CN104724430A - Checkerboard pattern type stereo storage rack - Google Patents

Abstract

The invention provides a three-dimensional shelf in a checkerboard format, the top layer of which is composed of a storage grid for storing goods and a channel grid used as a lifting channel for material handling equipment. The entire space in the vertical direction of the storage grid is a storage grid, and the channel grid All the spaces in the vertical direction are channel grids, and any of the inventory grids is adjacent to at least one of the channel grids. When working, the automatic trolley runs on the top layer of the shelf, and can walk in a straight line along the four directions of front, back, left, and right between the tracks laid on the top layer of the shelf. After the grid is lowered to the designated cargo layer, according to the instruction, the goods can be actively obtained or placed in any storage grid in the four directions of front, rear, left, and right. The device provided by the invention can independently store and retrieve items in all storage positions, and is especially suitable for storing a single item with multiple varieties. It has good flexibility, high space utilization rate and storage efficiency.

Description

A checkerboard format three-dimensional shelf

technical field

The invention relates to an automatic three-dimensional warehouse shelf for warehousing and logistics, which is mainly used for the automatic storage of logistics and storage materials, and belongs to the technical field of mechanical and electronic equipment and logistics equipment manufacturing.

Background technique

Automated warehousing and logistics systems are widely used in industry, agriculture, military and civilian fields, and are the basic equipment for modern production and social development. With the rapid development of production and society, the requirements for automated warehousing and logistics systems are getting higher and higher. In order to realize efficient, dense and intelligent storage and logistics system, it is very urgent and necessary to develop a new type of automated three-dimensional warehouse.

At present, the automated three-dimensional warehouses in the warehousing and logistics industry mostly use single or double-extension stackers and their shelves, or jack-up rail-guided trolleys and their shelves, or telescopic arm-type rail-guided trolleys and their shelves. shelves. In recent years, there are also lift-type intelligent storage trolleys and their shelf systems on the market, but the above storage forms have their limitations, and it is difficult to balance the storage density and storage efficiency of automated three-dimensional warehouses.

In the automated three-dimensional warehouse that uses stackers for inbound and outbound operations, every two rows of shelves need to share a stacker aisle, and the maximum utilization rate of the actual space can only reach 66.67%, and the general stacker does not have the function of changing the aisle, so it must Placing a stacker in each lane greatly wastes equipment resources.

The automated three-dimensional warehouse that uses jack-up shuttles for inbound and outbound operations. The shuttle can only run on the track at the bottom of the container. Although the storage is intensive, the order of inbound and outbound must follow the rules of the stack, which greatly affects the efficiency of inbound and outbound. Only a single variety of goods that can be stored for a long time can be stored. In addition, the shuttle car can only run on one layer of track, and the assistance of external equipment is required to change the cargo layer.

Although the automated three-dimensional warehouse that uses telescopic arm shuttles for inbound and outbound operations solves the constraints of the stack model, it follows the warehousing system that uses stackers to operate and cannot break the problem of space utilization. The actual space utilization is still only It can reach 66.67%. Secondly, like the jack-up shuttle, the layer-changing operation of the telescopic-arm shuttle still requires external auxiliary equipment.

Recently, many other novel automated three-dimensional warehouses have appeared on the market, such as pull-type, turn-type, lifting type, etc., but they all face conditions such as low actual space utilization, stack constraints, and inability to operate independently. constraints.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automated three-dimensional warehouse shelf that takes into account flexibility, storage density and storage efficiency, and in which material handling equipment can be operated independently for changing layers.

In order to solve the above technical problems, the technical solution of the present invention is to provide a checkerboard format three-dimensional shelf, which is characterized in that: the top layer is composed of a storage compartment for storing goods and a channel grid for the lifting channel of material handling equipment. All the space in the vertical direction of the channel grid is an inventory grid, and all the space in the vertical direction of the channel grid is a channel grid, and any of the inventory grids is adjacent to at least one of the channel grids.

Preferably, the tops of the storage compartments on the top floor and the channel compartments are provided with tracks for the material handling equipment to travel horizontally.

Preferably, the storage compartment on the bottom layer is a hollow structure without a support plate at the bottom.

Preferably, the location arrangement is carried out through the "chess piece algorithm", so as to ensure that any inventory grid is adjacent to at least one channel grid, and at the same time, when the sum of the inventory grid and the channel grid is constant, the number of inventory grids is the largest; the specific process of the "chess piece algorithm" for:

(1) Set up the number of iterations n;

(2) Establishing an initial matrix A ₀ whose boundary elements are all 1 and internal elements are all 0;

(3) Generate a random assignment sequence;

(4) Assign values to the elements in the matrix A ₀ sequentially according to the random assignment order and follow the assignment principle;

(5) Obtain the matrix after assignment, and calculate the sum P of all elements except boundary elements;

(6) Repeat (2), (3), (4), (5) n times;

(7) compare n P values, keep the largest P value and its corresponding matrix;

(8) Increase the number of iterations n, repeat (2), (3), (4), (5), (6), and (7) to obtain an increasing P value;

(9) When the P value no longer increases with the increase of n, the algorithm is stopped, and the current P value is the optimal P value, and its corresponding matrix A ₁ is the required matrix;

Except for the boundary elements in the matrix to be obtained, the 0 element represents the channel grid, and the 1 element represents the inventory grid.

The checkerboard three-dimensional shelf provided by the present invention works together with the automatic trolley. The automatic trolley runs on the top layer of the checkerboard three-dimensional shelf. The automated car walks above the position of the designated aisle grid, and can lower the inner car with a rope. After the inner car is lifted along the aisle grid to the designated cargo floor, it can actively acquire or Place the goods.

The checkerboard format three-dimensional shelf provided by the present invention has the following beneficial effects:

(1) All the items in its storage space can be accessed independently, which is especially suitable for the storage of a single item with multiple varieties;

(2) Compared with the existing spot inspection multi-variety storage method, it has a higher space utilization rate;

(3) It has high storage efficiency.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the checkerboard format three-dimensional shelf provided by the present invention;

Figure 2 is a partially enlarged view in Figure 1;

Fig. 3 is the schematic diagram of the top surface of the checkerboard three-dimensional shelf provided by the present invention;

Figure 4 is a schematic diagram of the cooperation between the three-dimensional shelf in the checkerboard format and the automatic trolley;

Fig. 5 is a schematic diagram of the structure of the automated trolley;

Fig. 6 is a schematic diagram of the inner car structure;

Fig. 7 is a flowchart of chess piece algorithm.

Detailed ways

In order to make the present invention more comprehensible, a preferred embodiment is described in detail below with accompanying drawings.

Fig. 1 is the three-dimensional schematic diagram of the three-dimensional shelf of the checkerboard format provided by the present invention, the three-dimensional shelf of the checkerboard format is similar to the three-dimensional checkerboard model, in combination with Fig. 2 and Fig. 3, the top layer of the three-dimensional shelf of the checkerboard format is composed of a storage grid 6 and an aisle grid 7, and the inventory Rails 8 in the X and Y directions for the material handling equipment to travel are laid on the top of the grid 6 and the channel grid 7 . All the space in the Z direction (ie vertical direction) of the storage grid 6 is a storage grid for storing goods; all the space in the Z direction of the channel grid 7 is a channel grid, which is used as a lifting channel for material handling equipment. The bottom layer of the checkerboard three-dimensional shelf is a hollow structure with no support plate at the bottom.

The three-dimensional shelf in the checkerboard format provided by the present invention has the feature of ensuring that any storage compartment 6 is at least adjacent to one channel compartment 7, so as to prevent the storage compartment 6 from being sealed so that the goods cannot be accessed. At the same time, in the limited space of the three-dimensional shelf (the sum of the storage grid and the channel grid is constant), the quantity of the storage grid 6 is the largest. Cargo space arrangement is carried out through the "chess piece algorithm", combined with Figure 7, the specific process of the "chess piece algorithm" is:

(1) Set up the number of iterations n;

(2) Establishing the initial matrix A _o whose boundary elements are all 1 and internal elements are all 0;

(3) Generate a random assignment sequence;

(4) Assign values to the elements in the matrix A _o in sequence according to the random assignment order and follow the assignment principle;

(5) Obtain the matrix after assignment, and calculate the sum P of all elements except boundary elements;

(6) Repeat (2), (3), (4), (5) n times;

(7) compare n P values, keep the largest P value and its corresponding matrix;

(8) Increase the number of iterations n, repeat (2), (3), (4), (5), (6), and (7) to obtain an increasing P value;

(9) When the P value no longer increases with the increase of n, the algorithm is stopped, and the current P value is the optimal P value, and its corresponding matrix A ₁ is the required matrix;

Except for the boundary elements in the matrix to be obtained, the 0 element represents the channel grid, and the 1 element represents the inventory grid.

With reference to FIG. 4 , the realization of the functions of the checkerboard format three-dimensional shelf 2 provided by the present invention will be described below in conjunction with the use of material handling equipment (automatic trolley 1 is selected in this embodiment).

5 and 6, the automated trolley 1 is composed of an outer car 3, a lifting traction device 4 and an inner car 5, the outer car 3 is equipped with a lifting traction device 4, and the inner car 5 is pulled by a rope and connected to the lifting traction device 4 . The interior car 5 can be pulled by the hoisting traction device 4, and moves (or locates) in a straight line along the Z direction (up and down) in the channel grid 7, and can be accurately lifted to the storage grid position of any specified height. The outer car 3 of the automated trolley 1 is responsible for linear walking motion (or positioning) along the X and Y directions on the track 8 on the top of the shelf, or 90° turning at any intersection of the rails, and then linear walking motion along the X or Y direction (or positioning). The inner car 5 of the automated car 1 is responsible for advancing (or positioning) along the channel grid Z direction and accessing goods.

When working, the automated trolley runs on the top layer of the three-dimensional shelf in the checkerboard format, and can move in a straight line along the front, rear, left, and right directions between the specially laid tracks on the top layer of the shelf. The automated trolley walks above the position of the designated aisle grid, and the inner car can be lowered with a rope. After the inner car is lifted along the aisle grid (Z direction) to the designated cargo layer, it can be placed in any storage grid in the four directions of front, rear, left, and right according to the instructions. , actively acquire or place goods.

When the inner car of the automated trolley is picking up goods, it can actively obtain goods from any storage compartment in the four directions of front, rear, left, and right, and place them on the inner car, and move in a straight line along the Z direction to the bottom of the shelf, and put them down. After the goods are delivered, the empty cart returns to the top of the rack to stand by.

When the inner car of the automated trolley is performing inventory operations, it can actively place goods in any storage compartment in the four directions of front, rear, left, and right, and then the empty car moves in a straight line along the Z direction to the top of the shelf for standby.

The bottom layer of the checkerboard format three-dimensional shelf is a leaky structure without a support plate at the bottom. When the inner car of the automated trolley reaches the bottom layer of the storage rack at the bottom of the three-dimensional warehouse shelf, the inner car unloading mechanism pushes the goods into the bottom The first floor of the storage compartment, the goods fall into the conveyor belt and are transported to the shipping position of the automated three-dimensional warehouse (usually at one end of the shelf).

The automated three-dimensional warehouse has a special storage position, which is usually set at the bottom of the shelf at the bottom of the shelf. The goods to be stored are placed in the storage compartment in advance. In the storage compartment on the first floor, the inner vehicle pick-up mechanism actively obtains the goods from the storage compartment, puts them on the inner vehicle, and moves in a straight line along the Z direction to the top of the shelf for standby.

Claims (4)

1. a lineament stereo storage rack, it is characterized in that: its top layer forms by the stock lattice (6) for depositing goods with as the passage lattice (7) of the hoist trunk of material conveyance equipment, whole spaces of the vertical direction of stock lattice (6) are stock lattice, whole spaces of the vertical direction of passage lattice (7) are passage lattice, and any described stock lattice (6) at least adjoin a described passage lattice (7).

2. a kind of lineament stereo storage rack as claimed in claim 1, is characterized in that: the top of top layer stock lattice (6) and passage lattice (7) is provided with the track (8) of advancing for material conveyance equipment horizontal surface.

3. a kind of lineament stereo storage rack as claimed in claim 1 or 2, is characterized in that: stock lattice (6) described in bottom one deck are the blank structures that bottom does not have stay bearing plate.

4. a kind of lineament stereo storage rack as claimed in claim 1, it is characterized in that: carry out goods yard arrangement by " chess piece algorithm ", ensure that any stock lattice (6) at least adjoin a passage lattice (7), simultaneously when stock lattice (6) and passage lattice (7) summation certain, the quantity of stock lattice (6) is maximum; The idiographic flow of " chess piece algorithm " is:

(1) iterations n is set up;

(2) the initial matrix A that boundary element is all 1, inner element is all 0 is set up ₀;

(3) random assignment order is generated;

(4) assignment principle is followed to matrix A according to random assignment order ₀middle element carries out assignment successively;

(5) matrix after assignment is obtained, calculate except boundary element all elements and P;

(6) (2), (3), (4), (5) n time are repeated;

(7) compare n P value, retain the matrix of maximum P value and correspondence thereof;

(8) increase iterations n, repeat (2), (3), (4), (5), (6), (7), obtain the P value constantly increased;

(9) when P value no longer increases with the increase of n, stop algorithm, current P value is optimum P value, its homography A ₁be required matrix;

In required matrix except boundary element, 0 element represents passage lattice, and 1 element represents stock lattice.