CN111731730A - Transporter and storage system - Google Patents

Abstract

Embodiments of the present invention provide a transport vehicle and a storage system. The transport vehicle provided by the embodiment of the present invention includes: a vehicle body, a driving wheel train and a climbing assembly, the driving wheel train is arranged at the bottom of the vehicle body, and the driving wheel train is used to drive the transport vehicle to perform For horizontal movement, the climbing assemblies are provided on both sides of the vehicle body, and the climbing assemblies are used to engage with the rails provided on the racks, so that the transport vehicle can climb vertically along the direction of the rails. The transport vehicle provided by the embodiment of the present invention not only realizes that the transport vehicle can run horizontally straight, but also can climb vertically on the shelf, which enriches the running track of the transport vehicle, thereby improving the running efficiency of the transport vehicle.

Description

Transporter and storage system

technical field

The invention relates to the technical field of intelligent storage, in particular to a transport vehicle and a storage system.

Background technique

With the rapid development of science and technology, the warehousing of goods is becoming more and more intelligent. In modern warehouses, transport vehicles gradually replace manual handling of goods.

Traditional transport vehicles are generally used for in-and-out operations of goods in a three-dimensional warehouse, and can only travel in one direction. If the horizontal straight transport vehicle needs to replace the aisle, it needs to transport the transport vehicle from one aisle to another by means of a hoist at the end of the aisle. After the horizontally straight transport vehicle takes out the goods, it must pass through a series of assembly lines for transmission, collection and other functions before sorting, and after the sorting is completed, it needs to return to the three-dimensional warehouse of the transport vehicle from another series of assembly lines.

It can be seen that when the traditional horizontal straight transport vehicle realizes the automatic transportation of goods, it also needs to be equipped with a large number of auxiliary equipment such as conveyor lines and hoists, which has high cost and large equipment investment. Due to the solidification of the traditional horizontal and straight transport vehicles, it is easy to cause congestion.

SUMMARY OF THE INVENTION

The embodiment of the present invention provides a transport vehicle and a storage system, so that the transport vehicle can not only travel horizontally, but also climb vertically on a shelf.

In a first aspect, an embodiment of the present invention provides a transport vehicle including: a vehicle body, a driving wheel train, and a climbing assembly;

The driving wheel train is arranged at the bottom of the vehicle body, and the driving wheel train is used to drive the transport vehicle to move horizontally;

The climbing assemblies are arranged on both sides of the vehicle body, and the climbing assemblies are used for engaging with the rails provided on the racks, so that the transport vehicle can climb vertically along the direction of the rails.

In a possible design, the climbing assembly includes: a power assembly and a transmission assembly;

The output end of the power assembly is connected with the input end of the transmission assembly, and the output end of the transmission assembly is used for engaging with the track.

In a possible design, the power assembly includes: a motor and a transmission pair;

The motor is connected to the input end of the transmission pair, and the output end of the transmission pair is connected to the input end of the transmission assembly.

In a possible design, the climbing assembly further includes: telescopic assemblies disposed on both sides of the vehicle body, a bracket disposed on the moving end of the telescopic assembly, and a transmission shaft;

The motor is connected to the input end of the transmission pair, the output end of the transmission pair is connected to the transmission shaft, and both ends of the transmission shaft are respectively provided with rotating parts, and the rotating parts are rotatably connected to the bracket ;

When the transport vehicle climbs vertically, the telescopic assembly extends to make the rotating part engage with the track to form a kinematic pair;

When the transport vehicle performs horizontal movement, the telescopic assembly retracts to disengage the rotating member from the rail to release the kinematic pair.

In a possible design, an alignment wheel set is arranged on the bracket;

The alignment wheel set includes two opposite alignment wheels;

When the telescopic assembly is extended, the alignment block provided at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels are along the two sides of the alignment block respectively. Wall movement to complete the alignment of the rotating member with the track.

In a possible design, the drive train includes: a mounting seat, a swing arm, a buffer assembly and a wheel;

the mounting seat is arranged at the bottom of the vehicle body;

The first end of the swing arm is hinged to the mounting seat, the second end of the swing arm is connected to the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body;

The wheel is disposed between the two ends of the swing arm.

In a possible design, the buffer assembly includes: a limit rod, a spring and a limit ring;

The limit rod passes through the vehicle body, the spring and the swing arm in sequence;

The limit ring is arranged at one end of the limit rod away from the vehicle body.

In a possible design, the climbing assembly on one side of the vehicle body is provided with a first sensor, and the climbing assembly on the other side is provided with a second sensor, the first sensor and the first sensor The two sensors are respectively connected with the control assembly arranged on the vehicle body;

The first sensor is used to detect the first detection hole on the track on the corresponding side, and the second sensor is used to detect the second detection hole on the track on the corresponding side, wherein the first detection hole be located at the same height as the second detection hole;

The control component adjusts the rotation speed of the motor according to the current climbing speed of the transport vehicle and the time difference between the detection of the first detection hole and the detection of the second detection hole, so that the transport vehicle Climb vertically while maintaining an attitude perpendicular to the track.

In a possible design, the transport vehicle further includes: a container pick-and-place assembly;

the cargo box pick-and-place assembly is arranged on the vehicle body;

The box pick-and-place assembly is used to pick up the boxes placed on the rack.

In a possible design, the cargo box pick-and-place assembly includes: a cargo box pick-and-place telescopic plate and a drive mechanism;

The pick-and-place telescopic plate of the cargo box extends or retracts into the vehicle body when the drive mechanism is driven.

In a possible design, the transport vehicle further includes: a third sensor arranged on the vehicle body, the third sensor is connected to a control assembly arranged on the vehicle body;

The third sensor is triggered when the cargo box pick-and-place telescopic plate is extended;

so that the control assembly determines the running time of the telescopic board for picking and placing the container according to the extension speed of the telescopic board for picking and placing the container and a preset positioning distance;

The preset distance is the distance between the dead stop on the shelf and the third sensor.

In a possible design, the vehicle body includes: a main body frame, a cargo box pick-and-place assembly support frame, and a battery compartment frame;

The cargo box pick-and-place assembly support frame and the battery compartment frame are detachably mounted on the main body frame;

The cargo box picking and placing assembly is provided on the supporting frame of the cargo box picking and placing assembly;

A battery assembly is arranged on the battery compartment frame.

In a second aspect, an embodiment of the present invention further provides a storage system, including a rack and any one of the transport vehicles provided in the first aspect.

Embodiments of the present invention provide a transport vehicle and a storage system. The transport vehicle is driven to move horizontally by a driving wheel train arranged at the bottom of the vehicle body, and the climbing assemblies arranged on both sides of the vehicle body are engaged with the rails on the rack. It realizes the vertical climbing of the transport vehicle along the track direction, so that the transport vehicle can not only run horizontally straight, but also climb vertically on the shelf, which enriches the running track of the transport vehicle and improves the operation efficiency of the transport vehicle. .

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1a is a schematic diagram of the overall structure of a transport vehicle according to an exemplary embodiment of the present invention;

Fig. 1b is a partial structural schematic diagram of the transport vehicle described in Fig. 1a;

Figure 2a is a schematic diagram of the vehicle body structure;

Figure 2b is a schematic diagram of the explosion of the vehicle body structure;

Figure 3a is a front view of the structure of the climbing assembly;

Figure 3b is a structural axonometric view of the climbing assembly;

Figure 3c is another structural axonometric view of the climbing assembly;

Figure 4a is a schematic structural diagram of a driving wheel train;

Figure 4b is a schematic cross-sectional view of a drive train;

Fig. 5a is a schematic diagram of a transport vehicle picking and placing goods;

Fig. 5b is the enlarged schematic diagram of the place A in Fig. 5a;

Fig. 5c is the enlarged schematic diagram at B in Fig. 5a;

FIG. 6 is a schematic structural diagram of a storage system according to an exemplary embodiment of the present invention.

Detailed ways

First of all, in order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Secondly, it should be noted that, in the description of the embodiments of the present invention, the terms of the direction or positional relationship indicated by the terms "inner" and "outer" are based on the direction or positional relationship shown in the drawings, which is only for convenience It is described, not indicated or implied, that the device or component must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting embodiments of the present invention.

In addition, it should also be noted that, in the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a connectable connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be internal communication between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations.

FIG. 1 a is a schematic diagram of the overall structure of a transport vehicle according to an exemplary embodiment of the present invention, and FIG. 1 b is a schematic diagram of a partial structure of the transport vehicle described in FIG. 1 a . As shown in FIGS. 1 a to 1 b , the transport vehicle provided in this embodiment includes: a vehicle body 110 , a driving wheel train 120 and a climbing assembly 130 .

Specifically, the driving wheel train 120 is arranged at the bottom of the vehicle body 110, and the driving wheel train 120 may be composed of multiple wheel trains. In addition, a universal wheel may be arranged at the bottom of the vehicle body 110 to assist the transport vehicle in steering. It should be noted that the wheels in the driving wheel train 120 are connected with the driving mechanism, so as to drive the transport vehicle to move horizontally.

The climbing assemblies 130 are disposed on both sides of the vehicle body 110, and the climbing assemblies 130 are used to engage with the rails provided on the shelves, so that the transport vehicle can climb vertically along the direction of the rails. It should be noted that the end effector of the climbing assembly 130 may be a sprocket or a gear, and a chain or a rack that matches the climbing assembly 130 may be provided in the corresponding rack track. After the corresponding rails on both sides are engaged, the actuator of the climbing assembly 130 moves, for example, the sprocket or gear in the climbing assembly 130 rotates, so that the climbing assembly 130 carries the transport vehicle to climb vertically along the track direction.

In this embodiment, the transport vehicle is driven to move horizontally by the driving wheel train arranged at the bottom of the vehicle body, and the transport vehicle moves along the track direction through the engagement of the climbing assemblies arranged on both sides of the vehicle body with the rails on the racks. Vertical climbing, so that the transport vehicle can not only run horizontally straight, but also perform vertical climbing functions on the shelf, enrich the running track of the transport vehicle, and improve the operation efficiency of the transport vehicle.

On the basis of the above-mentioned embodiment, FIG. 2 a is a schematic diagram of the structure of the vehicle body, and FIG. 2 b is a schematic diagram of an explosion of the structure of the vehicle body. As shown in FIGS. 2 a to 2 b , the vehicle body in this embodiment includes: a main body frame 112 , a support frame 111 of a cargo box pick-and-place assembly, and a battery compartment frame 113 . The main frame 112, the cargo box pick-and-place assembly support frame 111 and the battery compartment frame 113 are all welded frame structures, and the cargo box pick-and-place assembly support frame 111 and the battery compartment frame 113 are detachably mounted on the main body frame 112. Specifically, Yes, it can be connected by bolts. Optionally, the support frame 111 of the container pick-and-place assembly may be connected above the main frame 112 by bolts, and the battery compartment frame 113 may be connected below the main frame 112 by bolts. In addition, it should be noted that the container pick-and-place assembly 140 may be provided on the support frame 111 of the cargo box pick-and-place assembly, and the battery pack 160 may be provided on the battery compartment frame 113 .

Fig. 3a is a front view of the structure of the climbing assembly, Fig. 3b is a isometric view of the structure of the climbing assembly, and Fig. 3c is another isometric view of the structure of the climbing assembly. As shown in FIGS. 1a-1b and 3a-3c, the above-mentioned climbing assembly 130 includes: a power assembly and a transmission assembly, wherein the output end of the power assembly is connected to the input end of the transmission assembly, and the output end of the transmission assembly is used for connecting with Track engagement. The power assembly includes a motor 131 and a transmission pair 134, wherein the motor 131 is connected to the input end of the transmission pair 134, and the output end of the transmission pair 134 is connected to the input end of the transmission assembly. In addition, the climbing assembly 130 may further include: telescopic assemblies 137 disposed on both sides of the vehicle body, a bracket 138 disposed at the moving end of the telescopic assembly 137 , and a transmission shaft 134 . Specifically, the motor 131 is connected to the input end of the transmission pair 134, the output end of the transmission pair 134 is connected to the transmission shaft 136, the two ends of the transmission shaft 136 are respectively provided with rotating parts, such as the sprocket 135, and the transmission shaft 136 is rotatably connected to the bracket 138 on.

The above-mentioned transmission pair 134 may be a chain drive, a gear drive or a belt drive. In this embodiment, the specific form of the transmission pair 134 is not limited, and it only needs to ensure that the power of the motor 131 can be transmitted to the transmission shaft 136 That's it.

In addition, a speed limiting assembly 132 and a reducer 133 can also be arranged between the motor 131 and the transmission pair 134, wherein one end of the speed limiting assembly 132 is connected with the output shaft of the motor 131, and the other end is connected with the input end of the reducer 133, and the speed reduction The output end of the engine 133 is connected with the transmission pair 134 . It should be understood that the speed limiting assembly 132 is used to brake or even lock the transmission pair 134 when the transport vehicle falls due to an electrical fault, so as to protect the transport vehicle. The speed reducer 133 is used to convert the high rotational speed output by the motor 131 into a low rotational speed, thereby increasing the torque.

When the transport vehicle climbs vertically, the telescopic assembly 137 extends so that the bracket 138 extends outward, so that the sprocket 135 provided in the bracket 138 engages with the chain in the track to form a kinematic pair. When the transport vehicle moves horizontally, the telescopic assembly 137 retracts, so that the sprocket 135 provided in the bracket 138 is disengaged from the chain in the track, so as to release the formed kinematic pair. It should be understood that the telescopic assembly 137 may be a hydraulic rod, a pneumatic rod, or other telescopic components or transmission mechanisms, which are not specifically limited in this embodiment.

When the transport vehicle needs to switch from horizontal movement to vertical climbing, the transport vehicle will first run to a designated position near the shelf under the guidance of the navigation module 150, wherein the above-mentioned navigation module 150 may be a two-dimensional code navigation module. When the transport vehicle is climbing vertically, the sprocket 135 in the bracket 138 needs to be aligned with the chain in the track first. However, when the transport vehicle is guided by the navigation module 150, the position it arrives at is the designated position that needs to be parked. There are some deviations, resulting in positional deviations in the relative positions between the transport vehicle and the rack, so that the sprockets 135 in the brackets 138 cannot be strictly aligned with the chains in the track.

Please continue to refer to FIGS. 3 a to 3 c , in order to enable the transport vehicle to climb vertically, the sprocket 135 in the bracket 138 and the chain in the track are aligned first, and the bracket 138 can also be provided with an alignment Positive wheel set 139. Optionally, the alignment wheel set 139 includes two alignment wheels arranged opposite to each other. When the telescopic assembly is extended, the alignment block 220 provided at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels are aligned. The alignment wheels can move along the two side walls of the alignment block 220 respectively to complete the alignment of the alignment wheel group 139 and the alignment block 220, thereby realizing the relative positional relationship between the sprocket 135 and the chain in the track to meet the meshing requirements. It is worth noting that the guide block 220 can be arranged on the bottom side wall of the shelf, and the part of the guide block 220 facing the outside can be set as a protruding arc, so that the alignment wheel set 139 is facing the guide. When the block 220 moves, it can more easily fit the side wall of the guide block 220, and reach the designated position under the guidance of the guide block 220, so as to realize the alignment of the sprocket 135 and the chain in the track, so as to ensure the transport vehicle The relative position with the shelf satisfies the relative position requirement for vertical climbing.

In addition, continuing to refer to FIG. 3c, the guide block 220 may include a guide block base 221 and a guide block body 222, wherein the guide block base 221 is used to be installed on the shelf, and specifically, it can be performed by bolting. Install. The guide block body 222 is used to be set toward the transport vehicle. In addition to the front end of the guide block body 222 being set as a protruding arc, the boundary of the upper end face of the guide block body 222 can also be set as an arc shape. , rounding or chamfering. Therefore, when the transport vehicle descends from the shelf to the ground, the alignment wheel set 139 slides down along the upper end surface boundary of the guide block body 222, thereby reducing the impact. In addition, it can also effectively prevent the transport vehicle from being stuck in the The upper end of the block body 222 is aligned so that the transport vehicle cannot be switched from the vertical climbing mode to the horizontal running mode.

On the basis of the above-mentioned embodiment, FIG. 4 a is a schematic structural diagram of a driving wheel train, and FIG. 4 b is a cross-sectional schematic diagram of the driving wheel train. As shown in FIGS. 4 a to 4 b , the driving wheel train 120 in the above embodiment includes: a mounting seat 121 , a swing arm 122 , a buffer assembly and a wheel 123 , wherein the mounting seat 121 is arranged at the bottom of the vehicle body 110 , and the swing arm The first end of the 122 is hinged to the mounting seat 121 , the second end of the swing arm 122 is connected to the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body 124 . It should be understood that by arranging the wheel 123 in the middle of the swing arm 122, rotatably connecting the first end of the swing arm 122 to the mounting seat 121, and disposing a buffer assembly between the second end of the swing arm 122 and the vehicle body 110, Therefore, the impact force of the transport vehicle falling from the shelf to the ground can be buffered.

Optionally, the buffer assembly may include: a limit rod 124, a spring 125 and a limit ring 126, wherein the limit rod 124 passes through the vehicle body 110, the spring 125 and the swing arm 126 in sequence, and the limit ring 126 is disposed at One end of the limiting rod 124 is away from the vehicle body 110 . Through the arrangement of the above-mentioned form of buffer assembly, the spring 125 can provide positive pressure for the transport vehicle when walking, and provide buffering when the transport vehicle drops from the shelf to the ground, and a limit ring 126 is provided at one end of the limit rod 124 In this way, the range of motion of the spring 125 is limited.

In addition, in order to ensure that the vehicle body maintains the correct posture when climbing, the detection device on the vehicle body 110 can be used to first detect the detection holes of the shelves on both sides, and then realize the purpose of real-time correction of the vehicle body posture according to the detection results.

Specifically, FIG. 5a is a schematic diagram of a transport vehicle picking and placing goods, FIG. 5b is an enlarged schematic diagram of position A in FIG. 5a , and FIG. 5c is an enlarged schematic diagram of position B in FIG. 5a . As shown in FIGS. 5 a to 5 c , the first sensor 180 may be provided on the climbing assembly 130 on one side of the vehicle body 110 , and the second sensor 182 , the first sensor 181 and the first sensor 181 may be provided on the climbing assembly on the other side of the vehicle body 110 The two sensors 182 are respectively connected with the control assembly 190 provided on the vehicle body 110 . The first sensor 181 and the second sensor 182 are the same sensor, for example, a diffuse reflection optical sensor, and the detection principle of the two is the same. Therefore, the detection principle of the second sensor 182 is not carried out in this embodiment. specific description. Specifically, the first sensor 181 is used to detect the first detection hole 211 on the track 210 on the corresponding side, and the second sensor is used to detect the second detection hole on the track on the corresponding side, wherein the first detection hole 211 and the second detection hole 211 The detection holes are located at the same height.

Continue to refer to FIG. 5a, it is worth understanding that two parallel rails are respectively provided with detection hole series, and the detection holes on the detection hole series on the two rails are in a one-to-one correspondence. For each group of corresponding detection holes height is the same. The first detection hole 211 and the second detection hole in the above embodiment may be any set of detection holes on the two rails.

During the climbing process of the transporter, the control component 190 can determine the height difference between the two sides of the transporter according to the time difference between the detection of the first detection hole 211 and the detection of the second detection hole, and the current climbing speed of the transporter , and then, combined with the encoder of the motor itself, by adjusting the rotational speed of the motors in the climbing assemblies 130 on both sides or the rotation amount for a fixed time, the two sides of the transport vehicle form a travel difference for compensating for the height difference, thereby correcting the inclined posture, Vertical climbing is performed in a posture that enables the transport vehicle to be kept perpendicular to the track 210 on the rack 200 .

Continuing to refer to FIGS. 1a-1b, on the basis of the above-mentioned embodiments, the transport vehicle provided in this embodiment further includes: a cargo box pick-and-place assembly 140, specifically, the cargo box pick-and-place assembly 140 is arranged on the vehicle body 110, Specifically, the container picking and placing assembly 140 may be disposed on the supporting frame 111 of the container picking and placing assembly, and the container picking and placing assembly 140 is used for picking and placing the containers placed on the rack 200 .

It should be understood that the cargo box pick-and-place assembly 140 includes: a cargo box pick-and-place telescopic plate 141 and a driving mechanism, and the cargo box picking and placing telescopic plate 141 can be extended or retracted into the vehicle body 110 under the driving of the driving mechanism. Wherein, the cargo box pick-and-place telescopic plate 141 can be slidably connected to the vehicle body 110, and one end of the driving mechanism is connected to the bottom of the cargo box pick-and-place telescopic plate 141, and the movable end is connected to the cargo box pick and place telescopic plate 141. Under the driving of the driving mechanism, the telescopic movement of the telescopic board 141 for taking and placing the cargo box relative to the vehicle body 110 is realized. It should be understood that the above-mentioned driving mechanism may be a rack and pinion structure, a belt transmission mechanism, or a chain transmission mechanism, and the specific form of the above-mentioned driving mechanism is not limited in this embodiment.

The following is a detailed description of the process of picking up and placing containers of the transport vehicle provided by this embodiment in conjunction with the actual work flow:

First, for the process of picking up the goods, the transport vehicle can climb up to the designated position along the track 210 on the shelf 200, and then, the telescopic board 141 in the picking-and-putting assembly 140 is controlled to start extending, and is inserted under the container The reserved pick-and-place gap between the surface and the shelf 200. After the container pick-and-place telescopic plate 141 stretches out for the specified stroke, continue to control the transport vehicle to continue to climb along the track 210 on the shelf 200 for a certain stroke, so that the container can be separated from the shelf 200 under the lifting action of the container pick-and-place telescopic plate 141 . Then, the telescopic board 141 for taking and placing the container is controlled to start retracting, and at this time, the container will move to the transport vehicle along with the retracting of the telescopic board 141 for taking and placing the container, thereby completing the process of picking up the goods.

In addition, for the delivery process, the transport vehicle can be climbed along the track 210 on the shelf 200 to a designated position, and the designated position here can be understood as the bottom of the container after the retractable board 141 for taking and placing the container is extended. A position with a certain gap can still be maintained with the shelf 200 . Then, control the container pick-and-place expansion board 141 in the container pick-and-place assembly 140 to start extending. At this time, the container placed on the transport vehicle will move toward the shelf side along with the extension of the container pick-and-place expansion board 141. move. After the telescopic board 141 for taking and placing the container extends for a specified stroke, control the transport vehicle to descend along the track 210 on the shelf 200 for a certain stroke, so that the bottom of the container falls on the shelf 200, and then control the telescopic board 141 for picking and placing the container to retract. into the container, so that the retractable board 141 for taking and placing the cargo box is separated from the bottom of the cargo box, thereby completing the cargo releasing process.

In addition, in order to ensure that when a container is placed on the rack 200, the container pick-and-place assembly 140 can accurately control the extended stroke, so as to facilitate the subsequent placement of the cargo, a third sensor 183 may also be provided on the vehicle body 110. , wherein the third sensor 183 is connected to the control assembly 190 disposed on the vehicle body 110 , and the third sensor 183 may also be a diffuse reflection optical sensor.

Specifically, when the cargo box pick-and-place telescopic plate 141 is extended, it will block the third sensor 183, and when the cargo box pick-and-place expansion board 141 is fully retracted, it will stop blocking the third sensor 183. Therefore, in the cargo box When the box pick-and-place retractable plate 141 extends from the retracted state, the control assembly 190 can obtain the moment when the front end of the box pick-and-place retractable plate 141 blocks the third sensor 183 . Then, the control component 190 may continue to obtain the current extension speed of the container pick-and-place telescopic board 141, and determine the running time required for the container pick-and-place stretch board 141 to complete the delivery according to the preset positioning distance, wherein the preset The distance is the distance between the dead stop 212 on the shelf 2 and the third sensor 183 . It should be understood that the dead stop portion 212 may be the innermost position where the rack 200 is placed with the cargo box, and when the transport vehicle 100 runs to the specified delivery position, the third sensor 183 fixedly arranged on the transport vehicle 100 is fixed to the The distance between the blocking portions 212 of the shelf 200 is a fixed value, and the distance can be written into the control assembly 190 as the above-mentioned preset positioning distance.

FIG. 6 is a schematic structural diagram of a storage system according to an exemplary embodiment of the present invention. As shown in FIG. 6 , a storage system provided by an embodiment of the present invention includes a rack 200 and a transport vehicle 100 provided by any of the above embodiments.

Specifically, the transport vehicle 100 engages with the rails 210 on the racks 200 on both sides through the climbing assemblies disposed on both sides of the vehicle body, so that the transport vehicle 100 can climb vertically along the direction of the rails 210 .

It is worth noting that the storage system provided in this embodiment can pick, place and transport the goods on the shelves by using a transport vehicle that can perform both horizontal movement and vertical climbing, which greatly improves the operation efficiency of the storage system. .

In the description of the embodiments of the present invention, it should be understood that the terms "center", "length", "width", "thickness", "top", "bottom", "upper" and "lower" are used , "left", "right", "front", "rear", "vertical", "horizontal", "inside", "outside", "axial", "circumferential", etc. Based on the orientation or positional relationship shown in the accompanying drawings, it is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the indicated position or the original must have a specific orientation, be in a specific configuration and operation, and therefore It should not be construed as a limitation on the embodiments of the present invention.

In the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or become one; it can be mechanical connection, electrical connection or mutual communication; it can be directly connected or indirectly connected through an intermediate medium, which can make the internal communication of two components or the interaction relationship between the two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations. Unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features not in direct contact but Contact through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. A first feature "below", "below" and "below" a second feature generally means that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is level less than the second feature.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, but not to limit them; although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those of ordinary It should be understood that: it is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the embodiments of the present invention The scope of the technical solutions of each embodiment.

Claims (13)

1. A transport vehicle, characterized in that, comprising: a vehicle body, a driving wheel train and a climbing assembly; The driving wheel train is arranged at the bottom of the vehicle body, and the driving wheel train is used to drive the transport vehicle to move horizontally; The climbing assemblies are arranged on both sides of the vehicle body, and the climbing assemblies are used for engaging with the rails provided on the racks, so that the transport vehicle can climb vertically along the direction of the rails. 2. The transport vehicle according to claim 1, wherein the climbing assembly comprises: a power assembly and a transmission assembly; The output end of the power assembly is connected with the input end of the transmission assembly, and the output end of the transmission assembly is used for engaging with the track. 3. The transport vehicle according to claim 2, wherein the power assembly comprises: a motor and a transmission pair; The motor is connected to the input end of the transmission pair, and the output end of the transmission pair is connected to the input end of the transmission assembly. 4 . The transport vehicle according to claim 3 , wherein the climbing assembly further comprises: telescopic assemblies disposed on both sides of the vehicle body, a bracket disposed on the moving end of the telescopic assembly, and a transmission shaft; 5 . The output end of the transmission pair is connected with the transmission shaft, two ends of the transmission shaft are respectively provided with rotating parts, and the transmission shaft is rotatably connected to the bracket; When the transport vehicle climbs vertically, the telescopic assembly extends to make the rotating part engage with the track to form a kinematic pair; When the transport vehicle performs horizontal movement, the telescopic assembly retracts to disengage the rotating member from the rail to release the kinematic pair. 5. The transport vehicle according to claim 4, wherein an alignment wheel set is arranged on the bracket; The alignment wheel set includes two opposite alignment wheels; When the telescopic assembly is extended, the alignment block provided at the end of the shelf is embedded between the two alignment wheels, so that the two alignment wheels are along the two sides of the alignment block respectively. Wall movement to complete the alignment of the rotating member with the track. 6. The transport vehicle according to claim 1, wherein the driving wheel train comprises: a mounting seat, a swing arm, a buffer assembly and a wheel; the mounting seat is arranged at the bottom of the vehicle body; The first end of the swing arm is hinged to the mounting seat, the second end of the swing arm is connected to the first end of the buffer assembly, and the second end of the buffer assembly is connected to the vehicle body; The wheel is disposed between the two ends of the swing arm. 7. The transport vehicle according to claim 6, wherein the buffer assembly comprises: a limit rod, a spring and a limit ring; The limit rod passes through the vehicle body, the spring and the swing arm in sequence; The limit ring is arranged at one end of the limit rod away from the vehicle body. 8 . The transport vehicle according to claim 3 , wherein a first sensor is provided on the climbing assembly on one side of the vehicle body, and a first sensor is provided on the climbing assembly on the other side. 9 . There is a second sensor, and the first sensor and the second sensor are respectively connected with the control assembly arranged on the vehicle body; The first sensor is used to detect the first detection hole on the track on the corresponding side, and the second sensor is used to detect the second detection hole on the track on the corresponding side, wherein the first detection hole be located at the same height as the second detection hole; The control component adjusts the rotation speed of the motor according to the current climbing speed of the transport vehicle and the time difference between the detection of the first detection hole and the detection of the second detection hole, so that the transport vehicle Climb vertically while maintaining an attitude perpendicular to the track. 9. The transport vehicle of claim 1, further comprising: a container pick-and-place assembly; the cargo box pick-and-place assembly is arranged on the vehicle body; The box pick-and-place assembly is used to pick up the boxes placed on the rack. 10 . The transport vehicle according to claim 9 , wherein the cargo box pick-and-place assembly comprises: a cargo box pick-and-place telescopic plate and a driving mechanism; 10 . The pick-and-place telescopic plate of the cargo box extends or retracts into the vehicle body when the drive mechanism is driven. 11. The transport vehicle according to claim 10, further comprising: a third sensor arranged on the vehicle body, the third sensor being connected to a control assembly arranged on the vehicle body; The third sensor is triggered when the cargo box pick-and-place telescopic plate is extended; so that the control assembly determines the running time of the telescopic board for picking and placing the container according to the extension speed of the telescopic board for picking and placing the container and a preset positioning distance; The preset distance is the distance between the dead stop on the shelf and the third sensor. 12. The transport vehicle according to any one of claims 9-11, wherein the vehicle body comprises: a main body frame, a cargo box pick-and-place assembly support frame, and a battery compartment frame; The cargo box pick-and-place assembly support frame and the battery compartment frame are detachably mounted on the main body frame; The cargo box picking and placing assembly is provided on the supporting frame of the cargo box picking and placing assembly; A battery assembly is arranged on the battery compartment frame. 13. A storage system, characterized by comprising a rack and a transport vehicle as claimed in any one of claims 1-10.

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