CN102602643B - Automatic high-density three-dimensional storage system - Google Patents

Automatic high-density three-dimensional storage system Download PDF

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Publication number
CN102602643B
CN102602643B CN201210052054.3A CN201210052054A CN102602643B CN 102602643 B CN102602643 B CN 102602643B CN 201210052054 A CN201210052054 A CN 201210052054A CN 102602643 B CN102602643 B CN 102602643B
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China
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warehouse
goods
district
transport trolley
full automaticity
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CN201210052054.3A
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Chinese (zh)
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CN102602643A (en
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刘辉
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无锡普智联科高新技术有限公司
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Publication of CN102602643A publication Critical patent/CN102602643A/en
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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

A kind of high density automatic stereo warehousing system
Technical field
The invention belongs to automated warehousing technical field, especially a kind of high density automatic stereo warehousing system.
Background technology
In Storage of Goods field, how setting up its high density warehouse is the active demands of people to Storage of Goods to realize the maximization of unit space, cost per unit storage material.At present, the popular following several solutions in automated warehousing field:
1, automatic stereowarehouse.Automatic stereowarehouse adopts High Level Rack storage goods, and storage area is significantly to high-altitude development, and it makes full use of ground and the space in warehouse, has therefore saved stock's floor area, has improved space Occupation coefficient.Be characterized in: shelf are erected into some rows, every two row's shelf are one group, leave a tunnel therebetween for lane stacker or the operation of other access goods equipment; Every row's shelf are divided into again some row, some layers, form a large amount of goods lattice, and in order to store goods, this kind of mode has advantages of conveniently stores, facilitates picking.But the problem of its existence is: in the tiered warehouse facility of this goods form, the accounted for area of 1/3rd left and right of tunnel; This is owing to adopting the S. A. mode of transporting goods, piler used (overhead vehicle conveying goods) is no matter be that rail type piler, trackless piler all need artificial driving, these two kinds fork-lift type piler vehicle body is long, floor area is larger, the fork truck of bearing goods and driver driving chamber respectively account for half, when vehicle body is turned in tunnel, need tunnel to leave enough width, be generally 0.5m to 1.2cm.
2, shuttle rack warehousing system.This system is comprised of shelf, shuttle and fork truck, wherein the constructional feature of shelf is: between overhead baggage rack unit lattice, be not spaced from each other, but get through each cell with two rail, and being laid on the below of whole row's shelf inner side, the length of its steel rail laying is the length of whole row's shelf; Wherein shuttle back and forth for when goods is put into track entrance by fork truck, shuttle receives handheld device instruction, and goods is transported to the assigned address in these row's shelf along rail.The stock mode of shuttle rack warehousing system is, by fork truck, goods is placed on to shelf tunnel guide rail foremost, and the shuttle operating by radio telecommand can move by weight tray goods on guide rail; Picking mode is: shuttle moves to shelf foremost by 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 tunnel: the shelf row between tunnel is unrestricted, and this contrasts the prior art that can only deposit two row's goods between generally popular tunnel, and one is improved in big strides beyond doubt.But, making has extremely strict condition restriction in this way: whole row's shelf must be same class products, and according to first in first out or the mode picking that last in, first out, if think to extract at random the goods of certain position on rail, goods before it or below must be taken out in turn, then put in.
3, AGV transport vehicle cabin storage system.AGV transport trolley also claims automatical pilot transportation vehicle, refers to homing guidance devices such as being equipped with electromagnetism or optics, can travel along the guide path of regulation, under computer monitoring, planning and job requirements, accurately walk and be accommodated to appointed place by path, completes a series of operation functions.Compare with other equipment conventional in mass transport, the zone of action of AGV, without laying the anchor fittings such as track, support saddle frame, is not subject to the restriction in place, road and space.Therefore, in automatic Material Handling System, AGV transport vehicle cabin storage system can embody its automatism and flexibility fully, realizes efficient, economic, manless production flexibly, so people are referred to as AGV the artery of modern logistics systems visually.Although AGV transport trolley to people's what a surprise, still has many unsatisfactory places, because current popular AGV transport trolley has only solved guide path automatic running problem according to the rules, but can not solve and how goods be delivered to the problem on shelf.AGV transport trolley is only responsible for goods to deliver near High Level Rack, and then by overhead vehicle (piler), goods is delivered on shelf.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the high density automatic stereo warehousing system of provide that a kind of storage density is high, access is convenient, with low cost.
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 intelligent control system, this tiered warehouse facility consists of multistoried storehouse, cargo storage in every layer of warehouse is on pallet, between every layer of warehouse, be provided with cage lifter, on the ground in every layer of warehouse, be laid with vehicle guidance sign, full automaticity transport trolley pierces pallet below according to storage control command and holds up the goods on pallet and advance and realize the carrying function to goods according to vehicle guidance sign, storage intelligent control system realizes the accessing control function of goods by user's operating terminal and storage Control Server.
And, described tiered warehouse facility comprises first floor warehouse and first floor warehouse in addition, this first floor warehouse comprises warehouse district, stock district, picking district, pallet storing district, escalator, stock district and picking district are separately positioned on entrance and the exit in first floor warehouse, pallet storing district is arranged between stock district and picking district, escalator is located at the user's operating terminal that is respectively equipped with user's accessing operation in , stock district, warehouse district both sides and picking district and the pallet of depositing goods; Beyond the first floor, warehouse comprises warehouse district and escalator, and warehouse district is comprised of the goods yard between multiple lines and multiple rows tunnel, tunnel, ground guidance device, and the goods yard on each side, tunnel is single row or multiple rows.
And described tunnel is slightly wider than the cornerwise length of full automaticity transport trolley vehicle body.
And described pallet is four leg support type pallets, the width between every two legs can hold full automaticity transport trolley and shuttle, and the height of pallet pierces under it full automaticity transport trolley goods is held up.
And described vehicle guidance sign consists of RFID label and Quick Response Code, this RFID label and Quick Response Code are disposed on the ground in every layer of warehouse.
And described full automaticity transport trolley consists of car body, the jacking system that is arranged on the close-coupled universal movement mechanism of car body lower surface and is arranged on 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, Quick Response Code code reader and the wireless communication module of its operation of guiding are installed in car body; Full automaticity transport trolley can hold up treats that access goods is identified in warehouse and moves along vehicle guidance, and the motion that 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 is vertically 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 motor vertical other both sides of rotating shaft each other, and be arranged on respectively in the wheel groove that support chassis is provided with by two pairs of Wheel bearings, one end of two motors is all provided with code-disc, the other end of two motors is connected with transmission device separately respectively, two cover drive mechanisms link together with wheel separately respectively, rotating shaft upper end is sleeved in shaft bearing, and this shaft bearing is solidly installed by car body terminal pad and car body, in the top of rotating shaft, is fixedly mounted with a code-disc.
And described jacking system is connected and composed by lifting mechanism and two inner hydraulic actuating cylinders thereof, is risen or is fallen by Driven by Hydraulic Cylinder lifting mechanism.
And, storage intelligent control system comprises and is arranged on user's operating terminal in stock district and picking district and is arranged in multi-storied garage or is arranged on the storage Control Server in remote control center, storage intelligent control system is communicated by letter and is carried out the scheduling of user operation commands by wired or wireless mode with user's operating terminal, is connected controls transporting of goods by wireless mode with full automaticity transport trolley.
Advantage of the present invention and good effect are:
1, this warehousing system is arranged to many row's close-coupled modes by the goods yard on side, tunnel, be that tunnel one side is not only deposited row's goods, by many full automaticity transport trolley scheduling, can access arrange arbitrarily the goods in goods yard, and, when full automaticity transport trolley is rotated, required revolution space is very little, thereby the shared auxiliary space area in tunnel is reduced greatly, storage auxiliary space can be contracted to original below 1/3rd, bodywork length and the goods same length of while full automaticity transport trolley, vehicle body takes up room little, as long as therefore span length meets the length of goods, thereby saved the shared area in conventional palletizer pilot steering chamber, can significantly dwindle span length, increase warehouse floor effective rate of utilization.
2, this warehousing system adopts the shelf mode of multistory reinforced concrete structure, every one deck shelf are equivalent to a floor, full automaticity transport trolley can be in every layer of warehouse the space of pallet between walking arbitrarily, because pallet is special in four leg support type pallets of full automaticity transport trolley length and width size design, can meet the demand that vehicle shuttles completely, simultaneously, because full automaticity transport trolley can arrive any goods yard, this makes cargo storage density not be subject to the restriction of car, has fundamentally solved goods storage density problem.
Accompanying drawing explanation
Fig. 1 is the first floor of the present invention warehouse inner structure birds-eye view (the 1st layer);
Fig. 2 is 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 the A-A that Fig. 7-2 are 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 opening, and Fig. 8 b is closure state;
Fig. 9 is access goods process schematic diagram of the present invention.
In figure: 1-1: stock district entrance, 1-2: the outlet of picking district, 2-1: stock district, 2-2: picking district, 3-1: stock district pallet, 3-2: picking district pallet, 4-1: the goods on stock district pallet, 4-2: the goods on picking district pallet, 5: user's operating terminal, 6: 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: first stage decelerator, 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 present invention is further described:
An automatic stereo warehousing system, comprises tiered warehouse facility, full automaticity transport trolley and storage intelligent control system.As shown in Figures 1 to 5, tiered warehouse facility consists of multistoried storehouse, 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 the present embodiment is that 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, interval is laid with vehicle guidance sign, this vehicle guidance sign consists of RFID label and Quick Response Code, when full automaticity transport trolley process RFID label and Quick Response Code, RFID code reader on full automaticity transport trolley and Quick Response Code reader can read the information of RFID label and Quick Response Code, determine the relation of full automaticity transport trolley position and then know own position in warehouse and carry out RFDC with storage Control Server, between every layer of warehouse, be provided with cage lifter, by cage lifter, goods can be transmitted between each layer of warehouse.Full automaticity transport trolley can transport goods and the transportation from warehouse district to picking district from stock district to warehouse district, during carrying, thereby full automaticity transport trolley pierces pallet below and upwards holds up pallet, goods and pallet are carried together.Storage intelligent control system comprises that being arranged on user's operating terminal forms with the storage Control Server that is arranged in multi-storied garage or be arranged in remote control center, realizes the accessing control function of goods.
Tiered warehouse facility comprises first floor warehouse and first floor warehouse in addition, as shown in Figure 1, first floor warehouse comprises warehouse district, stock district, picking district, pallet storing district, escalator, stock district and picking district are separately positioned on entrance and the exit in first floor warehouse, pallet storing district is arranged between stock district and picking district, and escalator is located at warehouse district both sides.In stock district and picking district, be respectively equipped with user's operating terminal and the pallet of depositing goods of user's accessing operation, pallet is four leg support type pallets, width between every two legs can hold full automaticity transport trolley and shuttle, and the height of pallet can make full automaticity transport trolley pierce under it goods is held up.Warehouse district is by multiple lines and multiple rows tunnel, goods yard between tunnel, ground guiding sign forms, the goods yard on each side, tunnel can be single row or multiple rows, that is: the goods yard arranging between two row or two row tunnels can be many rows or multiple row, and be not limited to traditional approach, can only deposit two rows, the width in tunnel is slightly wider than the cornerwise length of full automaticity transport trolley vehicle body, the catercorner length of standard cargo namely, full automaticity transport trolley can be in narrow tunnel moving linearly, cross travel and original place radius rotatablely move, car body the center displacement when doing original place radius and rotatablely move is zero, when full automaticity transport trolley drives to the target goods yard on both sides, tunnel, can goods be written into target goods yard in company with pallet by the method (perpendicular to tunnel) of cross travel, avoid the time of turning and expending because of car body.Because the full automaticity transport trolley speed of travel is very fast, more faster than pilot steering fork truck speed, even the goods yard of extraction vertical-depth completes the time of once scheduling also far away not as good as ordinary people's work fork truck short path time used of discharging of goods nearby.Full automaticity transport trolley can pierce wherein and goods be held up and shifted out tunnel under any one goods yard; Near the outermost goods in tunnel, can directly hold up and shift out, and can complete scheduler task one time by call 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 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 between tunnel as far as possible, and is not only limited to two rows, in order to increase cargo storage payload space; So-called practicality demand is exactly that many crew-served methods of dolly, improve goods access speed by increasing transport trolley quantity, but additional cost is to increase vehicle cost; So-called economy demand is exactly by the method for goods yard rational deployment, is convenient to vehicle access goods nearby, reduces full automaticity transport trolley usage quantity and track route in same once scheduling as far as possible.As shown in Figure 2, beyond the first floor, warehouse comprises warehouse district and escalator, and the structure of this warehouse district is identical with the structure in first floor warehouse.
As shown in FIG. 6 and 7, full automaticity transport trolley consists of car body, the jacking system that is arranged on the close-coupled universal movement mechanism of car body lower surface and is arranged on 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 is vertically 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 motor vertical other both sides of rotating shaft each other, two wheels are arranged in the wheel groove that support chassis is provided with by two pairs of Wheel bearings respectively, one end of two motors is all provided with code-disc, the other end of two motors is connected with transmission device separately respectively, two cover drive mechanisms link together with wheel separately respectively, two wheels rotate respectively under the driving of motor separately and transmission device thereof.Every sets of transmission mechanism includes first stage decelerator, two-stage reduction gear and transmission gear, first stage decelerator and two-stage reduction gear are connected to the mouth of motor in turn, mouth and the transmission gear of two-stage reduction gear mesh together, transmission gear and motor be vertical direction each other, transmission gear is installed together by pair of wheels bearing and wheel, motor is by double reduction and transmission gear interlock and further drive vehicle wheel rotation, now, wheel is passed to power Wheel bearing and is driven support chassis to move together with rotating shaft by Wheel bearing.The upper end of rotating shaft is sleeved in two groups of shaft bearings, and two groups of shaft bearings are solidly installed by car body terminal pad and car body, in the top of rotating shaft, are fixedly mounted with a code-disc.When support chassis is rotated, rotating shaft is rotated with support chassis, and when rotating shaft time rotational, rotating shaft is rotated in two groups of shaft bearings, and car body terminal pad is motionless; When rotating shaft is moved along a direction, because car body terminal pad is fixedly connected with car body, thereby realize driven by motor body movement.Described jacking system is connected and composed by lifting mechanism and two inner hydraulic actuating cylinders thereof, by hydraulic actuating cylinder, lifting mechanism can be risen or falls, and makes lifting mechanism in opening and closing state, respectively as shown in Fig. 8 a and Fig. 8 b.When full automaticity transport trolley moves to the pallet bottom access goods, lifting mechanism is opened and can will be treated that access goods holds up and close-coupled universal movement mechanism by vehicle bottom will treat that access goods moves to the corresponding goods yard of warehouse district or takes out from warehouse district, after completing a scheduler task, can close jacking system, now lifting mechanism is in closed condition.Gyroscope, accelerometer, RFID code reader, Quick Response 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 upper known the unknown to current the unknown, and it is connected and realizes the guidance function to full automaticity transport trolley with storage Control Server; This Quick Response Code code reader can read ground Quick Response Code and calculate oneself position and attitude, carry out data fusion with RFID label data, to improve reliability of positioning and precision, by wireless communication module and storage Control Server, carry out radio communication and realize the motion control function to full automaticity transport trolley by storage Control Server.
Storage intelligent control system comprises that the user's operating terminal that is arranged on stock district and picking district is arranged in multi-storied garage or is arranged on the storage Control Server formation in remote control center.Storage intelligent control system is communicated by letter by wireless mode with full automaticity transport trolley, and storage intelligent control system can be communicated by letter by wired or wireless mode with each operating terminal.Storage intelligent control system software is installed in storage intelligent control system, carry out radio communication with user's operating terminal in full automaticity transport trolley and stock district, picking district, full automaticity transport trolley, under the control of storage intelligent control system, holds up and treats that access goods carries out automatic stock and automatic picking.
The access procedure of this warehousing system as shown in Figure 9.
1, on a new goods yard, deposit goods: as Fig. 9-1, operator is put into goods on the pallet of storage area with fork truck or other instruments, as Fig. 9-2, operator user operating terminal is inputted stock relevant information and is sent and deposits a new goods order of the bit in, relevant information comprises authentication information, Description of Goods, manufacturing firm, quantity etc.As Fig. 9-3, storage intelligent control system judgement target empty goods yard, and according to its position calculation go out to call A, two full automaticity transport trolleys of B operate simultaneously, collaborative work; As Fig. 9-4 and 9-5, B car first shifts out goods, and for the empty goods yard of A full automaticity transport trolley target approach empties road, as Fig. 9-6, A full automaticity transport trolley is delivered to target empty goods yard by the goods on storage area pallet.As Fig. 9-7, B full automaticity transport trolley is put back to original position by goods; As Fig. 9-8 and Fig. 9-9, after storage area pallet is removed along with goods, operator adds to storage area from pallet storing district again by pallet.
2, in existing goods yard, add goods: operating personal sends stock information and stock order by operating terminal, comprise input producer title, Description of Goods etc., storage intelligent control system is verified and is examined according to institute's input message, after being verified, search target cargo storage in warehouse which layer, which row, which row, near tunnel title, and the position of the idle current stop of full automaticity transport trolley of awaiting orders is to determine this car track route, and send order to full automaticity transport trolley, full automaticity transport trolley receives original place sends along storage intelligent control system after order the route track target goods yard of walking goods is taken out and delivers to stock district, then jacking apparatus falls, while falling, from opening, become closure state, now full automaticity transport trolley keeps the state of staying where one is, pending further orders.Operator adds on pallet on original goods newly depositing goods in fork truck, reuse user's operating terminal and input the quantity that this deposits in, now control system requires to reaffirm, after confirmation, giving appropriate time postpones, time arrives, and the full automaticity transport trolley awaiting orders to set off reopens jacking apparatus goods is held up and sends goods back to original position along guided path just now.
3, take a whole goods yard away: operating personal sends picking information and picking order by user's operating terminal, comprise input article No., owner of cargo's title, Description of Goods, picking quantity etc., first storage intelligent control system determines according to picking quantity the quantity that need to simultaneously call full automaticity transport trolley, also according to Description of Goods search target cargo storage in warehouse which layer, which row, which row, near tunnel title, and the position of the idle current stop of full automaticity transport trolley of awaiting orders is to determine this car track route, and send order to full automaticity transport trolley, full automaticity transport trolley receives original place sends along storage intelligent control system after order the route track target goods yard of walking, be drilled into below this goods yard, open again jacking apparatus, goods is lifted and is delivered to picking area, then jacking apparatus falls, while falling, from opening, become closure state, now full automaticity transport trolley keeps the state of staying where one is, pending further orders.Subsequently, operator carries out quantity of goods confirmation to the operating terminal in picking district, and control system is automatically identified whole goods yard according to warehousing quantity and outbound quantity and whether is all extracted outbound, and if so, after goods is pulled away, empty pallet still keeps original position.
4, extraction portion minute goods yard from goods yard: when needs extract existing upper shelf part cargo, first picking district is extracted in whole goods yard, remaining goods is sent warehouse back to by full automaticity transport trolley again.Specific as follows: operating personal sends picking information and picking order by user's operating terminal, comprise input article No., owner of cargo's title, Description of Goods, picking quantity etc., first storage intelligent control system determines according to picking quantity the quantity that need to simultaneously call full automaticity transport trolley, also according to Description of Goods search target cargo storage in warehouse which layer, which row, which row, near tunnel title, and the position of the idle current stop of full automaticity transport trolley of awaiting orders is to determine this car track route, and send order to full automaticity transport trolley, full automaticity transport trolley receives original place sends along storage intelligent control system after order the route track target goods yard of walking, be drilled into below this goods yard, open again jacking apparatus, goods is lifted and is delivered to picking area, then jacking apparatus falls, while falling, from opening, become closure state, now full automaticity transport trolley keeps the state of staying where one is, pending further orders.Subsequently, operator carries out quantity of goods confirmation to the operating terminal in picking district, control system is automatically identified whole goods yard according to warehousing quantity and outbound quantity and whether is all extracted outbound, when judging current goods yard, control system also has volume residual, can eject a prompting frame, confirm whether goods pulls away from pallet, and require operator repeatedly to confirm, to prevent misoperation, after operator confirms, through appropriate time, postpone, just now keep the full automaticity transport trolley of the state of staying where one is, pending further orders can reopen jacking apparatus and send goods back to original place.
It is emphasized that; embodiment of the present invention is illustrative; rather than determinate; therefore the present invention is not limited to the embodiment described in the specific embodiment; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.

Claims (6)

1. a high density automatic stereo warehousing system, it is characterized in that: comprise tiered warehouse facility, full automaticity transport trolley and storage intelligent control system, this tiered warehouse facility consists of multistoried storehouse, cargo storage in every layer of warehouse is on pallet, between every layer of warehouse, be provided with cage lifter, on the ground in every layer of warehouse, be laid with vehicle guidance sign, full automaticity transport trolley pierces pallet below according to storage control command and holds up the goods on pallet and advance and realize the carrying function to goods according to vehicle guidance sign, storage intelligent control system realizes the accessing control function of goods by user's operating terminal and storage Control Server, described tiered warehouse facility comprises first floor warehouse and first floor warehouse in addition, this first floor warehouse comprises warehouse district, stock district, picking district, pallet storing district, escalator, stock district and picking district are separately positioned on entrance and the exit in first floor warehouse, pallet storing district is arranged between stock district and picking district, escalator is located at the user's operating terminal that is respectively equipped with user's accessing operation in , stock district, warehouse district both sides and picking district and the pallet of depositing goods, beyond the first floor, warehouse comprises warehouse district and escalator, and warehouse district is comprised of the goods yard between multiple lines and multiple rows tunnel, tunnel, ground guidance device, and the goods yard on each side, tunnel is single row or multiple rows,
Described full automaticity transport trolley consists of car body, the jacking system that is arranged on the close-coupled universal movement mechanism of car body lower surface and is arranged on 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, Quick Response Code code reader and the wireless communication module of its operation of guiding are installed in car body; Full automaticity transport trolley can hold up treats that access goods is identified in warehouse and moves along vehicle guidance, and the motion that full automaticity transport trolley is done comprises that straight-line motion, arbitrary curve motion and the original place radius of any direction rotatablely move;
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 is vertically 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 motor vertical other both sides of rotating shaft each other, and be arranged on respectively in the wheel groove that support chassis is provided with by two pairs of Wheel bearings, one end of two motors is all provided with code-disc, the other end of two motors is connected with transmission device separately respectively, two cover drive mechanisms link together with wheel separately respectively, rotating shaft upper end is sleeved in shaft bearing, and this shaft bearing is solidly installed by car body terminal pad and car body, in the top of rotating shaft, is fixedly mounted with a code-disc.
2. a kind of high density automatic stereo warehousing system according to claim 1, is characterized in that: described tunnel is slightly wider than the cornerwise length of full automaticity transport trolley vehicle body.
3. 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 full automaticity transport trolley and shuttle, and the height of pallet pierces under it full automaticity transport trolley goods is held up.
4. a kind of high density automatic stereo warehousing system according to claim 1, is characterized in that: described vehicle guidance sign consists of RFID label and Quick Response Code, and this RFID label and Quick Response Code are disposed on the ground in every layer of warehouse.
5. a kind of high density automatic stereo warehousing system according to claim 1, is characterized in that: described jacking system is connected and composed by lifting mechanism and two inner hydraulic actuating cylinders thereof, by Driven by Hydraulic Cylinder lifting mechanism, is risen or is fallen.
6. a kind of high density automatic stereo warehousing system according to claim 1, it is characterized in that: storage intelligent control system comprises and is arranged on user's operating terminal in stock district and picking district and is arranged in multi-storied garage or is arranged on the storage Control Server in remote control center, storage intelligent control system is communicated by letter and is carried out the scheduling of user operation commands by wired or wireless mode with user's operating terminal, is connected controls transporting of goods by wireless mode with full automaticity transport trolley.
CN201210052054.3A 2012-03-02 2012-03-02 Automatic high-density three-dimensional storage system CN102602643B (en)

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CN102602643B true CN102602643B (en) 2014-01-29

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