CN107032035B - Loading device out - Google Patents

Abstract

The application discloses a storage and storage device. A specific embodiment of the storage-in/out device includes: a shelf buffer device and a continuous circulation hoist; the shelf buffer device includes a multi-layer buffer position, and each buffer position is provided with a moving pallet that moves relative to the buffer position; the continuous circulation hoist is provided with A closed track and a horizontal tray that moves continuously and circularly along the track; both the mobile tray and the horizontal tray are provided with a plurality of cantilevered strip teeth, and when the horizontal tray and the extended mobile tray are on the same level, the horizontal tray At least part of the bar-shaped teeth are located between the bar-shaped teeth of the moving pallet to realize the transfer of goods. In this embodiment, the average transfer time of goods can be reduced through the cooperation of the moving pallet and the horizontal pallet, thereby improving the overall operating efficiency of the storage-in and out-loading device.

Description

Storage device

technical field

The application relates to the technical field of warehousing and logistics, in particular to storage and storage technology, and in particular to storage and storage devices.

Background technique

At present, the existing automated three-dimensional warehouses mostly use reciprocating lifting elevators for the storage and delivery of goods. The main process is: the lifting frame of the elevator supports the transfer pallet for reciprocating lifting movement; whichever shelf has goods in the buffer position, the lifting frame stops at that layer holding the transfer pallet; after picking up the goods, return to the external conveyor line The position of the goods is sent to the external conveyor line; after that, the elevator sends the transfer pallet to the next target buffer position. So keep doing reciprocating lifting motion.

However, in this way of entering and leaving the warehouse, the running distance of the lifting frame of the reciprocating lifting elevator will increase with the increase of the number of shelves. This will lead to an increase in the average delivery and storage time of goods, thereby affecting the operating efficiency of the entire automated three-dimensional warehouse.

Contents of the invention

In view of the above-mentioned defects in the prior art, the present application provides an improved storage and storage device to solve the technical problems mentioned in the background art section above.

In order to achieve the above purpose, an embodiment of the present application provides a warehouse entry and exit device. The storage and storage device includes: a shelf buffer device and a continuous circulation hoist; the shelf buffer device includes a multi-layer buffer position, and each buffer position is provided with a moving pallet that moves relative to the buffer position; the continuous circulation hoist is provided with a closed track and along the A horizontal pallet that moves continuously on the track; both the mobile pallet and the horizontal pallet are provided with a plurality of cantilevered strip teeth, and when the horizontal pallet and the protruding mobile pallet are on the same horizontal plane, at least part of the horizontal pallet The teeth are located between the bar teeth of the mobile pallet to achieve the transfer of goods.

In some embodiments, at least two horizontal trays are arranged on the continuous circulation elevator, and the at least two horizontal trays are arranged at equal intervals.

In some embodiments, the bar-shaped teeth of the horizontal tray and the bar-shaped teeth of the moving tray are arranged at equal intervals, and when the horizontal tray and the mobile tray in the extended state are located on the same horizontal plane, the bar-shaped teeth of the horizontal tray and the bars of the moving tray The teeth are arranged alternately.

In some embodiments, at least two rack teeth of the mobile pallet are provided with threaded holes, and the threaded holes are used for installing stoppers for fixing goods.

In some embodiments, the cache position is also provided with a frame, a first driving device, and a first sensor; the frame is used to support the mobile tray, and the mobile tray moves relative to the frame under the action of the first driving device; the first sensor is used to Detect the status of goods on moving pallets.

In some embodiments, the frame includes a first side and a second side, and the first side and the second side are parallel to each other; While doing reciprocating stretching motion.

In some embodiments, the frame includes a rotating shaft, and the moving tray rotates reciprocally and horizontally around the rotating shaft under the action of the first driving device.

In some embodiments, the continuous circulation hoist is also provided with a frame, a second driving device and a second sensor; the track is arranged on the frame, and the horizontal tray moves at a constant speed along the track under the action of the second driving device; the second sensor Set on the rack to detect the position of the horizontal pallet.

In some embodiments, the storage and storage device also includes an external buffer device, the external buffer device includes a roller conveyor line, and the rollers on the roller conveyor line are in a cantilever state; when the horizontal pallet and the roller conveyor line are at the same level, the horizontal pallet Each strip tooth is located between the rollers of the roller conveyor line to realize the transfer of goods.

In some embodiments, the external buffer device is also provided with a seat frame, a positioning plate and a third sensor; the seat frame is used to support the roller conveying line; the positioning plate is arranged at the end of the roller conveying line for blocking goods; the second Three sensors are arranged on the positioning plate to detect the state of the goods on the roller conveying line.

The storage and storage device provided by the embodiment of the present application is provided with a horizontal tray that circulates along a closed track and a mobile tray that moves relative to the buffer position, and both the horizontal tray and the mobile tray are provided with a plurality of cantilevered strip teeth. In this way, when the goods are transferred between the horizontal pallet and the extended mobile pallet, at least part of the strip-shaped teeth of the horizontal pallet can be located between the strip-shaped teeth of the mobile pallet, that is to say, the horizontal pallet can pass through the mobile pallet. In this way, the horizontal pallet can complete the transfer of goods without stopping moving along the track, which can increase the average transfer rate of goods, thereby reducing the average transfer time of goods, and then improving the overall operating efficiency of the storage and storage device.

Description of drawings

Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Figure 1a is a schematic structural view of an embodiment of the storage-in and out-of-warehouse device provided by the present application;

Fig. 1b is a top view of the structure of the storage and storage device shown in Fig. 1a;

Figure 2 is a schematic diagram of the position and structure of the horizontal pallet and the mobile pallet when they are on the same horizontal plane;

Fig. 3 is a schematic structural diagram of an embodiment of a buffer position in a shelf buffer device provided by the present application;

Fig. 4 is a schematic structural diagram of another embodiment of the buffer position in the shelf buffer device provided by the present application;

Fig. 5 is a schematic structural view of an embodiment of the continuous circulation hoist provided by the present application;

FIG. 6 is a schematic structural diagram of an embodiment of an external cache device provided by the present application;

Fig. 7 is a schematic diagram of the position and structure of the horizontal pallet and the rollers of the roller conveying line when they are on the same horizontal plane.

Detailed ways

The principles and features of the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for ease of description, only parts related to the invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

Please refer to FIG. 1 a , which shows a schematic structural diagram of an embodiment of the warehouse-in and out-out device provided by the present application.

In this embodiment, the warehouse in and out device may include a shelf buffer device 1 and a continuous circulation hoist 2 . As shown in Fig. 1a, the shelf buffering device 1 may include multiple layers of buffering positions, and each buffering position is provided with a mobile tray 11 capable of moving relative to the buffering positions. The movement here may be the movement of the mobile tray from the original position to the extended position on the buffer position, or the movement of the mobile tray from the extended position to the original position on the buffer position. Wherein, the original position can be the side away from the continuous circulation hoist on the buffer position, that is, the mobile pallet in the original position does not transfer goods with the continuous circulation hoist. The extended position can be the side of the buffer position close to the continuous circulation elevator, that is, the mobile pallet in the extended position and the continuous circulation elevator perform cargo transfer. At the same time, the continuous circulation hoist 2 is provided with a closed track 21 and a horizontal pallet 22 which moves continuously and circularly along the track 21 . It can be understood that, in order to realize that the horizontal pallet 22 can carry goods, the horizontal pallet 22 will not tilt or turn over while moving clockwise or counterclockwise along the track 21, that is, the upper surface of the horizontal pallet 22 (that is, the upper surface of the horizontal pallet 22 and the goods) The orientation of the contact surface) does not change.

In this embodiment, both the mobile tray 11 and the horizontal tray 22 may be provided with a plurality of cantilevered rack teeth (such as the rack teeth 111 and the rack teeth 221 ). Among them, the cantilever state usually means that one end of the object is fixed to make it protrude, while the other end is free. That is to say, only one end of each strip tooth is fixed to the movable pallet 11 or the horizontal pallet 22 . When the horizontal pallet 22 and the mobile pallet 11 in the extended state (i.e. the extended position) are on the same horizontal plane, at least part of the bar-shaped teeth 221 of the horizontal pallet 22 can be located between the bar-shaped teeth 111 of the mobile pallet 11. transfer. That is to say, the horizontal pallet 22 and the mobile pallet 11 can pass through each other, so that the horizontal pallet 22 can transfer the goods without stopping moving along the track 21, which can improve the average transfer rate of the goods, thereby reducing the load of the goods. The average transfer time, thereby improving the overall operating efficiency of the inbound and outbound equipment. In addition, the use of strip teeth instead of traditional rollers can not only reduce production costs, but also avoid the conveying time of goods on the rollers, which can further reduce the average transfer time of goods.

It can be understood that, the upper surfaces of each rack tooth may or may not be located at the same horizontal plane (for example, adjust the height difference between the upper surfaces of each rack tooth according to the shape of the goods). Moreover, the material of the strip teeth can be metal or non-metal. Under the premise of meeting the load-bearing requirements, the bar-shaped teeth can be made of lighter materials. In addition, the distance between each strip-shaped tooth and the shape of the strip-shaped tooth are not limited in this application, and can be designed according to actual needs. For example, in order to ensure the load stability of the mobile tray 11 and the horizontal tray 22, the sides of the bar-shaped teeth may be wedge-shaped, that is, the side width of the fixed end of the bar-shaped teeth is greater than the side width of the free end.

In addition, in order to improve the stability of the goods during transportation, at least part of the upper surface of the strip tooth can be treated to increase the roughness of the contact surface with the goods, thereby increasing the friction between the goods and the goods. For example, spray, paste or fix other substances on the upper surface of the strip teeth, or roughen the upper surface of the strip teeth.

It should be noted that, in order to cooperate with the warehouse-in and warehouse-out device to carry out the goods in and out of the warehouse, the picking robot (but not limited) can be used to carry the goods between the shelf and the shelf buffer device, so as to place the goods on the buffer position (that is, out of the warehouse) Or take away the goods on the buffer position (that is, storage). In addition, picking robots (but not limited to) can also be used to move goods between the continuous circulation elevator and other equipment, so as to place goods on horizontal pallets (ie storage) or remove goods from horizontal pallets (ie exit). library).

In some optional implementations of this embodiment, in order to further improve the operating efficiency of the storage-in-out device, at least two horizontal pallets 22 may be provided on the continuous circulation elevator 2 . As shown in FIG. 1a, three horizontal pallets 22 are arranged on the continuous circulation hoist 2 . And in order to facilitate the design of the control program, these horizontal trays 22 can be arranged at equal intervals. In addition, the bar-shaped teeth 221 of the horizontal tray 22 and the bar-shaped teeth 111 of the moving tray 11 can also be arranged at equal intervals. As shown in FIG. 2 , when the horizontal tray 22 and the extended mobile tray 11 are located on the same horizontal plane, the strip teeth 221 of the horizontal tray 22 and the strip teeth 111 of the mobile tray 11 may be alternately arranged.

It should be noted that the positional relationship between the rack teeth 221 of the horizontal tray 22 and the rack teeth 111 of the moving tray 11 shown in FIG. 2 is only schematic. For example, two strip teeth 221 may be arranged between two adjacent strip teeth 111 , or two strip teeth 111 may be arranged between two adjacent strip teeth 221 .

Optionally, in order to realize the movement of the mobile tray 11 relative to the buffer position, each buffer position in the shelf buffer device 1 may also be provided with a frame, a first driving device and a first sensor. Here, a frame can be used to support the mobile pallet 11 . And the mobile tray 11 can move relative to the frame under the action of the first driving device. Instead, the first sensor can be used to detect the status of the goods on the moving pallet. Wherein, the status of the goods may include whether goods are currently carried on the mobile pallet and the current position of the goods carried on the mobile pallet (for example, the original position or the extended position).

As an example, the structure of the cache bits may be as shown in FIG. 3 . In FIG. 3 , the frame may comprise a first side 12 and a second side 13 . Wherein, the first side 12 and the second side 13 may be parallel to each other. In this way, the movable tray 11 can perform reciprocating telescopic movement along the first side 12 and the second side 13 under the action of the first driving device 14 . Wherein, the first driving device 14 may be composed of components commonly used in the prior art, such as a linear motor. At this time, the frame not only acts as a support, but also acts as a guide rail. In addition, in order to ensure that the mobile pallet 11 can not only perform telescopic movement, but also carry out cargo transfer, the length of the first side 12 should be smaller than the length of the second side 13 . At the same time, a first sensor 15 can be provided respectively at the positions corresponding to the retracted state (located in the original position) and the extended state (located in the extended position) of the moving tray 11 . It can be understood that the installation position of the first sensor 15 in FIG. 3 is only schematic.

Further, in order to ensure the stability of the goods carried on the moving pallet 11 during the movement, at least two strip teeth 111 of the moving pallet 11 may be provided with threaded holes 16 . As shown in FIG. 3 , the threaded hole 16 can be used to install a stopper 17 . Wherein, the block 17 can be used to fix the goods on the moving pallet 11 . In order to adjust the position of the block 17 according to the size of the goods, a plurality of pairs of threaded holes 16 can be set on each strip tooth 111 . The stopper 17 is fixed on the bar teeth by two screws and a pair of threaded holes 16 . However, the installation direction of the stopper 17 is not limited in this application. And at least two strip teeth 221 of the horizontal tray 22 may also be provided with threaded holes for installing stoppers.

Optionally, the structure of the cache bits may also be as shown in FIG. 4 . In FIG. 4 , the frame may contain the axis A of rotation. The mobile tray 11 can reciprocate and horizontally rotate around the rotation axis A under the action of the first driving device. When the mobile pallet 11 needs to transfer goods with the horizontal pallet 22, the mobile pallet 11 can rotate from the original position (the position shown by the dotted line in FIG. 4) to the extended position (the position shown by the solid line in FIG. 4).

In some optional implementations of this embodiment, the continuous circulation hoist 2 may also be provided with a frame 23 , a second driving device 24 and a second sensor 25 . As shown in FIG. 5 , the track 21 is arranged on the frame 23 . The horizontal tray 22 can move along the track 21 at a constant speed under the action of the second driving device 24 . Meanwhile, the second sensor 25 is disposed on the frame 23 and can be used to detect the position of the horizontal tray 22 . It can be understood that the specific installation position of the second sensor 25 on the frame 23 is not limited in this application. In addition, a rail 21 may be provided on one side of the rack 23 . Rails 21 can also be provided on both sides of the frame 23, so that the goods can be transferred on both sides at the same time, thereby further improving the operating efficiency. Wherein, the shape of the track 21 may be a ring as shown in FIG. 5 , or other closed shapes such as a rectangle.

In addition, as can be seen from FIG. 1 a , in order to further improve the overall operating efficiency of the storage-in-out device, the storage-in-out device may further include an external buffer device 3 . For details, refer to FIG. 6 , which shows a schematic structural diagram of an embodiment of an external cache device. As shown in FIG. 6 , the external buffer device may comprise a roller conveyor line 31 . Wherein, the roller 311 on the roller conveying line 31 can also be in a cantilever state. When the horizontal pallet 22 and the roller conveying line 31 are on the same level like this, each strip tooth 221 of the horizontal pallet 22 can be positioned between the rollers 311 of the roller conveying line 31 (as shown in FIG. 7 ), to realize the transfer of goods . That is to say, the horizontal pallet 22 can also pass through the roller conveying line 31, so that the horizontal pallet 22 can complete the transfer of goods without stopping moving along the track 21, which can further reduce the average transfer time of the goods, and then improve the access. The overall operating efficiency of the library device.

It can be seen from FIG. 6 that the external buffer device can also be provided with a seat frame 32 , a positioning plate 33 and a third sensor 34 . The seat frame 32 is used to support the roller conveying line 31 . At the same time, in order to avoid interference with the horizontal tray 22 , the stand 32 is only provided with stand legs 321 at three corners. In this way, the horizontal pallet 22 can pass through the roller conveying line 31 from the upper surface (the surface on which goods are transported) or the lower surface (the surface opposite to the upper surface) of the roller conveying line 31 . The positioning plate 33 is arranged at the end of the roller conveying line 31 , and is used to block the goods and prevent the goods from falling off from the roller conveying line 31 . And the third sensor 34 can be arranged on the positioning plate 33 for detecting the state of the goods on the roller conveying line 31 . The status here can include whether there is goods on the roller conveyor line and the current position of the goods. At the same time, in the roller conveying line 31 , the other end (end B shown in FIG. 6 ) opposite to the end where the positioning plate 33 is located can be docked with the external conveying line. This enables the transfer of goods between the external buffer device and the external conveyor line.

The positional relationship between the shelf buffer device 1 , the continuous circulation hoist 2 and the external buffer device 3 can be referred to in FIG. 1 b , which is a top view of the structure of the storage and storage device shown in FIG. 1 a . At this time, if the goods are to be transported from the external conveying line to a designated shelf, that is, the goods are put into storage, the main operation process of the storage-in-out device is as follows:

Firstly, according to the current position of a certain horizontal pallet 22 , the control system can determine the time interval for other horizontal pallets 22 to pass the external buffer device 3 . Specifically, when the horizontal pallet 22 passes the second sensor 25, the control system can locate it according to the received signal sent by the second sensor 25, and according to the distance between the horizontal pallets 22, the remaining horizontal pallets 22 can be calculated. The position of the tray 22 can determine the time interval for other horizontal trays 22 to reach the external buffer device 3 .

Then, the time interval is used to control the external conveying line and the roller conveying line 31 to transport the goods to a predetermined position on the external buffer device 3 . When the horizontal pallet 22 passes the roller 311 , the cargo can be carried away, and transported to the shelf buffer device 1 along the track 21 .

At the same time, the control system determines the buffer position in the shelf buffer device 1 corresponding to the storage information of the goods according to the storage information of the goods, and controls the mobile pallet 11 of the buffer position to be in the position before the horizontal pallet 22 holding the goods arrives. Extended state. Wherein, the storage information may include the location information of the shelf where the goods are to be stored. Each cache bit can correspond to a shelf.

Finally, when the horizontal pallet 22 passes through the buffer position, the goods on it will stay on the mobile pallet 11 . The horizontal pallet 22 then continues to move along the track 21 alone, and performs the next cycle (goods transfer) at the external buffer device 3 place. At the same time, after the horizontal pallet 22 passes, the mobile pallet 11 will return to the original position of the buffer position with the goods, so as to wait for the RGV (Rail Guided Vehicle, rail guided vehicle) to transport the goods to the corresponding shelf. This completes the warehousing process of the goods.

At this time, if the goods are to be transported from the shelf to the external conveying line, that is, to carry out the outbound of the goods, the main operation process of the inbound and outbound device is as follows:

Firstly, the control system determines the buffer position for buffering the goods in the outbound rack buffer device 1 according to the outbound information of the goods. Also according to the current position of a certain horizontal pallet 22, the time interval for other horizontal pallets 22 to pass through the buffer position can be determined. Wherein, the outbound information may include the position information of the shelf where the goods are stored.

Then, by utilizing the time interval, the mobile pallet 11 holding the goods on the buffer position is controlled to be in an extended state before the horizontal pallet 22 arrives. Wherein, the goods may be transported from the shelf to the buffer position by the RGV.

Then, when the horizontal pallet 22 passes through the mobile pallet 11 , the cargo can be carried away, and transported to the external buffer device 3 along the track 21 . At the same time, after the horizontal tray 22 passes by, the mobile tray 11 will return to the original position of the buffer position alone.

Finally, when the horizontal pallet 22 passes through the roller conveying line 31 , the goods will stay on the roller 311 . The horizontal pallet 22 continues to move along the track 21 alone, and performs the next cycle (goods transfer) at the shelf buffer device 1 . At the same time, after the horizontal pallet 22 passes, the goods on the roller conveying line 31 are transported to the external conveying line. It can be understood that, before the horizontal pallet 22 passes through the external buffer device 3, the control system can control the external conveying line and the roller conveying line 31, so as to clear the goods on the predetermined position in the external buffer device 3, so as to receive the goods on the horizontal pallet 22 of goods. This completes the delivery process of the goods.

When the continuous circulation hoist 2 is equipped with a plurality of horizontal pallets 22, the above storage or storage process can be performed continuously and continuously. Therefore, even if there are many layers of shelves, that is, there are many layers of corresponding cache positions, it will not affect the operating efficiency of the entire automated three-dimensional warehouse.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, but should also cover the technical solution formed by the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of or equivalent features thereof. For example, a technical solution formed by replacing the above-mentioned features with technical features with similar functions disclosed in (but not limited to) this application.

Claims (10)

1. A storage and storage device, characterized in that, the storage and storage device comprises: a shelf buffer device and a continuous circulation hoist; The shelf buffering device includes multiple layers of buffering positions, and each of the buffering positions is provided with a moving tray that moves relative to the buffering positions; The continuous circulation hoist is provided with a closed track and a horizontal tray that moves continuously and circularly along the track; Both the mobile tray and the horizontal tray are provided with a plurality of strip-shaped teeth in a cantilevered state, and when the horizontal tray and the extended mobile tray are located on the same horizontal plane, at least part of the strip-shaped teeth of the horizontal tray The teeth are located between the strip teeth of the mobile pallet to realize the transfer of goods; The buffer position is also provided with a frame and a first driving device; The frame is used to support the mobile tray, and the mobile tray moves relative to the frame under the action of the first driving device. 2. The warehouse-in/out device according to claim 1, characterized in that at least two horizontal pallets are arranged on the continuous circulation hoist, and the at least two horizontal pallets are arranged at equal intervals. 3. The storage and storage device according to claim 1, characterized in that the strip teeth of the horizontal tray and the strip teeth of the mobile tray are arranged at equal intervals, and the horizontal tray and the mobile tray in the extended state When the trays are on the same horizontal plane, the strip-shaped teeth of the horizontal tray and the strip-shaped teeth of the moving tray are arranged alternately. 4. The storage-in and out-of-warehouse device according to claim 1, characterized in that at least two strip teeth of the moving tray are provided with threaded holes, and the threaded holes are used for installing stoppers for fixing goods. 5. The warehouse-in and out-of-warehouse device according to claim 1, characterized in that, the buffer position is further provided with a first sensor; the first sensor is used to detect the state of the goods on the moving pallet. 6. The storage and storage device according to claim 5, wherein the frame includes a first side and a second side, and the first side and the second side are parallel to each other; Under the action of the first driving device, the moving tray performs reciprocating telescopic movement along the first side and the second side. 7 . The storage and storage device according to claim 5 , wherein the frame includes a rotating shaft, and the moving tray reciprocates and horizontally rotates around the rotating shaft under the action of the first driving device. 7 . 8. The warehouse in and out device according to claim 1, wherein the continuous circulation hoist is also provided with a frame, a second driving device and a second sensor; The track is arranged on the frame, and the horizontal tray moves along the track at a constant speed under the action of the second driving device; The second sensor is arranged on the frame for detecting the position of the horizontal tray. 9. The warehouse-in and out-of-warehouse device according to any one of claims 1-8, characterized in that, the warehouse-in and out-of-warehouse device also includes an external buffer device, and the external buffer device includes a roller conveying line, and the roller conveying line The roller is in a cantilever state; When the horizontal tray and the roller conveying line are located on the same horizontal plane, each strip tooth of the horizontal tray is located between the rollers of the roller conveying line, so as to realize the transfer of goods. 10. The warehouse in and out device according to claim 9, characterized in that, the external buffer device is also provided with a seat frame, a positioning plate and a third sensor; The seat frame is used to support the roller conveying line; The positioning plate is arranged at the end of the roller conveying line for blocking goods; The third sensor is arranged on the positioning plate and is used to detect the state of the goods on the roller conveying line.