Patent Publication Number: US-2022212868-A1

Title: Goods shelf shuttle and goods shelf system

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a National Stage of International Application No. PCT/CN2020/083689, filed on Apr. 8, 2020, which claims priority to Chinese Patent Application No. 201910361595.6, filed on Apr. 30, 2019, both of the above applications are hereby incorporated by reference in their entireties. 
    
    
     TECHNICAL FIELD 
     The present application relates to the field of storage equipment, and in particular, to a goods shelf shuttle and goods shelf system. 
     BACKGROUND 
     With the rapid development of the logistics industry, the transportation and selection of goods and other items are important processes in the logistics industry. Shuttles are usually set up in the warehouse to store and retrieve goods regarding the issue of how to improve the accuracy and speed of goods transportation. 
     In the related art, a plurality of shelves are provided in the warehouse, and each shelf is provided with a plurality of laminates arranged at intervals along a vertical direction, and each laminate extends in a horizontal direction, a storage space for storing goods can be formed between two adjacent laminates. A shuttle is provided on one side of each floor, and the shuttle can move along the horizontal direction to take out the goods in the storage space, that is, one shuttle can take out the goods in one layer. 
     However, since each layer of the shelf needs to be equipped with a shuttle, the number of shuttles required is large, and the production cost is high. 
     SUMMARY 
     According to one aspect of this application, a goods shelf shuttle and a goods shelf system are provided to overcome the problem of high cost due to use of multiple shuttles in a warehouse in the related art. 
     The present application provides a goods shelf shuttle, including: a vehicle body, an access device and a lifting device, where an accommodating chamber for accommodating the access device is formed in the vehicle body; the access device includes a fixed part and a mobile part for accessing goods; the mobile part can telescopically move relative to the fixed part; the lifting device is connected between the fixed part and the vehicle body, the lifting device is configured to drive the fixed part to move along a vertical direction, thereby enabling the access device to extend from or retract into the accommodating chamber. 
     In an optional embodiment, the lifting device includes a lifting drive and a connecting member, the lifting drive is connected to the vehicle body, and a first end of the connecting member is connected to an output end of the lifting drive, a second end of the connecting member is connected to the fixed part, and the lifting drive is configured to drive the connecting member to move so as to vary a distance between the first end and the second end in a vertical direction. 
     In an optional embodiment, the lifting device further includes: a transmission rod rotatably connected to the vehicle body; the connecting member includes a plurality of flexible lifting belts wound on the transmission rod, one ends of the flexible lifting belts are fixed to the transmission rod, and the other ends of the flexible lifting belts are fixedly connected with the fixed part; and an output end of the lifting drive is connected with the transmission rod to drive the transmission rod to rotate, thereby changing a distance between the other end of the flexible lifting belt and the transmission rod. 
     In an optional embodiment, the vehicle body is further provided with a plurality of rollers arranged according to a preset rule, and the other end of each of the flexible lifting belts passes around one roller and is then fixedly connected to the fixed part. 
     In an optional embodiment, portions of the flexible lifting belts between the rollers and the fixed part extend in a vertical direction. 
     In an optional embodiment, the goods shelf shuttle includes a first walking device, and the first walking device is connected to the vehicle body and is configured to drive the vehicle body to move along a lateral direction. 
     In an optional embodiment, the first walking device includes: a first drive assembly and a plurality of first walking wheels arranged on the vehicle body in an array, an axle of the each first walking wheel extends in a longitudinal direction; the first drive assembly includes a first drive connected to the vehicle body and a first rotation shaft extending in the longitudinal direction. Both ends of the first rotation shaft are each fixed with two first walking wheels, the first rotation shaft is rotatably connected to the vehicle body; an output end of the first drive is connected with the first rotation shaft to drive the first rotation shaft to rotate. In an optional embodiment, the goods shelf shuttle further includes a second walking device and a telescopic device, the second walking device is connected to the vehicle body through the telescopic device, the telescopic device is configured to drive the second walking device to move in a vertical direction relative to the vehicle body, so that the second walking device contacts with or separates from a track; the second walking device is configured to drive the vehicle body to move in the longitudinal direction. 
     In an optional embodiment, the telescopic device includes: a telescopic drive, two telescopic plates that can be slidably arranged on the vehicle body along the vertical direction, and a connecting rod rotatably connected to the vehicle body; the two telescopic plates are respectively arranged on both sides of the vehicle body along the lateral direction; both ends of the connecting rod are each fixed with an eccentric wheel, and each telescopic plate is provided with an oblong hole for fitting with the eccentric wheel; the telescopic drive is connected with the connecting rod to drive the connecting rod to rotate; the second walking device is connected to the telescopic plate. 
     In an optional embodiment, the second walking device includes: a second drive assembly and a plurality of second walking wheels arranged symmetrically on the two telescopic plates, an axle of each second walking wheel extends in the lateral direction; the second drive assembly includes a second drive arranged on the telescopic plate, a second rotation shaft extending along the lateral direction, and two transmission assemblies respectively arranged at both ends of the second rotation shaft; both ends of the second rotation shaft are rotatably connected to the two telescopic plates, an end of each transmission assembly away from the second rotation shaft is connected to one second walking wheel; an output end of the second drive is connected to the second rotation shaft to drive the second rotation shaft to rotate. 
     In an optional embodiment, the fixed part includes a bottom plate and two side plates each arranged on the bottom plate; the side plates are connected with the lifting device; each side plate is connected to a first telescopic plate that is slidably arranged on the side plate in a longitudinal direction; the first telescopic plate is further provided with a second telescopic plate that is slidably arranged on the first telescopic plate in the longitudinal direction, two ends of the second telescopic plate are each provided with the mobile part; the mobile part can follow the first telescopic plate and the second telescopic plate to move longitudinally relative to the fixed part; and the mobile part can also rotate relative to the second telescopic plate so as to protrude inwards from the second telescopic plate; an access drive assembly is further provided on the fixed part; the access drive assembly is configured to drive the first telescopic plate to slide relative to the side plates, and drive the second telescopic plate to slide relative to the first telescopic plate. 
     In an optional embodiment, the access drive assembly includes: an access drive and a first access transmission assembly connected between the access drive and the first telescopic plate; the first access transmission assembly includes: a plurality of belt wheels and a toothed belt winding the plurality of belt wheels; the toothed belt includes a first section extending along the longitudinal direction; and a plurality of first teeth arranged at intervals along the longitudinal direction are formed on the first section; a plurality of second teeth arranged at intervals along the longitudinal direction are formed on the bottom surface of the first telescopic plate; the first teeth and the second teeth are fitted with each other; an output end of the access drive is connected with one belt wheel to drive the belt wheel to rotate, the first telescopic plate slides relative to the side plates. 
     In an optional embodiment, the access drive assembly further includes: a second access transmission assembly connected to the first telescopic plate and the second telescopic plate; the second access transmission assembly includes: two pulleys arranged at two ends of the first telescopic plate and two belts respectively winding the two pulleys; axes of the pulleys extend along the vertical direction, one ends of the belts are fixed to the side plates, the other ends of the belts are fixed to the second telescopic plate after passing around the pulleys, winding directions of the two belts on the corresponding pulleys are opposite. 
     In an optional embodiment, the fixed part is further provided with a supporting device; the supporting device includes a supporting drive assembly and a plurality of engaging parts connected with the supporting drive assembly; the supporting drive assembly is configured to drive the engaging part to move relative to the fixed part in a direction parallel to extension and retraction of the mobile part, so that the engaging part engages with engagement slot on a shelf. 
     In an optional embodiment, the supporting drive assembly includes a supporting drive and a supporting transmission assembly; the supporting transmission assembly includes a gear fixedly connected to an output end of the supporting drive, a sector gear matched with the gear, a first connecting rod, and two second connecting rods respectively hinged to both ends of the first connecting rod; the sector gear is fixed at middle of the first connecting rod; an end of each second connecting rod, away from the first connecting rod is hinged to the engaging part; the fixed part is provided with a sliding rail, the engaging part is slidably arranged on the sliding rail. 
     The present application also provides a goods shelf system, including a plurality of shelves arranged in an array, tracks arranged on tops of the shelves, and a goods shelf shuttle, the vehicle body of the goods shelf shuttle can travel on the tracks. 
     In the goods shelf shuttle and goods shelf system provided by the present application, there is provided a vehicle body, an access device and a lifting device; where an accommodating chamber for accommodating the access device is formed in the vehicle body; the access device includes a fixed part and a mobile part for accessing goods; the mobile part can telescopically move relative to the fixed part; the lifting device is connected between the fixed part and the vehicle body, the lifting device is configured to drive the fixed part to move along a vertical direction, thereby enabling the access device to extend from or retract into the accommodating chamber. Since the access device of the goods shelf shuttle can move in the vertical direction under the driving of the lifting device, the goods in each layer of the shelf can be accessed, thereby reducing the number of the goods shelf shuttle and lowering the production cost. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram of an overall structure of a goods shelf system in one or more embodiments of the present application; 
         FIG. 2  is a front view of  FIG. 1 ; 
         FIG. 3  is schematic diagram  1  of a goods shelf shuttle in one or more embodiments of the present application; 
         FIG. 4  is schematic diagram  2  of a goods shelf shuttle in one or more embodiments of the present application; 
         FIG. 5  is a schematic structural diagram of an access device in  FIG. 4 ; 
         FIG. 6  is a back view of  FIG. 5 ; 
         FIG. 7  is a schematic structural diagram of a supporting device in  FIG. 5 ; 
         FIG. 8  is a partial magnification of position Ain  FIG. 2 . 
     
    
    
     DESCRIPTION OF REFERENCE NUMERALS 
       
     
       
         
           
               
               
               
             
               
                   
                   
               
             
            
               
                   
                 100: Vehicle body; 
                 200: First walking device; 
               
               
                   
                 210: First drive assembly; 
                 211: First drive; 
               
               
                   
                 220: First walking wheel; 
                 300: Second walking device; 
               
               
                   
                 310: Second drive assembly; 
                 311: Second drive; 
               
               
                   
                 312: Second rotation shaft; 
                 313: Transmission assembly; 
               
               
                   
                 320: Second walking wheel; 
                 400: Telescopic device; 
               
               
                   
                 410: Telescopic drive; 
                 420: Telescopic plate; 
               
               
                   
                 430: Connecting rod; 
                 431: Eccentric wheel; 
               
               
                   
                 500: Access device; 
                 510: Fixed part; 
               
               
                   
                 511: Bottom plate; 
                 512: Side plate; 
               
               
                   
                 513: Access drive assembly; 
                 514: Access drive; 
               
               
                   
                 515: Belt wheel; 
                 516: Toothed belt; 
               
               
                   
                 517: Pulley; 
                 518: Belt; 
               
               
                   
                 520: Mobile part; 
                 530: First Telescopic plate; 
               
               
                   
                 540: Second telescopic plate; 
                 550: Supporting device; 
               
               
                   
                 551: Engaging part; 
                 552: Gear; 
               
               
                   
                 553: Sector gear; 
                 554: First connecting rod; 
               
               
                   
                 555: Second connecting rod; 
                 556: Sliding rail 
               
               
                   
                 557: Supporting drive; 
                 560: Driving wheel 
               
               
                   
                 570: Tensioning wheel 
                 580: Guide wheel; 
               
               
                   
                 600: Lifting device 
                 610: Lifting drive; 
               
               
                   
                 620: Transmission rod; 
                 630: Flexible lifting belt; 
               
               
                   
                 640: Roller; 
                 700: Shelf; 
               
               
                   
                 800: Track; 
                 900: Goods. 
               
               
                   
                   
               
            
           
         
       
     
     DETAILED DESCRIPTION OF EMBODIMENTS 
       FIG. 1  is a schematic diagram of an overall structure of a goods shelf system in an embodiment of the present application;  FIG. 2  is a front view of  FIG. 1 ;  FIG. 3  is schematic diagram  1  of a goods shelf shuttle in an embodiment of the present application;  FIG. 4  is schematic diagram  2  of a goods shelf shuttle in an embodiment of the present application. In figures, X stands for lateral direction and Y stands for longitudinal direction. Vertical direction is a direction perpendicular to both the longitudinal direction and the lateral direction. 
     Please refer to  FIG. 1  to  FIG. 4 . This embodiment provides a goods shelf shuttle, including: a vehicle body  100 , an access device  500 , and a lifting device  600 ; an accommodating chamber is formed inside the vehicle body  100  and is configured to accommodate the access device  500 ; the access device  500  includes a fixed part  510  and a mobile part  520  for accessing goods  900 ; the mobile part  520  can move telescopically relative to the fixed part  510 ; the lifting device  600  is connected between the fixed part  510  and the vehicle body  100 , the lifting device  600  is configured to drive the fixed part  510  to move in a vertical direction, thereby enabling the access device  500  to extend from or retract into the accommodating chamber. 
     The goods shelf shuttle can be applied in warehousing logistics systems. The warehousing logistics systems generally include a warehouse; the warehouse is provided with a plurality of shelves  700  arranged in an array in lateral and longitudinal directions, and aisles are formed between the shelves  700 ; each shelf  700  is also formed with multiple storage spaces in layers, each storage space is provided with a plurality of goods  900  at intervals in a horizontal direction. The goods shelf shuttle can move in the aisles to store and fetch goods  900 . 
     The goods shelf shuttle includes the vehicle body  100 , and the vehicle body  100  can have a variety of structures. For example, the vehicle body  100  can be a box-like structure, or the vehicle body  100  can be a frame structure composed of multiple beams. The accommodating chamber may be formed in the vehicle body  100 , and the size of the accommodating chamber may be larger than the size of the goods  900 , so that the goods  900  can be contained in the accommodating chamber. 
     The access device  500  can be connected to the vehicle body  100  through the lifting device  600 , and the access device  500  can move vertically relative to the vehicle body  100  by the lifting device  600 , so that the access device  500  can be located in the accommodating chamber or extend out of the accommodating chamber. The access device  500  may include the fixed part  510  and the mobile part  520 . The fixed part  510  may be a box-like structure or a net-like structure. The fixed part  510  may be connected with the lifting device  600  so as to move in the vertical direction under the action of the lifting device  600 . The mobile part  520  can move in a horizontal direction relative to the fixed part  510 , thereby transporting the goods  900  on the shelf  700  to the fixed part  510 , or pushing the goods  900  on the fixed part  510  into the shelf  700 . The mobile part  520  can have multiple structures, for example, the mobile part  520  can be a clamping arm that can clamp goods  900 , and the clamping arm can extend and retract relative to the fixed part  510  in a lateral or longitudinal direction, so as to carry goods  900 . 
     The lifting device  600  can also have various structures, for example, the lifting device  600  can include a motor and a wire rope wound on a rotation shaft of the motor. An end of the wire rope can be connected with a hook structure, the fixed part  510  can be hung on the hook structure, and the motor drives the wire rope to move in a vertical direction, thereby driving the access device  500  to move in the vertical direction. 
     When the goods shelf shuttle receives an instruction of taking out the goods  900  in a certain layer of the shelf  700 , the goods shelf shuttle can use the lifting device  600  to lower the access device  500  to the layer where the goods  900  is located, and then transfer the goods  900  to the fixed part  510  through the mobile part  520 , and then use the lifting device  600  to move the access device  500  and the goods  900  into the accommodating chamber, and then the goods shelf shuttle can be moved to a designated delivery position for unloading. 
     It can be understood that the process of storing goods  900  is opposite to the above process, and will not be described here. The goods shelf shuttle in the  FIG. 1  is set on the top of the shelf  700 , and the access device  500  can move downward to extend out of the accommodating chamber. However, in other embodiments, the goods shelf shuttle can be set on the ground, and at this time, the access device  500  can move upward to extend out of the accommodating chamber, there is no specific limitation here. 
     In the goods shelf shuttle provided in this embodiment, there is provided a vehicle body, an access device and a lifting device; where an accommodating chamber for accommodating the access device is formed in the vehicle body; the access device includes a fixed part and a mobile part for accessing goods; the mobile part can telescopically move relative to the fixed part; the lifting device is connected between the fixed part and the vehicle body, the lifting device is configured to drive the fixed part to move along a vertical direction, thereby enabling the access device to extend from or retract into the accommodating chamber. Since the access device of the goods shelf shuttle can move in the vertical direction under the driving of the lifting device, the goods in each layer of the shelf can be accessed, thereby reducing the number of the goods shelf shuttle and lowering the production cost. 
     As an optional embodiment of the lifting device  600 , the lifting device  600  includes a lifting drive  610  and a connecting member, the lifting drive  610  is connected to the vehicle body  100 , and a first end of the connecting member is connected to an output end of the lifting drive  610 , a second end of the connecting member is connected to the fixed part  510 , and the lifting drive  610  is configured to drive the connecting member to move so as to vary the distance between the first end and the second end in a vertical direction. 
     Among them, the lifting drive  610  can be an electric machine or a motor, the connecting member can be a telescopic connecting rod, the connecting rod can extend in a vertical direction, and the output end of the lifting drive  610  can be connected with the connecting rod, thereby changing the length of the connecting rod along the vertical direction, the end of the connecting rod can be connected with the fixed part  510  to drive the access device  500  to move in the vertical direction. 
     Optionally, the lifting device  600  further includes: a transmission rod  620  rotatably connected to the vehicle body  100 ; the connecting member includes a plurality of flexible lifting belts  630  wound on the transmission rod  620 , one ends of the flexible lifting belts  630  are fixed on the transmission rod  620 , and the other ends of the flexible lifting belts  630  are fixedly connected with the fixed part  510 ; an output end of the lifting drive  610  is connected with the transmission rod  620  to drive the transmission rod  620  to rotate, thereby changing the distance between the other end of the flexible lifting belt  630  and the transmission rod  620 . 
     Where the lifting drive  610  may include a motor and a reducer connected to the motor, and the reducer is connected to the transmission rod  620 . The access device  500  may move up and down by the flexible lifting belt  630 . The transmission rod  620  can be rotated relative to the vehicle body  100  under the driving of the lifting drive  610 , the transmission rod  620  can extend in the longitudinal direction, the transmission rod  620  is wound with a plurality of flexible lifting belts  630 , the flexible lifting belts  630  can change the distance between its bottom end and the transmission rod  620  under the rotation of the transmission rod  620 , the flexible lifting belts  630  can be fixed to the fixed part  510 , so as to realize the lifting of the fixed part  510 . 
     Optionally, the vehicle body  100  is further provided with a plurality of rollers  640  arranged according to a preset rule, and the other end of each flexible lifting belt  630  passes around one roller  640  and is then fixedly connected to the fixed part  510 . 
     Among them, all the rollers  640  can play a guiding role, and the plurality of rollers  640  can be arranged according to the preset rule, for example, they can be arranged at intervals in a circumferential direction, or they can be arranged in a matrix direction, which can be specifically set according to the size and shape of the fixed part  510 . Each flexible lifting belt  630  is connected to the fixed part  510  after passing around a roller  640 . The rollers  640  can change the positions of the extension ends of the flexible lifting belts  630 , so that the extension ends of the flexible lifting belts  630  can be evenly fixed around the fixed part  510 , thereby smoothly lift the fixed part  510 . In the embodiment of  FIG. 4 , the number of the flexible lifting belts  630  is 4, both ends of the transmission rod  620  are each connected with two flexible lifting belts  630 , the cross section of the fixing part can be quadrilateral, and four flexible lifting belts  630  can be evenly fixed around the fixing part. 
     Further, the portions of the flexible lifting belts  630  located between the rollers  640  and the fixed part  510  extend in the vertical direction, so that the fixed part  510  only receives a vertical pulling force when moving up and down, receiving no horizontal force component, which avoids the swing of the access device  500 . 
     On the basis of the above embodiment, the goods shelf shuttle includes a first walking device  200 , the first walking device  200  is connected to the vehicle body  100  and is configured to drive the vehicle body  100  to move along a lateral direction. 
     Among them, in order to facilitate the vehicle body  100  to walk in the aisle, the first walking device  200  is provided on the vehicle body  100 . A lateral track may be provided between two adjacent shelves  700 . The first walking device  200  can drive the vehicle body  100  to walk on the lateral track, the first walking device  200  can have a variety of structures, for example, it can be equipped with motor and a crawler wheel, the motor can drive the crawler wheel to rotate, thereby driving the vehicle body  100  to walk along the lateral track. 
     Optionally, the first walking device  200  includes: a first drive assembly  210  and a plurality of first walking wheels  220  arranged in an array on the vehicle body  100 , the axle of each first walking wheel  220  extends in the longitudinal direction; the first drive assembly  210  includes a first drive  211  connected to the vehicle body  100  and a first rotation shaft extending in the longitudinal direction, both ends of the first rotation shaft are each fixed with two first walking wheels  220 , the first rotation shaft is rotatably connected to the vehicle body  100 ; an output end of the first drive  211  is connected to the first rotation shaft so as to drive the first rotation shaft to rotate. 
     Among them,  FIG. 4  can be referred to, in which four first walking wheels  220  are shown, the four first walking wheels  220  are distributed in a rectangular shape, that is, two first walking wheels  220  are arranged at a longitudinal interval, and the other two first walking wheels  220  are arranged at a lateral interval. Each first walking wheel  220  can be rotatably connected to the vehicle body  100 , the axle of each first walking wheel  220  extends in the longitudinal direction, so that the first walking wheel can drive the vehicle body  100  to move in the lateral direction. Among them, one first rotation shaft (not shown) may be arranged between the two first walking wheels  220  arranged at the longitudinal interval, the first drive  211  may include a motor and a reducer connected to the motor, an output end of the reducer may be connected to the first rotation shaft so as to drive the first rotation shaft to rotate, and thus drive the first walking wheels  220  to roll, so that the goods shelf shuttle can use two lateral tracks to move and run more smoothly. 
     It can be understood that, in this embodiment, the first drive  211  only drives the two first walking wheels  220  at both ends of the first rotation shaft, and the remaining two first walking wheels  220  can be passively rolled, which reduces the cost. In other embodiments, one first rotation shaft may be provided between every two first walking wheels  220 , and multiple first rotation shafts may be simultaneously driven by the first drive  211 . In addition, the number of the first walking wheels  220  can also be 6, 8, etc., and is not limited here. 
     On the basis of the above embodiment, the goods shelf shuttle further includes a second walking device  300  and a telescopic device  400 , the second walking device  300  is connected to the vehicle body  100  through the telescopic device  400 , the telescopic device  400  is configured to drive the second walking device  300  to move along the vertical direction relative to the vehicle body  100 , so that the second walking device  300  can contact with or separate from a track  800 ; the second walking device  300  is configured to drive the vehicle body  100  to move along the longitudinal direction. 
     Among them, a warehouse may be provided with tracks  800  for travelling among the shelves  700 , and the tracks  800  may include a plurality of lateral and longitudinal tracks that are staggered horizontally and laterally. The second walking device  300  can drive the vehicle body  100  to walk in the longitudinal direction, the second walking device  300  can have a variety of structures, for example, it can be equipped with a motor and a crawler wheel, where the motor can drive the crawler wheel to rotate, thereby driving the vehicle body  100  to walk along the longitudinal tracks. 
     It can be understood that in order to prevent the first walking device  200  and the second walking device  300  from being in contact with the track  800  at the same time and affecting the vehicle body  100  to move, the second walking device  300  and the vehicle body  100  can be connected through the telescopic device  400 . The telescopic device  400  can drive the second walking device  300  to move in the vertical direction relative to the vehicle body  100 , so as to contact with or separate from the longitudinal tracks, and when the second walking device  300  is in contact with the track  800 , the first walking device  200  is separated from the track  800 , and the vehicle body  100  is driven to move in the longitudinal direction, and when the second walking device  300  is separated from the track  800 , the first walking device  200  is in contact with the track  800 , and the vehicle body  100  is driven to move in the lateral direction. 
     When the moving of the vehicle body  100  is switched from the first walking device  200  to the second walking device  300 , the telescopic device  400  drives the second walking device  300  to move downwards, and when the second walking device  300  contacts the track  800 , the telescopic device  400  can continue to act, and at this time, the vehicle body  100  moves upwards, thereby driving the first walking device  200  to leave the track  800 , realizing the switching between the lateral direction and the longitudinal direction. 
     The telescopic device  400  can have multiple structures, for example, the telescopic device  400  can include a linear motor and a slide way set on the vehicle body  100 , the slide way can extend in the vertical direction, the second walking device  300  can be provided with sliding block, the linear motor can be located on the vehicle body  100 , and its output can be connected to the sliding block, so that the sliding block can be driven to move along the slide way set along the vertical direction. 
     When the goods shelf shuttle receives an instruction of taking out a certain piece of goods  900 , the goods shelf shuttle can laterally move by the first walking device  200  and longitudinally move by the second walking device  300  and thus dock in the aisle of the shelf  700  where the piece of goods  900  is located, and then the access device  500  is lowered by the lifting device  600  to reach the layer where the piece of goods  900  is located, and then the piece of goods  900  is transferred to the fixed part  510  through the mobile part  520 , and then the access device  500  and the piece of goods  900  are moved by the lifting device  600  into the accommodating chamber, and then the goods shelf shuttle can be moved on the track to a designated delivery position for unloading. 
     The goods shelf shuttle provided in this embodiment can shuttle between multiple shelves in a warehouse and take out the goods on each layer of the shelf, and only one goods shelf shuttle provided in one warehouse can realize the storage and retrieval of all goods, which is low-cost. 
     As an optional embodiment of the telescopic device  400 , the telescopic device  400  may include: a telescopic drive  410 , two telescopic plates  420  that can be slidably arranged on the vehicle body  100  along the vertical direction, and a connecting rod  430  rotatably connected to the vehicle body  100 ; the two telescopic plates  420  are respectively provided on both sides of the vehicle body  100  along the lateral direction; both ends of the connecting rod  430  are each fixed with an eccentric wheel  431 , and each telescopic plate  420  is provided with an oblong hole for matching with the eccentric wheel  431 ; the telescopic drive  410  is connected with the connecting rod  430  to drive the connecting rod  430  to rotate; the second walking device  300  is connected to the telescopic plate  420 . 
     Where the telescopic device  400  may include the connecting rod  430  extending in the lateral direction, the connecting rod  430  is rotatably connected to the vehicle body  100 ; both ends of the connecting rod  430  may be connected with the telescopic plate  420 , the telescopic plate  420  may include two telescopic arms, and the top ends of the two telescopic arms are connected, the bottom ends of the two telescopic arms can be extended obliquely downward, so that there is a preset angle between the two telescopic arms. The top ends of the telescopic arms can be provided with an oblong hole, the end of the connecting rod  430  can be provided with the eccentric wheel  431 , the wheel surface of the eccentric wheel  431  can contact the inner surface of the oblong hole, the telescopic drive  410  can be an electric machine or a motor to drive the connecting rod  430  to rotate, and thus drive the eccentric wheel  431  to rotate, and the cooperation of the eccentric wheel  431  and the oblong hole enable the telescopic plate  420  to slide relative to the vehicle body  100  in the vertical direction. Optionally, a sliding groove may be provided on the vehicle body, and the inner surface of bottom of each telescopic arm facing the vehicle body  100  may be provided with a sliding block slidably disposed on the sliding groove, so as to realize the vertical movement of the two telescopic plates  420 , with the structure being simple, and easy to accomplish. The second walking device  300  can be provided at the bottom end of the telescopic arm, thereby easier to access the track  800  and reducing the movement distance of the telescopic plate  420 . 
     As a preferred embodiment of the second walking device  300 , the second walking device  300  includes: a second drive assembly  310  and a plurality of second walking wheels  320  symmetrically distributed on the two telescopic plates  420 , and the axle of each second walking wheel  320  extends in the lateral direction; the second drive assembly  310  includes a second drive  311  arranged on the telescopic plate  420 , a second rotation shaft  312  extending along the lateral direction and two transmission assemblies  313  respectively arranged at both ends of the second rotation shaft  312 ; the both ends of the second rotation shaft  312  are rotatably connected to the two telescopic plates  420 , one end of each transmission assembly  313  away from the second rotation shaft  312  is connected with one second walking wheel  320 ; an output end of the second drive  311  is connected with the second rotation shaft  312  to drive the second rotation shaft  312  to rotate. 
     Among them, please refer to  FIG. 4 , which shows four second walking wheels  320 , the four second walking wheels  320  are distributed in a rectangular shape, that is, two second walking wheels  320  are arranged at a longitudinal interval, and the other two second walking wheels  320  are arranged at a lateral interval. The four second walking wheels  320  can be distributed at the bottom end of the telescopic arm. Each second walking wheel  320  can be rotatably connected to the vehicle body  100 , the axle of each second walking wheel  320  extends laterally, so that the second walking wheel  320  can drive the vehicle body  100  to move in the longitudinal direction. Among them, the two second walking wheels  320  arranged at the lateral interval can be connected by the second rotation shaft  312  and the two transmission assemblies  313 , two ends of the second rotation shaft  312  are rotatably connected to the two telescopic plates  420 , the transmission assembly  313  can include a first belt wheel connected to one end of the second rotation shaft  312 , a second belt wheel connected to the axle of the second walking wheel  320 , and a synchronous belt sleeved outside the first belt wheel and the second belt wheel, the transmission assembly  313  can enable the axle of the second rotation shaft  312  and the axle of the second walking wheel  320  to have a vertical interval therebetween, so as to prevent the second rotation shaft  312  from interfering with the first rotation shaft when following the movement of the telescopic plate  420  in the vertical direction. Of course, the transmission assembly  313  can also be a gear transmission assembly, and has no limitation here. 
     The second drive  311  can include a motor connected to the telescopic plate  420  and a reducer connected to the motor. An output end of the reducer can be connected to the second rotation shaft  312  so as to drive the second rotation shaft  312  to rotate, thereby driving the transmission assembly  313  to operate and the second walking wheel  320  to roll, so that the goods shelf shuttle can use two longitudinal tracks to move, running more smoothly. 
     It can be understood that, in this embodiment, the second drive  311  only drives two second walking wheels  320  at both ends of the second rotation shaft, and the remaining two second walking wheels  320  can be passively rolled, which reduces the cost. In other embodiments, one second rotation shaft  312  and one transmission assembly  313  may be provided between every two second walking wheels  320 , multiple second rotation shafts  312  may be simultaneously driven by the second drive  311 . In addition, the number of the second walking wheels  320  can also be 6, 8, etc., and has no limitation here. 
       FIG. 5  is a structure diagram of the access device in  FIG. 4 ;  FIG. 6  is a back view of  FIG. 5 . Please combine  FIG. 5  and  FIG. 6  as an optional implementation of the access device  500 , the fixed part  510  includes a bottom plate  511  and two side plates  512  respectively arranged on the bottom plate  511 ; the side plates  512  are connected with the lifting device  600 ; each side plate  512  is provided with a first telescopic plate  530  slidably disposed to the side plate  512  along the longitudinal direction; the first telescopic plate  530  is further provided with a second telescopic plate  540  slidably disposed to the first telescopic plate  530  in the longitudinal direction, two ends of the second telescopic plate  540  are respectively provided with the mobile part  520 ; the mobile part  520  can follow the first telescopic plate  530  and the second telescopic plate  540  to move in the longitudinal direction relative to the fixed part  510 ; and the mobile part  520  can also rotate relative to the second telescopic plate  540  so as to protrude inward from the second telescopic plate  540 ; the fixed part  510  is further provided with an access drive assembly  513 ; the access drive assembly  513  is configured to drive the first telescopic plate  530  to slide relative to the side plate  512 , and to drive the second telescopic plate  540  to slide relative to the first telescopic plate  530 . 
     Among them, the mobile part  520  of the access device  500  can extend from both ends of the fixed part  510  in the longitudinal direction, so as to take out goods  900  from two longitudinally adjacent shelves  700 . The mobile part  520  can extend and retract by the first telescopic plate  530  and the second telescopic plate  540 , the first telescopic plate  530  can be connected to the side plate  512 , the first telescopic plate  530  can slide relative to the side plate  512  through a mechanism such as a sliding rail or a sliding groove, and the second telescopic plate  540  can also extend relative to the first telescopic plate  530  by a mechanisms such as a sliding rail or a sliding groove, thereby increasing the extension distance of the mobile part  520 . 
     The number of the mobile part  520  may be four, and the four mobile parts  520  may be respectively arranged at the longitudinal two ends of the two second telescopic plates  540 . The mobile parts  520  can be a rod-shaped structure, one end of the mobile part  520  can be rotatably connected to the second telescopic plate  540 , the rotation axis of the mobile part  520  can be parallel to the telescopic direction, that is, the longitudinal direction, of the mobile part  520 , and when the mobile part  520  rotates, the other end thereof can extend inwardly from the inner surface of the second telescopic plate  540 . 
     When goods  900  needs to be transported to the fixed part  510 , the first telescopic plate  530  and the second telescopic plate  540  can be extended so that the mobile part  520  at the front end of the second telescopic plate  540  in the telescopic direction is located behind the goods  900 , and then two mobile parts  520  at the front end are rotated, so that the two mobile parts  520  protrude out of the second telescopic plate  540 , and then the first telescopic plate  530  and the second telescopic plate  540  are retracted, and at this time, the mobile parts  520  can pull the goods  900  toward the fixed part  510  from the back of the goods  900 . In this process, two mobile parts  520  located at the back do not operate, and when goods  900  in the fixed part  510  needs to be pushed into the shelf  700 , these two mobile parts  520  can operate, thereby achieving storage and retrieval of goods  900 . 
     The access drive assembly  513  may include two drive parts respectively driving the first telescopic plate  530  and the second telescopic plate  540 . Optionally, the access drive assembly  513  includes: an access drive  514  and a first access transmission assembly connected between the access drive  514  and the first telescopic plate  530 ; the first access transmission assembly includes: a plurality of belt wheels  515  and a toothed belt  516  winding the plurality of belt wheels  515 ; the toothed belt  516  includes a first section extending in the longitudinal direction; and the first section is formed with a plurality of first teeth at intervals in the longitudinal direction; a plurality of second teeth are arranged at intervals in the longitudinal direction on the bottom surface of the first telescopic plate  530 ; the first teeth are matched with the second teeth; an output end of the access drive  514  is connected with one belt wheel  515  so as to drive the belt wheel  515  to rotate, and the first telescopic plate  530  slides relative to the side plate  512 . 
     Among them, each side plate  512  can be provided with the first access transmission assembly, as shown in  FIG. 6 , the first access transmission assembly can include multiple belt wheels  515  and a toothed belt  516  sleeved outside the multiple belt wheels  515 , the multiple belt wheels  515  may include a driving wheel  560  connected to the access drive  514  through a synchronizing belt, tensioning wheels  570  arranged on both sides of the driving wheel  560 , and two guide wheels  580  located above the driving wheel  560 , the two guide wheels  580  are located on the same horizontal plane, so that the first section between the two guide wheels  580  extends in the longitudinal direction. 
     The bottom surface of the first telescopic plate  530  and the top surface of the first section may be formed with a gear meshing mechanism, so as to realize the extension and retraction of the first telescopic plate  530 , improving the reliability of transmission. 
     Further, the access drive assembly also includes: a second access transmission assembly connected with the first telescopic plate  530  and the second telescopic plate  540 ; the second access transmission assembly includes: two pulleys  517  arranged at two ends of the first telescopic plate  530  and two belts  518  respectively winding the two pulleys  517 ; axes of the pulleys  517  extend along the vertical direction, one end of the belt  518  is fixed on the side plate  512 , the other end of the belt  518  is fixed on the second telescopic plates  540  after passing around the pulleys  517 , and winding directions of the two belts  518  on the corresponding pulleys  517  are opposite. 
     Where two ends of the first telescopic plate  530  may be each provided with one pulley  517 , the axis of the pulley  517  extends in the vertical direction, and one end of the belt  518  is fixed on the side plate  512  outside the first telescopic plate  530  to form a fixed end. The other end of the belt  518  can be fixed on the second telescopic plate  540  inside the first telescopic plate  530  after passing around the pulley  517 . The winding directions of the belts on the two pulleys  517  are opposite. Refer to  FIG. 6 , one belt  518  is wound on the pulley  517  at the left end of the first telescopic plate  530 , the fixed end of this belt  518  is fixed on the side plate  512 , and the other end of this belt  518  approaches the pulley  517  from right to left, and extends from left to right after passing around the pulley  517 , and is fixed on the second telescopic plate  530 . As for the pulley  517  (not shown) on the right side of the first telescopic plate  530 , one belt  518  is wound around this pulley  517 , the fixed end of the belt  518  is fixed on the side plate  512 , and the other end thereof approaches the pulley  517  from left to right, and extends from right to left after passing around the pulley  517 , and is fixed on the second telescopic plate  540 . When the pulley  517  and the first telescopic plate  530  move together, each pulley  517  and the corresponding belt  518  can form a set of movable pulley structure, so that the second telescopic plate  540  can move at a speed twice the speed of the first telescopic plate  530 , improving access efficiency. 
     Two sets of movable pulley structures can be used in the movement of the mobile part  520  along the left and right directions of  FIG. 6  respectively, so as to improve the efficiency of the mobile part  520  to extend and retract at both sides. 
     On the basis of the above-mentioned embodiment,  FIG. 7  is a schematic structural diagram of the supporting device in  FIG. 5 ;  FIG. 8  is a partial magnification of position Ain  FIG. 2 . Please combine  FIG. 7  and  FIG. 8 , optionally, the fixed part  510  is further provided with a supporting device  550 ; the supporting device  550  includes a supporting drive assembly and a plurality of engaging parts  551  connected to the supporting drive assembly; the supporting drive assembly is configured to drive the engaging parts  551  to move relative to the fixed part  510  along a direction parallel to extension and retraction of the mobile part  520 , so that the engaging parts  551  are engaged with engagement slots on the shelf  700 . 
     Where shelves  700  on both sides of each piece of goods  900  can be provided with engagement slots, and the engagement slots on two adjacent shelves  700  are symmetrical with respect to the center line of the aisle, and when the fixed part  510  descends to the position where goods  900  are located, the engaging part  551  can be engaged with the engagement slot around the fixed part  510  to support the access device  500  and avoid the fixed part  510  from shaking when the goods  900  or the mobile part  520  extends out, moving stably. In this embodiment, each engaging part  551  can be driven by a linear motor. 
     With reference to  FIG. 7 , in another embodiment, the supporting drive assembly may include a supporting drive  557  and a supporting transmission assembly; the supporting transmission assembly includes: a gear  552  fixedly connected to the output end of the supporting drive  557 , a sector gear  553  and a first connecting rod  554  matched with the gear  552 , and two second connecting rods  555  respectively hinged to both ends of the first connecting rod  554 ; the sector gear  553  is fixed in the middle of the first connecting rod  554 ; one end of each second connecting rod  555  away from the first connecting rod  554  is hinged to the engaging part  551 ; a sliding rail  556  is provided on the fixed part  510 , and the engaging part  551  is slidably arranged on the sliding rail  556 . 
     Where each side plate  512  is formed with one supporting transmission assembly, and the sector gear  553  can be fixed at the middle position of the first connecting rod  554  along the length direction. When the supporting drive  557  rotates, the sector gear  553  can be driven to rotate, thereby driving the second connecting rod  555  to move, the sliding rail  556  can enable the engaging part  551  to be driven to move in the longitudinal direction so as to achieve engagement. At the same time, in this embodiment, the fixing effect is good and the stability of movement is high, due to connection of four engaging parts  551 . 
     Please refer to  FIG. 1  and  FIG. 2 , this embodiment provides a goods shelf system, including a plurality of shelves  700  arranged in an array, tracks  800  arranged on the tops of the shelves  700  and a goods shelf shuttle, vehicle body  100  of the goods shelf shuttle can travel on the tracks  800 . 
     Among them, the goods shelf system can be applied in a warehouse. The warehouse is provided with a plurality of shelves  700  arranged in a lateral and longitudinal array, aisles are formed between the shelves  700 ; each shelf  700  is formed with multiple layers of storage spaces, a plurality of goods  900  may be arranged inside each storage space. The top of the shelf  700  can be provided with the track  800 , the vehicle body  100  of the goods shelf shuttle can move on the tracks  800 , so as to move in the warehouse, and store and retrieve goods  900 . 
     Optionally, the tracks  800  can include lateral tracks and longitudinal tracks, setting the tracks on the top of the shelf  700  can make rational use of the space on the top of the shelf  700 , improving space utilization thereof. The goods shelf shuttle can move in the lateral direction by the first walking device  200  and move in the longitudinal direction by the second walking device  300 , thereby docking in the aisle of the shelf  700  where goods  900  are located. 
     When the goods shelf shuttle receives the instruction of taking out goods  900  in a certain layer of the shelf  700 , the goods shelf shuttle can lower the access device  500  by the lifting device  600  to the layer where the goods  900  are located, and then transfer the goods  900  to the fixed part  510  through the mobile part  520 , and then move the access device  500  and the goods  900  into the accommodating chamber by the lifting device  600 , and then the goods shelf shuttle can be moved to the designated delivery position for unloading. 
     In the goods shelf system provided by this embodiment, there is provided a vehicle body, an access device and a lifting device; where an accommodating chamber for accommodating the access device is formed in the vehicle body; the access device includes a fixed part and a mobile part for accessing goods; the mobile part can telescopically move relative to the fixed part; the lifting device is connected between the fixed part and the vehicle body, the lifting device is configured to drive the fixed part to move along a vertical direction, thereby enabling the access device to extend from or retract into the accommodating chamber. Since the access device of the goods shelf shuttle can move in the vertical direction under the driving of the lifting device, the goods in each layer of the shelf can be accessed, thereby reducing the number of the goods shelf shuttle and lowering the production cost. 
     In the present application, unless otherwise clearly specified and limited, the terms “install”, “couple”, “connect”, “fix” and other terms should be interpreted broadly. For example, it can be a fixed connection or a detachable connection, or integrally formed; it can be direct connection or indirect connection through an intermediary, unless specifically defined otherwise. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific situation. 
     In the above description, the description with reference to the terms “an embodiment”, “some embodiments”, “example”, “specific example”, or “some examples” etc. means specific features or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described can be combined in any one or more of the embodiments or examples in an appropriate manner. In addition, those skilled in the art can integrate and combine different embodiments or examples and the features of different embodiments or examples described in this specification without contradicting each other. 
     Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the present application; although the present application is described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features therein can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.