CN218663569U - Shelf system - Google Patents

Abstract

The utility model relates to a goods shelf system, include: the goods shelf comprises a first support member and a second support member, wherein the first support member and the second support member extend along a first direction, the first support member and the second support member are arranged at intervals along a second direction, the tops of the first support member and the second support member are configured to bear goods, the goods shelf is provided with at least one goods position along the first direction, the top of the first support member and the top of the second support member corresponding to each goods position are configured to be used for storing the goods, and the first direction is perpendicular to the second direction; and a shuttle configured to walk between the first and second supports and below the tops of the first and second supports; the shuttle includes a pallet and a lift mechanism drivingly connected to the pallet to raise the pallet to lift the cargo or lower the cargo to place the cargo atop the first and second supports. The multi-deep-position elevated warehouse is arranged, and the shuttle vehicle finishes goods taking and placing operation of goods positions of the multiple rows of deep goods shelves, so that the operation efficiency is improved.

Description

Shelf system

Technical Field

The utility model relates to a tobacco logistics equipment technical field especially relates to a goods shelves system.

Background

In some related technologies, the feeding of the tobacco sheets in the tobacco processing workshop is carried out in a clamping mode of a manual forklift, and a temporary storage area of the tobacco packages is arranged on the spot for unloading and feeding the tobacco packages of the production batch on the same day. The original operation mode has low operation efficiency and limited field, cannot store materials in batches, and is easy to be interfered by various external factors during production.

SUMMERY OF THE UTILITY MODEL

Some embodiments of the utility model provide a goods shelves system for alleviate the problem that the access operating efficiency is low.

In an aspect of the present invention, there is provided a shelf system, comprising:

a rack, including a first support and a second support both extending along a first direction, the first support and the second support being spaced along a second direction, the top of the first support and the top of the second support being configured to carry goods, the rack forming at least one cargo space along the first direction, the top of the first support and the top of the second support corresponding to each cargo space being configured to store the goods, wherein the first direction is perpendicular to the second direction; and

a shuttle configured to walk between the first and second supports and below a top of the first and second supports; the shuttle car comprises a cargo carrying plate and a lifting mechanism, wherein the lifting mechanism is in driving connection with the cargo carrying plate so as to enable the cargo carrying plate to ascend to lift the cargo carried by the tops of the first supporting piece and the second supporting piece or descend to place the cargo on the tops of the first supporting piece and the second supporting piece.

In some embodiments, the rack system further includes a first photoelectric switch disposed at an end of the shuttle car in the first direction, an extending direction of the light beam emitted by the first photoelectric switch has an angle greater than zero with the second direction, the first photoelectric switch is configured to detect the rack, and when the rack is not detected by the first photoelectric switch, the first photoelectric switch sends a signal indicating that the shuttle car reaches the end of the rack in the first direction, so as to control the shuttle car to stop operating.

In some embodiments, the rack system further comprises a second opto-electronic switch disposed at an end of the shuttle car in the first direction, the second opto-electronic switch and the first opto-electronic switch are both proximate to the first support and the second opto-electronic switch is closer to the first support than the first opto-electronic switch, the second opto-electronic switch and the first opto-electronic switch both emit light beams toward the first support, the light beams emitted by the second opto-electronic switch extend in a direction parallel to the second direction, the second opto-electronic switch is configured to detect the rack, and an alarm signal is emitted when the rack is not detected by the second opto-electronic switch.

In some embodiments, the rack system further comprises a third opto-electronic switch disposed at an end of the shuttle car in the first direction, the first opto-electronic switch is proximate to the first support, the third opto-electronic switch is proximate to the second support, the third opto-electronic switch emits a beam parallel to the beam emitted by the first opto-electronic switch, and both the first opto-electronic switch and the third opto-electronic switch emit beams toward the first support, the third opto-electronic switch is configured to detect the rack and emit a signal for controlling the shuttle car to slow down when the rack is not detected by the third opto-electronic switch.

In some embodiments, the rack system further comprises a fourth photoelectric switch disposed at an end of the shuttle car in the first direction, the fourth photoelectric switch being configured to emit a light beam diagonally upward for detecting whether there is cargo in front of the shuttle car.

In some embodiments, the shelf system further includes a fifth photoelectric switch, a through hole is formed in an end portion of the cargo carrying plate in the first direction, the fifth photoelectric switch is disposed below the through hole, the fifth photoelectric switch emits a light beam to the through hole, and when the light beam emitted by the fifth photoelectric switch fails to pass through the through hole, a signal is sent to indicate that the cargo is located above the shuttle car.

In some embodiments, the shelf system further includes a controller, the controller is electrically connected to the fourth photoelectric switch and the fifth photoelectric switch, and the controller is configured to receive a signal that the fourth photoelectric switch sends a cargo in front of the shuttle car when the cargo taking target position is located, and first receive a signal that the light beam sent by the fifth photoelectric switch cannot pass through the through hole, and then after receiving a signal that the light beam sent by the fifth photoelectric switch passes through the through hole, determine that the shuttle car reaches the cargo taking target position, so as to control the shuttle car to stop operating.

In some embodiments, the shelf system further comprises a controller electrically connected with the fourth photoelectric switch and the fifth photoelectric switch, and the controller is configured to receive a signal that goods are in front of the shuttle car and sent by the fourth photoelectric switch when the storage target position is located, and judge that the shuttle car reaches the storage target position after receiving a signal that the light beam sent by the fifth photoelectric switch cannot pass through the through hole, so as to control the shuttle car to stop running.

In some embodiments, the shelving system further includes a sixth photoelectric switch and a seventh photoelectric switch, the sixth photoelectric switch and the seventh photoelectric switch are disposed on two sides of the shuttle car in the second direction, the sixth photoelectric switch is configured to emit light beams to the first support, and the seventh photoelectric switch is configured to emit light beams to the second support, for controlling a distance between the shuttle car and the first support to be equal to a distance between the shuttle car and the second support.

In some embodiments, the racking system further comprises a lifting device disposed at an end of the racking in the first direction, the lifting device configured to move the shuttle up and down to reach a desired height.

In some embodiments, the lifting device includes a carrying platform configured to carry the shuttle vehicle to move up and down, the carrying platform includes a first plate, a second plate and a third plate, the first plate is horizontally disposed and configured to carry the shuttle vehicle, the second plate and the third plate are vertically disposed on the first plate, tops of the second plate and the third plate are configured to carry the cargo, and the lifting mechanism is configured to drive the carrying plate to ascend to lift the cargo carried by the tops of the second plate and the third plate or descend to place the cargo on tops of the second plate and the third plate.

In some embodiments, the shelving system further comprises:

the warehousing platform is arranged at the end part of the shelf and is configured to convey the goods to the bearing platform; and

and the delivery platform is arranged at the end part of the shelf and is configured to receive the goods output by the bearing platform.

Based on the technical scheme, the utility model discloses following beneficial effect has at least:

in some embodiments, the shuttle vehicle is adopted to enter the goods shelves from two sides of the deep goods shelves to pick and place goods, so that the problems of insufficient field for technical improvement of the tobacco leaf bank and large occupied area of stacker equipment are solved, the conventional single-double deep goods stacker is cancelled, the multi-deep high-level shelf bank arrangement is adopted, the shuttle vehicle is used for completing the goods picking and placing operation of the goods shelves of multiple columns of deep goods shelves, and the operation efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a schematic view of a shelving system provided in accordance with some embodiments of the invention;

fig. 2 is a schematic view of a shuttle provided in accordance with some embodiments of the present invention;

fig. 3 is a schematic illustration of a split configuration of a shuttle provided in accordance with some embodiments of the present invention;

fig. 4 is a schematic view of a carrier table provided in accordance with some embodiments of the present invention;

fig. 5 is a schematic front view of a partial structure of a shelf according to some embodiments of the present invention;

fig. 6 is a schematic side view of a partial structure of a shelf according to some embodiments of the present invention;

fig. 7 is a schematic view of a shuttle car transporting cargo according to some embodiments of the present invention.

The reference numbers in the drawings illustrate the following:

100-a shelf; 101-a first support; 102-a second support; 103-terminal cargo space; 104-non-end cargo space; 105-track; 106-a support; 107-upright post; 108-a cross beam;

200-shuttle vehicle; 201-cargo carrying plate; 202-a lifting mechanism; 203-a via hole; 204-a base; 205-a travel control mechanism; 206-anti-collision block; 207-energy supply system; 208-upper communication system;

300-a lifting device; 301-a carrier table; 311-a first plate; 312-a second plate; 313-a third plate; 302-a transport mechanism; 303-a reflector plate; 304-a seventh opto-electronic switch; 305-a current collecting brush; 306-a stop block;

400-warehousing station;

500-ex-warehouse station;

600-cargo; 601-a box body; 602-a tray;

701-a first photoelectric switch; 702-a second opto-electronic switch; 703-a third opto-electronic switch; 704-a fourth opto-electronic switch; 705-a fifth photoelectric switch; 706-sixth opto-electronic switch.

It should be understood that the dimensions of the various parts shown in the figures are not drawn to scale. Further, the same or similar reference numerals denote the same or similar components.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the invention, its application, or uses. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and similar terms in the description herein do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present invention, when it is described that a specific device is located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, that particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

Fig. 1 is a schematic structural view of some embodiments of a shelving system according to the invention. Referring to fig. 1, in some embodiments, a racking system includes a rack 100 and a shuttle 200.

The pallet 100 includes a first support 101 and a second support 102 (refer to fig. 5 and 6) each extending in the first direction X. The first support 101 and the second support 102 are disposed at intervals in the second direction Y. The tops of the first and second supports 101 and 102 are configured to carry the goods 600, the shelf 100 is formed with at least one cargo space along a first direction X, and the top of the first and second supports 101 and 102 corresponding to each cargo space is configured to store the goods 600, wherein the first direction X is perpendicular to the second direction Y.

The shuttle 200 is configured to walk between the first support 101 and the second support 102, and is located below the top of the first support 101 and the second support 102.

Referring to fig. 3, the shuttle 200 includes a cargo board 201 and a lifting mechanism 202, and the lifting mechanism 202 is drivingly connected to the cargo board 201 to raise the cargo board 201 to lift the cargo 600 carried on the top of the first and second supports 101 and 102 or lower the cargo 600 to place the cargo 600 on the top of the first and second supports 101 and 102.

In some related technologies, the goods shelves of the tobacco goods 600 adopt a single-deep-position and elevated warehouse arrangement mode, a plurality of stackers are needed, the single stacker occupies a large area, and all stackers cannot be installed in the existing field. In order to improve the automation level of operation and improve the operation efficiency, the goods shelves are arranged on the original site in a multi-depth mode.

Based on this, the embodiment of the utility model provides an adopt shuttle 200 to get into goods shelves from the both sides of following deep level goods shelves and get goods operation, solved the restriction that the present place is not enough in the technical improvement of piece tobacco storehouse to and the big problem of stacker equipment area, and cancelled conventional single two deep level stacker, adopt many deep level overhead storehouses to arrange, accomplish getting of goods shelves of multiseriate degree of depth goods shelves by shuttle 200 and put goods operation, improve the operating efficiency.

The cargo 600 includes a tray 602 and a case 601, the tray 602 is used for holding the carrying case 601, and the case 601 contains the goods therein. Optionally, the article comprises tobacco material.

The first direction X is perpendicular to the second direction Y, the first direction X and the second direction Y are two directions on a plane, the third direction Z is perpendicular to the first direction X and the second direction Y, and the third direction Z is an up-down direction.

Referring to fig. 2, in some embodiments, the shelving system further includes a first photoelectric switch 701, the first photoelectric switch 701 is disposed at an end of the shuttle 200 located in the first direction X, an angle between an extending direction of a light beam emitted by the first photoelectric switch 701 and the second direction Y is greater than zero, the first photoelectric switch 701 is configured to detect the shelving 100, and when the first photoelectric switch 701 does not detect the shelving 100, a signal is emitted to indicate that the shuttle 200 reaches the end of the shelving 100 located in the first direction X, so as to control the shuttle 200 to stop operating.

The first photoelectric switch 701 is an end shelf positioning element, a dotted line shown in fig. 2 is a photoelectric irradiation direction, an angle between an extending direction of a light beam emitted by the first photoelectric switch 701 and the second direction Y is larger than zero, an irradiation position of the light beam is a little upstream of an end portion of the first direction X of the shuttle 200, when a light speed emitted by the first photoelectric switch 701 is deviated from a shelf detection position, it is indicated that the shuttle 200 basically runs to an end position, and the controller is combined to control the shuttle 200 to stop running.

In some embodiments, the shelving system further includes a second photoelectric switch 702, the second photoelectric switch 702 is disposed at an end of the shuttle 200 located in the first direction X, the second photoelectric switch 702 and the first photoelectric switch 701 are both close to the first support 101, the second photoelectric switch 702 is closer to the first support 101 than the first photoelectric switch 701, the second photoelectric switch 702 and the first photoelectric switch 701 both emit light beams toward the first support 101, the light beam emitted from the second photoelectric switch 702 extends in a direction parallel to the second direction Y, the second photoelectric switch 702 is configured to detect the shelving 100, and when the second photoelectric switch 702 does not detect the shelving 100, an alarm signal is emitted to immediately stop the operation of the shuttle 200.

The second photoelectric switch 702 is a tail end cargo space excess detection element, the second photoelectric switch 702 is closer to the first support 101 than the first photoelectric switch 701, the extending direction of the light beam emitted by the second photoelectric switch 702 is parallel to the second direction Y, the light beam emitted by the second photoelectric switch 702 is a broken line shown in fig. 2, the irradiation position is near the side guide wheel of the shuttle 200, the second photoelectric switch 702 emits a signal later than the first photoelectric switch 701, and when the light beam emitted by the second photoelectric switch 702 leaves the detection plate, it indicates that the shuttle 200 is just going beyond the shelf and must be stopped immediately, therefore, the second photoelectric switch 702 emits an alarm signal for controlling the shuttle 200 to stop running immediately.

In some embodiments, the shelving system further includes a third opto-electronic switch 703, the third opto-electronic switch 703 is disposed at an end of the shuttle 200 located in the first direction X, the first opto-electronic switch 701 is adjacent to the first support 101, the third opto-electronic switch 703 is adjacent to the second support 102, a light beam emitted by the third opto-electronic switch 703 is parallel to a light beam emitted by the first opto-electronic switch 701, and both the first opto-electronic switch 701 and the third opto-electronic switch 703 emit light beams toward the first support 101, the third opto-electronic switch 703 is configured to detect the shelving 100, and a signal is emitted for controlling the shuttle 200 to slow down when the third opto-electronic switch 703 does not detect the shelving 100.

The third photoelectric switch 703 is used to control the shuttle 200 to decelerate. The light beam emitted by the third photoelectric switch 703 is substantially parallel to the light beam emitted by the first photoelectric switch 701, but the third photoelectric switch 703 is close to the second support 102, and the light beam emitted by the third photoelectric switch 703 when positioned at the end leaves the shelf earlier than the light beam emitted by the first photoelectric switch 701 for controlling the shuttle 200 to operate at a reduced speed in advance.

In some embodiments, the shelving system further includes a fourth optoelectronic switch 704, the fourth optoelectronic switch 704 is disposed at an end of the shuttle car 200 located in the first direction X, and the fourth optoelectronic switch 704 is configured to emit a light beam obliquely upward for detecting whether the cargo 600 is in front of the shuttle car 200.

The fourth photoelectric switch 704 is a cargo 600 detecting element, and a light beam emitted by the fourth photoelectric switch 704 is shown by a dotted line in fig. 2, and irradiates an upstream cargo space in the forward direction of the shuttle 200 to determine whether there is a cargo 600, and because the irradiation angle is relatively forward, it is possible to determine in advance whether there is an abnormality in the forward direction.

In some embodiments, the shelving system further includes a fifth photoelectric switch 705, the end of the cargo board 201 in the first direction X is provided with a through hole 203, the fifth photoelectric switch 705 is disposed below the through hole 203, the fifth photoelectric switch 705 emits a light beam to the through hole 203, and when the light beam emitted by the fifth photoelectric switch 705 does not pass through the through hole 203, the fifth photoelectric switch 705 emits a signal indicating that the cargo 600 is located above the shuttle 200.

The fifth photoelectric switch 705 is a load detection element, and a photoelectric beam emitted from the fifth photoelectric switch 705 irradiates upward through the through hole 203 of the load board 201, and irradiates the tray 601 in the shelf for positioning.

In some embodiments, the shelving system further comprises a controller electrically connected to the fourth photoelectric switch 704 and the fifth photoelectric switch 705, wherein the controller is configured to receive a signal that the cargo 600 is located in front of the shuttle 200 and sent by the fourth photoelectric switch 704, and first receive a signal that the light beam sent by the fifth photoelectric switch 705 cannot pass through the through hole 203, and then after receiving a signal that the sent light beam passes through the through hole 203, determine that the shuttle 200 reaches the cargo pick-up target position, so as to control the shuttle 200 to stop operating.

In some embodiments, the shelving system further comprises a controller electrically connected to the fourth photoelectric switch 704 and the fifth photoelectric switch 705, wherein the controller is configured to determine that the shuttle 200 reaches the stock target position after receiving a signal from the fourth photoelectric switch 704 that the goods 600 are in front of the shuttle 200 and a signal from the fifth photoelectric switch 705 that the light beam cannot pass through the through hole 203 when the stock target position is located, so as to control the shuttle 200 to stop running.

In some embodiments, the shelf system further includes a sixth photoelectric switch 706 and a seventh photoelectric switch, the sixth photoelectric switch 706 and the seventh photoelectric switch are respectively disposed on two side portions of the shuttle 200 in the second direction Y, the sixth photoelectric switch 706 is configured to emit a light beam to the first support 101, and the seventh photoelectric switch is configured to emit a light beam to the second support 102, for controlling a distance between the shuttle 200 and the first support 101 to be equal to a distance between the shuttle 200 and the second support 102.

In some embodiments, the sixth photoelectric switch 706 and the seventh photoelectric switch are disposed on two sides of the shuttle 200 in the second direction Y, and the photoelectric switches are reflective photoelectric switches, and when the shuttle 200 is centered, the reflective plate 303 attached to the carrier 301 may generate a signal to control the shuttle 200 to be located in the middle of the carrier 301.

In some embodiments, the shelving system further includes a lifting device 300, the lifting device 300 is disposed at an end of the shelving 100 in the first direction X, and the lifting device 300 is configured to move up and down to reach a desired height with the shuttle 200. The direction in which the shuttle 200 moves up and down is parallel to the third direction Z.

Two ends of the shelf 100, which are located in the first direction X, are respectively provided with a lifting device 300, the shuttle 200 is arranged on a bearing platform 301 of the lifting device 300, the lifting device 300 conveys the shuttle 200 to a target position, and the shuttle 200 enters the shelf from two sides to take and place goods, so that the space occupied by a stacker is reduced.

Referring to fig. 4, in some embodiments, lifting device 300 includes a carrier table 301, carrier table 301 configured to carry shuttle 200 up and down. The carrier table 301 includes a first plate 311, a second plate 312, and a third plate 313. The first plate 311 is horizontally disposed and configured to carry the shuttle car 200, the second plate 312 and the third plate 313 are vertically disposed on the first plate 311, tops of the second plate 312 and the third plate 313 are configured to carry the cargo 600, and the lifting mechanism 202 is configured to drive the cargo carrying plate 201 to ascend to lift the cargo 600 carried on tops of the second plate 312 and the third plate 313 or descend to place the cargo 600 on tops of the second plate 312 and the third plate 313.

Referring to fig. 1, in some embodiments, the shelving system further includes a docking station 400, the docking station 400 being disposed at an end of the shelf 100, the docking station 400 being configured to deliver goods 600 to the carrier deck 301.

Referring to fig. 1, in some embodiments, the shelving system further includes an outbound platform 500, the outbound platform 500 being disposed at an end of the shelf 100, the outbound platform 500 being configured to receive the goods 600 output by the carrier platform 301.

Some embodiments also provide a goods access method of the shelf system in the above embodiments.

In some embodiments, the method of accessing goods for the shelving system includes an inventory method: the lifting mechanism 202 of the shuttle 200 drives the loading plate 201 to ascend so as to lift the goods 600, the shuttle 200 carries the goods 600 to walk between the first support 101 and the second support 102 of the shelf 100, and after the goods reach the inventory target position and stops running, the lifting mechanism 202 drives the loading plate 201 to descend, and the goods 600 are placed on the top of the first support 101 and the second support 102.

In some embodiments, the goods access method of the shelf system comprises a goods taking method: the shuttle 200 travels between the first support 101 and the second support 102 of the rack 100, stops running after reaching the target picking position, and the lifting mechanism 202 of the shuttle 200 drives the cargo carrying plate 201 to ascend to lift the cargo 600 on the top of the first support 101 and the second support 102 and move the cargo 600 out of the rack 100.

In some embodiments, the inventory method further includes an inventory target location positioning method that includes positioning an inventory target location at the end of the shelf 100: during the process that the shuttle car 200 carries the goods 600 to walk between the first support 101 and the second support 102, the first photoelectric switch 701 arranged on the shuttle car 200 detects the goods shelf 100, when the goods shelf 100 can not be detected by the first photoelectric switch 701, a signal is sent to indicate that the shuttle car 200 reaches the end part of the goods shelf 100, and the shuttle car 200 is controlled to stop walking, wherein the position is an inventory target position at the tail end of the goods shelf 100.

In some embodiments, the inventory method further includes an inventory target location positioning method that includes positioning an inventory target location that is not located at the end of the shelf 100: when the shuttle 200 with the goods 600 travels between the first support 101 and the second support 102, whether the goods 600 are in front of the shuttle 200 is detected by the fourth photoelectric switch 704 arranged on the shuttle 200, the goods 600 are in front of the shuttle 200 detected by the fourth photoelectric switch 704, and the light beam emitted by the fifth photoelectric switch 705 arranged at the end of the shuttle 200 cannot pass through the through hole 203 on the goods carrying plate 201, the shuttle 200 is controlled to stop traveling, and the position is the stock target position which is not located at the tail end of the shelf 100.

In some embodiments, the inventory method further includes a method of locating a pickup target location, which includes locating a pickup target location at the end of the shelf 100: in the process that the shuttle car 200 travels between the first supporting piece 101 and the second supporting piece 102 of the shelf 100, the shelf 100 is detected through the first photoelectric switch 701 arranged on the shuttle car 200, when the shelf 100 cannot be detected by the first photoelectric switch 701, a signal is sent to indicate that the shuttle car 200 reaches the end part of the shelf 100, and the shuttle car 200 is controlled to stop traveling, wherein the position is a goods taking target position at the tail end of the shelf 100.

In some embodiments, the inventory method further includes a method of locating a pickup target location that includes locating a pickup target location that is not located at the end of the shelf 100: in the process that the shuttle car 200 travels between the first supporting piece 101 and the second supporting piece 102 of the shelf 100, whether goods 600 are in front of the shuttle car 200 is detected through a fourth photoelectric switch 704 arranged on the shuttle car 200, the goods 600 are in front of the shuttle car 200 detected through the fourth photoelectric switch 704, light beams emitted by a fifth photoelectric switch 705 arranged at the end part of the shuttle car 200 cannot pass through the through hole 203 first, then the emitted light beams are transmitted out of the through hole 203, and the shuttle car 200 is controlled to stop traveling, wherein the position is a goods taking target position which is not located at the tail end of the shelf 100.

Normally, the shuttle 200 has no cargo 600 at any cargo level that passes by before reaching the pick-up target level. The shuttle 200 is free of cargo 600 at any cargo space that it passes before reaching the inventory target space.

Some specific embodiments of the shelving system are described below in conjunction with figures 1 through 7.

Referring to fig. 1, the shelf system includes a multi-deep shelf 100, a lifting device 300, a shuttle 200, an entry platform 400, and an exit platform 500.

The multi-depth shelf 100 has a plurality of shelves in the third direction Z, and each shelf has two or more shelves in the first direction X.

The shuttle 200 is used for storing, taking and transporting goods 600 of the multi-deep shelf 100. The shuttle 200 and its carrying system (e.g., the lifting device 300, etc.) constitute a logistics unit. The shuttle car 200 travels on the track of the shelf 100 to a designated depth position (cargo space) to place the cargo 600 or take out the cargo 600, and then the loading platform 301 of the lifting device 300 transports the shuttle car 200 to the warehousing-in platform 400 of the conveyor area, continues to receive the cargo 600 on the warehousing-in platform 400 or transports the shuttle car 200 to the ex-warehouse platform 500 for transporting the cargo 600 away through the ex-warehouse platform 500.

Referring to fig. 3, the shuttle 200 mainly includes a base 204, a cargo board 201, a lifting mechanism 202, a travel control mechanism 205, an anti-collision block 206, an energy supply system 207, and an upper communication system 208.

The base 204: is a frame, is the main body of the shuttle 200, and internal control devices and the like are arranged in a base 204, and a traveling driving chain and a driving wheel are arranged on both sides of the base 204.

The cargo board 201: the cargo carrying plate 201 which is used as the cargo 600 has the antiskid function when the shuttle 200 acts. And the cargo board 201 wraps the internal devices of the shuttle 200, so that the dustproof effect can be effectively achieved.

The lifting mechanism 202: is arranged between the base 204 and the cargo board 201. The lifting mechanism 202 comprises a servo controller, a lifting motor, a detection element and the like, wherein the servo controller is shared by walking and lifting control, two actions are respectively controlled by a contactor, the lifting motor drives a cam mechanism to operate to realize the lifting action of the lifting mechanism 202, and the detection element detects the low position and the high position of the lifting mechanism 202. When the shuttle 200 is moved to the target cargo space to complete the positioning, the lifting mechanism 202 raises the lifting unit to complete the picking up of the cargo 600 or the lifting unit lowers the lifting unit to complete the unloading of the cargo 600 onto the rack 100. When the shuttle 200 returns to the center of the loading platform 301, the lifting mechanism 200 also completes the picking and placing of the goods 600 to the transportation mechanism 302.

Travel control means 205: comprises a servo controller, a walking motor, a feedback encoder, a driving chain, a driving wheel, a side guide wheel and the like. The travel control mechanism 205 is responsible for travel control and position feedback of the shuttle 200. The servo controller of the upper communication system 208 receives the running target position encoder value, defines a running control acceleration and deceleration curve, calculates according to the encoder feedback value, and calculates the actual position of the encoder in real time. And controlling the shuttle car 200 to a specified position to pick and place the goods 600, and returning the shuttle car 200 to the bearing platform 301 for centering and positioning control.

Energy supply system 207: is arranged between the base 204 and the cargo board 201. Because the shuttle 200 is separated from the current collecting brush when entering the roadway for operation, and the energy supply cannot be directly carried out, the energy storage mode is adopted, the energy is stored through the energy supply system 207, and the energy is provided for the shuttle 200 when the shuttle 200 is separated from the current collecting brush when entering the roadway for operation. The energy supply system 207 includes a trolley line, a coupler, and a super capacitor. The coupler is directly connected with the super capacitor and the sliding contact line and is used as the brain of the energy supply system to be responsible for capacitor electric quantity detection, charging control and related fault feedback.

Upper communication system 208: is arranged between the base 204 and the cargo board 201. Since the shuttle 200 needs to leave the bearing platform 301 and enter the roadway, the communication with the upper computer cannot be directly realized through the network cable, and can only be performed in a wireless manner. The upper communication system 208 is connected through the bluetooth ethernet port adapter, and the advantage of the bluetooth communication mode is that as long as it is guaranteed that within the communication distance range, it is not influenced by other factors such as the communication path being sheltered from by the goods 600. Compared with an infrared communication mode (point-to-point without barrier), the Bluetooth communication is more suitable for the characteristic that the shuttle 200 does not fix the moving path.

Anti-collision block 206: the shuttle 200 is provided with the anti-collision blocks 206 at both ends in the first direction X, but the shuttle 200 only runs from the lifting device 300 toward one end of the roadway, and therefore, only the anti-collision block 206 at one end of the shuttle 200 needs to perform limit protection when the shuttle 200 is centered.

In the walking process of the shuttle 200, the shuttle 200 is positioned and the running state safety protection detection is carried out in real time through the sensor system.

Referring to fig. 2, the sensor system includes a first photoelectric switch 701, a second photoelectric switch 702, a third photoelectric switch 703, a fourth photoelectric switch 704, a fifth photoelectric switch 705, a sixth photoelectric switch 706, and a seventh photoelectric switch. The first photoelectric switch 701, the second photoelectric switch 702, the third photoelectric switch 703, the fourth photoelectric switch 704, and the fifth photoelectric switch 705 are provided at both ends of the shuttle 200 in the first direction X, but only when the shuttle 200 runs to the shelf 100, the photoelectric switch at the upstream end plays a practical role. The photoelectric switches are matched to complete the positioning of the shuttle 200 at the tail end of a goods shelf, the tail end of a non-goods shelf, the center position of a bearing platform 301 and the like, detect the sudden abnormal conditions of the shuttle 200 in the running process in real time and ensure the safe running of the shuttle 200, so that the shuttle 200 is not collided and falls and other dangerous accidents. During operation of shuttle 200 within rack 100, cargo 600 within rack 100 is sensed and positioned by the sensor system. By running and tracking, the positioning method does not need to arrange an additional positioning auxiliary device, and the positioning is stable, safe and reliable.

Referring to fig. 4, the lifting device 300 includes a carrying platform 301, and the carrying platform 301 is mounted on a lifting platform of the lifting device 300, and the carrying platform 300 is used for placing the shuttle 200 thereon. When it is desired to pick up goods from the rack 100, the shuttle 200 is independently entered into the roadway, and when the lifting device 300 picks up goods at the entrance/exit station, the shuttle 200 is placed on the loading platform 301. The platform 301 serves as a carrier of the shuttle 200, and positions the shuttle 200 by traveling and lifting operations, thereby loading the shuttle 200 to the front side of the target shelf. The carrier table 301 includes a first plate 311, a second plate 312, and a third plate 313. The bearing table 301 is provided with a conveying mechanism 302, a reflecting plate 303, an eighth photoelectric switch 304, a current collecting brush 305 and a limiting block 306. The transport mechanism 302 is disposed on top of the first plate 311 and the second plate 312. The transport mechanism 302 is part of the transfer of the shuttle 200 at the entry/exit station. Particularly, during warehousing operation, the positioning system repositions the goods 600 to the designated position of the goods carrying plate 201 of the shuttle 200 through the eighth photoelectric switch 304, so as to ensure that the goods 600 on the goods carrying plate 201 can be accurately positioned when the shuttle 200 warehouses, and the accurate positioning of the goods 600 on the goods carrying plate 201 is an indispensable ring for placing the goods 600 at equal intervals during warehousing operation of the shuttle 200. The collector brush 305 on the bearing platform 301 supplies energy with the trolley line on the shuttle 200 through the lifting action. When the shuttle 200 is centered and positioned, the shuttle 200 also needs to be matched with the reflecting plate 303 on the bearing platform 301, and the limit block 306 carries out mechanical protection on the shuttle 200. The shuttle 200 is responsible for the transportation operation of the pallet 100 in the depth direction.

Referring to fig. 5, the first direction X has a non-end cargo space 104 and an end cargo space 103, and the non-end cargo space 104 and the end cargo space 103 can both hold cargo 600, with a distance L between the cargo 600.

Referring to fig. 6, the cargo 600 is placed on the top support portions 106 of the first and second supports 101 and 102. The bottom of the first support 101 and the second support 102 are provided with rails for the shuttle 200 to walk. The shelf 100 comprises a frame body consisting of columns 107 and beams 108.

Referring to fig. 7, when the end cargo space 103 is being loaded, the non-end cargo space 104 is used as a reference for positioning the shuttle 200, so that the shuttle 200 is positioned by the edge of the pallet 100. When the non-end cargo space 104 is put, the shuttle car 200 moves to the position of the non-end cargo space 104, the light speed emitted by the fifth photoelectric switch 705 can not be transmitted out of the through hole 203, which indicates that the end part of the shuttle car 200 reaches the lower part of the last cargo space (which can be the end cargo space 103), and then the shuttle car 200 is positioned at the non-end cargo space 104.

Some specific embodiments of the method for accessing goods by the shelf system are described below with reference to fig. 1 to 7.

In the warehousing process, the conveyor system conveys the goods to the warehousing platform 400, after the host of the lifting device 300 is connected to the task scheduling of the upper system, the transportation mechanism 302 of the bearing platform 301 is driven to be in butt joint with the warehousing platform 400, the chain of the transportation mechanism 302 starts to act to convey the goods 600 to the bearing platform 301 of the lifting device 300, the lifting device 300 starts to walk to the target goods position, the goods 600 are repositioned through the eighth photoelectric switch 304 in the walking process, and the goods 600 are enabled to be fixed on the goods carrying plate 201 of the shuttle 200.

The specific positioning mode is as follows: if the eighth photoelectric switch 304 is already blocked by the cargo 600 when the cargo 600 is positioned, the transportation mechanism 302 first operates in the forward direction to separate the cargo 600 from the eighth photoelectric switch 304, and then operates in the reverse direction to stop when the cargo 600 blocks the eighth photoelectric switch 304 again to generate a rising edge signal, and the edge of the cargo 600 just stops on the eighth photoelectric switch 304. If the eighth photoelectric switch 304 is not blocked by the cargo 600 when the cargo 600 is positioned, the transportation mechanism 302 is reversely transported, and stops when the eighth photoelectric switch 304 generates a rising edge signal, and the edge of the cargo 600 just stops on the eighth photoelectric switch 304.

When the lifting device 300 reaches the target position, the collector brush 305 on the bearing platform 301 descends, the lifting mechanism 202 of the shuttle 200 operates to lift the goods 600 from the bearing platform 301 onto the goods carrying plate 201, the traveling control mechanism 205 of the shuttle 200 operates, and at this time, the shuttle 200 receives the target platform encoder position data sent by the host computer in a servo mode and starts to drive the shuttle 200 to travel. In the walking process, the fourth photoelectric switch 704 detects whether goods 600 are in front of the shuttle 200 in the running direction in real time, the first photoelectric switch 701 and the second photoelectric switch 702 detect whether the shelf detection board is separated, before the target goods location is not reached, if the fourth photoelectric switch 704 detects the goods 600, the shuttle 200 returns to the bearing platform 301, and the feedback positioning fails.

If the goods position for placing goods is the tail end goods position, the tail end goods position is located, when the shuttle car 200 is close to the tail end goods position, the fifth photoelectric switch 705 is separated from the goods shelf 100 to generate a falling edge signal, the shuttle car 200 is decelerated in advance, the low-speed operation ensures that the shuttle car 200 does not fall into a roadway, and when the first photoelectric switch 701 is separated from the goods shelf 100 to generate the falling edge signal and the encoder value is within the allowable deviation range, the location is finished. The lifting mechanism 202 lowers the cargo board 201 to the lower position, the cargo 600 is put from the cargo board 201 to the rack 100, and the shuttle 200 returns to the carrier table 301. If the second photoelectric switch 702 is separated from the shelf detection plate in the positioning process, the shuttle 200 stops running and returns to the central position, and the feedback positioning fails. If the shuttle 200 runs to the target goods level encoder value plus the positive deviation value, the first photoelectric switch 701 is not yet separated from the goods shelf 100, or the shuttle 200 runs to the target goods level encoder value minus the negative deviation value, the first photoelectric switch 701 is separated from the goods shelf 100, the shuttle 200 returns to the center position of the bearing platform 301, and the feedback positioning fails.

If the goods position for putting goods is a non-terminal goods position, ordinary goods position positioning is carried out, when the shuttle car 200 approaches the target goods position, it is detected that no goods 600 exist in the target goods position and goods 600 exist in the front goods position of the target goods position, the shuttle car 200 continues to move forwards, when the fifth photoelectric switch 705 enters the bottom of the front goods 600 to generate a rising edge signal, the encoder value is within an allowable deviation range, positioning is finished, and the lifting mechanism 202 drives the goods carrying plate 201 to descend to finish the goods putting action from the goods 600 to the goods shelf 100. If the shuttle 200 detects the goods 600 before the encoder value is subtracted from the offset value and the fifth photoelectric switch 705 detects the goods 600 or after the encoder value is added with the offset value, the fifth photoelectric switch 705 still does not detect the goods 600, and the shuttle 200 returns to the center position of the bearing platform 301 and feeds back the positioning failure.

In the warehouse-out process, the lifting device 300 receives the target goods position of the goods, drives the shuttle car 200 to move to the front of the target goods shelf 100, the collecting brush 305 of the bearing platform 301 descends, and the shuttle car 200 obtains the value of the target goods position encoder and starts to leave the bearing platform 301 to move to the goods shelf 100. In the walking process, the fourth photoelectric switch 704 detects whether the goods 600 are in front of the shuttle 200 in the running direction in real time, the second photoelectric switch 702 and the first photoelectric switch 701 detect whether the shelf detection board is separated, before the target goods position is not reached, if the fourth photoelectric switch 704 detects the goods 600, the shuttle 200 returns to the bearing platform 301, and the feedback positioning fails. If the fourth photoelectric switch 704 detects that the target cargo space is free of cargo 600, the shuttle 200 also returns to the carrier 301, and the feedback positioning fails.

After the target cargo position is approached, the fourth photoelectric switch 704 needs to detect that the cargo 600 is available at the target cargo position, then the shuttle 200 moves to the lower side of the cargo 600, the fifth photoelectric switch 705 is shielded to generate a rising edge signal, when the shuttle 200 continues to move until the fifth photoelectric switch 705 is separated from the cargo 600 to generate a falling edge signal and the encoder value is within the allowable deviation value range, the positioning is completed, the lifting mechanism lifts the cargo carrying plate 201, and the cargo 600 is taken from the shelf 100 to the shuttle 200. Shuttle 200 then returns to carrier 301. After the shuttle 200 moves below the target cargo 600, if the fifth photoelectric switch 705 is separated from the cargo 600 before the negative deviation value is added to the target encoder value, or after the positive deviation value is added to the target encoder value, the fifth photoelectric switch 705 still does not separate from the cargo 600, and the shuttle 200 returns to the plummer 301, and the feedback positioning fails.

When the shuttle 200 runs to the vicinity of the central position, the encoder value is close to 0, and when the sixth photoelectric switch 706 and the seventh photoelectric switch detect that the reflecting plate on the bearing platform 301 generates a rising edge signal at the same time, which represents that the central position is successfully positioned, the collector brush 305 can act to complete the charging action. If the positioning is abnormal, the shuttle 200 can continue to operate to the side far away from the goods shelf 100, the falling-preventing mechanical protection device is effective, the collision-preventing block 206 of the shuttle 200 is jacked to the limiting block 306 of the bearing platform 301, and the shuttle 200 is limited to continue to operate to prevent falling.

In some embodiments, the shelf system adopts the following technical scheme:

two lifting devices 300 with shuttles 200 are arranged on two sides of the elevated warehouse, and can respectively carry out goods taking and placing operations on the goods shelf 100 on one side of the roadway. The lifting platform of the lifting device 300 serves as a loading platform 301 of the shuttle 200 and is responsible for conveying the shuttle 200 to a designated shelf 100 position, and a transport mechanism 302 on the loading platform 301 takes goods from a designated warehousing platform 400 to the shuttle 200. The cargo boards 201 can transport the cargo 600 taken by the shuttle 200 to the delivery platform 500. The bottom of the bearing platform 301 is provided with a telescopic current collecting brush 305, and after the shuttle 200 runs and returns to the center, the current collecting brush 305 extends out to charge the shuttle 200.

Several examples of actual operational positioning of the shuttle 200 are described in detail below.

Taking goods and positioning: in the goods taking process, the goods 600 are not arranged on the goods carrying plate 201 of the shuttle 200, and the lifting mechanism 202 is in a low position state and goes to a target position to take the goods. The fourth photoelectric switch 704 needs to judge that no goods 600 exist on the forward channel, after the forward channel approaches the target goods position, the fourth photoelectric switch 704 needs to detect that the goods 600 exist in the target goods position and can be taken, then the shuttle car 200 moves to the position below the goods 600, the fifth photoelectric switch 705 is shielded to generate a rising edge signal, when the shuttle car 200 continues to move until the fifth photoelectric switch 705 is separated from the goods 600 to generate a falling edge signal, and the encoder value is within the allowable deviation value range, positioning is completed, the lifting mechanism 202 raises the goods carrying plate 201, and goods taking of the goods 600 from the goods shelf 100 to the shuttle car 200 is completed. Shuttle 200 then returns to carrier 301.

And (3) taking and positioning a tail end goods position: the fourth photoelectric switch 704 detects that the end goods position has goods 600 in advance, when the fifth photoelectric switch 705 light beam leaves the shelf detection board, a falling edge is generated, which represents that the shuttle 200 is close to the end position, the speed is reduced in advance, and the first photoelectric switch 701 falls off the shelf detection board, which represents that the shuttle 200 is positioned, at this time, the real-time position of the shuttle 200 is within the range of the target encoder plus the set allowable deviation, the positioning is successful, the shuttle 200 is lifted, and the goods 600 is taken.

And (3) taking and positioning of non-terminal cargo space: when the shuttle 200 moves to the vicinity of the encoder value of the target position, the fourth photoelectric switch 704 detects that the goods 600 exist at the position in advance, the fifth photoelectric switch 705 generates a falling edge signal after passing through the goods 600 to represent that the goods 600 have a gap with the previous goods 600, the goods can be taken, the goods taking and positioning are completed, and the shuttle 200 performs a lifting action to take the goods 600.

Placing goods and positioning: positioning system need accomplish with the help of goods 600 of a goods position in the place ahead when putting goods, and the place ahead of terminal goods position is the tunnel, does not have a goods 600 can assist and accomplish the location, so divide the location of terminal goods position again, and concrete location mode is as follows:

the goods placing and positioning of the tail end goods position, in the goods placing process, the lifting mechanism firstly performs lifting action on the bearing platform 301, goods 600 are extracted onto the goods carrying plate 201, the shuttle car 200 leaves the bearing platform 301, the fourth photoelectric switch 704 detects that no goods 600 exist on a forward moving channel, when the shuttle car 200 approaches the tail end goods position, the fifth photoelectric switch 705 is separated from the goods shelf 100 to generate a falling edge signal, the shuttle car 200 is decelerated in advance, the low-speed operation ensures that the shuttle car 200 does not fall into a roadway, and when the first photoelectric switch 701 is separated from the goods shelf 100 to generate the falling edge signal and the encoder value is within an allowable deviation range, the positioning is completed. The elevating mechanism lowers the cargo carrying plate 201 to a low position, the cargo 600 is put from the cargo carrying plate 201 to the cargo rack 100, and the shuttle 200 returns to the carrier table 301.

When the shuttle car 200 approaches the target cargo position, the shuttle car 200 detects that the target cargo position has no cargo 600 and the upstream cargo position of the target cargo position has the cargo 600, the shuttle car 200 continues to move forwards, when the fifth photoelectric switch 705 enters the bottom of the cargo 600 of the upstream cargo position to generate a rising edge signal, and the encoder value is within the allowable deviation range, the positioning is completed, and the lifting mechanism drives the cargo carrying plate 201 to descend to complete the cargo placing action from the cargo 600 to the shelf 100.

Positioning the central position: the shuttle 200 needs to return to the center position of the bearing platform 301 regardless of the goods taking and placing operation, and the goods taking and placing positioning modes are consistent. When the shuttle 200 has finished taking and placing tasks and returns to the bearing platform 301, and runs to the position near the center, the encoder value is close to 0, and when the sixth photoelectric switch 706 and the seventh photoelectric switch simultaneously detect that the reflecting plate on the bearing platform 301 generates a rising edge signal, which represents that the center position is successfully positioned, the current collecting brush can act to complete the charging action.

Cargo arrangement distance control: in order to facilitate the picking and placing of goods by the shuttle 200, the goods 600 in the goods shelf 100 need to be arranged at equal intervals, so the total width of the goods shelf 100 is fixed, the quantity of the goods 600 placed on the goods shelf 100 is fixed, and the width of the goods 600 is also fixed, so the goods arrangement distance can be controlled in a fixed range during the goods placing, and the specific implementation mode is as follows:

when the shuttle vehicle enters the warehouse, the loading platform 301 conveys the goods 600 to the lifting device 300, the loading platform 301 repositions the goods 600 through the eighth photoelectric switch 304, and conveys the goods 600 to the upper side of the fixed position of the goods carrying plate 201 of the shuttle vehicle 200. The specific positioning mode is as follows: if the eighth photoelectric switch 304 is already blocked by the cargo 600 during positioning, the driving chain first runs in the forward direction to separate the cargo 600 from the eighth photoelectric switch 304, and then runs in the reverse direction until the cargo 600 blocks the eighth photoelectric switch 304 again to generate a rising edge signal, and the edge of the cargo 600 just stops on the eighth photoelectric switch 304. If the eighth photoelectric switch 304 is not shielded by the goods 600 during positioning, the driving chain is reversely conveyed, and when the eighth photoelectric switch 304 generates a rising edge signal, the driving chain stops, and the edges of the goods 600 just stop on the eighth photoelectric switch 304. The light beam of the fifth photoelectric switch 705 irradiates upwards through the through hole 203 of the cargo carrying plate 201, the distance between the light beam of the fifth photoelectric switch 705 and the cargo 600 at the positioning position of the cargo carrying plate 201 is the cargo arrangement distance, when the fifth photoelectric switch 705 irradiates the cargo 600 at the upstream cargo position in a warehouse, the operation is stopped, and the shuttle 200 descends to place the cargo 600 on the shelf 100. The cigarette packets are positioned in this way every time a warehousing task is performed, and the cigarette packets are arranged in the shelf 100 at equal intervals.

All cases of localization anomalies were analyzed as follows:

1. the travel forward path is occupied: in the process that the shuttle car 200 runs to the target goods space, the fourth photoelectric switch 704 detects whether goods 600 exist in front or not in real time, if the goods 600 exist, the shuttle car 200 continues to move forward, the risk of collision exists, the shuttle car 200 stops moving forward, the shuttle car returns to the bearing platform 301, and the positioning failure is fed back.

2. When taking goods, the target goods space has no goods 600: when the shuttle 200 executes the goods taking task, the shuttle 200 runs to be close to the target goods position, the fourth photoelectric switch 704 of the target goods position does not detect the goods 600, the target position is represented that no goods 600 can be taken, the shuttle 200 stops moving forwards, the shuttle 200 returns to the bearing platform 301, and the feedback positioning fails.

3. Positioning beyond the end of the shelf 100: when the end cargo space is located, if the second photoelectric switch 702 is separated from the shelf 100 to generate a falling edge signal, which indicates that the shuttle 200 is about to go beyond the shelf 100, the shuttle is in a risk of falling, and immediately stops moving forward and returns to the bearing platform 301, and the failure of location is fed back.

4. The target position is located beyond the allowable deviation range: in the actual operation process, the position of the goods 600 may deviate from the target value of the actual encoder due to the deviation of the photoelectric position and the like, the system sets a deviation value, and the shuttle 200 operates in the range of the positive deviation and the negative deviation of the target position for positioning. For example, when the cargo is put, the fact that the fifth photoelectric switch 705 detects a rising edge before the target value is negatively biased or the fact that the fifth photoelectric switch 705 does not detect a rising edge after the target value is positively biased represents that the cargo 600 in front is positioned out of the allowable range, i.e., stops too far forward or too far backward. When the goods are taken, the fifth photoelectric switch 705 detects a falling edge before the target position is negatively biased, or the fifth photoelectric switch 705 does not detect a falling edge after the target position is positively biased, which indicates that the positioning is out of the allowable range, i.e. the target goods 600 are too far forward or too far backward.

5. Mechanical protection beyond the center of the carrier 301 during centering: when the center position of the carrier 301 is returned, the encoder value is 0, and the sixth photoelectric switch 706 and the seventh photoelectric switch need to detect the reflective plate 303 on the carrier 301 at the same time. If the positioning is abnormal, the shuttle 200 can continue to operate to the side far away from the goods shelf 100, the falling-preventing mechanical protection device is effective, the collision-preventing block 206 of the shuttle 200 is jacked to the limiting block 306 of the bearing platform 301, and the shuttle 200 is limited to continue to operate to prevent falling.

Based on the above description of various embodiments of the invention, the technical features of one embodiment may be combined with one or more other embodiments advantageously without explicit negatives or conflicts.

Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for purposes of illustration and is not intended to limit the scope of the invention. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope or spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (12)

1. A shelving system, comprising:

a rack (100) comprising a first support (101) and a second support (102) both extending along a first direction (X), the first support (101) and the second support (102) being spaced along a second direction (Y), the tops of the first support (101) and the second support (102) being configured to carry goods (600), the rack (100) being formed with at least one cargo space along the first direction (X), the top of each corresponding first support (101) and second support (102) being configured to store the goods (600), wherein the first direction (X) is perpendicular to the second direction (Y); and

a shuttle (200) configured to walk between the first support (101) and the second support (102) and located below the top of the first support (101) and the second support (102); the shuttle car (200) comprises a cargo carrying plate (201) and a lifting mechanism (202), wherein the lifting mechanism (202) is in driving connection with the cargo carrying plate (201) so as to enable the cargo carrying plate (201) to ascend to lift the cargo (600) carried by the tops of the first support (101) and the second support (102) or descend to place the cargo (600) on the tops of the first support (101) and the second support (102).

2. The shelving system of claim 1, further comprising a first photoelectric switch (701), wherein the first photoelectric switch (701) is disposed at an end of the shuttle car (200) in the first direction (X), an extending direction of a light beam emitted by the first photoelectric switch (701) has an included angle greater than zero with the second direction (Y), and the first photoelectric switch (701) is configured to detect the shelf (100) and emit a signal indicating that the shuttle car (200) reaches the end of the shelf (100) in the first direction (X) when the shelf (100) is not detected by the first photoelectric switch (701) for controlling the shuttle car (200) to stop operating.

3. The shelving system as defined in claim 2, further comprising a second opto-electronic switch (702), the second opto-electronic switch (702) being provided at an end of the shuttle (200) in the first direction (X), the second opto-electronic switch (702) and the first opto-electronic switch (701) each being proximate to the first support (101), and the second opto-electronic switch (702) being closer to the first support (101) than the first opto-electronic switch (701), the second opto-electronic switch (702) and the first opto-electronic switch (701) each being directed toward the first support (101), the beam of light emitted by the second opto-electronic switch (702) extending in a direction parallel to the second direction (Y), the second opto-electronic switch (702) being configured to detect the shelf (100), and to emit an alarm signal when the shelf (100) is not detected by the second opto-electronic switch (702).

4. The shelving system as defined in claim 2 or claim 3, further comprising a third opto-electronic switch (703), the third opto-electronic switch (703) being provided at an end of the shuttle (200) in the first direction (X), the first opto-electronic switch (701) being located near the first support (101), the third opto-electronic switch (703) being located near the second support (102), a beam of light emitted by the third opto-electronic switch (703) being parallel to a beam of light emitted by the first opto-electronic switch (701), and both the first opto-electronic switch (701) and the third opto-electronic switch (703) emitting beams of light towards the first support (101), the third opto-electronic switch (703) being configured to detect the shelving (100), and to emit a signal for controlling the deceleration of the shuttle (200) when the shelving (100) is not detected by the third opto-electronic switch (703).

5. The shelving system as defined in any one of claims 1 to 3, further comprising a fourth opto-electronic switch (704), the fourth opto-electronic switch (704) being provided at an end of the shuttle car (200) in the first direction (X), the fourth opto-electronic switch (704) being configured to emit a light beam diagonally upwards for detecting whether goods (600) are present in front of the shuttle car (200).

6. The shelving system as defined in claim 5, further comprising a fifth photoelectric switch (705), wherein a through hole (203) is formed in an end portion of the cargo carrying board (201) in the first direction (X), the fifth photoelectric switch (705) is disposed below the through hole (203), the fifth photoelectric switch (705) emits a light beam to the through hole (203), and when the light beam emitted by the fifth photoelectric switch (705) fails to pass through the through hole (203), a signal is emitted to indicate that the cargo (600) is located above the shuttle car (200).

7. The shelving system as defined in claim 6, further comprising a controller electrically connected to the fourth optoelectronic switch (704) and the fifth optoelectronic switch (705), wherein the controller is configured to receive a signal from the fourth optoelectronic switch (704) that a cargo (600) is located in front of the shuttle vehicle (200) when the pick-up target location is located, and to determine that the shuttle vehicle (200) arrives at the pick-up target location after receiving a signal from the fifth optoelectronic switch (705) that a light beam does not pass through the through hole (203) and then receiving a signal from the fifth optoelectronic switch (705) that a light beam passes through the through hole (203), so as to control the shuttle vehicle (200) to stop operating.

8. The shelving system as defined in claim 6, further comprising a controller electrically connected to the fourth photoelectric switch (704) and the fifth photoelectric switch (705), wherein the controller is configured to receive a signal from the fourth photoelectric switch (704) that goods (600) are in front of the shuttle car (200) when the storage target position is located, and to determine that the shuttle car (200) reaches the storage target position after receiving a signal from the fifth photoelectric switch (705) that the light beam does not pass through the through hole (203), so as to control the shuttle car (200) to stop running.

9. The shelving system as defined in any one of claims 1 to 3, further comprising a sixth photoelectric switch (706) and a seventh photoelectric switch, the sixth photoelectric switch (706) and the seventh photoelectric switch being provided on both sides of the shuttle car (200) in the second direction (Y), the sixth photoelectric switch (706) being configured to emit a light beam toward the first support (101), the seventh photoelectric switch being configured to emit a light beam toward the second support (102) for controlling a distance between the shuttle car (200) and the first support (101) to be equal to a distance between the shuttle car (200) and the second support (102).

10. The shelving system as defined in any one of claims 1 to 3, further comprising a lifting device (300), the lifting device (300) being provided at an end of the shelving (100) in the first direction (X), the lifting device (300) being configured to move up and down to reach a desired height with the shuttle car (200).

11. The racking system of claim 10, wherein said lifting device (300) comprises a carrier (301), said carrier (301) configured to carry said shuttle (200) up and down, said carrier (301) comprising a first plate (311), a second plate (312) and a third plate (313), said first plate (311) disposed horizontally configured to carry said shuttle (200), said second plate (312) and said third plate (313) disposed vertically to said first plate (311), a top of said second plate (312) and said third plate (313) configured to carry said cargo (600), said lifting mechanism (202) configured to drive said carrier plate (201) up to lift said cargo (600) carried on top of said second plate (312) and said third plate (313), or down to place said cargo (600) on top of said second plate (312) and said third plate (313).

12. The shelving system of claim 11, further comprising:

a loading platform (400) provided at an end of the rack (100), the loading platform (400) being configured to convey the goods (600) to the loading platform (301); and

an outbound platform (500) disposed at an end of the shelf (100), the outbound platform (500) being configured to receive the goods (600) output by the loading platform (301).

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