle body (2) comprising a frame (21) and a carrier (23), said carrier (23) being arranged on said frame (21) for receiving and carrying a load (a); and

A hooking structure (3) arranged on the vehicle body (2), and the hooking structure (3) comprises a hook (35) for hooking the goods (a), the hook (35) being configured to be movable in a longitudinal direction (X) relative to the vehicle body (2) for hooking the goods (a) into the carrier (23), and the hook (35) being further configured to be rotatable relative to the vehicle body (2) about a vertical axis extending in a vertical direction (Z) for changing the position of the hook (35) relative to the goods, the hook (35) being configured to pull the goods (a) first for a set distance along the longitudinal direction (X); and pushing the goods (A) to continue to move along the longitudinal direction (X) after rotating around the vertical axis (Z).

2. Shuttle according to claim 1, characterized in that the hooking structure (3) further comprises a base plate (32), a pressing plate (31) and a synchronous belt mechanism, the synchronous belt mechanism comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt (22) wound on the outer sides of the first synchronous wheel and the second synchronous wheel, the synchronous belt (22) extends along the longitudinal direction (X), the hook (35) is connected with the base plate (32), the pressing plate (31) is arranged on the upper side of the base plate (32) so as to press the synchronous belt (22) on the base plate (32), and one of the first synchronous wheel and the second synchronous wheel is driven to rotate so as to enable the synchronous belt (22) to move and drive the hook (35) to move.

3. Shuttle according to claim 2, characterized in that the base plate (32) comprises a contact zone with the timing belt (22), which contact zone is provided with a strip-shaped hole (321).

4. The shuttle of claim 1, wherein the hooking structure (3) further comprises a rotation mechanism (37), and the hook (35) is connected to the rotation mechanism (37) to rotate under the drive of the rotation mechanism (37).

5. The shuttle of claim 4, wherein the rotation mechanism (37) comprises a rotary table connected to the hook (35), a first gear, and a second gear, the rotary table being coaxially connected to the first gear, the second gear being engaged with the first gear to drive the first gear to rotate.

6. Shuttle according to claim 1, characterized in that the hook (35) is configured to be liftable in a vertical direction (Z) with respect to the vehicle body (2) to hook or disengage the cargo.

7. Shuttle according to any one of claims 1-6, characterized in that the carriage (23) is arranged at the underside of the frame (21), and that the shuttle further comprises a hoisting structure (1) arranged at the upper side of the frame (21) for driving the car body (2) to move.

8. Shuttle according to claim 7, characterized in that the underside of the carrier (23) is designed to support the load (a), and that the underside of the carrier (23) is designed to be hollow.

9. The shuttle of claim 8, wherein the carriage (23) comprises two side support plates (231) disposed opposite to each other at both ends in the lateral direction (Y), the lower ends of the side support plates (231) being configured in a bent structure to form a bearing portion (2311) for supporting the cargo (a), and the two bearing portions (2311) of the two side support plates (231) have a gap therebetween.

10. Shuttle according to claim 7, characterized in that the hoisting structure (1) comprises a hoisting frame body (11) and a connecting column, the hoisting frame body (11) being connected with the frame (21) by means of the connecting column, the connecting column having elasticity.

11. A three-dimensional inventory system, characterized by comprising a pallet (20), a lifting mechanism (30), an automatically guided transport vehicle (40) and a shuttle (10) according to any of claims 1 to 10.

12. The stereoscopic warehouse access system according to claim 11, wherein the rack (20) comprises a plurality of shelves arranged in a vertical direction (Z), the shelves being for storing goods and comprising a bottom shelf at a bottommost position, the shuttle (10) further comprising a lifting structure (1) arranged at an upper side of the rack (21) for moving the vehicle body (2), the lifting mechanism (30) comprising a lifting column (301) extending in the vertical direction (Z), the lifting structure (1) of the shuttle (10) being configured to be movably arranged along the lifting column (301) for docking the shuttle (10) with the plurality of shelves, each shelf comprising a plurality of storage locations arranged in a lateral direction (Y), the lifting mechanism (30) being configured to be movable in the lateral direction (Y) with respect to the rack (20) for docking the shuttle (10) with the plurality of storage locations, the lifting column (301) being configured not to be lower than the bottom of the shelf.

13. A method of picking up goods based on the shuttle of claim 1, comprising the steps of:

Controlling the hook (35) to hook the goods (A) and pull the goods (A) to move along the longitudinal direction (X) for a set distance;

Controlling the hook (35) to be separated from the goods (A) and controlling the hook (35) to rotate around a vertical shaft; and

The hook (35) is controlled to hook the goods (A) again and push the goods (A) to move along the longitudinal direction (X).