CN104891083A - Goods shelf for automatic warehouse - Google Patents
Goods shelf for automatic warehouse Download PDFInfo
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- CN104891083A CN104891083A CN201510256469.6A CN201510256469A CN104891083A CN 104891083 A CN104891083 A CN 104891083A CN 201510256469 A CN201510256469 A CN 201510256469A CN 104891083 A CN104891083 A CN 104891083A
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Abstract
The invention discloses a goods shelf for an automatic warehouse. The goods shelf comprises goods sections, position correction devices are arranged at the bottoms of the goods sections, and pallets are corrected into preset areas at the bottoms of the goods sections through the position correction devices, so that positional deviation generated in goods storage is eliminated. The goods shelf solves the problem that identifications on the pallets cannot be scanned by scanning devices on two aisle stacking cranes taking goods due to cumulative positioning errors of the two aisle stacking cranes when the two aisle stacking cranes respectively store the goods and take the goods in public goods sections.
Description
Technical field
The present invention relates to a kind of logistlcs technology, particularly a kind of shelf for Automatic Warehouse.
Background technology
Automatic Warehouse refers to and is undertaken managing and control by automatic computer, does not need a dead lift operation, and realizes the warehouse of transmitting-receiving operation.
Existing a kind of automatic stereowarehouse adopts storied 3-D shelf to store goods.Storied 3-D shelf comprise the many rows shelf be parallel to each other.Each row's shelf is divided into the multilayer of level and the matrix structure of vertical multiple row, and the minimum unit of this matrix structure is a goods yard.The shaped as frame that the structure in single goods yard is generally cube.Conveniently manage, be arranged to formed objects usually by the storage area of inside, each goods yard.
Automatic stereowarehouse also comprises multiple pallet.Pallet is used for bearing goods.Pallet can be the card casket for loading glass substrate or liquid crystal panel.This automatic stereowarehouse also comprises the aisle stacking crane be arranged between adjacent two row's shelf usually.Aisle stacking crane can be arranged on ground track travel to shuttle back and forth in the tunnel between adjacent two row's shelf.Aisle stacking crane is used in goods yard stored in being loaded with the pallet of goods and taking out the pallet being loaded with goods in goods yard.
Aisle stacking crane is provided with alignment sensor, each goods yard is provided with the registration device matched with alignment sensor.Mobile aisle stacking crane, until the mutual location completing aisle stacking crane and corresponding goods yard when alignment sensor senses registration device.Registration device can be such as vertically arrange and the reflecting plate of parallel track with aisle stacking crane, and alignment sensor should be mutually towards reflecting plate and can perpendicular to the laser positioning sensor of the reflecting surface shoot laser of reflecting plate.
Each pallet is also provided with the mark showing this pallet identity, this mark can be that bar code or two encloses code.Aisle stacking crane is also provided with the scanner unit that can identify this mark.When goods is stored in automatic stereowarehouse, the title of this goods founds mapping relations with the mark of the pallet of this goods of carrying, and record the position of this goods, these information are all deposited in data bank simultaneously.When goods takes out from goods yard by needs, according to the position of this goods, aisle stacking crane is first located mutually with the goods yard storing this goods.Then, the scanner unit on aisle stacking crane scans the mark of the pallet in this goods yard, by this identification information with in data bank to should compared with the identification information of Description of Goods.If these two identification informations are identical, aisle stacking crane has continued to operate the taking-up of goods; If these two identification informations are not identical, stop operating the taking-up of goods, and to operator's feedback error information.
When tunnel is longer, usually can arrange two or more aisle stacking crane in a tunnel, to increase the efficiency of access goods, reduce single and on average access thing energy consumption.Can by plural aisle stacking crane carry out access thing operation goods yard be called public goods yard.
First aisle stacking crane is to public goods yard internal memory goods putting thing; second aisle stacking crane takes out goods in this public goods yard, and such operation often there will be the situation of scanner unit scanning less than the mark of the pallet of this goods of carrying of the second aisle stacking crane.Particularly, as shown in Figure 1, first aisle stacking crane 3 moves to the process in the front in this public goods yard 1 from the right side in public goods yard 1, because registration device 4 has certain width, when the alignment sensor 5 of first aisle stacking crane 3 senses the right part of the registration device 4 in public goods yard 1, namely complete the mutual location in first aisle stacking crane 3 and this public goods yard 1.At this moment first aisle stacking crane 3 is partial to the right side in this public goods yard 1, the pallet 2 so just causing first aisle stacking crane 3 to be deposited also is kept right in public goods yard 1, at this moment, the scanner unit of first aisle stacking crane 3 can scan registration device 4.As shown in Figure 2, second aisle stacking crane 9 moves to the process in the front in this public goods yard from the left side in public goods yard 1, when the alignment sensor 10 of second aisle stacking crane 9 senses the left part of the registration device 4 in public goods yard 1, namely complete the mutual location in second aisle stacking crane 9 and this public goods yard 1, at this moment second aisle stacking crane 9 is partial to the right side in this public goods yard 1.Thus, cause the mark 6 of pallet 2 to depart from the identification range of the scanner unit 11 on second aisle stacking crane 9, thus occur that the scanner unit 11 of the second aisle stacking crane 9 scans the situation of the mark 6 of the pallet 2 less than this goods of carrying.
Summary of the invention
Technical matters to be solved by this invention is two aisle stacking cranes when carrying out stock and picking operation to public goods yard respectively, because the scanner unit scanning on the aisle stacking crane carrying out picking that the accumulative position error of two aisle stacking cranes causes is less than the problem of the mark on pallet.
For above-mentioned technical matters, the present invention proposes a kind of shelf for Automatic Warehouse, it comprises: goods yard, and the bottom in goods yard is provided with the device for aligning for being remedied to by pallet in the predeterminable area of cargo-space bottoms.
In a specific embodiment, device for aligning comprises straightening mechanism,
Straightening mechanism comprises can around the pivoted arm of the axis of rotation of level, and be separately positioned on first roll shaft at two ends and second roll shaft of pivoted arm, rotating shaft is between the first roll shaft and the axis of the second roll shaft and be parallel to and state the first roll shaft and the second roll shaft, and the two ends of pivoted arm lay respectively in predeterminable area and outside predeterminable area.
In a specific embodiment, pivoted arm perpendicular to rotating shaft, the limit that shaft parallel is crossed in predeterminable area by pivoted arm.
In a specific embodiment, the axis of the first roll shaft is positioned at outside predeterminable area, and the axis of the second roll shaft is positioned at predeterminable area, and the external diameter of the first roll shaft is greater than the external diameter of the second roll shaft.
In a specific embodiment, device for aligning also comprises the microscope carrier for weight tray, and microscope carrier comprises the groove that upper surface is recessed to form, and straightening mechanism is arranged in groove, and the upper surface of the first roll shaft and the second roll shaft can stretch out groove simultaneously.
In a specific embodiment, the center of gravity of straightening mechanism is positioned at the side of rotating shaft near the first roll shaft, and microscope carrier also comprises rotation amplitude for limiting pivoted arm with the locating part making the angle of pivoted arm and horizontal surface angle be no more than predetermined angle.
In a specific embodiment, predetermined angle is 45 °.
In a specific embodiment, device for aligning is provided with multiple, and multiple device for aligning is separately positioned on two relative limits of predeterminable area.
In a specific embodiment, predeterminable area is rectangular area, and multiple device for aligning is separately positioned on the four edges of predeterminable area.
Device for aligning can be corrected the position being placed into goods yard top tray.Pallet is remedied in predeterminable area by device for aligning, thus the mark on this pallet drops in the identification range of the scanner unit of second aisle stacking crane, and thus, this mark can by the scanner unit identification of second aisle stacking crane.Thus above-mentioned technical matters has been gone up in solution.
Accompanying drawing explanation
Also will be described in more detail the present invention with reference to accompanying drawing based on embodiment hereinafter.Wherein:
Fig. 1 show schematically show the operating process of first aisle stacking crane to a kind of existing shelf storage pallet;
Fig. 2 show schematically show the operating process that second aisle stacking crane takes out pallet in FIG;
Fig. 3 shows the schematic top plan view of the Automatic Warehouse showing one embodiment of the present invention;
Fig. 4 show schematically show the state that pallet starts contact position apparatus for correcting;
Fig. 5 show schematically show pallet in Fig. 4 and device for aligning interact after state;
Fig. 6 shows and shows pallet in Fig. 4 by the birds-eye view schematic diagram after correcting.
In the accompanying drawings, identical parts use identical Reference numeral.Accompanying drawing is not according to the scale of reality.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 3 shows the Automatic Warehouse of one embodiment of the present invention.Automatic Warehouse comprises storehouse 12, shelf 15, walking track 14 and aisle stacking crane 13.Shelf 15, walking track 14 and aisle stacking crane 13 are all arranged in storehouse 12.Two row's shelf 15 are provided with in storehouse 12.Two row's shelf 15 are parallel to each other.Be separated from each other between two row's shelf 15, between two row's shelf 15, form tunnel.Walking track 14 is arranged on the ground in tunnel.Walking track 14 is parallel to shelf 15.Usual walking track 14 extends to the two ends in this tunnel.Multiple stage aisle stacking crane 13 is all arranged on changes one's profession away on track 14, and can walk along this walking track 14.
Aisle stacking crane 13 comprises traveling gear, lifting mechanism, loading platform and frame.Traveling gear comprises wheel, and wheel is arranged on walking track 14.Frame is generally two root posts, and two root posts are vertically arranged on traveling gear.Traveling gear is used for framework for support and walks along walking track 14.Loading platform is arranged between two columns, and can slide along column.Column is the slide rail of loading platform.Lifting mechanism is arranged in frame, for rising or reducing loading platform.Loading platform is used for weight tray 17.Loading platform is also provided with access cargo aircraft structure.Access cargo aircraft structure comprises the pallet fork extended towards shelf 15.
In the present embodiment, often arrange shelf 15 and include many setting posts, many crossbeams and many longerons.Shelf 15 are the multiple-structure all stacked gradually from bottom to up.The bottom of every one deck at least comprises two crossbeams and two longerons that are positioned at same level, and two crossbeams are parallel to each other, and two longerons are parallel to each other.Beam vertical is in longeron.Two crossbeams and two longerons enclose rectangle frame, and wherein, two crossbeams are respectively two relative frame bars of rectangle frame, and two longerons are respectively the relative frame bar of rectangle frame two other.Many setting posts are vertically arranged on the base plate of storehouse 12, and support rectangle frame.Usually, crossbeam is load bar, and the length of crossbeam is greater than longeron.Preferably, four setting posts are connected to four the top of the horns of rectangle frame, support rectangle frame from four the top of the horns.
The storage space (being the space between adjacent two rectangle frames in the present embodiment) of every layer of shelf 15 is being divided evenly into multiple memory cell along the bearing of trend of crossbeam.It is cube shaped that the storage area of each storage element is roughly.This Automatic Warehouse adopts pallet 17 lade, and aisle stacking crane 13 accesses together with the pallet 17 being loaded with this goods when shelf 15 access goods.The storage area of each memory cell is for storing the goods of a pallet 17, and like this, each memory cell is a goods yard.It is convenient to be placed on shelf 15.Pallet 17 can be card casket, and card casket is for loading glass substrate, liquid crystal display or liquid crystal panel.
In these goods yards, the goods yard being carried out accessing operation by least two aisle stacking cranes 13 is public goods yard 16.Each public goods yard 16 is provided with registration device 26, and this registration device 26 is arranged on the crossbeam of this cargo-space bottoms.Every platform aisle stacking crane 13 is also provided with the alignment sensor 23 corresponding with this registration device 26.This alignment sensor 23 is arranged on the loading platform of aisle stacking crane 13 usually.Alignment sensor 23 completes the mutual location with this goods yard when sensing the registration device 26 in a certain goods yard.Registration device 26 can be reflecting plate, and reflecting plate is vertically arranged, and the reflecting surface of reflecting plate is towards the outside of shelf 15, and be specially reflecting surface towards the side near walking track 14, the reflecting surface of usual reflecting plate is parallel to crossbeam.Alignment sensor 23 should be laser positioning sensor mutually.This laser positioning sensor comprises laser and laser detector.Laser can perpendicular to the reflecting surface injection laser of reflecting plate.Laser detector can detect the laser of returning from the reflective surface of reflecting plate.When laser detector detects the laser of returning from baffle reflection, namely complete the mutual location of goods yard and loading platform.
Each pallet 17 is also provided with the mark 25 showing this pallet 17 identity.This mark 25 is arranged on the side of pallet 17, and this mark 25 is all the time towards aisle stacking crane 13 in the access procedure of pallet 17, and when pallet 17 is stored in shelf 15, its mark 25 is towards outside shelf 15.The loading platform of aisle stacking crane 13 is also provided with the scanner unit 24 that can identify this mark 25.This mark 25 can be bar code, and scanner unit 24 should be barcode scanner mutually.This mark 25 also can be Quick Response Code, and scanner unit 24 should be Quick Response Code scanning device mutually.When goods is stored in automatic stereowarehouse, the title of this goods founds mapping relations with the mark 25 of the pallet 17 of this goods of carrying, and record the position of this goods, these information are all deposited in data bank simultaneously.When goods takes out from goods yard by needs, according to the position of this goods, aisle stacking crane 13 is first located mutually with the goods yard storing this goods.Then, the scanner unit 24 on aisle stacking crane 13 scans the mark 25 of the pallet 17 in this goods yard, by this mark 25 information and date storehouse to should the identification information of Description of Goods compare.If two identification informations are identical, aisle stacking crane 13 has continued to operate the taking-up of goods; If two identification informations are not identical, stop operating the taking-up of goods, and to operator's feedback error information.
Scanner unit 24 has an identification range usually, when mark 25 showing all features of this pallet 17 identity all drop into after in this identification range, this scanner unit 24 intactly could identify this information (namely showing the information of this pallet 17 identity) described in mark 25.Such as, when scanner unit 24 for barcode scanner and identify 25 for bar code time, barcode scanner can send a scanning light beam, and scanning light beam adopts ruddiness usually, and this scan light beam is incident upon on pallet 17.The red hot spot that scan light beam is formed in the side of pallet 17 moves around in certain width range along horizontal route.When every bar bar code of this red hot spot successively this mark 25 inswept, every bar bar code can by reflection to red light in Quick Response Code scanning device, width information between the width information of every bar bar code scanned successively and adjacent two bar codes is all acquired, and obtains the identity information of the pallet 17 of this mark 25 correspondence according to the combination of these information.When not scanned by red hot spot an of bar code any in mark 25, then cannot obtain the identity information of the pallet 17 of this mark correspondence.Also such as, when scanner unit 24 is for Quick Response Code scanning device and when being designated Quick Response Code, Quick Response Code is positioned at the viewfinder range of Quick Response Code scanning device, and each feature of the two-dimension code pattern of mark is all read by Quick Response Code scanning device like this, thus identifies the identity information of the pallet 17 corresponding to this mark.When the two-dimension code pattern identified exceeds the viewfinder range of Quick Response Code scanning device, then Quick Response Code scanning device None-identified goes out the identity information of the pallet 17 corresponding to this mark.
Because registration device 26 and alignment sensor 23 in the horizontal direction the bearing of trend of track 14 (bearing of trend being specially the tunnel between two row's shelf 15 walk in other words) create error when cooperatively interacting, make the error that aisle stacking crane 13 occurs with the mutual location in goods yard in horizontal direction, and then cause the identification range of scanner unit 24 to be changes relative to shelf 15.But because aisle stacking crane 13 is little with the application condition of the mutual location in goods yard, and the identification range of scanner unit 24 is comparatively large, and the identification range of scanner unit 24 can cover one and relatively-stationary first area, goods yard all the time.First area is aisle stacking crane 13 when locating with goods yard, in the overlapping region of all identification ranges of position error scope interscan device 24.Like this, only need the mark on pallet 17 to be limited in this first area, the information in mark can all the time read by scanner unit 24.Thus, only need pallet 17 to be limited in the predeterminable area bottom each public storage space, can ensure that mark is all the time in first area, the mark of pallet 17 just can all the time identify by the scanner unit 24 of the aisle stacking crane 13 of picking.
Technical personnel can according to the identification range of the position relationship of the position relationship of registration device 26 and the maximum positioning error of alignment sensor 23 on the bearing of trend of walk track 14, registration device 26 and storage space, alignment sensor 23 and pallet fork, scanner unit 24, to identify and the position relationship of pallet 17 and the shape of pallet 17 bottom surface and size obtain position, the size and shape of predeterminable area.At pallet 17 in predeterminable area, the mark on pallet 17 can fall in first area all the time.
As shown in Figure 4, the bottom in each public goods yard 16 is provided with multiple device for aligning 18.Multiple device for aligning 18 are arranged on the surrounding of predeterminable area.Device for aligning 18 is mainly used in pallet 17 to be remedied in predeterminable area.
Device for aligning 18 comprises microscope carrier 22 and straightening mechanism.Microscope carrier 22 is relative with rectangle frame fixing.Microscope carrier 22 can be adopt hold-down arm and crossbeam to be interconnected, and namely the two ends of hold-down arm connect microscope carrier 22 and crossbeam respectively.Microscope carrier 22 can be arranged to cube structure.Microscope carrier 22 is arranged on the edge of predeterminable area, for weight tray 17.
Straightening mechanism comprises pivoted arm 19, first roll shaft 21 and the second roll shaft 20.Pivoted arm 19 can around the axis of rotation of level.The two ends of pivoted arm 19 connect the first roll shaft 21 and the second roll shaft 20 respectively.The axis of the first roll shaft 21 and the second roll shaft 20 is all parallel to the rotating shaft of pivoted arm 19.The rotating shaft of pivoted arm 19 is between the axis and the axis of the second roll shaft 20 of the first roll shaft 21.The two ends of pivoted arm 19 lay respectively in predeterminable area and outside predeterminable area.Can be that the axis of the first roll shaft 21 is positioned at outside predeterminable area, the axis of the second roll shaft 20 be positioned at first area.
Microscope carrier 22 is provided with groove, and the bottom of straightening mechanism is arranged in groove.The rotating shaft of pivoted arm 19 is arranged on the exit position of groove.Part upward can be stretched out microscope carrier 22 by the first roll shaft 21 of straightening mechanism and the second roll shaft 20 simultaneously.
According to the sight in background technology, when first aisle stacking crane 13 is to public goods yard 16 internal memory goods putting thing, the pallet 17 of bearing goods deviates from predeterminable area to the right.If the limit of keeping right bottom this pallet 17 is no more than the axis of the first roll shaft 21 being arranged on right side, put down in the process of this pallet 17 at first aisle stacking crane 13, first, the upper left outside face of the first roll shaft 21 that the limit of keeping right bottom this pallet 17 can be connected to, and the bottom surface of pallet 17 can be connected to the second roll shaft 20.As shown in Figure 5, first aisle stacking crane 13 continues to put down pallet 17, and the first roll shaft 21 is subject to the application force from the limit of keeping right bottom pallet 17 and rolls, simultaneously, because the first roll shaft 21 is spacing, pallet 17 can only slide left along the outer peripheral face of the first roll shaft 21.In addition, pallet 17 is by the second roll shaft 20 to pressing down, and upwards and be moved to the left, pallet 17 promotes left the first roll shaft 21 by the first roll shaft 21 further.When pallet 17 touches microscope carrier 22, pallet 17 is promoted a segment distance left by device for aligning 18 and drops in predeterminable area.Like this, when second aisle stacking crane 13 carries out getting thing operation, the scanner unit 24 on second aisle stacking crane 13 just can scan identifying of this pallet 17.Thus solve the problem that aisle stacking crane 13 that the accumulation position error due to two aisle stacking cranes 13 causes scans the mark less than pallet 17.
The benefit arranging microscope carrier 22 is, pallet 17 is finally held up by microscope carrier 22, avoids the long-time weight tray 17 of straightening mechanism, extends the service life of straightening mechanism.
Preferably, pivoted arm 19 perpendicular to the rotating shaft of this pivoted arm 19, the limit that this shaft parallel is crossed in predeterminable area by this pivoted arm 19.Like this, this pivoted arm 19 is all the time perpendicular to the limit of predeterminable area.When storage trays 17, this rotating shaft and 20, the second roll shaft are parallel to the limit near this pivoted arm 19 bottom pallet 17 all the time, and the axis of the second roll shaft 20 is the longest to the arm of force of this rotating shaft, the torque maximum that pallet 17 applies to the second roll shaft 20.Meanwhile, the radius that the first roll shaft 21 rotates is larger, and the distance that the first roll shaft 21 promotes pallet 17 is larger, and correction pallet 17 position capability being provided with the public storage space of this device for aligning 18 is higher.In addition, the power that pallet 17 applies to pivoted arm 19 is more evenly distributed on the second roll shaft 20.Whole device for aligning 18 is stressed more reasonable.
Preferably, the axis of the first roll shaft 21 is positioned at outside predeterminable area, and the axis of the second roll shaft 20 is positioned at predeterminable area, and the external diameter of the first roll shaft 21 is greater than the external diameter of the second roll shaft 20.When the external diameter of the first roll shaft 21 is greater than the external diameter of the second roll shaft 20, under can not producing the prerequisite of interfering with the second roll shaft 20, the first roll shaft 21 can arrange larger, like this, the distance that first roll shaft 21 promotes pallet 17 is larger, and the ability being provided with correction pallet 17 position of the public storage space of this device for aligning 18 is higher.
Preferably, the center of gravity of straightening mechanism is near the first roll shaft 21.Microscope carrier 22 also comprises locating part.Locating part is no more than 45 ° to make pivoted arm 19 with the angle of horizontal surface angle for the rotational angle limiting pivoted arm 19.Locating part can be arranged in groove, when pivoted arm 19 and horizontal surface angle are 45 °, namely produce with pivoted arm 19 and interferes.Like this, when pallet 17 is mentioned from aligning mechanism, because center of gravity is near the first roll shaft 21, under gravity, the first roll shaft 21 and the second roll shaft 20 self-return, until be returned to pivoted arm 19 to be connected to locating part.Thus realize automatic straightening and the self-return of device for aligning 18.
Preferably, device for aligning 18 is provided with multiple, and multiple device for aligning 18 is separately positioned on two relative limits of predeterminable area.Like this, at least from both direction, pallet 17 can be remedied to predeterminable area.Especially, when this both direction is parallel to walking track 14, the aisle stacking crane 13 caused due to the accumulation position error between aisle stacking crane 13 and public storage space can not scan the mark of pallet 17 phenomenon when taking out pallet 17 substantially can be eliminated.
More preferably, as shown in Figure 6, predeterminable area is rectangular area, and multiple device for aligning 18 is separately positioned on the four edges of predeterminable area.Correct the position of pallet 17 like this from four direction, effect is better.
Although invention has been described with reference to preferred embodiment, without departing from the scope of the invention, parts wherein can be replaced with equivalent.Only otherwise there is structural hazard, the every technical characteristic mentioned in each embodiment all can combine in any way.The present invention is not limited to specific embodiment disclosed in literary composition, but comprises all technical schemes fallen in the scope of claim.
Claims (9)
1. for shelf for Automatic Warehouse, comprising: goods yard, the bottom in described goods yard is provided with the device for aligning for being remedied to by pallet in the predeterminable area of cargo-space bottoms.
2. shelf according to claim 1, is characterized in that, described device for aligning comprises straightening mechanism,
Described straightening mechanism comprises can around the pivoted arm of the axis of rotation of level, and be separately positioned on first roll shaft at two ends and second roll shaft of described pivoted arm, described rotating shaft is between described first roll shaft and the axis of the second roll shaft and be parallel to and state the first roll shaft and the second roll shaft, and the two ends of described pivoted arm lay respectively in described predeterminable area and outside described predeterminable area.
3. shelf according to claim 2, is characterized in that, described pivoted arm perpendicular to described rotating shaft, the limit that described shaft parallel is crossed in described predeterminable area by described pivoted arm.
4. shelf according to claim 2, is characterized in that, the axis of described first roll shaft is positioned at outside described predeterminable area, and the axis of described second roll shaft is positioned at described predeterminable area, and the external diameter of described first roll shaft is greater than the external diameter of described second roll shaft.
5. shelf according to claim 2, it is characterized in that, described device for aligning also comprises the microscope carrier for weight tray, described microscope carrier comprises the groove that upper surface is recessed to form, described straightening mechanism is arranged in described groove, and the upper surface of described first roll shaft and described second roll shaft can stretch out described groove simultaneously.
6. shelf according to claim 5, it is characterized in that, the center of gravity of described straightening mechanism is positioned at the side of described rotating shaft near described first roll shaft, and described microscope carrier also comprises rotation amplitude for limiting described pivoted arm with the locating part making the angle of described pivoted arm and horizontal surface angle be no more than predetermined angle.
7. shelf according to claim 6, is characterized in that, described predetermined angle is 45 °.
8. the shelf according to any one of claim 2 to 7, is characterized in that, described device for aligning is provided with multiple, and multiple described device for aligning is separately positioned on two relative limits of described predeterminable area.
9. shelf according to claim 8, is characterized in that, described predeterminable area is rectangular area, and multiple described device for aligning is separately positioned on the four edges of described predeterminable area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510256469.6A CN104891083B (en) | 2015-05-19 | 2015-05-19 | A kind of shelf for Automatic Warehouse |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510256469.6A CN104891083B (en) | 2015-05-19 | 2015-05-19 | A kind of shelf for Automatic Warehouse |
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| CN104891083B CN104891083B (en) | 2017-07-21 |
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| CN115164795A (en) * | 2022-06-30 | 2022-10-11 | 博众精工科技股份有限公司 | Method, device and equipment for correcting position of bin and storage medium |
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| EP3825256A1 (en) * | 2019-11-22 | 2021-05-26 | Moffett Automated Storage Limited | Pallet alignment apparatus |
| WO2022101715A1 (en) * | 2020-11-16 | 2022-05-19 | Tor.Mec Ambrosi S.R.L. | Vertical automatic warehouse for a modular system of automatic warehouses, comprising an alignment and centring system for the translation of drawers |
| CN112623592A (en) * | 2020-12-28 | 2021-04-09 | 科达制造股份有限公司 | Method for correcting relative error between AGV and tray and AGV |
| CN113988229A (en) * | 2021-09-26 | 2022-01-28 | 夏文祥 | Device and method for positioning goods shelf where goods are located |
| CN113988229B (en) * | 2021-09-26 | 2024-03-08 | 中国人民解放军国防大学军事管理学院 | Device and method for positioning goods shelf |
| CN113788263A (en) * | 2021-10-14 | 2021-12-14 | 北京京东乾石科技有限公司 | Three-dimensional inventory storage inspection method and system |
| CN115164795A (en) * | 2022-06-30 | 2022-10-11 | 博众精工科技股份有限公司 | Method, device and equipment for correcting position of bin and storage medium |
| CN115164795B (en) * | 2022-06-30 | 2024-10-01 | 博众精工科技股份有限公司 | Method, device, equipment and storage medium for correcting bin position |
| CN115108227A (en) * | 2022-08-08 | 2022-09-27 | 青岛盈智科技有限公司 | Stacker vertical warehouse goods warehousing method and system for cold chain storage |
| CN115108227B (en) * | 2022-08-08 | 2023-08-29 | 青岛盈智科技有限公司 | Method and system for warehousing goods in vertical warehouse of stacker for cold chain warehousing |
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