CN107640490A - Three-dimensional warehouse system and its control method - Google Patents
Three-dimensional warehouse system and its control method Download PDFInfo
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- CN107640490A CN107640490A CN201710851504.8A CN201710851504A CN107640490A CN 107640490 A CN107640490 A CN 107640490A CN 201710851504 A CN201710851504 A CN 201710851504A CN 107640490 A CN107640490 A CN 107640490A
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Abstract
The present invention relates to a kind of Three-dimensional warehouse system, it is characterized in that, to in the tiered warehouse facility with multi-mine roadway, the Three-dimensional warehouse system include at least two change lane stacker, the track exchanging device in lane stacker conversion tunnel is changed in driving, the rail shuttle for being arranged on the feeding table of tunnel end, being arranged on material conveying platform side, be arranged on the commutation conveyer of rail shuttle side, be arranged on the conveyer side of commutating go out feeding table and controller, the controller includes：(1) library module is entered automatically；(2) automatic withdrawing module；(3) empty pallet automatic stacking memory module.The Three-dimensional warehouse system, which has, changes lane stacker, it can be achieved to enter line access to the goods in any bar tunnel, and the Three-dimensional warehouse system also add the function that automatic stacking is carried out to empty pallet, has saved the access time of goods, has improved the storage efficiency of Three-dimensional warehouse system.
Description
Technical field
The present invention relates to a kind of Three-dimensional warehouse system and its control method, belong to logistics field.
Background technology
In existing automated storage and retrieval system, a piler is matched somebody with somebody using a tunnel more, piler can only be in list
Back and forth travelled in tunnel, realize the access to goods.However, when the piler in a tunnel breaks down, another tunnel
Interior piler can not be run to the tunnel enters line access to goods.And tiered warehouse facility tunnel is more, more pilers of configuration make
Obtain warehouse and seem crowded, efficiency is low.In addition, the Three-dimensional warehouse system of prior art, is substantially all and simply goods is carried out certainly
Dynamic storage and outbound operation, are operated without automatically empty pallet stacking is stored.
The content of the invention
It is an object of the invention to provide one kind can to any bar tunnel carry out the mutual goods in village, and can automatically by
Empty pallet carries out the Three-dimensional warehouse system and its control method of stacking storage.
To reach above-mentioned purpose, the present invention provides following technical scheme：A kind of Three-dimensional warehouse system, to a plurality of lane
In the tiered warehouse facility in road, the Three-dimensional warehouse system changes lane stacker including at least two, lane stacker conversion is changed in driving
The track exchanging device in tunnel, the feeding table for being arranged on tunnel end, the rail shuttle for being arranged on material conveying platform side, it has been arranged on
The commutation conveyer of rail shuttle side, be arranged on commutation conveyer side go out feeding table and controller, the controller bag
Include：
Automatically library module is entered：Lane stacker, which is changed, when goods warehousing, described in the automatic storage module drive takes out sky
Pallet is simultaneously transmitted to feeding table, then drive the rail shuttle by the empty pallet from the feeding table be carried to commutation it is defeated
Machine is sent, then drives the commutation conveyer that the empty pallet is delivered to out into feeding table, goods is positioned on the empty pallet,
Then the pallet equipped with goods is delivered to rail shuttle by driving commutation conveyer, then drives rail shuttle to be equipped with by described in
The pallet carrying of goods finally changes lane stacker by the pallet carrying equipped with goods to empty storehouse to feeding table described in driving
Position；Lane stacker, which is changed, when goods needs to change tunnel and is put in storage, described in the automatic storage module drive passes through the dress that switches tracks
Put to run to specified tunnel；
Automatic withdrawing module：When goods outbound, the automatic withdrawing module drive changes lane stacker and takes out corresponding dress
There is the tray transport of goods to feeding table, then drive the rail shuttle by the pallet carrying equipped with goods to commutation
Conveyer, then drive the commutation conveyer that the pallet equipped with goods is delivered to out into feeding table；
Empty pallet automatic stacking memory module：When the Three-dimensional warehouse system is in idle state, i.e., need without goods
Lane stacker is changed when storehouse is put in storage, described in the empty pallet automatic stacking memory module driving to take out the empty pallet in warehouse compartment simultaneously
Deliver to specified location and carry out stacking.
Further, the Three-dimensional warehouse system also includes filling with the freight detection that the automatic storage module by signal is connected
Put, the freight detection device includes being used for the weighing sensor for detecting the weight of goods and the profile progress to goods
The profile measurement sensor of detection.
Further, the Three-dimensional warehouse system also includes the warning device being connected with the automatic storage module by signal,
When the profile measurement sensor and weighing sensor detect the goods profile or unqualified weight, the warning device
Start.
Further, the Three-dimensional warehouse system also includes the manipulator that stacking processing is carried out to empty pallet, the machinery
Hand is connected with empty pallet automatic stacking memory module signal.
Further, it is described go out feeding table on be equipped with and be used to transmit the roller line of empty pallet or the pallet equipped with goods.
Present invention also offers a kind of control method of Three-dimensional warehouse system, in above-mentioned Three-dimensional warehouse system, institute
The method of stating comprises the following steps：
Automatic storage：Lane stacker is changed when goods warehousing, described in the controller driving to take out empty pallet and transmit
To feeding table, then drive the rail shuttle that the empty pallet is carried into commutation conveyer from the feeding table, then drive
The empty pallet is delivered to out feeding table by the dynamic commutation conveyer, and goods is positioned on the empty pallet, then driven
Pallet equipped with goods is delivered to rail shuttle by commutation conveyer, then drives rail shuttle by the support equipped with goods
Disk is carried to feeding table, finally changes lane stacker by the pallet carrying equipped with goods to empty warehouse compartment described in driving；Work as goods
Thing is needed to change tunnel when being put in storage, and lane stacker is changed described in the controller driving by track exchanging device to run to specifying
Tunnel；
Automatic withdrawing：When goods outbound, the controller driving changes lane stacker and takes out the corresponding support equipped with goods
Disk is transmitted to feeding table, then drives the rail shuttle by the pallet carrying equipped with goods to the conveyer that commutates, then
Drive the commutation conveyer that the pallet equipped with goods is delivered to out into feeding table；
Empty pallet automatic stacking stores：When the Three-dimensional warehouse system is in idle state, i.e., outbound is needed to enter without goods
During storehouse, lane stacker is changed described in the controller driving empty pallet in warehouse compartment is taken out and delivers to specified location progress code
Pile.
Further, in described " automatic storage " step, the controller drives the freight detection device to goods
Profile and weight are detected.
Further, if detect that goods profile or weight exceed designated value, the controller driving alarm dress
Put alarm.
Further, in described " storage of empty pallet automatic stacking " step, tunnel stacking is changed described in the controller driving
After empty pallet in warehouse compartment is taken out and deliver to specified location by machine, the controller control machinery hand carries out stacking to empty pallet.
Further, described " automatic storage " step concrete operations are：
The lane stacker that changes puts the empty pallet taking-up of corresponding warehouse compartment to material conveying platform, and rail shuttle holds in the palm sky
Disk is transported to commutation conveyer, is put pallet to going out on feeding table by the commutation conveyer, goods is put into empty pallet,
Freight detection module is transported to by roller line, examines the goods acceptance or rejection, if detection is qualified will to be equipped with goods again
Pallet run to commutation conveyer, commutation conveyer is rotated by 90 ° toward traffic direction pallet is delivered on rail shuttle,
Rail shuttle puts pallet to changing on lane stacker and deliver to corresponding warehouse compartment.
The beneficial effects of the present invention are：The present invention Three-dimensional warehouse system by be provided with change lane stacker and and its
The track exchanging device of cooperation, line access is entered to the goods in any bar tunnel in tiered warehouse facility to realize；By in tiered warehouse facility system
Empty pallet automatic stacking memory module is set in system, reaches the access time for saving goods, the storage for improving Three-dimensional warehouse system
The effect of efficiency.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the constructional device schematic diagram of the Three-dimensional warehouse system of the present invention.
Fig. 2 is Fig. 1 partial enlarged drawing.
Fig. 3 is the module principle figure of the controller in Fig. 1.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Fig. 1 to Fig. 3 is referred to, the Three-dimensional warehouse system 1 of a preferred embodiment of the invention changes tunnel including at least two
Piler 2, driving change lane stacker 2 change tunnel track exchanging device 3, be arranged on the feeding table 4 of tunnel end, be arranged on it is defeated
The rail shuttle 5 of the side of feeding table 4, the commutation conveyer 6 (7) for being arranged on the side of rail shuttle 5, it is arranged on commutation conveying
The side of machine 6 goes out feeding table 9 and controller 20, the controller 20 include entering automatically library module 21, automatic withdrawing module 22 with
And empty pallet automatic stacking memory module 23.
Automatically library module 21 is entered：It is described to enter library module 21 automatically and drive described to change lane stacker 2 and take when goods warehousing
Go out empty pallet 10 and transmit to feeding table 4, then drive the rail shuttle 5 to remove the empty pallet from the feeding table 4
Commutation conveyer 6 is transported to, then drives the commutation conveyer 6 that the empty pallet 10 is delivered to out into feeding table 9, goods is placed
In on the empty pallet 10, then the pallet 10 equipped with goods is delivered to rail shuttle 5 by driving commutation conveyer 6, then is driven
The pallet 10 equipped with goods is carried to feeding table 4 by dynamic rail shuttle 5, and lane stacker 2 is finally changed described in driving will
The pallet 10 equipped with goods is carried to sky warehouse compartment.It is described to enter library module automatically when goods needs to change tunnel and is put in storage
Lane stacker 2 is changed by track exchanging device 3 to run to specified tunnel described in 21 drivings.Wherein, the Three-dimensional warehouse system 1
The track (non-label) coordinated with the rail shuttle 5 is provided with, the rail shuttle 5 moves on the track.Institute
The roller line (not shown) for being equipped with feeding table 9 and being used for transmitting empty pallet 10 or the pallet equipped with goods is stated out, in order to lighter
Easy transmission empty pallet 10 or the pallet equipped with goods.In the present embodiment, the track is trapped orbit, described to change tunnel heap
The number of units of stack machine 2 is two.Really, in other embodiments, the number of units for changing lane stacker 2 can be three or more
It is more, determined by the demand and space of Three-dimensional warehouse system.Accordingly, the number of the track exchanging device 3 is also two groups.
Automatic withdrawing module 22：When goods outbound, the taking-up pair of lane stacker 2 is changed in the driving of automatic withdrawing module 22
It should be transmitted equipped with the pallet 10 of goods and to feeding table 4, then drive the rail shuttle 5 by the pallet 10 equipped with goods
Commutation conveyer 6 is carried to, then drives the commutation conveyer 6 that the pallet 10 equipped with goods is delivered to out into feeding table 9.
When goods, which needs to change tunnel, carries out outbound, the controller 20, which drives, described changes lane stacker 2 by track exchanging device 3 to transport
The tunnel of row to another, the goods in the tunnel is taken out.
Empty pallet automatic stacking memory module 23：When the Three-dimensional warehouse system 1 is in idle state, i.e., needed without goods
When outbound is put in storage, the empty pallet automatic stacking memory module 23, which drives, described changes lane stacker 2 by the empty pallet in warehouse compartment
10 take out and deliver to specified location progress stacking.
The Three-dimensional warehouse system 1 also include with it is described enter automatically the freight detection device 8 that is connected of the signal of library module 21 and
Warning device (not shown), the freight detection device 8 include being used for the weighing sensor for detecting the weight of goods (not
Diagram) and the profile measurement sensor (not shown) that is detected to the profile of goods.Goods profile is preset in controller 20
And the threshold limit value of weight, goods is put to freight detection device 8, to carry out profile and weight detecting to goods.When described
When profile measurement sensor and weighing sensor detect goods profile or weight unqualified (i.e. beyond threshold limit value), institute
Alarm activation is stated, the goods does not do storage processing.
The Three-dimensional warehouse system 1 also includes the manipulator (not shown) that stacking processing is carried out to empty pallet, the machinery
Hand is connected with the signal of empty pallet automatic stacking memory module 23.The empty pallet quantity of stacking is preset in controller 20 most
Big value, the lane stacker 2 that changes take out the empty pallet 10 from corresponding warehouse compartment, are transported to feeding table 4, the rail is worn
The empty pallet 10 is transported in commutation conveyer 6 by shuttle car 5 again, and the commutation conveyer 6 again transports the empty pallet 10
To going out on the freight detection device 8 of feeding table 9.Manipulator carries out stacking to the empty pallet, when freight detection device 8 detects
When the quantity of the empty pallet of stacking reaches the maximum of setting, manipulator stops stacking, and now controller 20 drives automatic storage
The empty pallet good to stacking of module 21 is put in storage.
Present invention also offers a kind of control method of Three-dimensional warehouse system 1, in above-mentioned Three-dimensional warehouse system 1,
Methods described comprises the following steps：
Automatic storage：When goods warehousing, the controller 20 drives the lane stacker 2 that changes to take out empty pallet 10 simultaneously
Transmit to feeding table 4, then drive the rail shuttle 5 by the empty pallet 10 from the feeding table 4 be carried to commutation it is defeated
Machine 6 is sent, then drives the commutation conveyer 6 that the empty pallet 10 is delivered to out into feeding table 9, goods is positioned over the empty support
On disk 10.It is described go out feeding table 9 on be provided with freight detection device 8, the controller 20 drives the freight detection device 8 right
The profile and weight of goods are detected.If detect that goods profile or weight exceed designated value, the controller 20 drives
The warning device alarm.If detecting goods profile and weight within the specified range, then the commutation conveyer 6 is driven toward fortune
Line direction, which is rotated by 90 °, is delivered to the pallet 10 equipped with goods on rail shuttle 5, then drives rail shuttle 5 by the dress
The pallet 10 for having goods is carried to feeding table 4, finally changes lane stacker 2 described in driving and removes the pallet 10 equipped with goods
It is transported to sky warehouse compartment.When goods needs to change tunnel and is put in storage, the controller 20, which drives, described changes lane stacker 2 by changing
Rail device 3 is stored with running to the tunnel of another with the goods to the tunnel.
Automatic withdrawing：When goods outbound, the driving of controller 20 is changed the taking-up of lane stacker 2 and corresponded to equipped with goods
Pallet 10 is transmitted to feeding table 4, then drives the rail shuttle 5 by the pallet carrying equipped with goods to the conveying that commutates
Machine 6, then drive the commutation conveyer 6 that the pallet 10 equipped with goods is delivered to out into feeding table 9.When goods needs to change lane
When road carries out outbound, the controller 20, which drives, described changes lane stacker 2 by track exchanging device 3 to run to the lane of another
Road, the goods in the tunnel is taken out.
Empty pallet automatic stacking stores：When the Three-dimensional warehouse system is in idle state, i.e., outbound is needed to enter without goods
During storehouse, the controller 20, which drives, described to be changed lane stacker 2 and takes out and deliver to specified location by the empty pallet 10 in warehouse compartment
Row stacking, then the empty pallet 10 good to stacking carry out automatic in-stockroom operation, so far, empty pallet automatic stacking storage operating process
Terminate.
In summary：The Three-dimensional warehouse system 1 of the present invention is changed lane stacker 2 and switched tracks with what it coordinated by being provided with
Device 3, line access is entered to the goods in any bar tunnel in tiered warehouse facility to realize；By being set in Three-dimensional warehouse system 1
Empty pallet automatic stacking memory module 23, reach the access time for saving goods, the storage efficiency for improving Three-dimensional warehouse system 1
Effect.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. Three-dimensional warehouse system, it is characterised in that in the tiered warehouse facility with multi-mine roadway, the tiered warehouse facility system System includes at least two and changes lane stacker, drives and change the track exchanging device in lane stacker conversion tunnel, be arranged on tunnel end Feeding table, be arranged on the rail shuttle of material conveying platform side, be arranged on rail shuttle side commutation conveyer, set Go out feeding table and controller in commutation conveyer side, the controller includes：Automatically library module is entered：Lane stacker, which is changed, when goods warehousing, described in the automatic storage module drive takes out empty pallet And transmit to feeding table, then drive the rail shuttle that the empty pallet is carried into commutation conveying from the feeding table Machine, then drive the commutation conveyer that the empty pallet is delivered to out into feeding table, goods is positioned on the empty pallet, so Rear-guard is moved to conveyer is delivered to rail shuttle by the pallet equipped with goods, then drives rail shuttle that goods is housed by described in The pallet carrying of thing finally changes lane stacker by the pallet carrying equipped with goods to empty storehouse to feeding table described in driving Position；Lane stacker, which is changed, when goods needs to change tunnel and is put in storage, described in the automatic storage module drive passes through the dress that switches tracks Put to run to specified tunnel；Automatic withdrawing module：When goods outbound, the automatic withdrawing module drive changes lane stacker taking-up and goods correspondingly is housed Then the tray transport of thing drives the rail shuttle by the pallet carrying equipped with goods to the conveying that commutates to feeding table Machine, then drive the commutation conveyer that the pallet equipped with goods is delivered to out into feeding table；Empty pallet automatic stacking memory module：When the Three-dimensional warehouse system is in idle state, i.e., outbound is needed to enter without goods Lane stacker is changed during storehouse, described in the empty pallet automatic stacking memory module driving empty pallet in warehouse compartment is taken out and delivered to Specified location carries out stacking.
- 2. as claimed in claim 1 have the Three-dimensional warehouse system for changing lane stacker, it is characterised in that the tiered warehouse facility System also includes freight detection device be connected with the automatic storage module by signal, the freight detection device include for pair Weighing sensor that the weight of goods is detected and the profile measurement sensor that profile to goods is detected.
- 3. as claimed in claim 1 have the Three-dimensional warehouse system for changing lane stacker, it is characterised in that the tiered warehouse facility System also includes the warning device being connected with the automatic storage module by signal, when the profile measurement sensor and weighing and sensing When device detects the goods profile or unqualified weight, the alarm activation.
- 4. as claimed in claim 1 have the Three-dimensional warehouse system for changing lane stacker, it is characterised in that the tiered warehouse facility System also includes the manipulator that stacking processing is carried out to empty pallet, the manipulator and empty pallet automatic stacking memory module signal Connection.
- 5. as claimed in claim 1 have the Three-dimensional warehouse system for changing lane stacker, it is characterised in that it is described go out feeding table It is upper that the roller line for being used for transmitting empty pallet or the pallet equipped with goods is housed.
- 6. a kind of control method of Three-dimensional warehouse system, it is characterised in that to as described in any one in Claims 1 to 5 Three-dimensional warehouse system in, methods described comprises the following steps：Automatic storage：When goods warehousing, lane stacker is changed described in controller driving and takes out empty pallet and transmits to sending Expect platform, then drive the rail shuttle that the empty pallet is carried into commutation conveyer from the feeding table, then drive institute State commutation conveyer and the empty pallet is delivered to out feeding table, goods is positioned on the empty pallet, then driving commutation Pallet equipped with goods is delivered to rail shuttle by conveyer, then drives rail shuttle to remove the pallet equipped with goods Feeding table is transported to, finally changes lane stacker by the pallet carrying equipped with goods to empty warehouse compartment described in driving；When goods needs When changing tunnel and being put in storage, lane stacker is changed by track exchanging device to run to specified lane described in the controller driving Road；Automatic withdrawing：When goods outbound, the controller driving changes lane stacker and takes out the corresponding pallet biography equipped with goods Feeding table is transported to, then drives the rail shuttle by the pallet carrying equipped with goods to the conveyer that commutates, then drive The pallet equipped with goods is delivered to out feeding table by the commutation conveyer；Empty pallet automatic stacking stores：When the Three-dimensional warehouse system is in idle state, i.e., when needing the outbound to be put in storage without goods, Lane stacker is changed described in the controller driving to take out the empty pallet in warehouse compartment and deliver to specified location progress stacking.
- 7. the control method with the Three-dimensional warehouse system for changing lane stacker as claimed in claim 6, it is characterised in that institute State in " automatic storage " step, the controller drives the freight detection device to detect the profile and weight of goods.
- 8. the control method with the Three-dimensional warehouse system for changing lane stacker as claimed in claim 7, it is characterised in that if When detecting that goods profile or weight exceed designated value, the controller drives the warning device alarm.
- 9. the control method with the Three-dimensional warehouse system for changing lane stacker as claimed in claim 6, it is characterised in that institute State in " storage of empty pallet automatic stacking " step, changing lane stacker described in the controller driving takes the empty pallet in warehouse compartment After going out and delivering to specified location, the controller control machinery hand carries out stacking to empty pallet.
- 10. the control method with the Three-dimensional warehouse system for changing lane stacker as claimed in claim 6, it is characterised in that " automatic storage " the step concrete operations are：The lane stacker that changes puts the empty pallet taking-up of corresponding warehouse compartment to material conveying platform, and rail shuttle transports empty pallet Commutation conveyer is delivered to, pallet is put to going out on feeding table by the commutation conveyer, goods is put into empty pallet, passed through Roller line is transported to freight detection module, examines the goods acceptance or rejection, if detection is qualified again by the support equipped with goods Disk is run to commutation conveyer, and commutation conveyer is rotated by 90 ° toward traffic direction is delivered to pallet on rail shuttle, rail Shuttle puts pallet to changing on lane stacker and deliver to corresponding warehouse compartment.
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