CN107150875B

CN107150875B - Three-dimensional circular warehouse with polar coordinate layout and storing and taking method

Info

Publication number: CN107150875B
Application number: CN201710428137.0A
Authority: CN
Inventors: 梁代平
Original assignee: Foshan Nanhai Aimanting Machinery Co ltd
Current assignee: Foshan Nanhai Aimanting Machinery Co ltd
Priority date: 2017-06-08
Filing date: 2017-06-08
Publication date: 2022-10-11
Anticipated expiration: 2037-06-08
Also published as: CN107150875A

Abstract

In the existing stereoscopic warehouse, including the warehouse of natural stacking and general goods shelves, the warehouse needs to reserve a passage with a certain area so that transportation vehicles, carrying tools and workers can pass through and operate conveniently, the general storage stacking height is limited, the storage is inconvenient to store and take, and the space utilization rate is low. The invention aims to provide a full-automatic three-dimensional warehouse which has high space utilization rate and higher operation efficiency, and comprises a storage bin, wherein one side of the storage bin is connected with at least one storing and taking device, and the storage bin comprises a round bin bracket, a storage turntable, a storage drawer and a turntable driver; the access device comprises a lifting framework, a push-pull device, a grabbing device and a pair-closing guide rail.

Description

Three-dimensional circular warehouse with polar coordinate layout and storing and taking method

Technical Field

The invention relates to the technical field of storage and parking equipment, in particular to a three-dimensional circular warehouse with polar coordinate layout and a storing and taking method

Background

In the existing stereoscopic warehouse, including the warehouse of natural stacking and general goods shelves, the warehouse needs to leave a passage with a certain area so that transportation vehicles, carrying machines and workers can pass and operate conveniently, the general storage stacking height is limited, the storage is inconvenient to store and take, and therefore the utilization rate of space is low. The storage management level is difficult to improve, the pure manual operation is realized, the error rate is high, the labor intensity is high, and the complete change can not be realized even if a common carrying mechanical tool is added.

For such problems, some existing solutions are, for example, stacking type stereoscopic warehouses, which are basic modes of automated stereoscopic warehouses, have an automated addressing function, can build a tall stereoscopic warehouse, and a stacker replaces manual carrying labor, which is a great progress of warehousing technologies. However, the stacker needs to leave a running tunnel, namely, the two sides are provided with the goods shelves, the middle part is provided with the tunnel, and the space utilization rate is not high. In addition, the stacker can simultaneously consider the movement of three-dimensional operation, so that busy work is possible, if the number of the stackers is increased, the cost of equipment is high in one step, the stacker can be blocked in the same roadway in the other step, and the operation of mutual avoidance and crossing cannot be realized.

Such as a shuttle type multi-layer stereoscopic warehouse, which is an intensive multi-layer matrix stereoscopic warehouse, the utilization rate of the pure shelf part is 100 percent. But a considerable area of ground for the high-rise forklift to operate is reserved in the area where goods are input and output at one end or two ends, and the comprehensive space utilization rate is not high. Each row (all storage spaces are also storage operation channels) of each layer of the matrix shelf is provided with 1 automatic lifting and carrying device, a fixed channel is reserved at the lower part of each row of the shelf to allow a lifting carrier to operate randomly, and the lifting carrier is an automatic device. When the three-dimensional warehouse lifts the stored articles, the stored articles can be automatically moved in and out, and the problem is that other stored articles cannot be blocked in the advancing direction, so that the three-dimensional warehouse must adopt a sequential turnover mode of storing articles, namely 'first-in last-out' or 'first-in first-out', the stored articles stacked in the middle of a channel cannot be randomly taken out, and the three-dimensional warehouse cannot be suitable for logistics storage and turnover in the general sense.

Such as an Automated Guided Vehicle (AGV), which is an advanced automated handling system, but fails to directly and effectively solve the problems of storage stacking height, high storage and retrieval, and space occupied by its own aisle.

If vertical lift stereo garage (tower), this is one of the more advanced garage mode in China, takes up an area of three parking stalls, and the centre is the passageway of vertical lift, and the price is higher, and the prevalence receives certain restriction.

For example, a multi-layer plane moving stereo garage is a way derived from a stacking structure, and the operation efficiency is higher than that of the stacking structure. The stacker is replaced by the automatic handling equipment of each layer of garage, multiple platforms can operate simultaneously, the automatic handling equipment of each layer is independent and does not interfere with each other, the working efficiency is greatly improved, and the automatic handling equipment can normally work only by being matched with automobile lifting equipment. The garage still needs a roadway for equipment operation, and the space utilization rate is not high.

Disclosure of Invention

The invention aims to provide a full-automatic stereoscopic warehouse which has high space utilization rate and higher operation efficiency;

technical scheme 1a circular warehouse of three-dimensional of polar coordinates overall arrangement, including the storing storehouse, the storing storehouse outside is connected with at least one access arrangement, its characterized in that: the storage bin comprises a round bin bracket, a storage turntable, a storage drawer and a turntable driver;

the circular bin support comprises a central upright column, peripheral upright columns, circular rails and lifting upright columns, the central upright column is arranged at the center of the storage bin, the peripheral upright columns are radially and equidistantly arranged around the central upright column by taking the axis of the central upright column as the center, one sides of the peripheral upright columns, which are close to the central upright column, are simultaneously connected with the circular rails, the circular rails are arranged on the peripheral upright columns in the vertical direction, and the peripheral upright columns, which are close to one sides of the access devices, are connected with the lifting upright columns in the direction far away from the central upright column;

a gap between the two peripheral upright columns close to one side of the access device forms an inlet and an outlet of the storage bin;

the storage turntables are arranged on the central upright posts in the vertical direction and are rotatably connected with the central upright posts, the edges of the storage turntables far away from the central upright posts are connected with the circular rails in a rolling manner, and the storage drawers are adjacently arranged on the storage turntables;

be equipped with the rotary table driver between two at least peripheral stands outside the peripheral stand of storing storehouse exit both sides, rotary table driver drive storage carousel rotates around central pillar.

Preferably, the storage turntable comprises a flange assembly, a radial guide rail and a supporting wheel assembly, the flange assembly is sleeved on the central upright, the edge far away from the central upright is connected with a plurality of radial guide rails, one end of each radial guide rail far away from the central upright is provided with an outer end rod, the upper surface of each outer end rod is provided with a positioning taper hole, the supporting wheel assembly is arranged on each outer end rod, and the supporting wheel assembly is in rolling connection with the circular track;

preferably, the lower surface of one end of the storage drawer far away from the central upright post is provided with a positioning taper pin matched with the positioning taper hole, the end surface of one end of the storage drawer far away from the central upright post is provided with an outer end handle, the lower part of the storage drawer near the central upright post is provided with at least one inner guide wheel and at least one pair of inner bearing wheels, and the inner guide wheel and the inner bearing wheels are in rolling connection with the radial guide rail;

the storage drawer is provided with a plurality of storage bin positions along the radial direction of the storage turnplate.

Preferably, the turntable driver comprises a case, a chain wheel group A, a chain wheel group B, a chain wheel group C, a long pin shaft chain and a ball wheel assembly, wherein the chain wheel group A, the chain wheel group B and the chain wheel group C are arranged in the case in a triangular mode and are in transmission connection through the closed long pin shaft chain;

the long pin shaft chain is connected with a plurality of ball wheel assemblies at fixed intervals, the ball wheel assemblies are driven by the long pin shaft chain to rotate around the chain wheel group A, the chain wheel group B and the chain wheel group C, and the movement track of the ball wheel assemblies is tangent to or intersected with or slightly separated from the movement track of the supporting wheel assembly on the circular track, so that the ball wheel assemblies push the supporting wheel assembly to rotate around the central stand column.

Preferably, the access device comprises a lifting framework, a push-pull device, a grabbing device and a pair-closing guide rail;

the lifting upright post is provided with a lifting framework moving along the vertical direction, the lifting framework is provided with a push-pull device moving along the horizontal direction, one side, close to the storage bin, of the lifting framework is connected with a grabbing device, the grabbing device moves on the lifting framework along the vertical direction, the lifting framework below the grabbing device is provided with an involutory guide rail, the involutory guide rail is provided with a translation guide rail, the translation guide rail moves on the lifting framework along the horizontal direction, and the grabbing device, the push-pull device and the involutory guide rail ascend or descend along with the vertical movement of the lifting framework.

Preferably, the lifting frame comprises a lifting guide wheel frame, a horizontal guide rail and a horizontal rack, the lifting guide wheel frame is connected with the lifting upright post in a rolling or sliding manner and moves on the lifting upright post along the vertical direction, and the lifting guide wheel frame is provided with the horizontal guide rail and the horizontal rack.

Preferably, the push-pull device comprises a push-pull frame, a fixed claw and a movable claw, the push-pull frame is in rolling or sliding connection with the horizontal guide rail and moves on the horizontal guide rail along the horizontal direction, the fixed claw is arranged on one side of the push-pull frame close to the inlet and outlet of the storage bin, the movable claw is arranged on the push-pull frame below the fixed claw, and the movable claw is in rotating connection with the push-pull frame.

Preferably, grabbing device includes the guide rail board and gets the thing claw, the guide rail board with be close to the lift guide wheel carrier sliding connection of storing storehouse import and export one side to slide along vertical direction on the lift guide wheel carrier, guide rail board lower extreme is equipped with gets the thing claw, it slides or rotates with the guide rail board and is connected to get the thing claw.

Preferably, the folding guide rails comprise two translation guide rails, the two translation guide rails are arranged on a horizontal guide rail close to one side of the storage bin, the two translation guide rails move on the horizontal guide rail along the horizontal direction, when the two translation guide rails move towards the direction close to the storage bin, the two translation guide rails simultaneously move in parallel towards the direction close to each other, and when the two translation guide rails move towards the direction far away from the storage bin, the two translation guide rails simultaneously move in parallel towards the direction far away from each other.

The method for storing and taking the stereoscopic round warehouse with the polar coordinate layout according to claim 1 is characterized in that:

the storage and storage method comprises the following specific steps:

the translation guide rail moves on the lifting framework in the direction far away from the inlet and the outlet of the storage bin, and the lifting framework is lifted to a sufficient height on the lifting upright column along the vertical direction;

when the storage articles are arranged below the lifting framework, the lifting framework descends to a position capable of being grabbed along the vertical direction, the grabbing device descends to the position above the storage articles along the vertical direction on the lifting framework to grab the storage articles, the grabbing device ascends to the highest point after grabbing the storage articles, and then the lifting framework ascends or descends to the height position of the storage turntable where the storage articles need to be placed;

the storage turntable which needs to be placed for storing articles rotates around the central upright post under the driving of the turntable driver until a target storage drawer which needs to be placed for storing articles is opposite to the inlet and the outlet of the storage bin;

the translation guide rail moves towards the direction close to the inlet and the outlet of the storage bin on the horizontal guide rail and is in butt joint with the radial guide rail;

the push-pull device moves towards the direction close to the central upright post, is clamped with the storage drawer and lifts the storage drawer, and at the moment, the push-pull device moves towards the direction far away from the central upright post to drive the storage drawer to move towards the direction far away from the central upright post, and the storage drawer is driven by the push-pull device to be out of the storage bin until the storage bin position on the storage drawer reaches the position below the storage bin;

the gripping device descends and places the storage in the gripping device, then the gripping device ascends to the highest point, and the push-pull device pushes the storage drawer with the storage to the direction close to the central upright post until the storage drawer enters the limit position on the radial guide rail;

the push-pull device puts down the storage drawer and moves to the periphery of the storage bin along the direction far away from the central upright post;

(II) the specific steps of storing and taking out are as follows:

the lifting framework ascends or descends to the height of the storage turntable where the articles are stored, and the turntable driver of the storage turntable where the articles are stored drives the storage turntable to rotate around the central upright post until the storage drawer where the articles are stored is opposite to the inlet and the outlet of the storage bin;

the translation guide rail moves towards the direction close to the central upright post and is in butt joint with the radial guide rail, the grabbing device rises to the highest point, the push-pull device moves towards the direction close to the central upright post and is clamped with the storage drawer to lift the storage drawer, then the push-pull device moves towards the direction far away from the central upright post to drive the storage drawer out of the storage bin, and the storage drawer is stopped until the storage reaches the position below the grabbing device;

the grabbing device descends to the position above the storage object to grab the storage object, then the grabbing device ascends to the highest point, the push-pull device pushes the storage drawer to the direction close to the central upright post until the storage drawer enters the limit position on the radial guide rail, and the push-pull device puts down the storage drawer and moves to the periphery of the storage bin along the direction far away from the central upright post;

at the moment, the translation guide rail moves towards the direction far away from the central upright column, the lifting framework ascends or descends to the position where the storage can be placed, the grabbing device descends on the lifting framework along the vertical direction, and the grabbing device releases the storage and then ascends to the highest point.

Advantageous effects

The space utilization rate of the stereoscopic warehouse for storing and storing articles is high, and a special passage for storing articles and transporting tools to pass in and out or a special equipment running roadway does not need to be reserved in the warehouse, and a storage space or a storage device vacated and moved space does not need to be reserved.

The stereoscopic warehouse has a certain number of layers, so that the space utilization rate of the warehouse or the garage can be improved, the expenses of basic facilities and a control system can be shared, and the equipment cost of storing articles or parking vehicles in a unit is reduced finally.

Meanwhile, from the radius, the rotation angle and the layer height of the storage turntable, the three dimensions can realize great space utilization rate.

And have higher automation level, can realize higher operating efficiency on the one hand, can realize accurate position access on the two sides, adopted reasonable operation mode simultaneously, improved the smooth degree of operation, reduced the fault rate, improved work efficiency.

Unmanned operation is carried out in the storage area, so that people are prevented from walking in a warehouse or a garage, and the safe operation of equipment is realized.

The manufacturing cost of the equipment is also reduced, the power and control system of the stereoscopic warehouse is arranged at the periphery of the storage bin, and no or few power sources, detection components, pipelines, action mechanisms and the like exist in the storage bin, so that the equipment is convenient to maintain and overhaul.

Drawings

FIG. 1 is a sectional view showing a front view of a stereoscopic round warehouse according to an embodiment

FIG. 2 is a sectional view showing a top view of the stereoscopic round warehouse of the embodiment

FIG. 3 is a sectional view showing a front view of the silo support of the embodiment

FIG. 4 is a plan view showing a silo support of an embodiment

FIG. 5 is a sectional view showing a front view of a radial guide of the embodiment

FIG. 6 is a sectional view taken along the line B-B in the example

FIG. 7 is an enlarged view of I in the example

FIG. 8 is an enlarged view of II in the example

FIG. 9 is an enlarged view of III of the example

FIG. 10 is a front view of a radial guide rail according to the embodiment

FIG. 11 is a plan view of a radial guide rail according to an embodiment

FIG. 12 is a front view of a storage drawer according to an embodiment

FIG. 13 is a top view of a storage drawer according to an embodiment

FIG. 14 is a sectional view taken along the direction C-C of the example

FIG. 15 is a sectional view taken along the direction D-D of the example

FIG. 16 is a cross-sectional view of a front view of the storage drawer of the embodiment positioned on a radial rail, FIG. 17 is a cross-sectional view of a top view of the carousel drive of the embodiment

FIG. 18 is a sectional view showing an expanded view in the E-E direction of the embodiment

FIG. 19 is a front view of the elevating frame of the embodiment

FIG. 20 is a plan view of the elevating frame of the embodiment

FIG. 21 is a sectional view showing a front view of a push-pull device of the embodiment

FIG. 22 is a plan view of a push-pull device according to an embodiment

FIG. 23 is a sectional view showing a step in the F-F direction of the embodiment

FIG. 24 is a sectional view showing a front view of a grasping apparatus according to the embodiment

FIG. 25 is a left side view showing a grasping apparatus of the embodiment

FIG. 26 is a right side view showing a grasping apparatus of the embodiment

FIG. 27 is a plan view showing the movement of the aligning guide rail in the direction approaching the center pillar according to the embodiment

FIG. 28 is a plan view showing the movement of the aligning guide rail in the direction away from the center pillar according to the embodiment

FIG. 29 is a sectional view showing the rotation of 90 degrees in the H-H direction of the embodiment

FIG. 30 is a front view of the ball wheel assembly showing the embodiment

FIG. 31 is a sectional view in the G-G direction of the example

FIG. 32 is a left side view of the storage carrier according to the embodiment

Description of the reference numerals

1. Round bin support

2. Storage turntable

3. Storage drawer

4. Rotary disc driver

5. Lifting framework

6. Push-pull device

7. Gripping device

8. Involutive guide rail

9. Storage carrier

11. Central upright post

12. Peripheral column

13. Circular track

14. Radial pull rod

15. Round cabin coaming

16. Lifting upright post

17. Upright post connecting rod

21. Flange assembly

22. Radial guide rail

23. Connecting ring

24. Inlet and outlet of storage bin

25. Supporting wheel assembly

26. Pull rod

31. Storage bin

32. Outer end handle

33. Inner bearing wheel

34. Inner guide wheel

35. Positioning taper pin

41. Cabinet

42. First electric speed reducer

43. Coupling device

44 A chain wheel group

45 B chain wheel group

46 C chain wheel set

47. Long pin shaft chain

48. Ball wheel assembly

51. Lifting guide wheel frame

52. Horizontal guide rail

53. Horizontal rack

54. Pull rod assembly

55. Second electric speed reducer

56. Lifting gear

61. Push-pull frame

62. Third electric speed reducer

63. Horizontal gear

64. Fixed claw

65. Movable claw

66. Push-pull air cylinder

67. Push-pull guide wheel

71. Guide rail plate

72. Lifting slide block

73. Lifting cylinder

74. Opening and closing guide rail

75. Grabbing cylinder

76. Fetching claw

77. Vertical rail of guide rail plate

81. Translation guide rail

82. Swing arm

83. Swing arm seat

84. Involutive cylinder

85. Involutory cylinder seat

91. Horizontal rail

92. Lifting platform

93. Bearing plate

111. Groove

161. Vertical rack

211. Jacket flange

211a lower flange

211b upper flange

212. Radial bearing

213. Thrust bearing

214. Split ring

215. Ring sleeve

221. Guide rail rod

222. Inner rod of guide rail

223. Inclined plane of rod end

224. Outer end rod

225. Connecting plate

226. Positioning taper hole

251. Rotary wheel

252. Revolving wheel shaft

253. Side connecting plate

441 A wheel axle

442. Upper A chain wheel

443. Lower A chain wheel

451 B axle

452. Upper B chain wheel

453. Lower B chain wheel

461 C wheel axle

462. Upper C wheel axle

463. Lower C wheel axle

471. Chain with upper long pin shaft

472. Lower long pin shaft chain

473. Upper long pin shaft chain link

474. Lower long pin shaft chain joint

481. Ball wheel carrier

481a Upper Pin hole

481b lower pin hole

482. Ball wheel

483. Ball axle

484. Bearing assembly

511. Front frame

512. Rear frame

515. Front frame lifting guide wheel

516. Rear frame lifting guide wheel

517. Upper fixed guide wheel

518. Lower fixed guide wheel

541. Tie rod

542. Longitudinal pull rod

543. Diagonal draw bar

611. Push-pull guide wheel

641. Fixing groove

651. Fixed shaft

652. Movable groove

811. Inclined plane of guide rail

812. Air gap

Detailed Description

The following further describes embodiments of the present invention in conjunction with the attached figures:

in this embodiment, the horizontal direction is a direction parallel to the ground, and the vertical direction is a direction perpendicular to the ground;

the upper part, the upper end, the top part or the upper surface is the direction far away from the ground, and the lower part, the lower end, the bottom part or the lower surface is the direction close to the ground.

The storage in the embodiment is an object or an appliance such as goods and vehicles which are stored or taken out.

The description of "a plurality" in this embodiment is at least one or more than one, and such description does not affect the implementation of the technical solution of the embodiment.

The three-dimensional circular warehouse with the polar coordinate layout shown in fig. 1-2 comprises a storage bin, wherein one side of the storage bin is connected with an access device, and the storage bin comprises a circular bin support 1, a storage rotary disc 2, a storage drawer 3 and a rotary disc driver 4; the access device comprises a lifting framework 5, a push-pull device 6, a grabbing device 7 and a involution guide rail 8;

as shown in fig. 3 to 4, the silo support 1 comprises a central upright post 11, peripheral upright posts 12, circular rails 13 and a lifting upright post 16, wherein the central upright post 11 is arranged at the center of the storage silo, a plurality of the peripheral upright posts 12 are radially and equidistantly arranged around the central upright post 11 by taking the axis of the central upright post 11 as the center, one sides of the plurality of the peripheral upright posts 12 close to the central upright post 11 are simultaneously connected with the circular rails 13, and a plurality of the circular rails 13 are distributed on the plurality of the peripheral upright posts 12 along the vertical direction;

the central upright post 11 is a cylinder vertical to the ground, and the vertical distances among the circular rails 13 are equal;

two peripheral upright columns 12 close to one side of the access device are respectively connected with two lifting upright columns 16 in the direction far away from the central upright column 11;

a storage bin inlet and outlet 24 is formed in a gap between the two peripheral upright columns 12 close to one side of the access device;

the two lifting upright posts 16 are vertically arranged on the ground close to one side of the storage bin inlet and outlet 24, upright post connecting rods 17 are arranged on the opposite sides of the two lifting upright posts 16, and one ends of the upright post connecting rods 17 far away from the lifting upright posts 16 are connected with the peripheral upright posts 12 on the two sides of the storage bin inlet and outlet 24;

such a connection effectively improves the stability of the lifting column 16.

The peripheral upright post 12 above the circular track 13 is provided with radial pull rods 14, the other end of each radial pull rod 14, which is far away from the peripheral upright post 12, is connected with the central upright post 11, and the number of the radial pull rods 14 is the same as that of the peripheral upright posts 12;

the radial pull rod 14 connects the central upright post 11 with the peripheral upright posts 12, so as to further form a more stable and stronger mechanical structure with stronger integrity, namely, the storage bin is based on a cylindrical structure, and a complete mechanical structure formed by the storage bin and the bottom surface, the top surface or the middle layer surface is established.

The storage turntables 2 with the same number as the circular rails 13 are sleeved on the central upright post 11, a plurality of storage turntables 2 are arranged on the central upright post 11 along the vertical direction, the storage turntables 2 are rotatably connected with the central upright post 11, the outer edges of the storage turntables 2 far away from the central upright post 11 are connected with the circular rails 13 in a rolling manner, and a plurality of storage drawers 3 are adjacently arranged on the storage turntables 2;

the storage turntables 2 and the storage drawers 3 have certain weight, so that the central upright post 11 is used as an accurate rotating shaft of the storage turntables 2, the circular rails 13 only need to bear the weight from the vertical direction of the storage turntables 2, the function of rotating centering is not needed, and the requirement on the manufacturing accuracy of the circular rails 13 is greatly reduced.

A rotary table driver 4 is arranged between the two peripheral upright posts 12 outside the storage bin inlet and outlet 24, and the rotary table driver 4 drives the storage rotary table 2 to rotate around the central upright post 11;

the number of the rotary disc drivers 4 is the same as that of the storage rotary discs 2, the rotary disc drivers correspond to the height position of each layer of the storage rotary disc 2, and each layer of the storage rotary disc 2 can rotate independently;

the lifting upright 16 is provided with a lifting framework 5 moving along the vertical direction, the lifting framework 5 is provided with a push-pull device 6 moving along the horizontal direction, one side, close to the storage bin, of the lifting framework 5 is connected with a grabbing device 7, the grabbing device 7 moves on the lifting framework 5 along the vertical direction, the lifting framework 5 below the grabbing device 7 is provided with a involutory guide rail 8, the involutory guide rail 8 is provided with a translation guide rail 81, the translation guide rail 81 moves on the lifting framework 5 along the horizontal direction, and the push-pull device 6, the grabbing device 7 and the involutory guide rail 8 ascend or descend along with the vertical movement of the lifting framework 5;

the side of the peripheral upright post 12 far away from the central upright post 11 is provided with a circular cabin enclosing plate 15, and the circular cabin enclosing plate 15 encloses the peripheral upright post 12 except the storage cabin inlet/outlet 24 and the turntable driver 4.

The peripheral upright posts 12 are matched with the structure of the circular track 13 to form a structure of a transverse and vertical frame at the periphery of the storage bin, and are combined with the round bin coaming 15 to generate a perfect cylindrical mechanical structure.

As shown in fig. 5 to 6, the storage turntable 2 includes a flange assembly 21, radial guide rails 22 and a support wheel assembly 25, the flange assembly 21 is sleeved on the central upright 11, and the outer edge far from the central upright 11 is connected with a plurality of radial guide rails 22, one end of each radial guide rail 22 far from the central upright 11 is provided with an outer end rod 224, the upper surface of each outer end rod 224 is provided with a positioning taper hole 226, the outer end rod 224 is provided with a support wheel assembly 15, and the support wheel assembly 15 is in rolling connection with the circular track 13;

as shown in fig. 7, the flange assembly 21 includes an outer sleeve flange 211, a lower flange 211a and an upper flange 211b, the lower flange 211a is disposed at the lower end of the outer sleeve flange 211, the lower flange 211a is connected to a thrust bearing 213 in a direction close to the central upright 11, a split ring 214 is disposed on the central upright 11 below the thrust bearing 213, and a ring sleeve 215 is disposed on an outer edge of the split ring 214 away from the central upright 11;

the upper end of the outer sleeve flange 211 is provided with an upper flange 211b, the upper flange 211b is connected with the radial bearing 212 in the direction close to the central upright post 11, and the flange component 21 is connected with the thrust bearing 213 and the radial bearing 212 so as to be rotatably connected with the central upright post 11;

the split ring 214 is composed of two semicircular rings, and is respectively placed in the radial grooves 111 of the central upright post 11 corresponding to the split rings to form a complete circular ring, and the ring sleeve 215 is sleeved on the split ring 214 to form a stable structure capable of bearing vertical downward load, so that the main body outer diameters of the central upright post 11 can be consistent, a multi-layer bearing structure is formed in the vertical direction, and the components of the flange component 21 arranged on each layer can be standardized.

As shown in fig. 10 to 11, the radial guide rail 22 includes two guide rail rods 221 parallel to each other, one end of each of the two guide rail rods 221 near the central upright 11 is connected to a guide rail inner rod 222, one end of each of the two guide rail rods 221 far from the central upright 11 is provided with a rod end inclined surface 223, one side of each of the two guide rail rods 221 near the rod end inclined surface 223 is connected to an outer end rod 224, and one end of each of the guide rail inner rods 222 near the central upright 11 is connected to a lower flange 211 a;

the radial guide rails 22 further comprise connecting plates 225, the connecting plates 225 are connected to two guide rail rods 221 at the same time, and a plurality of connecting plates 225 on the radial guide rails 22 are connected to the connecting ring 23 at the same time;

the radial guide rails 22 are adjacently arranged to form the disc-shaped storage turntable 2, larger gaps are generated near the outer edge of the storage turntable 2, in order to improve the space utilization rate of the warehouse, the radial guide rails 22 with different lengths are arranged in the larger gaps, one ends of the radial guide rails 22 with different lengths are connected with the supporting wheel assembly 25, the other ends of the radial guide rails 22 with different lengths are connected with the connecting ring 23 and are connected with the upper flange 211b through the pull rods 26, the pull rods 26 form an umbrella-shaped closed stress structure, and a large amount of structural materials and storage spaces on the storage turntable 2 are saved;

as shown in fig. 8 to 9, the supporting wheel assembly 25 comprises a side connecting plate 253 connected with the outer end rod 224, a rotating wheel shaft 252 is arranged on the side connecting plate 253, one end of the rotating wheel shaft 252 far away from the central upright 11 is connected with a rotating wheel 251, and the rotating wheel 251 is in rolling fit with the circular track 13;

the locus of motion of the center point of the turret 251 is a fixed arc between each two perimeter columns 12 and is a relatively small curvature arc.

The number of the supporting wheel assemblies 25 is the same as that of the radial guide rails 22, that is, one supporting wheel assembly 25 is arranged between two radial guide rails 22, and the weight of the storage turntable 2 is transferred to each peripheral upright post 12 through the supporting wheel assembly 25, so that the weight is effectively shared.

The plurality of radial guide rails 22 form a disc-shaped storage turntable 2 under the connection of the connection ring 23 and the side connection plate 253.

As shown in fig. 12 to 16, a positioning taper pin 35 is disposed on a lower surface of an end of the storage drawer 3 away from the central upright 11 and engaged with the positioning taper hole 226, an outer end handle 32 is disposed on an end surface of the end of the storage drawer 3 away from the central upright 11, at least one inner guide wheel 33 and at least one pair of inner bearing wheels 34 are disposed on a lower portion of the storage drawer 3 in a direction approaching to the central upright 11, and the inner guide wheel 33 and the inner bearing wheels 34 are in rolling connection with the radial guide rail 22;

the positioning taper pin 35 corresponds to the positioning taper hole 226, so as to prevent the storage turntable 2 from causing circumferential displacement of the storage drawer 3 or radial displacement of the whole storage drawer 3 in the processes of starting, turning and braking.

The pair of inner bearing wheels 34 are arranged on two sides of the inner guide wheel 33, the axis of the inner guide wheel 33 is vertically arranged, and the axis of the inner bearing wheel 34 is horizontally arranged;

the inner guide wheel 33 is in rolling fit with the surfaces of the opposite sides of the two guide rail rods 221, and the pair of inner guide wheels 34 is in rolling fit with the upper surfaces of the two guide rail rods 221;

the inner guide wheel 33 has a limiting function at the same time, so that the circumferential displacement of the inner end of the storage drawer 3 is effectively limited. Each of the locker drawers 3 is therefore effectively restrained in a given position when in the normal storage condition.

The storage drawer 3 further comprises a plurality of storage compartments 31, wherein the storage compartments 31 are sequentially arranged on the storage drawer 3 along a direction away from the central upright post 11.

The quantity of the storage drawers 3 on each layer of the storage turnplate 2 is the same as that of the radial guide rails 22, and the lengths of the radial guide rails 22 and the storage drawers 3 are changed to different degrees according to the geometric characteristics of the storage turnplate 2, so that the space utilization rate is improved to the maximum extent;

the storage drawer 3 can bear the weight of self and the loaded storage, has certain structural strength and rigidity, is opened above the storage drawer 3, is enclosed by the structural slab in other directions, and a plurality of storage bin positions 31 are radially separated out with the storage drawer 3 to a plurality of baffles simultaneously to satisfy the needs of storage access. In addition, according to the geometrical characteristics of the storage turntable 2, the storage compartment 31 of the storage drawer 3 close to the central upright is narrower, and the storage compartment 31 far away from the central upright 11 is wider, so as to improve the utilization rate of the storage space and meet the storage requirement of larger storage size.

As shown in fig. 17 to 18, the turntable drive 4 includes a housing 41, an a sprocket set 44, a B sprocket set 45, a C sprocket set 46, a long pin shaft chain 47 and a ball wheel assembly 48, the housing 41 is fixedly connected to the perimeter column 12, the a sprocket set 44, the B sprocket set 45 and the C sprocket set 46 are arranged in a triangle inside the housing 41 and are drivingly connected by the closed long pin shaft chain 47;

be equipped with first electric speed reducer 42 and shaft coupling 43 on the box, shaft coupling 43 is connected to first electric speed reducer 42's output, A sprocket group 44 is linked in the one end drive that first electric speed reducer 42 was kept away from to shaft coupling 43, and A sprocket group 44 is as the power input shaft, and B sprocket group 45 is as the function steering spindle, and C sprocket group 46 is as chain tensioning axle.

The a sprocket set 44 and the B sprocket set 45 are provided on the side close to the perimeter column 12, and the C sprocket set 46 is provided on the side away from the perimeter column 12 between the a sprocket set 44 and the B sprocket set 45;

a plurality of ball wheel assemblies 48 are connected to the long pin chain 47 at fixed intervals, the ball wheel assemblies 48 rotate around the a sprocket set 44, the b sprocket set 45 and the C sprocket set 46 under the driving of the long pin chain 47, and the movement locus of the ball wheel assemblies 48 is tangent to or intersects with or slightly departs from the movement locus of the supporting wheel assembly 25 on the circular track 13, so that the ball wheel assemblies 48 push the supporting wheel assembly 25 to rotate around the central upright post 11.

The a sprocket set 44 includes an a wheel shaft 441, and an upper a sprocket 442 and a lower a sprocket 443 connected to both ends of the a wheel shaft 441, the B sprocket set 45 includes a B wheel shaft 451, and an upper B sprocket 452 and a lower B sprocket 453 connected to both ends of the B wheel shaft 451, the C sprocket set 46 includes a C wheel shaft 461, and an upper C sprocket 462 and a lower C sprocket 463 connected to both ends of the C wheel shaft 461;

the long pin chain 47 includes an upper long pin chain 471 and a lower long pin chain 472, the upper a sprocket 442, the upper B sprocket 452 and the upper C sprocket 462 are in transmission connection through the upper long pin chain 471, the lower a sprocket 443, the lower B sprocket 453 and the lower C sprocket 463 are in transmission connection through the lower long pin chain 472, a plurality of upper long pin chain links 473 are arranged on the upper long pin chain 471 at fixed intervals, lower long pin chain links 474 corresponding to the upper long pin chain links 473 are arranged on the lower long pin chain 472, and the rest of the chain links are ordinary standard transmission chains;

as shown in fig. 30 to 31, the ball wheel assembly 48 includes a ball wheel frame 481, one end of the ball wheel frame 481 close to the upper long pin chain 471 is provided with an upper pin hole 481a corresponding to the upper long pin chain 473, and one end of the ball wheel frame close to the lower long pin chain 472 is provided with a lower pin hole 481b corresponding to the lower long pin chain 474;

one side of the ball wheel frame 481 close to the upper pin hole 481a is provided with a ball wheel shaft 483, one end of the ball wheel shaft 483 far away from the ball wheel frame 481 is rotatably connected with a ball wheel 482 through a bearing 484, and the motion track of the ball wheel 482 is tangent to or intersected with or slightly separated from the circular motion track of the center point of the revolving wheel 251;

the role of the a sprocket set 44 and the B sprocket set 45 is to take the upper long pin chain 471 and the lower long pin chain 472 taut in a straight line between the two sprocket sets and output power. The distance between a sprocket set 44 and B sprocket set 45 is large enough to ensure that long pin chain 47 is tensioned to a linear length sufficient for proper operation.

The center of the ball 482 must lie in the plane of the axes of the upper pin hole 481a and the lower pin hole 481 b. The load borne by the ball wheel 482 is completely dropped on the central line between the upper long pin shaft chain 471 and the lower long pin shaft chain 472, the structure is reasonable, the clearance between the ball wheels 482 is slightly larger than the diameter of the rotary wheel 251, so that the ball wheel 482 pushes the rotary wheel 251 to move continuously and uninterruptedly, the ball wheel 482 turns to pure rolling during the operation, the friction with the rotary wheel 251 is reduced, and the pushing is smoother.

As shown in fig. 19 to 20, the lifting frame 5 includes a lifting guide wheel frame 51, a horizontal guide rail 52 and a horizontal rack 53, the lifting guide wheel frame 51 is connected with the lifting column 16 in a rolling manner and moves on the lifting column 16 in a vertical direction, and the lifting guide wheel frame 51 is provided with two horizontal guide rails 52 and a horizontal rack 53;

the horizontal guide rail 52 is vertically connected with the lifting guide wheel frame 51;

the lifting guide wheel frame 51 comprises a front frame 511 and a rear frame 512, the front frame 511 is in rolling connection with one side of the lifting upright post 16 close to the inlet and outlet of the storage bin, the rear frame 512 is in rolling connection with one side of the lifting upright post 16 far away from the inlet and outlet of the storage bin, and the front frame 511 is parallel to the rear frame 512;

a front frame lifting guide wheel 515 is arranged on two sides of the front frame 511, a rear frame lifting guide wheel 516 is arranged on two sides of the rear frame 512, an upper fixed guide wheel 517 is arranged between the front frame lifting guide wheel 515 on the upper end of the front frame 511 and the rear frame lifting guide wheel 516 on the upper end of the rear frame 512, and a lower fixed guide wheel 518 is arranged between the front frame lifting guide wheel 515 on the lower end of the front frame 511 and the rear frame lifting guide wheel 516 on the lower end of the rear frame 512;

a vertical rack 161 is arranged on one side of the lifting upright column 16 close to the storage bin inlet/outlet 24, a second electric speed reducer 55 is arranged on the front frame 511, an output shaft of the second electric speed reducer 55 is connected with a lifting gear 56, and the lifting gear 56 is meshed with the vertical rack 161; driven by the second electric speed reducer 55, the lifting gear 56 moves on the vertical rack 161 in the vertical direction, so as to drive the lifting guide frame 51 to move in the vertical direction along the lifting upright 16;

two horizontal guide rails 52 are vertically connected to the front frame 511 and the rear frame 512, and the two horizontal guide rails 52 are parallel and horizontal.

The lifting framework 5 further comprises a pull rod assembly 54, and the pull rod assembly 54 is connected with the horizontal guide rail 52 and the lifting guide wheel frame 51 at the same time;

the pull rod assembly 54 comprises a cross rod 541, a longitudinal pull rod 542 and a diagonal pull rod 543, wherein the cross rod 542 is vertically connected with the two horizontal guide rails 52, one end of the cross rod 541 is connected with the rear frame 512, the other end of the cross rod 541 is vertically connected with the cross rod 542, one end of the diagonal pull rod 543 is connected with the upper end of the rear frame 512, and the other end of the diagonal pull rod 543 is connected with one side of the longitudinal pull rod 542 close to the horizontal guide rails 52; the inclined pull rod 543 is positioned at one side of the two horizontal guide rails 52 which faces away from each other;

the elevation guide frame 51 and the horizontal guide rail 52 are structurally stable under the connection of the pulling bar assembly 54.

As shown in fig. 21 to 23, the push-pull device 6 includes a push-pull frame 61, a fixed jaw 64 and a movable jaw 65, wherein the push-pull frame 61 is connected with the horizontal guide rail 52 in a rolling manner and moves on the horizontal guide rail 52 in a horizontal direction, the fixed jaw 64 is arranged on one side of the push-pull frame 61 close to the storage bin entrance/exit 24, the movable jaw 65 is arranged on the push-pull frame 61 below the fixed jaw 64, and the movable jaw 65 is connected with the push-pull frame 61 in a rotating manner.

Six push-pull guide wheels 611 are arranged on one side, close to the horizontal guide rail 52, of the push-pull frame 61, the push-pull guide wheels 611 are in rolling fit with the horizontal guide rail 52, a third electric speed reducer 62 is arranged on one side, close to the horizontal rack 53, of the push-pull frame 61, a horizontal gear 63 is arranged at the output end of the third electric speed reducer 62, the horizontal gear 63 is meshed with the horizontal rack 53, and the push-pull frame 61 is driven to move on the horizontal guide rail 52 in the horizontal direction under the driving of the third electric speed reducer 62 and the meshing of the horizontal gear 63 and the horizontal rack 53;

a fixed shaft 651 is arranged on one side, close to the movable claw 65, of the push-pull frame 61, the fixed shaft 651 is rotatably connected with the movable claw 65, a push-pull air cylinder 66 is arranged on one side, far away from the fixed shaft 651, of the push-pull frame 61, the output end of the push-pull air cylinder 66 is connected with the movable claw 65, and the movable claw 65 rotates around the fixed shaft 651 under the action of the push-pull air cylinder 66;

a fixing groove 641 corresponding to the outer end handle 32 is arranged below the fixing claw 64, and a moving groove 652 corresponding to the fixing groove 641 is arranged above the moving claw 65;

the fixed claw 64 plays a role in limiting and improving the operation reliability, and the movable claw 65 can swing up and down around the fixed shaft 651 to lift and lower the outer end handle 32.

As shown in fig. 24 to 26, the gripping device 7 includes a guide rail plate 71, the guide rail plate 71 is slidably connected to the lifting guide wheel frame 51 near one side of the storage bin entrance/exit 24 and moves on the lifting guide wheel frame 51 in the vertical direction, a fetching claw 76 is provided at the lower end of the guide rail plate 71, and the fetching claw 76 is slidably connected to the guide rail plate 71;

a guide rail plate vertical rail 77 is arranged on one side, far away from the storage bin inlet and outlet 24, of the guide rail plate 71 in the vertical direction, the guide rail plate vertical rail 77 is connected with a lifting slider 72 in a sliding mode, one side, far away from the guide rail plate vertical rail 77, of the lifting slider 72 is connected with a front frame 511 close to one side, near the storage bin inlet and outlet 24, of the lifting slider 72, a lifting cylinder 73 is arranged on the front frame 511 connected with the lifting slider 72, the output end of the lifting cylinder 73 is connected with the guide rail plate 71, and the guide rail plate 71 is driven by the lifting cylinder 73 to be in sliding fit with the lifting slider 72 and slides on the front frame 511 close to one side, near the storage bin inlet and outlet 24 in the vertical direction;

guide rail plate 71 is equipped with the guide rail 74 that opens and shuts of horizontal direction near the below of storing storehouse import and export 24 one side, sliding connection gets thing claw 76 on the guide rail 74 that opens and shuts for two, it snatchs cylinder 75, two to get to be equipped with on the thing claw 76 get thing claw 76 and under the drive of grabbing cylinder 75, slide on the guide rail 74 that opens and shuts, realize opening or the state of folding.

The lifting cylinder 73 drives the guide rail plate 71 to rise upwards so that the storage drawer 3 and the push-pull device 6 pass below the guide rail plate 71, and the lifting cylinder 73 drives the guide rail plate 71 to fall so that the storage claw 76 can grab or put down the stored articles.

As shown in fig. 27 to 29, the involutory guide rail 8 includes two translation guide rails 81, the two translation guide rails 81 are respectively disposed on the horizontal guide rail 52 near one side of the storage compartment access opening 24, the two translation guide rails 81 move on the horizontal guide rail 52 in the horizontal direction, and when the two translation guide rails 81 move in the direction near the storage compartment access opening 24, the two translation guide rails 81 simultaneously move in parallel in the direction approaching each other, and when the two translation guide rails 81 move in the direction away from the storage compartment access opening 24, the two translation guide rails 81 simultaneously move in parallel in the direction away from each other.

The opposite sides of the two translation guide rails 81 are rotatably connected with swing arms 82, one sides of the swing arms 82 far away from the translation guide rails 81 are rotatably connected with swing arm seats 83, the swing arm seats 83 are fixedly connected with the horizontal guide rails 52, one ends of the two translation guide rails 81 far away from the storage bin inlet and outlet 24 are respectively connected with two involutory cylinders 84, and one ends of the two involutory cylinders 84 far away from the storage bin inlet and outlet 24 are connected with involutory cylinder seats 85 fixed on the transverse pull rod 541;

the translation guide rail 81 is driven by the involution cylinder 84 to move on the horizontal guide rail 52 along the horizontal direction, wherein the translation guide rail 81 is realized under the traction of the swing arm 82: when moving towards the direction close to the storage bin, the two translation guide rails 81 move in parallel towards the direction close to each other, and when moving towards the direction far away from the storage bin, the two translation guide rails 81 move in parallel towards the direction far away from each other;

one end of the two translation guide rails 81 close to the storage bin inlet and outlet 24 is provided with a guide rail inclined surface 811 corresponding to the rod end inclined surface 223, and when the two translation guide rails 81 are in contact with the radial guide rail 22 through the storage bin inlet and outlet 24, the guide rail inclined surface 811 is in contact and close contact with the rod end inclined surface 223 and is effectively butted and positioned with the radial guide rail 22.

After the two translation guide rails 81 move in parallel in the direction away from each other, a certain gap 812 is formed between the translation guide rails, so that the object can pass through the gap 812 and be grabbed by the grabbing device 7, and the translation guide rails 81 do not prevent the grabbing device 7 from descending to grab the object.

The above embodiment further comprises a control system, wherein the control system is respectively connected with the turntable driver 4, the lifting frame 5, the push-pull device 6, the gripping device 7 and the involutory guide rail 8, and controls the turntable driver 4, the lifting frame 5, the push-pull device 6, the gripping device 7 and the involutory guide rail 8 to work.

The control system can automatically carry out the detection of the control instruction and the motion state sent by the action of each air cylinder or oil cylinder; controlling and recording the rotation direction and the rotation angle of each electric speed reducer; the control system can automatically record the storage state of the storage position 31 of each storage drawer 3 in the whole storage bin and the codes of the stored storage; the control system can automatically implement the state record of selection, control and operation related to the storage of the storage position 31 of each storage drawer 3 in the whole storage bin;

for better explaining the embodiment, the embodiment further comprises a storage carrier 9, and the storage carrier 9 is mounted on the ground outside the peripheral upright column, can carry the storage and convey the storage to the operation range of the grabbing device 7, and can lift the storage within a specific height.

As shown in fig. 32, the storage carrier 9 includes a lifting platform 92, a bearing tray 93 is disposed on the lifting platform 92, the bearing tray 93 can move on the lifting platform 92 along the vertical direction, a horizontal rail 91 is disposed at the lower end of the lifting platform 92, the lifting platform 92 is in sliding fit with the horizontal rail 91, and the track of the horizontal rail 91 passes under the gripping device 7.

Preferably, the push-pull cylinder 66 can be replaced by an oil cylinder or an electric motor as a power source;

the lifting cylinder 73 and the grabbing cylinder 75 can be replaced by oil cylinders or motors as power sources;

the involution cylinder 84 may be replaced by a cylinder or a motor as a power source.

The storage access method will be described in detail with reference to the following embodiments

The concrete steps of storing and storing materials are as follows:

the two translation guide rails 81 move on the horizontal guide rail 52 in the direction away from the storage bin inlet and outlet 24 under the driving of the involution cylinder 84, and the lifting framework 5 is driven by the second electric speed reducer 55 to ascend to a sufficient height on the lifting upright post 16 along the vertical direction;

the articles are moved on the article carrier 9 to the lower part of the gripping device 7 through the horizontal rail 91; at the moment, the two translation guide rails 81 move in parallel in the direction away from each other under the traction of the swing arm 82, a certain gap 812 is formed between the two translation guide rails, and the storage objects ascend through the lifting platform 92 and pass through the gap 812 between the translation guide rails;

the lifting frame 5 is driven by a second electric speed reducer 55 to descend to the position above the stored articles along the vertical direction, the guide rail plate 71 is driven by a lifting cylinder 73 to descend to the position where the stored articles can be grabbed on the lifting guide wheel frame 51 along the vertical direction, the two fetching claws 76 are closed to grab the stored articles under the drive of a grabbing cylinder 75, the guide rail plate 71 grabs the stored articles by the fetching claws 76 and then ascends to the highest point, then the lifting platform 92 descends, and moves to the outer side of the lifting frame 5 through a horizontal rail 91, and then the lifting guide wheel frame 51 ascends or descends to the height position where the storage turnplate 2 where the stored articles need to be placed is located;

the turntable driver 4 of the storage turntable 2 for storing articles to be placed drives the A chain wheel group 44 to rotate under the driving of the first electric speed reducer 42, the long pin shaft chain 47 in transmission connection with the A chain wheel group 44 drives the ball wheel assembly 48 to move around the A chain wheel group 44, the B chain wheel group 45 and the C chain wheel group 46, when the ball wheel 482 passes through a motion curve of the rotary wheel 251, the rotary wheel 251 is pushed, and under the driving of the rotary wheel 251, the radial guide rail 22 rotates around the central upright column until a target storage drawer 3 for storing articles to be placed is opposite to the storage bin inlet/outlet 24;

the translation guide rails 81 move on the horizontal guide rails 52 towards the direction close to the storage bin inlet and outlet 24 under the driving of the involution cylinder 84, and at the moment, the two translation guide rails 81 move in parallel towards the direction close to each other under the traction of the swing arms 82 until the guide rail inclined planes 811 on the translation guide rails 81 are butted with the rod end inclined planes 223 on the radial guide rails 22;

the push-pull frame 61 is driven by the third electric reducer 62 to move on the horizontal guide rail 52 in the direction close to the central upright post 11, and after the push-pull frame contacts with the storage drawer 3, the movable claw 65 is driven by the push-pull cylinder 66 to rotate upwards around the fixed shaft 651, the movable groove 652 is engaged with the outer end handle 32, the movable claw 65 continues to rotate upwards, the storage drawer 3 is lifted, the positioning taper pin 35 is separated from the positioning taper hole 226 until the movable claw 65 contacts with the fixed claw 64, and the fixed groove 641 and the movable groove 652 are engaged with the outer end handle 32;

at this time, the push-pull frame 61 is driven by the third electric speed reducer 62 to move in a direction away from the central upright post 11, so as to drive the storage drawer 3 to move in a direction away from the central upright post 11 in the radial direction of the storage turntable 2, and the push-pull frame 61 stops moving until the storage space 31 reaches the lower part of the storage;

the guide rail plate 71 descends, the two fetching claws 76 are driven by the grabbing air cylinder 75 to be opened, the object to be stored is placed in the object storage position 31, and then the guide rail plate 71 ascends to the highest point;

the push-pull frame 61 moves towards the direction close to the central upright post 11 until the storage drawer 3 stops moving to the limit position on the radial guide rail 22, the movable claw 65 rotates downwards to put down the outer end handle 32, and the positioning taper pin 35 falls into the positioning pin hole 226, so that the storage drawer 3 is horizontally placed and fixed;

the push-pull frame 61 moves to the periphery of the storage bin in the direction away from the central upright post 11;

(II) the specific steps of storing and taking out are as follows:

in this step, the driving part is consistent with that in the first step, so the description is omitted;

the lifting guide wheel frame 51 is lifted or lowered to the height of the storage rotary disc 2 where the storage articles are located, the rotary disc driver 4 of the storage rotary disc 2 where the storage articles are located drives the chain wheel group A44 to rotate, the long pin shaft chain 47 in transmission connection with the chain wheel group A44 drives the ball wheel assembly 48 to move around the chain wheel group A44, the chain wheel group B45 and the chain wheel group C46, the ball wheel 482 pushes the rotary wheel 251, and the rotary wheel 251 drives the radial guide rail 22 to rotate around the central upright post until the storage drawer 3 where the storage articles are located is opposite to the storage bin inlet/outlet 24;

the translation guide rail 81 moves towards the direction close to the central upright post 11, the guide rail inclined surface 811 is in butt joint with the rod end inclined surface 223, the guide rail plate 71 rises to the highest point, the push-pull frame 61 moves towards the direction close to the central upright post 11, the movable claw 65 rotates upwards to enable the movable groove 652 to be clamped with the outer end handle 32, the storage drawer 3 is lifted by continuing to rotate upwards, the positioning taper pin 35 is separated from the positioning taper hole 226 until the movable claw 65 is in contact with the fixed claw 64, and the movable groove 652 and the fixed groove 641 are clamped and connected with the outer end handle 32;

then the push-pull frame 61 moves towards the direction far away from the central upright post 11 to drive the storage drawer 3 to the outside of the storage compartment until the storage compartment position 31 where the storage is positioned reaches the position below the fetching claw 76;

the guide rail plate 71 descends to the position above the stored articles, the two article taking claws 76 are closed to take the stored articles, and then the guide rail plate 71 ascends to the highest point;

the push-pull frame 61 moves towards the direction close to the central upright post 11 until the storage drawer 3 stops moving to the limit position on the radial guide rail 22, the movable claw 65 rotates downwards to put down the outer end handle 32, so that the positioning taper pin 35 falls into the positioning taper hole 226, the storage drawer 3 is horizontally arranged and fixed, and the push-pull frame 61 moves towards the direction far away from the central upright post 11 to the periphery of the storage bin;

at this time, the translation guide rails 81 move in a direction away from the center pillar 11, and the two translation guide rails 81 move in parallel in a direction away from each other under the traction of the swing arm 82, and a gap 812 is formed between the two translation guide rails 81;

at this time, the storage carrier 9 moves to the position below the storage claw 76, the lifting guide wheel frame 51 rises or falls to a proper grabbing height, the lifting table 92 rises and passes through a gap 812 between the two translation guide rails 81, the guide rail plate 71 descends on the lifting guide wheel frame 51 along the vertical direction to a position where the storage can be placed, and the two storage claws 76 are opened to place the storage on the carrying tray 93 and then rise to the highest point;

the elevator platform 92 is lowered and the article moves with the article carrier 9 to the periphery of the elevator frame 5.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention are also intended to fall within the scope of the appended claims. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The utility model provides a circular warehouse of three-dimensional of polar coordinates overall arrangement, includes the storing storehouse, the storing storehouse outside is connected with at least one access arrangement, its characterized in that: the storage bin comprises a round bin support, a storage rotary table, a storage drawer and a rotary table driver;

a storage bin inlet and outlet is formed in a gap between the two peripheral stand columns close to one side of the access device;

the storage turntables are arranged on the central upright posts in the vertical direction, the storage turntables are rotatably connected with the central upright posts, the edges of the storage turntables far away from the central upright posts are connected with the circular rails in a rolling manner, and the storage drawers are adjacently arranged on the storage turntables;

a rotary table driver is arranged between at least two peripheral upright columns except the peripheral upright columns on the two sides of the storage bin inlet and outlet, and drives the storage rotary table to rotate around the central upright column;

the access device comprises a lifting framework, a push-pull device, a grabbing device and a pair-closing guide rail;

the lifting upright post is provided with a lifting framework moving along the vertical direction, the lifting framework is provided with a push-pull device moving along the horizontal direction, one side, close to the storage bin, of the lifting framework is connected with a grabbing device, the grabbing device moves on the lifting framework along the vertical direction, the lifting framework below the grabbing device is provided with a pair-closing guide rail, the pair-closing guide rail is provided with a translation guide rail, the translation guide rail moves on the lifting framework along the horizontal direction, and the grabbing device, the push-pull device and the pair-closing guide rail ascend or descend along with the vertical movement of the lifting framework;

the storage turntable comprises a flange assembly, radial guide rails and a supporting wheel assembly, the flange assembly is sleeved on the central stand column, the edge far away from the central stand column is connected with the radial guide rails, one end, far away from the central stand column, of each radial guide rail is provided with an outer end rod, the upper surface of each outer end rod is provided with a positioning taper hole, the outer end rod is provided with the supporting wheel assembly, and the supporting wheel assembly is in rolling connection with the circular rail.

2. The stereoscopic circular warehouse of a polar coordinate layout as claimed in claim 1, wherein: the lower surface of one end of the storage drawer, which is far away from the central upright post, is provided with a positioning taper pin matched with the positioning taper hole, the end surface of one end of the storage drawer, which is far away from the central upright post, is provided with an outer end handle, the lower part of the storage drawer, which is close to the central upright post, is provided with at least one inner guide wheel and at least one pair of inner bearing wheels, and the inner guide wheel and the inner bearing wheels are in rolling connection with the radial guide rail;

3. The stereoscopic circular warehouse of a polar coordinate layout as claimed in claim 1, wherein: the turntable driver comprises a case, an A chain wheel group, a B chain wheel group, a C chain wheel group, a long pin shaft chain and a ball wheel assembly, wherein the A chain wheel group, the B chain wheel group and the C chain wheel group are arranged in the case in a triangular mode and are in transmission connection through the closed long pin shaft chain;

the long pin shaft chain is connected with a plurality of ball wheel assemblies at fixed intervals, the ball wheel assemblies are driven by the long pin shaft chain to rotate around the chain wheel group A, the chain wheel group B and the chain wheel group C, and the movement track of the ball wheel assemblies is tangent to or intersected with or slightly separated from the movement track of the supporting wheel assembly on the circular track, so that the ball wheel assemblies push the supporting wheel assembly to rotate around the central upright post.

4. The stereoscopic circular warehouse of a polar coordinate layout as claimed in claim 1, wherein: the lifting frame comprises a lifting guide wheel frame, a horizontal guide rail and a horizontal rack, the lifting guide wheel frame is connected with the lifting upright post in a rolling or sliding mode and moves on the lifting upright post in the vertical direction, and the lifting guide wheel frame is provided with the horizontal guide rail and the horizontal rack.

5. The stereoscopic circular warehouse of a polar coordinate layout as claimed in claim 4, wherein: the push-pull device comprises a push-pull frame, a fixed claw and a movable claw, wherein the push-pull frame is in rolling or sliding connection with the horizontal guide rail and moves on the horizontal guide rail along the horizontal direction, the fixed claw is arranged on one side, close to the inlet and the outlet of the storage bin, of the push-pull frame, the movable claw is arranged on the push-pull frame below the fixed claw, and the movable claw is in rotating connection with the push-pull frame.

6. The stereoscopic circular warehouse of a polar coordinate layout as claimed in claim 4, wherein: grabbing device includes the guide rail board and gets the thing claw, the guide rail board with be close to the lift wheel carrier sliding connection of storing storehouse exit one side to slide along vertical direction on the lift wheel carrier, guide rail board lower extreme is equipped with gets the thing claw, it slides or rotates with the guide rail board and is connected to get the thing claw.

7. The stereoscopic circular warehouse of a polar coordinate layout as claimed in claim 4, wherein: the involutory guide rail comprises two translation guide rails, the two translation guide rails are arranged on a horizontal guide rail close to one side of the storage bin, the two translation guide rails move on the horizontal guide rail along the horizontal direction, when the two translation guide rails move towards the direction close to the storage bin, the two translation guide rails simultaneously move in parallel towards the direction close to each other, and when the two translation guide rails move towards the direction far away from the storage bin, the two translation guide rails simultaneously move in parallel towards the direction far away from each other.

8. A method for storing and taking articles by using the stereoscopic round warehouse with the polar coordinate layout of claim 1, which is characterized in that:

the concrete steps of storing and storing materials are as follows:

the push-pull device moves towards the direction close to the central upright post, is clamped with the storage drawer and lifts the storage drawer, and at the moment, the push-pull device moves towards the direction far away from the central upright post to drive the storage drawer to move towards the direction far away from the central upright post, and the storage drawer is driven to the outside of the storage bin by the push-pull device and stops until a target storage bin position on the storage drawer reaches the position below the storage bin;

(II) the specific steps of storing and taking out are as follows:

the lifting framework is lifted or lowered to the height of the storage turntable where the storage articles are located, and the turntable driver of the storage turntable where the storage articles are located drives the storage turntable to rotate around the central upright post until the storage drawers where the storage articles are located are opposite to the storage bin inlets and outlets;

the gripping device descends above the storage, the storage is gripped, then the gripping device ascends to the highest point, the push-pull device pushes the storage drawer towards the direction close to the central upright post until the storage drawer enters the extreme position on the radial guide rail, and the push-pull device puts down the storage drawer and moves to the periphery of the storage bin along the direction far away from the central upright post;

at the moment, the translation guide rail moves towards the direction far away from the central upright post, the lifting framework ascends or descends to the position where the stored articles can be placed, the grabbing device descends on the lifting framework along the vertical direction, and the grabbing device releases the stored articles and then ascends to the highest point.