CN102602643A - Automatic high-density three-dimensional storage system - Google Patents
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Abstract
The invention relates to an automatic high-density three-dimensional storage system. The automatic high-density three-dimensional storage system is technically characterized by comprising a three-dimensional warehouse, full-automatic carrying vehicles and an intelligent storage control system, wherein the three-dimensional warehouse is composed of a plurality of warehouse layers; cargos in each warehouse layer are stored on cargo trays; a lifting elevator is arranged between every two of the warehouse layers; a vehicle guidance mark is laid on the ground surface of each warehouse layer; the full-automatic carrying vehicles move to the positions below the cargo trays for supporting the cargos on the cargo trays according to a storage control command and move forwards according to the vehicle guidance marks for realizing the function of carrying the cargos; and the intelligent storage control system realizes the cargo storing and picking control function by a user operation terminal and a storage control server. The automatic high-density three-dimensional storage system is reasonable in design, and is capable of compactly arranging cargo positions beside roadways in rows, storing and picking the cargos at the cargo position in any row by a plurality of full-automatic carrying vehicles, greatly reducing the width of the roadways, increasing the effective utilization rate of the ground surfaces of the warehouses and increasing the storage density of the cargos.
Description
Technical field
The invention belongs to the automated warehousing technical field, especially a kind of high density automatic stereo warehousing system.
Background technology
In the Storage of Goods field, how setting up its high density warehouse is the active demands of people to Storage of Goods with the maximization that realizes unit space, cost per unit storage material.At present, the automated warehousing field popular below several kinds of solutions:
1, automatic stereowarehouse.Automatic stereowarehouse adopts High Level Rack storage goods, and to the high-altitude development, it makes full use of the ground and the space in warehouse to storage area significantly, has therefore saved stock's floor area, has improved the space Occupation coefficient.Be characterized in: shelf are erected into plurality of rows, and per two row's shelf are one group, leave a tunnel therebetween and supply lane stacker or the operation of other access goods equipment; Every row's shelf are divided into some row, several layers again, form a large amount of goods lattice, and in order to store goods, this kind mode has the convenient advantage of storing, conveniently getting goods.But the problem of its existence is: in the tiered warehouse facility of this goods form, and tunnel about 1/3rd the area that accounted for; This is mode because the employing S. A. transports goods; Used piler (overhead vehicle that conveys goods) is no matter be that rail type piler, trackless piler all need artificial the driving; These two kinds fork truck formula piler vehicle body is long, floor area is bigger, and the fork truck of bearing goods and driver driving chamber respectively account for half the, when vehicle body is turned in the tunnel; Need the tunnel to leave enough width, be generally 0.5m to 1.2cm.
2, shuttle type shelf warehousing system.This system is made up of shelf, shuttle and fork truck; Wherein the constructional feature of shelf is: be not to be spaced from each other between the overhead baggage rack unit lattice; But get through each cell with two rail, and being laid on the inboard below of whole row's shelf, the length of its steel rail laying is the length of whole row's shelf; Wherein shuttling back and forth is used for when goods is put into the track entrance by fork truck, and shuttle receives the handheld device instruction, and goods is transported to the assigned address in these row's shelf along rail.The stock mode of shuttle type shelf warehousing system is by fork truck goods to be placed on shelf tunnel guide rail foremost, and the shuttle through the radio telecommand operation can move on guide rail by the weight tray goods; Getting the cargo interests formula is: shuttle moves to shelf foremost with the pallet of shelf depths, with fork truck pallet cargo is taken off from shelf.This storing mode has improved the density of access goods between the tunnel: the shelf row number between the tunnel is unrestricted, and this contrasts the prior art that can only deposit two row's goods between the generally popular tunnel, and one is improved in big strides beyond doubt.But; Make extremely strict condition restriction is arranged in this way: whole row's shelf must be same series products; And get goods according to first in first out or the mode that last in, first out; If think the goods of certain position on the random extraction rail, then must the goods of its front or back be taken out in turn, put in again.
3, AGV transport trolley warehousing system.The AGV transport trolley is also claimed automatical pilot transportation vehicle, is meant homing guidance devices such as being equipped with electromagnetism or optics, can go along the guide path of regulation; Under computer monitoring; Planning and job requirements are accurately walked and are accommodated to the appointed place by path, accomplish a series of operation functions.With other apparatus in comparison commonly used in the mass transport, the zone of action of AGV need not to lay anchor fittings such as track, a mounting, does not receive the restriction in place, road and space.Therefore, in the automatic material flow system, AGV transport trolley warehousing system can embody its automatism and flexibility fully, realizes efficient, economical, unmanned production flexibly, so people are referred to as AGV the artery of modern logistics systems visually.Although the AGV transport trolley is given people's what a surprise, many unsatisfactory places are still arranged, because popular AGV transport trolley now, only solved the problem of going automatically of guide path according to the rules, but can not solve and how goods delivered to the problem on the shelf.The AGV transport trolley only is responsible for goods is delivered near the High Level Rack, and then by overhead vehicle (piler) goods is delivered on the shelf.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of storage density height, convenient access, high density automatic stereo warehousing system with low cost are provided.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of high density automatic stereo warehousing system; Comprise tiered warehouse facility, full automaticity transport trolley and storage intelligence control system; This tiered warehouse facility is made up of multistoried storehouse; Cargo storage in every layer of warehouse is provided with cage lifter between every layer of warehouse on pallet, on the ground in every layer of warehouse, be laid with the vehicle guidance sign; The full automaticity transport trolley pierces pallet below according to the storage control command and holds up the goods on the pallet and advance according to the vehicle guidance sign and to realize the carrying function to goods, and the storage intelligence control system realizes the accessing control function of goods through user's operating terminal and storage Control Server.
And; Described tiered warehouse facility comprises warehouse beyond the first floor warehouse and the first floor; This first floor warehouse comprises warehouse district, stock district, gets goods area, pallet storing district, escalator, the stock district with get entrance and the exit that goods area is separately positioned on first floor warehouse, the pallet storing district is arranged on the stock district and gets between the goods area; Escalator is located at the warehouse district both sides, is respectively equipped with user access the user's operating terminal operated and the pallet of depositing goods in the stock district in the goods area with getting; The warehouse comprises warehouse district and escalator beyond the first floor, and warehouse district is made up of the goods yard between multiple lines and multiple rows tunnel, the tunnel, ground guidance device, and the goods yard on each next door, tunnel is single row or multiple rows.
And the cornerwise length of full automaticity transport trolley vehicle body slightly is wider than in described tunnel.
And described pallet is four leg support type pallets, and the width between every two legs can hold the full automaticity transport trolley and shuttle, and the height of pallet makes the full automaticity transport trolley pierce it and down goods held up.
And described vehicle guidance sign is made up of RFID label and two-dimension code, and this RFID label and two-dimension code are arranged on the ground in every layer of warehouse at interval.
And described full automaticity transport trolley is made up of car body, the jacking system that is installed in the close-coupled universal movement mechanism of car body lower surface and is installed in the car body upper surface; The quantity of the close-coupled universal movement mechanism that every full automaticity transport trolley is equipped with is at least one; Gyroscope, accelerometer, RFID code reader, two-dimension code code reader and the wireless communication module of its operation of guiding are installed in car body; The full automaticity transport trolley can hold up treats that the access goods is identified in the warehouse along vehicle guidance and moves that the motion that the full automaticity transport trolley is done comprises that straight-line motion, arbitrary curve motion and the original place radius of any direction rotatablely move.
And; Described close-coupled universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of Wheel bearings and two wheels; The lower end of rotating shaft vertically is packed on the center of support chassis; Two motors, two sets of transmission mechanism, two pairs of Wheel bearing symmetries are packed in the upper surface of support chassis, and two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with the vertical each other other both sides of rotating shaft of motor; And be installed in respectively in the wheel groove that support chassis is provided with through two pairs of Wheel bearings; One end of two motors all is equipped with code-disc, and the other end of two motors is connected with separately transmission device respectively, and two cover drive mechanisms link together with separately wheel respectively; The rotating shaft upper end is sleeved in the shaft bearing, and this shaft bearing is solidly installed through car body terminal pad and car body, installs a code-disc in the top of rotating shaft.
And described jacking system is connected and composed by lifting mechanism and two hydraulic actuating cylinders of in-to-in thereof, rises or falls through the Driven by Hydraulic Cylinder lifting mechanism.
And; The storage intelligence control system comprises and is installed in stock district and user's operating terminal of getting goods area and is installed in the multi-storied garage or is installed in the storage Control Server in the remote control center; The storage intelligence control system is communicated by letter through wired or wireless mode with user's operating terminal and is carried out the scheduling of user operation commands, is connected with the full automaticity transport trolley through wireless mode and controls transporting of goods.
Advantage of the present invention and good effect are:
1, this warehousing system is arranged to many row's close-coupled modes with the goods yard on next door, tunnel, and promptly tunnel one side is not only deposited row's goods, can access arrange the goods in goods yard arbitrarily through many full automaticity transport trolley scheduling; And; Required revolution space was very little when the full automaticity transport trolley was rotated, thereby the shared auxiliary space area in tunnel is reduced greatly, and the storage auxiliary space can be contracted to original below 1/3rd; The bodywork length and the goods same length of while full automaticity transport trolley; Vehicle body takes up room little, as long as so span length meet the length of goods, thereby saved the shared area in conventional palletizer pilot steering chamber; Can dwindle span length significantly, increase the warehouse floor effective rate of utilization.
2, this warehousing system adopts the shelf mode of multistory reinforced concrete structure; Each layer shelf are equivalent to a floor; The full automaticity transport trolley can be walked arbitrarily between the space of the pallet in every layer of warehouse, because pallet is special four leg support type pallets according to full automaticity transport trolley length and width size design, can satisfy the demand that vehicle shuttles fully; Simultaneously; Because the full automaticity transport trolley can arrive any goods yard, this makes cargo storage density not receive the restriction of car, has fundamentally solved goods storage density problem.
Description of drawings
Fig. 1 is the first floor of the present invention warehouse inner structure birds-eye view (the 1st layer);
Fig. 2 is a warehouse inner structure birds-eye view (the 2nd layer) beyond the first floor of the present invention;
Fig. 3 is that the A-A of Fig. 1 is to section-drawing;
Fig. 4 is that the B-B of Fig. 1 is to section-drawing;
Fig. 5 is that the C-C of Fig. 1 is to section-drawing;
Fig. 6 is the structural representation of the close-coupled universal movement mechanism of full automaticity transport trolley;
Fig. 7 is the structural representation of full automaticity transport trolley; Wherein, Fig. 7-1 is whole upward view, and Fig. 7-2 is that the A-A of Fig. 7-1 is to cutaway view; 7-3 is that the B-B of Fig. 7-1 is to cutaway view;
Fig. 8 is the jacking system schematic appearance of full automaticity transport trolley, and wherein, Fig. 8 a is an opening, and Fig. 8 b is a closure state;
Fig. 9 is an access goods process scheme drawing of the present invention.
Among the figure: 1-1: stock district inlet, 1-2: get the goods area outlet, 2-1: stock district, 2-2: get goods area; 3-1: stock district pallet, 3-2: get the goods area pallet, 4-1: the goods on the stock district pallet; 4-2: get the goods on the goods area pallet, 5: user's operating terminal, 6: the goods yard; 7: tunnel, 8: pallet storing district, 9: escalator.
10: Wheel bearing, 11: wheel, 12: transmission gear, 13: code-disc, 14: motor; 15: code-disc, 16: rotating shaft, 17: one-level retarder, 18: two-stage reduction gear, 19: support chassis; 20: shaft bearing, 21: shaft bearing, 22: car body, 23: car body terminal pad, 24: jacking system.
The specific embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is done further detailed description:
A kind of high density automatic stereo warehousing system comprises tiered warehouse facility, full automaticity transport trolley and storage intelligence control system.To shown in Figure 5, tiered warehouse facility is made up of multistoried storehouse like Fig. 1, and the cargo storage in every layer of warehouse is on pallet, and goods leaves corresponding goods yard in pallet.The tiered warehouse facility of present embodiment is that the ferro-concrete structure forms 10 layers of tiered warehouse facility; Every layer of warehouse is equivalent to shelf; Its height is a little more than the height of standard cargo; On the ground in every layer of warehouse, be laid with the vehicle guidance sign at interval, this vehicle guidance sign is made up of RFID label and two-dimension code, when full automaticity transport trolley process RFID label and two-dimension code; RFID code reader on the full automaticity transport trolley and two-dimension code reader can read the information of RFID label and two-dimension code, confirm the relation of full automaticity transport trolley position so that know own in the warehouse the position and carry out RFDC with the storage Control Server; Between every layer of warehouse, be provided with cage lifter, can goods be transmitted between each layer warehouse through cage lifter.The full automaticity transport trolley can transport goods and transport to getting goods area from warehouse district from the stock district to warehouse district, during carrying, thereby the full automaticity transport trolley pierces the pallet below and upwards holds up pallet goods and pallet are carried together.The storage intelligence control system comprises that being installed in user's operating terminal constitutes with the storage Control Server that is installed in the multi-storied garage or be installed in the remote control center, realizes the accessing control function of goods.
Tiered warehouse facility comprises warehouse beyond the first floor warehouse and the first floor; As shown in Figure 1; First floor warehouse comprises warehouse district, stock district, gets goods area, pallet storing district, escalator; The stock district with get entrance and the exit that goods area is separately positioned on first floor warehouse, the pallet storing district is arranged on the stock district and gets between the goods area, escalator is located at the warehouse district both sides.Be respectively equipped with user access the user's operating terminal operated and the pallet of depositing goods in the stock district in the goods area with getting; Pallet is four leg support type pallets; Width between every two legs can hold the full automaticity transport trolley and shuttle, and the height of pallet can make the full automaticity transport trolley pierce it and down goods held up.Warehouse district is made up of the goods yard between multiple lines and multiple rows tunnel, the tunnel, ground guiding sign; The goods yard on each next door, tunnel can be single row or multiple rows; That is: the goods yard that is provided with between two row or the two row tunnels can be many rows or multiple row; Can only deposit two rows and be not limited to traditional approach, the width in tunnel slightly is wider than the cornerwise length of full automaticity transport trolley vehicle body, the just catercorner length of standard cargo; The full automaticity transport trolley can moving linearly, cross travel and original place radius rotatablely move in narrow tunnel, and the car body center displacement when doing the original place radius and rotatablely move is zero; When the full automaticity transport trolley drives to the target goods yard on both sides, tunnel, can goods be written into the target goods yard in company with pallet through the method (perpendicular to the tunnel) of cross travel, avoid because of car body turning consumed time.Because the full automaticity transport trolley speed of travel is very fast, and is much faster than pilot steering fork truck speed, even extract also too late ordinary people worker's fork truck short path used time of discharging of goods nearby of time that once scheduling is accomplished in the goods yard of vertical-depth far away.The full automaticity transport trolley can pierce wherein and under any one goods yard goods held up and shift out the tunnel; Can directly hold up and shift out near the outermost goods in tunnel, and can accomplish a scheduler task through calling many full automaticity transport trolley collaboration working methods simultaneously for the goods yard of vertical-depth.Several rows or several row goods yard are set between the tunnel can be considered according to storage density demand, practicality demand and economy need integrate.So-called storage density demand is deposited many row's goods or multiple row goods exactly as far as possible between the tunnel, and is not only limited to two rows, in order to increase the cargo storage payload space; So-called practicality demand is exactly that many crew-served methods of dolly improve the goods access speed through increase transport trolley quantity, but additional cost is to increase the vehicle cost; So-called economy demand is exactly the method through the goods yard rational deployment, is convenient to vehicle access goods nearby, reduces full automaticity transport trolley usage quantity and track route in once dispatching together as far as possible.As shown in Figure 2, the warehouse comprises warehouse district and escalator beyond the first floor, and the structure of this warehouse district is identical with the structure in first floor warehouse.
Like Fig. 6 and shown in Figure 7, the full automaticity transport trolley is made up of car body, the jacking system that is installed in the close-coupled universal movement mechanism of car body lower surface and is installed in the car body upper surface.Described close-coupled universal movement mechanism is by support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of Wheel bearings and two wheels; The lower end of rotating shaft vertically is packed on the center of support chassis; Two motors, two sets of transmission mechanism, two pairs of Wheel bearing symmetries are packed in the upper surface of support chassis; Two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft; Two wheels lay respectively at perpendicular in the plane of rotating shaft with the vertical each other other both sides of rotating shaft of motor; Two wheels are installed in the wheel groove that support chassis is provided with through two pairs of Wheel bearings respectively, and an end of two motors all is equipped with code-disc, and the other end of two motors is connected with separately transmission device respectively; Two cover drive mechanisms link together with separately wheel respectively, and two wheels are respectively in separately the motor and the driving rotation down of transmission device thereof.Every sets of transmission mechanism includes one-level retarder, two-stage reduction gear and transmission gear; One-level retarder and two-stage reduction gear are connected to the mouth of motor in turn; The mouth and the transmission gear of two-stage reduction gear mesh together; Transmission gear and motor be vertical direction each other, and transmission gear is installed together through pair of wheels bearing and wheel, and motor is through double reduction and transmission gear interlock and further drive wheel; At this moment, wheel is passed to Wheel bearing with power and is moved together through Wheel bearing drive support chassis and rotating shaft.The upper end of rotating shaft is sleeved in two groups of shaft bearings, and two groups of shaft bearings are solidly installed through car body terminal pad and car body, install a code-disc in the top of rotating shaft.When support chassis was rotated, rotating shaft was rotated with support chassis, and when the rotating shaft time rotational, rotating shaft is rotated in two groups of shaft bearings, and the car body terminal pad is motionless; When rotating shaft is moved along a certain direction,, thereby realize the driven by motor body movement owing to the car body terminal pad is captiveed joint with car body.Described jacking system is connected and composed by lifting mechanism and two hydraulic actuating cylinders of in-to-in thereof, can or fall the lifting mechanism rise through hydraulic actuating cylinder, makes lifting mechanism be in the opening and closing state, respectively shown in Fig. 8 a and Fig. 8 b.When the full automaticity transport trolley moves to the pallet of treating access goods bottom; Lifting mechanism is opened can be with treating that the access goods holds up and close-coupled universal movement mechanism through the car body bottom will treat that the access goods moves to the corresponding goods yard of warehouse district or from warehouse district, takes out; After accomplishing a scheduler task, can close jacking system, this moment, lifting mechanism was in closed condition.Gyroscope, accelerometer, RFID code reader, two-dimension code code reader and the wireless communication module of its operation of guiding are installed in car body; This accelerometer and gyroscope can calculate the distance and bearing information from last known the unknown to current the unknown, and it is connected with the storage Control Server and realizes the guidance function to the full automaticity transport trolley; This two-dimension code code reader can read ground two-dimension code and calculate oneself position and attitude; Carry out data fusion with the RFID label data; To improve reliability of positioning and precision, carry out radio communication and realize motion control function the full automaticity transport trolley by the storage Control Server through wireless communication module and storage Control Server.
The storage intelligence control system comprises that the user's operating terminal that is installed in the stock district and gets goods area is installed in multi-storied garage storage Control Server interior or that be installed in the remote control center and constitutes.The storage intelligence control system is communicated by letter through wireless mode with the full automaticity transport trolley, and the storage intelligence control system can be communicated by letter through wired or wireless mode with each operating terminal.Storage intelligence control system software is installed in the storage intelligence control system; Carry out radio communication with full automaticity transport trolley and stock district, user's operating terminal of getting goods area; The full automaticity transport trolley holds up and treats that the access goods carries out automatic stock and gets goods automatically under the control of storage intelligence control system.
The access procedure of this warehousing system is as shown in Figure 9.
1, on a new goods yard, deposits goods: like Fig. 9-1; The operator is put into goods on the pallet of storage area with fork truck or other instruments; Like Fig. 9-2; The operator uses user's operating terminal input stock relevant information and sends and deposits a new goods order of the bit in, and relevant information comprises authentication information, Description of Goods, manufacturing firm, quantity etc.Like Fig. 9-3, the storage intelligence control system is judged the target empty goods yard, and goes out according to its position calculation that needs call A, two full automaticity transport trolleys of B are operated collaborative work simultaneously; Like Fig. 9-4 and 9-5, the B car shifts out goods earlier, and for the empty goods yard of A full automaticity transport trolley target approach empties road, like Fig. 9-6, A full automaticity transport trolley is delivered to the target empty goods yard with the goods on the storage area pallet.Like Fig. 9-7, B full automaticity transport trolley is put the goods replaced; Like Fig. 9-8 and Fig. 9-9, after the storage area pallet was removed along with goods, the operator added to storage area from the pallet storing district with pallet again.
2, add goods in existing goods yard: operating personal sends stock information and stock order through operating terminal, comprises input producer title, Description of Goods etc., and the storage intelligence control system is verified according to institute's input information and examined; After checking is passed through; Search the target cargo storage in the warehouse which the layer, which row, which row, near tunnel title; And route is walked to confirm this garage in the position of the idle current stop of full automaticity transport trolley of awaiting orders; And send order to the full automaticity transport trolley, and the full automaticity transport trolley receives the route track that sends along the storage intelligence control system in original place, the order back target goods yard of walking and goods is taken out delivers to the stock district, and jacking apparatus falls then; Become closure state by opening when falling, this moment, the full automaticity transport trolley kept the state of staying where one is, pending further orders.The operator adds on the pallet on original goods newly depositing goods in fork truck; Reuse this quantity that deposits in of user's operating terminal input; This moment, control system required to reaffirm; Give appropriate time after the affirmation and postpone, the time arrives, and the full automaticity transport trolley that awaits orders to set off is opened jacking apparatus again and along guided path just now goods sent the goods picking-up back to original position.
3, take a whole goods yard away: operating personal sends through user's operating terminal and gets goods information and get the goods order, comprises input article No., owner of cargo's title, Description of Goods, gets goods quantity etc.; At first what confirm that needs call the quantity of full automaticity transport trolley simultaneously to the storage intelligence control system according to getting goods quantity; Also according to Description of Goods search the target cargo storage in the warehouse which the layer, which row, which row, near tunnel title; And the position of the idle current stop of full automaticity transport trolley of awaiting orders walks route to confirm this garage, and sends order to the full automaticity transport trolley, and the full automaticity transport trolley receives the route track that sends along the storage intelligence control system in original place, the order back target goods yard of walking; Be drilled into below this goods yard; Open jacking apparatus again, goods is lifted and delivers to get the goods area zone, jacking apparatus falls then; Become closure state by opening when falling, this moment, the full automaticity transport trolley kept the state of staying where one is, pending further orders.Subsequently, the operator carries out quantity of goods to the operating terminal of getting goods area and confirms, control system is discerned whole goods yard automatically according to warehousing quantity and outbound quantity and whether all is extracted outbound, if after goods was pulled away, empty pallet still kept original position.
4, take out the part goods yard from the goods yard: when needs extract existingly when going up the shelf part cargo, whole goods yard is extracted get goods area earlier, remaining goods is sent the warehouse back to by the full automaticity transport trolley again.Specific as follows: operating personal sends through user's operating terminal and gets goods information and get the goods order, comprises input article No., owner of cargo's title, Description of Goods, gets goods quantity etc.; At first what confirm that needs call the quantity of full automaticity transport trolley simultaneously to the storage intelligence control system according to getting goods quantity; Also according to Description of Goods search the target cargo storage in the warehouse which the layer, which row, which row, near tunnel title; And the position of the idle current stop of full automaticity transport trolley of awaiting orders walks route to confirm this garage, and sends order to the full automaticity transport trolley, and the full automaticity transport trolley receives the route track that sends along the storage intelligence control system in original place, the order back target goods yard of walking; Be drilled into below this goods yard; Open jacking apparatus again, goods is lifted and delivers to get the goods area zone, jacking apparatus falls then; Become closure state by opening when falling, this moment, the full automaticity transport trolley kept the state of staying where one is, pending further orders.Subsequently, the operator carries out quantity of goods to the operating terminal of getting goods area and confirms, control system is discerned whole goods yard automatically according to warehousing quantity and outbound quantity and whether all is extracted outbound; Judge current goods yard when control system and also have volume residual; Can eject a prompting frame, confirm whether goods pulls away from pallet, and require the operator to confirm repeatedly; To prevent misoperation; After the operator confirms, postpone through appropriate time, keep the full automaticity transport trolley of the state of staying where one is, pending further orders to open jacking apparatus again just now and send goods back to original place.
It is emphasized that; Embodiment of the present invention is illustrative; Rather than it is determinate; Therefore the present invention is not limited to the embodiment described in the specific embodiment, and every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention belong to the scope that the present invention protects equally.
Claims (9)
1. high density automatic stereo warehousing system; It is characterized in that: comprise tiered warehouse facility, full automaticity transport trolley and storage intelligence control system; This tiered warehouse facility is made up of multistoried storehouse; Cargo storage in every layer of warehouse is provided with cage lifter between every layer of warehouse on pallet, on the ground in every layer of warehouse, be laid with the vehicle guidance sign; The full automaticity transport trolley pierces pallet below according to the storage control command and holds up the goods on the pallet and advance according to the vehicle guidance sign and to realize the carrying function to goods, and the storage intelligence control system realizes the accessing control function of goods through user's operating terminal and storage Control Server.
2. a kind of high density automatic stereo warehousing system according to claim 1; It is characterized in that: described tiered warehouse facility comprises warehouse beyond the first floor warehouse and the first floor; This first floor warehouse comprises warehouse district, stock district, gets goods area, pallet storing district, escalator; The stock district with get entrance and the exit that goods area is separately positioned on first floor warehouse; The pallet storing district is arranged on the stock district and gets between the goods area, and escalator is located at the warehouse district both sides, is respectively equipped with user access the user's operating terminal operated and the pallet of depositing goods in the stock district in the goods area with getting; The warehouse comprises warehouse district and escalator beyond the first floor, and warehouse district is made up of the goods yard between multiple lines and multiple rows tunnel, the tunnel, ground guidance device, and the goods yard on each next door, tunnel is single row or multiple rows.
3. a kind of high density automatic stereo warehousing system according to claim 2 is characterized in that: the cornerwise length of full automaticity transport trolley vehicle body slightly is wider than in described tunnel.
4. a kind of high density automatic stereo warehousing system according to claim 1; It is characterized in that: described pallet is four leg support type pallets; Width between every two legs can hold the full automaticity transport trolley and shuttle, and the height of pallet makes the full automaticity transport trolley pierce it and down goods held up.
5. a kind of high density automatic stereo warehousing system according to claim 1 is characterized in that: described vehicle guidance sign is made up of RFID label and two-dimension code, and this RFID label and two-dimension code are arranged on the ground in every layer of warehouse at interval.
6. according to each described a kind of high density automatic stereo warehousing system of claim 1 to 5, it is characterized in that: described full automaticity transport trolley is made up of car body, the jacking system that is installed in the close-coupled universal movement mechanism of car body lower surface and is installed in the car body upper surface; The quantity of the close-coupled universal movement mechanism that every full automaticity transport trolley is equipped with is at least one; Gyroscope, accelerometer, RFID code reader, two-dimension code code reader and the wireless communication module of its operation of guiding are installed in car body; The full automaticity transport trolley can hold up treats that the access goods is identified in the warehouse along vehicle guidance and moves that the motion that the full automaticity transport trolley is done comprises that straight-line motion, arbitrary curve motion and the original place radius of any direction rotatablely move.
7. a kind of high density automatic stereo warehousing system according to claim 6; It is characterized in that: described close-coupled universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of Wheel bearings and two wheels; The lower end of rotating shaft vertically is packed on the center of support chassis; Two motors, two sets of transmission mechanism, two pairs of Wheel bearing symmetries are packed in the upper surface of support chassis; Two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft; Two wheels lay respectively at perpendicular in the plane of rotating shaft with the vertical each other other both sides of rotating shaft of motor, and be installed in respectively in the wheel groove that support chassis is provided with through two pairs of Wheel bearings, an end of two motors all is equipped with code-disc; The other end of two motors is connected with separately transmission device respectively, and two cover drive mechanisms link together with separately wheel respectively; The rotating shaft upper end is sleeved in the shaft bearing, and this shaft bearing is solidly installed through car body terminal pad and car body, installs a code-disc in the top of rotating shaft.
8. a kind of high density automatic stereo warehousing system according to claim 6 is characterized in that: described jacking system is connected and composed by lifting mechanism and two hydraulic actuating cylinders of in-to-in thereof, rises or falls through the Driven by Hydraulic Cylinder lifting mechanism.
9. a kind of high density automatic stereo warehousing system according to claim 6; It is characterized in that: the storage intelligence control system comprises and is installed in stock district and user's operating terminal of getting goods area and is installed in the multi-storied garage or is installed in the storage Control Server in the remote control center; The storage intelligence control system is communicated by letter through wired or wireless mode with user's operating terminal and is carried out the scheduling of user operation commands, is connected with the full automaticity transport trolley through wireless mode and controls transporting of goods.
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| CN201210052054.3A CN102602643B (en) | 2012-03-02 | 2012-03-02 | Automatic high-density three-dimensional storage system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210052054.3A CN102602643B (en) | 2012-03-02 | 2012-03-02 | Automatic high-density three-dimensional storage system |
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| Publication Number | Publication Date |
|---|---|
| CN102602643A true CN102602643A (en) | 2012-07-25 |
| CN102602643B CN102602643B (en) | 2014-01-29 |
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| CN201210052054.3A Expired - Fee Related CN102602643B (en) | 2012-03-02 | 2012-03-02 | Automatic high-density three-dimensional storage system |
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