CN102173334A - Automatic storing and fetching system of stereoscopic warehouse - Google Patents
Automatic storing and fetching system of stereoscopic warehouse Download PDFInfo
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- CN102173334A CN102173334A CN 201110034958 CN201110034958A CN102173334A CN 102173334 A CN102173334 A CN 102173334A CN 201110034958 CN201110034958 CN 201110034958 CN 201110034958 A CN201110034958 A CN 201110034958A CN 102173334 A CN102173334 A CN 102173334A
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Abstract
The invention discloses an automatic storing and fetching system of a stereoscopic warehouse, and the system provided by the invention comprises a stereoscopic goods shelf provided with a through track, a moving mechanism arranged on one side of the stereoscopic goods shelf, a carrying mechanism arranged on one side of the moving mechanism, a shuttle carriage running in the through track, and a control system. The moving mechanism comprises a moving platform, an accommodating device is arranged on the moving platform, and a support moving and transporting device and a positioning device are arranged above the accommodating device. The carrying mechanism comprises a transporting device and a moving and fetching device mounted on the transporting device. The accommodating device can be in butt joint with the through track, so that pallets or goods can be directly carried to the moving mechanism by the shuttle carriage, moved and transported to the carrying mechanism through the moving mechanism, and then carried to the inlet and outlet end of the warehouse by the carrying mechanism. The warehousing system has high space utilization ratio, and the shuttle carriage can be automatically moved.
Description
Technical field
The present invention relates to tiered warehouse facility, refer in particular to the automated warehouse storage system of tiered warehouse facility.
Background technology
Along with the aggravation of process of industrialization, logistic industry has also entered flourish period.There has been further demand in increasing large enterprise for logistics management, and along with tending to become strong day by day of this demand of saving cost of increasing the benefit, the further automation control and the management in the warehouse in the logistic industry seem urgent day by day.Along with the day of land supply is becoming tight, the warehouse also more trends towards three-dimensional, has only the warehouse of three-dimensional could realize the little purpose of effectively utilizing the space of floor area.
In recent years, tiered warehouse facility had been subjected to the favor of large supermarket, large warehoused enterprise etc.Tiered warehouse facility in the market all adopts the rail lane stacker to carry out automatic portage mostly, reaching parallel motion up and down by piler in the tunnel of tiered warehouse facility stacks and the goods of taking, because piler need move goods with pressing fork to pitch the plate that pushes on, therefore the width in the tunnel need satisfy certain condition, and piler moves along the tunnel, and it only can satisfy stacking access goods on the shelf of both sides, tunnel, therefore in this type tiered warehouse facility, need multi-mine roadway and a plurality of piler, cause the space availability ratio of tiered warehouse facility low, going out to put in storage the idle waste that causes piler when frequency is hanged down.
At present, the shuttle type tiered warehouse facility has appearred on the market, its shelf are three-dimensional through track shelf, automatically the dolly that shuttles back and forth that can shuttle back and forth automatically back and forth shuttles back and forth in through track shelf, carry out the access goods, this dolly that shuttles back and forth automatically has self-orientation, discerns pallet position, the automatic function of landing pallet automatically, when outbound, by the dolly that shuttles back and forth goods is delivered to the shelf exit from the shelf depths, by the pressure fork of piler or fork truck goods is removed from the dolly that shuttles back and forth and carried out next step operation.When warehouse-in, pitch portage to the dolly that shuttles back and forth by the pressure of piler or fork truck, dolly is put into the shelf place of appointment in the interorbital motion by shuttling back and forth.Its space availability ratio height of this shuttle type tiered warehouse facility, but also there is certain limitation: when the need dolly that will shuttle back and forth moves to other through track from a through track and maybe needs to take out when keeping in repair, need utilize the pressure fork on fork truck or the piler to move the dolly that shuttles back and forth, so, just need reserve enough width in placing the passage of piler can remove or take out from the track shelf with the assurance dolly that shuttles back and forth, reduced the space availability ratio in warehouse, and the time ratio that consumes at the dolly that shuttles back and forth is more when a track moves to other track.
Summary of the invention
Technical matters to be solved by this invention provides a kind of stereo warehouse system that can further improve the warehouse space degree of utilization, can move the dolly that shuttles back and forth automatically, save work-hours.
In order to reach the purpose that solves the problems of the technologies described above, the invention provides a kind of automation system of tiered warehouse facility, it mainly comprises the stereo storage rack that has at least one through track, the dolly that shuttles back and forth with the support platform of moving up and down that shuttles back and forth in the through track of described stereo storage rack, but be provided with the mechanism of dividing a word with a hyphen at the end of a line of parallel motion at inbound/outbound process one end of the through track of described stereo storage rack, but be provided with the carrying mechanism of parallel motion that can be in parallel with respect to a side of described stereo storage rack in the described mechanism of dividing a word with a hyphen at the end of a line, and control system, wherein:
The described mechanism of dividing a word with a hyphen at the end of a line is provided with can be with the storing apparatus of the through orbital docking of described stereo storage rack, be positioned at the support transfer device of described storing apparatus top and be used for the registration device that the described mechanism of dividing a word with a hyphen at the end of a line positions; With after the through tracks positioned of described stereo storage rack is docked, the described dolly that shuttles back and forth can enter in the described storing apparatus along described through track automatically in the described mechanism of dividing a word with a hyphen at the end of a line;
Described carrying mechanism is provided with and pipettes device with in the same way at least one of described through track and along its length direction conveying arrangement movably; Wherein, the described device that pipettes is fixedly mounted on the described conveying arrangement, article automatic transport the pipetting on the device to described carrying mechanism that the support transfer device of the described mechanism of dividing a word with a hyphen at the end of a line can be carried need.
The action of the described dolly that shuttles back and forth of described control system control, divide a word with a hyphen at the end of a line mechanism and carrying mechanism.
The described mechanism of dividing a word with a hyphen at the end of a line comprises support, be installed at least one guide rail on the described support, described guide rail is provided with movably mobile platform and drives the actuating device that described mobile platform moves along described guide rail, and described mobile platform is provided with described storing apparatus and supports transfer device.
Described storing apparatus includes the holding track that can dock with the track of described stereo storage rack, described holding track is fixedly mounted on the described mobile platform, in the described flat-bed arranged outside of holding bracing frame is arranged, described support transfer device is fixed on the support frame as described above.
Described support transfer device is that two groups of chain wheels are transferred or the running roller transfer device, and the length direction of its sense of motion and described through track in the same way.
Described two holding tracks of platform for being complementary with the track of described stereo storage rack that hold, described holding track is fixedly mounted on to be transferred on the platform.
Described conveying arrangement is a roller conveyor, and the described device that pipettes is two groups of chain wheels, and described chain wheels are fixedly mounted between the cylinder of described roller conveyor.
Described stereo storage rack is provided with the described dolly that shuttles back and forth is carried out electrically-charged charging unit.
The automation access system of tiered warehouse facility of the present invention, its warehouse space utilization ratio height was saved by fork truck or auxiliary time of moving the dolly that shuttles back and forth of piler, had saved the time, had improved operating efficiency.
Description of drawings
The plan structure scheme drawing of Fig. 1 automation access system of the present invention
The plan structure scheme drawing of the another kind of embodiment of Fig. 2 the present invention
The specific embodiment
At above-mentioned summary of the invention, now lift a preferred embodiment and be specifically described in conjunction with graphic.The automation access system of tiered warehouse facility of the present invention, its mainly by stereo storage rack 1, the dolly 2 that shuttles back and forth, the mechanism 3 of dividing a word with a hyphen at the end of a line, carrying mechanism 5, and control system form, with reference to figure 1, wherein:
The dolly 2 that shuttles back and forth, it mainly comprises running gear, lifting body, storage battery arrangement and the control system of shuttling back and forth; This dolly that shuttles back and forth is just on sale on market, and its running gear, storage battery arrangement, lifting body and the control system of shuttling back and forth do not repeat them here.The support platform of dolly of shuttling back and forth can be lifted automatically or put down by lifting body.The control system of shuttling back and forth is controlled actions such as the self-orientation of the dolly that shuttles back and forth, automatic operation, automatic lifting.Can all be placed with the dolly that shuttles back and forth in every through track, also whenever several through tracks are placed the dolly that shuttles back and forth, and when placing a dolly, the dolly that shuttles back and forth can be transported to another through track from a through track by the mechanism of dividing a word with a hyphen at the end of a line.
The mechanism 3 of dividing a word with a hyphen at the end of a line, what be positioned at stereo storage rack 1 goes out warehouse-in one end, the every row through track of its level run position by stereo storage rack 1 go out to put in storage port.It comprises that the horizontally extending through track 11 of every row that is positioned at stereo storage rack 1 goes out to put in storage the support 31 of port, its length direction is installed with guide rail 32 in the support upper edge, transportable mobile platform 33 is installed on guide rail 32, drive motor 34 is installed on mobile platform 33, and drive motor drives mobile platform and laterally moves back and forth along guide rail 32.This drive motor 34 can be a motor reducer, also can be servomotor.Certainly, this mobile platform can be fixed on chain wheels on the support by driven by motor, be pressed on travel mechanisms such as roller on the guide rail and drive its level and move back and forth.On the both sides that are positioned at the side travel direction of mobile platform 33, be installed with two and hold guide rail 36, this holds guide rail 36 and can dock with the through track 11 of stereo storage rack 1, after its location butt joint, on the dolly that shuttles back and forth can move to holding track 36 on the mobile platform 33 automatically along through track 11, the dolly that shuttles back and forth also can move on the through track 11 automatically from holding track 36.The both sides that hold guide rail 36 are installed with bracing frame respectively, are installed with two groups of chain wheels 37 on bracing frame respectively, and these chain wheels have been formed the support transfer device, and it rotates by chain drive motor 38 chain drive-belt wheel shaft chain drive-belts.Support the top that transfer device is positioned at holding track, when the dolly band that shuttles back and forth pallet or goods and is moved on the mobile platform, pallet or goods are positioned at the top of this support transfer device, when the lifting body of the dolly that shuttles back and forth moves downward, pallet or goods can be placed on and support on the transfer device, thereby the support platform of the dolly that shuttles back and forth and pallet or goods are broken away from.These chain wheels also can be other connecting gears such as running roller.This holds guide rail also can be to hold platform.Be provided with inhibiting device at mobile platform 33 away from guide rail one end that holds of a side of stereo storage rack, when it can stop the dolly that shuttles back and forth to travel to mobile platform, skid off mobile platform one side.Inhibiting device forms a spatial accommodation with the bracing frame that holds the guide rail both sides, and the dolly that shuttles back and forth can be contained in this spatial accommodation.On dividing a word with a hyphen at the end of a line mechanism 3, this also is provided with registration device, this registration device comprises alignment sensor and perception sheet, in the position of locating as required along the length direction of guide rail, a plurality of perception sheets are at interval suitably apart from being fixed on the guide rail respectively, sensor is arranged on the mobile platform 33, and sensor and control system communicate to connect.When mobile platform moved, when the sensor senses on the mobile platform arrived perception sheet one side, the motor that drive mobile platform this moment carried out speed-down action, shut down in the time of setting, and made the position that mobile platform stops at needs the location.Take to slow down earlier and afterwards stop, its impulsive force is little, force of inertia is little the goods on being carried on mobile platform, can not slide on mobile platform because of huge force of inertia causes goods to fall damage, and can make the mobile platform location more accurate, can be because of huge force of inertia away from the position location.This mechanism of dividing a word with a hyphen at the end of a line can be provided with the multilayer mechanism of dividing a word with a hyphen at the end of a line according to the through track goods number of plies of stereo storage rack, that is to say that every layer of through track corresponding to stereo storage rack all can mate is provided with the mechanism of dividing a word with a hyphen at the end of a line, but horizontal fixed is equipped with a plurality of this mechanism of dividing a word with a hyphen at the end of a line and goes out the warehouse-in demand with what satisfy the through track of stereo storage rack multilayer on the vertical direction on the support.
Carrying mechanism 5 is positioned at the mechanism 3 of dividing a word with a hyphen at the end of a line with respect to a side of stereo storage rack, disposes corresponding carrying mechanism according to the number of plies of the mechanism 3 of dividing a word with a hyphen at the end of a line.For bulk storage plant to go out warehouse-in convenient, carrying mechanism 5 may extend to the warehouse along its length direction and goes out warehouse-in mouthful end, by the carrying device of gangway, warehouse end article transport is gone out.Carrying mechanism 5 comprises three-dimensional bracket, and conveying arrangement 51 pipettes device 52.Wherein, conveying arrangement 51 is for being fixed on the roller conveyor on the three-dimensional bracket, because roller conveyor then repeats no more its concrete structure for existing mature technology at this.On roller conveyor, all be correspondingly provided with and pipette device 52 corresponding to every through track of stereo storage rack, this pipettes device 52 and comprises two groups of chain wheels, these chain wheels are installed between the roller of roller conveyor, these two groups of chain wheels distance at interval satisfies can place pallet or goods thereon, and these chain wheels drive the running of chain group by chain drive motor-driven chain wheel shaft.Certainly, be not that cooresponding every through track all need be provided with one and pipettes device 52 on conveying arrangement, also can be provided with or only be provided with one at interval and pipette device 52 according to the warehouse needs.When the support transfer device of the mechanism of dividing a word with a hyphen at the end of a line is positioned at when pipetting device 52 1 sides, divide a word with a hyphen at the end of a line mechanism on article can be by supporting transfer device and pipetting the running of the chain wheels of device, be transferred to carrying mechanism from the mechanism of dividing a word with a hyphen at the end of a line, the roller conveyor by conveying arrangement is delivered to gangway, warehouse end again.
Control system, present embodiment take PLC as control system, control the run action of shuttle back and forth dolly, the mechanism of dividing a word with a hyphen at the end of a line, carrying mechanism.The sensor that shuttles back and forth on dolly, divide a word with a hyphen at the end of a line mechanism and the carrying mechanism sends perceptual signal to PLC, and PLC realizes the automated storing process by shuttle back and forth each motor action of dolly, the mechanism of dividing a word with a hyphen at the end of a line, carrying mechanism of the signal control that receives.
On the basis of this embodiment, also can between stereo storage rack, form one and go out to put in storage passage, the passage both sides all are stereo storage racks, with reference to figure 2, and the through track of its both sides goes out to put in storage port and all is positioned at the passage both sides, go out to put in storage port the mechanism of dividing a word with a hyphen at the end of a line is set respectively near through track in these passage both sides, dividing a word with a hyphen at the end of a line two is provided with carrying mechanism between the mechanism, and so setting can improve and the warehouse-in frequency.
Operational process of the present invention: when the needs outbound, the control system order is shuttled back and forth trolley travelling to the position that needs, carry out location aware by registration device, control system is cut off the power supply of the motor of advancing, the control lifting body lifts lifting body to be placed on pallet or the goods on the stereo storage rack, then control system control shuttle back and forth dolly along through track to the operation of the gangway of track, simultaneously, the mechanism of dividing a word with a hyphen at the end of a line moves to this through track gangway under the control of control system, its holding track and through orbital docking, the dolly that shuttles back and forth then moves in the spatial accommodation of the mechanism of dividing a word with a hyphen at the end of a line under control system control, the lifting body of dolly of shuttling back and forth descends, make on the pallet of its carrying or the support transfer device that goods is placed on the mechanism of dividing a word with a hyphen at the end of a line, at this moment, the dolly that shuttles back and forth returns the through track of stereo storage rack from the mechanism of dividing a word with a hyphen at the end of a line; The divide a word with a hyphen at the end of a line support transfer device of mechanism and the device that pipettes of carrying mechanism turns round in the same way, article are transferred on the conveying arrangement on the carrying mechanism, the conveying arrangement motion of control system control carrying mechanism, article delivery to gangway, warehouse end, is carried on the transport trolley of waiting on one side then or is placed on other conveying arrangements.Operation is opposite with the outbound operation during warehouse-in.When the dolly that shuttles back and forth need be when a through track be transferred to the through track of another one, the dolly that shuttles back and forth moves in the mechanism of dividing a word with a hyphen at the end of a line automatically, is transported in its through track that will arrive by the mechanism of dividing a word with a hyphen at the end of a line.
The present invention has saved and has utilized fork truck to carry the space of the required reservation of dolly of shuttling back and forth, and has improved the degree of utilization of warehouse space greatly, and has realized going out warehouse-in in the warehouse and the full automation operation of the dolly carrying of shuttling back and forth, and has saved manpower.Going out to put in storage when frequent, it can utilize the dolly that shuttles back and forth of minimum number just can be implemented in to carry out the function that the article automation goes out warehouse-in in all through tracks, utilize fork truck frequently to move the consumption time of the dolly that shuttles back and forth thereby saved.
Claims (6)
1. the automation access system of a tiered warehouse facility, it mainly comprises the stereo storage rack that has at least one through track, the dolly that shuttles back and forth with the support platform of moving up and down that shuttles back and forth in the through track of described stereo storage rack, it is characterized in that but inbound/outbound process one end at the through track of described stereo storage rack is provided with the mechanism of dividing a word with a hyphen at the end of a line of parallel motion, but be provided with the carrying mechanism of parallel motion that can be in parallel with respect to a side of described stereo storage rack in the described mechanism of dividing a word with a hyphen at the end of a line, and control system, wherein:
The described mechanism of dividing a word with a hyphen at the end of a line is provided with can be with the storing apparatus of the through orbital docking of described stereo storage rack, be positioned at the support transfer device of described storing apparatus top and be used for the registration device that the described mechanism of dividing a word with a hyphen at the end of a line positions; With after the through tracks positioned of described stereo storage rack is docked, the described dolly that shuttles back and forth can enter in the described storing apparatus along described through track automatically in the described mechanism of dividing a word with a hyphen at the end of a line;
Described carrying mechanism is provided with and pipettes device with in the same way at least one of described through track and along its length direction conveying arrangement movably; Wherein, the described device that pipettes is fixedly mounted on the described conveying arrangement, article automatic transport the pipetting on the device to described carrying mechanism that the support transfer device of the described mechanism of dividing a word with a hyphen at the end of a line can be carried need.
The action of the described dolly that shuttles back and forth of described control system control, divide a word with a hyphen at the end of a line mechanism and carrying mechanism.
2. the automation access system of tiered warehouse facility according to claim 1, it is characterized in that the described mechanism of dividing a word with a hyphen at the end of a line comprises support, be installed in the guide rail on the described support, described guide rail is provided with movably mobile platform and drives the actuating device that described mobile platform moves along described guide rail, and described mobile platform is provided with described storing apparatus and supports transfer device.
3. the automation access system of tiered warehouse facility according to claim 2, it is characterized in that described storing apparatus includes the holding track that can dock with the track of described stereo storage rack, described holding track is fixedly mounted on the described mobile platform, be provided with bracing frame above described holding track, described support transfer device is fixed on the support frame as described above.
4. the automation access system of tiered warehouse facility according to claim 2 is characterized in that described support transfer device is that two groups of chain wheels are transferred or the running roller transfer device, and the length direction of its sense of motion and described through track in the same way.
5. according to the automation access system of the arbitrary described tiered warehouse facility of claim 1～4, it is characterized in that described conveying arrangement is a roller conveyor, the described device that pipettes is two groups of chain wheels, and described chain wheels are fixedly mounted between the cylinder of described roller conveyor.
6. the automation access system of tiered warehouse facility according to claim 1, it is characterized in that described stereo storage rack is provided with carries out electrically-charged charging unit to the described dolly that shuttles back and forth.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100349589A CN102173334B (en) | 2011-02-09 | 2011-02-09 | Automatic storing and fetching system of stereoscopic warehouse |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100349589A CN102173334B (en) | 2011-02-09 | 2011-02-09 | Automatic storing and fetching system of stereoscopic warehouse |
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| CN102173334A true CN102173334A (en) | 2011-09-07 |
| CN102173334B CN102173334B (en) | 2012-11-07 |
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