CN107640490B - Three-dimensional warehouse system and its control method - Google Patents
Three-dimensional warehouse system and its control method Download PDFInfo
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- CN107640490B CN107640490B CN201710851504.8A CN201710851504A CN107640490B CN 107640490 B CN107640490 B CN 107640490B CN 201710851504 A CN201710851504 A CN 201710851504A CN 107640490 B CN107640490 B CN 107640490B
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Abstract
The present invention relates to a kind of Three-dimensional warehouse systems, it is characterized in that, to in the tiered warehouse facility with multi-mine roadway, the Three-dimensional warehouse system includes at least two and changes lane stacker, drives the track exchanging device for changing lane stacker conversion tunnel, the feeding table that tunnel end is arranged in, the rail shuttle that material conveying platform side is arranged in, the commutation conveyer that rail shuttle side is arranged in, feeding table and the controller out that commutation conveyer side is arranged in, and the controller includes: that (1) enters library module 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 access the cargo in any tunnel, and the Three-dimensional warehouse system also adds the function that automatic stacking is carried out to empty pallet, has saved the access time of cargo, 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 methods, belong to logistics field.
Background technique
In existing automated storage and retrieval system, mostly use a tunnel with a piler, piler can only be in list
It is back and forth travelled in tunnel, realizes the access to cargo.However, when the piler in a tunnel breaks down, another tunnel
Interior piler is unable to run to the tunnel and accesses to cargo.And tiered warehouse facility tunnel is more, and more pilers of configuration make
Obtaining warehouse seems crowded, inefficiency.In addition, the Three-dimensional warehouse system of the prior art, is substantially all and only carries out certainly to cargo
Dynamic storage and outbound operation, operate without automatically empty pallet stacking is stored.
Summary of the invention
Can carry out the mutual cargo in village to any tunnel the purpose of the present invention is to provide one kind, and can automatically by
The Three-dimensional warehouse system and its control method of empty pallet progress stacking storage.
In order to achieve the above objectives, the invention provides the 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 includes at least two and changes lane stacker, drives and change lane stacker conversion
The track exchanging device in tunnel, the feeding table that tunnel end is arranged in, the rail shuttle that material conveying platform side is arranged in, setting are having
The commutation conveyer of rail shuttle side, feeding table and the controller out that commutation conveyer side is set, the controller packet
It includes:
Automatically enter library module: when goods warehousing, lane stacker is changed described in the automatic storage module drive and 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 feeding table, cargo is placed on the empty pallet,
Then the pallet equipped with cargo is delivered to rail shuttle by driving commutation conveyer, then rail shuttle is driven to be equipped with by described in
The pallet carrying of cargo finally changes lane stacker for the pallet carrying equipped with cargo to empty library described in driving to feeding table
Position；When cargo, which needs to change tunnel, to be put in storage, lane stacker is changed described in the automatic storage module drive and passes through the dress that switches tracks
It sets to run to specified tunnel；
Automatic withdrawing module: when cargo outbound, the automatic withdrawing module drive changes lane stacker and takes out corresponding dress
There is the tray transport of cargo to feeding table, then drives the rail shuttle by the pallet carrying equipped with cargo to commutation
Conveyer, then drive the commutation conveyer that the pallet equipped with cargo is delivered to out feeding table；
Empty pallet automatic stacking memory module: it when the Three-dimensional warehouse system is in idle state, i.e., needs without cargo
When library is put in storage, lane stacker is changed described in the empty pallet automatic stacking memory module driving and takes out the empty pallet in warehouse compartment simultaneously
It send to designated position and carries out stacking.
Further, the Three-dimensional warehouse system further includes the freight detection dress connecting with the automatic storage module by signal
It sets, the freight detection device includes the weighing sensor detected for the weight to cargo and carries out to the shape of cargo
The profile measurement sensor of detection.
Further, the Three-dimensional warehouse system further includes the warning device connecting with the automatic storage module by signal,
When the profile measurement sensor and weighing sensor detect the cargo shape or unqualified weight, the warning device
Starting.
Further, the Three-dimensional warehouse system further includes the manipulator that stacking processing is carried out to empty pallet, the machinery
Hand is connect with empty pallet automatic stacking memory module signal.
Further, equipped with the roller line for being used for transmission empty pallet or the pallet equipped with cargo on the feeding table out.
The present invention also provides a kind of control method of Three-dimensional warehouse system, in above-mentioned Three-dimensional warehouse system, institute
The method of stating includes the following steps:
Automatic storage: when goods warehousing, lane stacker is changed described in the controller driving and takes out empty pallet and transmits
It to feeding table, then drives the rail shuttle that the empty pallet is carried to commutation conveyer from the feeding table, then drives
It moves the commutation conveyer and the empty pallet is delivered to out feeding table, cargo is placed on the empty pallet, is then driven
Pallet equipped with cargo is delivered to rail shuttle by commutation conveyer, then drives rail shuttle by the support equipped with cargo
Disk is carried to feeding table, finally changes lane stacker for the pallet carrying equipped with cargo to empty warehouse compartment described in driving；Work as goods
Object needs to change tunnel when being put in storage, and changes lane stacker described in the controller driving by track exchanging device to run to specified
Tunnel；
Automatic withdrawing: when cargo outbound, the controller driving changes lane stacker and takes out the corresponding support that cargo is housed
Disk is transmitted to feeding table, then drives the rail shuttle by the pallet carrying equipped with cargo to the conveyer that commutates, then
Drive the commutation conveyer that the pallet equipped with cargo is delivered to out feeding table；
The storage of empty pallet automatic stacking: when the Three-dimensional warehouse system is in idle state, i.e., outbound is needed to enter without cargo
When library, lane stacker is changed described in the controller driving, the empty pallet in warehouse compartment is taken out and is sent to designated position progress code
Pile.
Further, in described " automatic storage " step, the controller drives the freight detection device to cargo
Shape and weight are detected.
Further, if detect cargo shape or weight beyond designated value, the controller drives the alarm dress
Set alarm.
Further, in described " storage of the empty pallet automatic stacking " step, tunnel stacking is changed described in the controller driving
Empty pallet in warehouse compartment is taken out and is sent to designated position by machine, and the controller control manipulator carries out stacking to empty pallet.
Further, described " automatic storage " the step concrete operations are as follows:
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, puts to feeding table out pallet by the commutation conveyer, cargo is put into empty pallet,
It is transported to freight detection module by roller line, examines the cargo acceptance or rejection, if detection qualification will be equipped with cargo 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 send to corresponding warehouse compartment.
The beneficial effects of the present invention are: Three-dimensional warehouse system of the invention by be provided with change lane stacker and and its
The track exchanging device of cooperation accesses the cargo in any tunnel in tiered warehouse facility with realizing；By in tiered warehouse facility system
Empty pallet automatic stacking memory module is set in system, reaches the access time for saving cargo, the storage for improving Three-dimensional warehouse system
The effect of efficiency.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the constructional device schematic diagram of Three-dimensional warehouse system of the invention.
Fig. 2 is the partial enlarged view of Fig. 1.
Fig. 3 is the module principle figure of the controller in Fig. 1.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Referring to Figure 1 to Fig. 3, the Three-dimensional warehouse system 1 of a preferred embodiment of the invention includes at least two and changes tunnel
Piler 2, driving change lane stacker 2 and convert the track exchanging device 3 in tunnel, the feeding table 4 that tunnel end is arranged in, are arranged defeated
The rail shuttle 5 of 4 side of feeding table, the commutation conveyer 6 (7) that 5 side of rail shuttle is arranged in, setting are conveyed in commutation
6 side of machine go out feeding table 9 and controller 20, the controller 20 include automatically enter library module 21, automatic withdrawing module 22 with
And empty pallet automatic stacking memory module 23.
Automatically enter library module 21: described to enter library module 21 automatically and drive described to change lane stacker 2 and take when goods warehousing
Empty pallet 10 and it is transmitted to feeding table 4 out, the rail shuttle 5 is then driven to remove the empty pallet from the feeding table 4
It is transported to commutation conveyer 6, then drives the commutation conveyer 6 that the empty pallet 10 is delivered to out feeding table 9, cargo is placed
In on the empty pallet 10, then the pallet 10 equipped with cargo is delivered to rail shuttle 5 by driving commutation conveyer 6, then is driven
The pallet 10 equipped with cargo 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 cargo is carried to sky warehouse compartment.It is described to enter library module automatically when cargo, which needs to change tunnel, to be put in storage
Lane stacker 2 is changed described in 21 drivings by track exchanging device 3 to run to specified tunnel.Wherein, the Three-dimensional warehouse system 1
It is provided with the track (not labeled) with the rail shuttle 5 cooperation, the rail shuttle 5 moves on the track.Institute
It states out equipped with the roller line (not shown) for being used for transmission empty pallet 10 or the pallet equipped with cargo on feeding table 9, in order to lighter
Easy transmission empty pallet 10 or the pallet equipped with cargo.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, it is determined by the demand and space of Three-dimensional warehouse system.Correspondingly, the number of the track exchanging device 3 is also two groups.
Automatic withdrawing module 22: when cargo outbound, the taking-up pair of lane stacker 2 is changed in the driving of automatic withdrawing module 22
It should be transmitted to feeding table 4 equipped with the pallet 10 of cargo, then drive the rail shuttle 5 by the pallet 10 equipped with cargo
It is carried to commutation conveyer 6, then drives the commutation conveyer 6 that the pallet 10 equipped with cargo is delivered to out feeding table 9.
When cargo, which needs to change tunnel, carries out outbound, the controller 20 drives the lane stacker 2 that changes to pass through track exchanging device 3 to transport
The cargo in the tunnel is taken out in the tunnel of row to another.
Empty pallet automatic stacking memory module 23: when the Three-dimensional warehouse system 1 is in idle state, i.e., without cargo needs
When outbound is put in storage, the empty pallet automatic stacking memory module 23, which drives, described changes lane stacker 2 for the empty pallet in warehouse compartment
10 take out and send to designated position progress stacking.
The Three-dimensional warehouse system 1 further include with it is described enter automatically the freight detection device 8 that connect of 21 signal of library module and
Warning device (not shown), the freight detection device 8 include the weighing sensor that is detected for the weight to cargo (not
Diagram) and profile measurement sensor (not shown) that the shape of cargo is detected.Cargo shape is preset in controller 20
And the threshold limit value of weight, cargo is put to freight detection device 8, to carry out shape and weight detecting to cargo.When described
When profile measurement sensor and weighing sensor detect the cargo shape or weight unqualified (i.e. beyond threshold limit value), institute
Alarm activation is stated, which does not do storage processing.
The Three-dimensional warehouse system 1 further includes the manipulator (not shown) that stacking processing is carried out to empty pallet, the machinery
Hand is connect with 23 signal of empty pallet automatic stacking memory module.The empty pallet quantity of stacking is preset most in controller 20
Big value, it is described to change lane stacker 2 and take out the empty pallet 10 from corresponding warehouse compartment, it is 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 the freight detection device 8 of feeding table 9 out.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 value of setting, manipulator stops stacking, and controller 20 drives automatic storage at this time
The empty pallet good to stacking of module 21 is put in storage.
The present invention also provides a kind of control method of Three-dimensional warehouse system 1, in above-mentioned Three-dimensional warehouse system 1,
Described method includes following steps:
Automatic storage: when goods warehousing, the controller 20 drives the lane stacker 2 that changes to take out empty pallet 10 simultaneously
Be transmitted 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 feeding table 9, cargo is placed in the empty support
On disk 10.It is provided with freight detection device 8 on the feeding table 9 out, the controller 20 drives the freight detection device 8 right
The shape and weight of cargo are detected.If detect cargo shape or weight beyond designated value, the controller 20 is driven
The warning device alarm.If detecting cargo shape and weight within the specified range, then drive the commutation conveyer 6 toward fortune
Line direction, which is rotated by 90 °, is delivered to the pallet 10 equipped with cargo on rail shuttle 5, then drives rail shuttle 5 by the dress
There is the pallet 10 of cargo to be carried to feeding table 4, finally changes lane stacker 2 described in driving and remove the pallet 10 equipped with cargo
It is transported to sky warehouse compartment.When cargo, which needs to change tunnel, to be put in storage, the controller 20 drives the lane stacker 2 that changes by changing
Rail device 3 is stored with running to another tunnel with the cargo to the tunnel.
Automatic withdrawing: when cargo outbound, the driving of controller 20 is changed the taking-up of lane stacker 2 and is corresponded to equipped with cargo
Pallet 10 is transmitted to feeding table 4, then drives the rail shuttle 5 by the pallet carrying equipped with cargo to the conveying that commutates
Machine 6, then drive the commutation conveyer 6 that the pallet 10 equipped with cargo is delivered to out feeding table 9.When cargo needs to change lane
When road carries out outbound, the controller 20 drives the lane stacker 2 that changes to pass through track exchanging device 3 to run to another lane
Road takes out the cargo in the tunnel.
The storage of empty pallet automatic stacking: when the Three-dimensional warehouse system is in idle state, i.e., outbound is needed to enter without cargo
When library, the controller 20 drive it is described change lane stacker 2 empty pallet 10 in warehouse compartment is taken out and send to designated position into
Row stacking, then the empty pallet 10 good to stacking carries out automatic in-stockroom operation, and so far, empty pallet automatic stacking stores operating process
Terminate.
In summary: Three-dimensional warehouse system 1 of the invention changes lane stacker 2 and engaged therewith switches tracks by being provided with
Device 3 accesses the cargo in any tunnel in tiered warehouse facility with realizing；By being arranged in Three-dimensional warehouse system 1
Empty pallet automatic stacking memory module 23 reaches the access time for saving cargo, the storage efficiency for improving Three-dimensional warehouse system 1
Effect.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of Three-dimensional warehouse system, which is characterized 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, drive the track exchanging device for changing lane stacker conversion tunnel, be arranged in tunnel end
Feeding table, material conveying platform side is set rail shuttle, rail shuttle side is set commutation conveyer, setting
Go out feeding table and controller in commutation conveyer side, the controller includes:
Automatically enter library module: when goods warehousing, lane stacker is changed described in the automatic storage module drive and takes out empty pallet
And it is transmitted to feeding table, then drive the rail shuttle that the empty pallet is carried to commutation conveying from the feeding table
Machine, then drive the commutation conveyer that the empty pallet is delivered to out feeding table, cargo is placed on the empty pallet, so
Rear-guard, which is moved to conveyer, is delivered to rail shuttle for the pallet equipped with cargo, then drives rail shuttle described equipped with goods
The pallet carrying of object finally changes lane stacker for the pallet carrying equipped with cargo to empty library described in driving to feeding table
Position；When cargo, which needs to change tunnel, to be put in storage, lane stacker is changed described in the automatic storage module drive and passes through the dress that switches tracks
It sets to run to specified tunnel；
Automatic withdrawing module: when cargo outbound, it is corresponding equipped with goods that the automatic withdrawing module drive changes lane stacker taking-up
Then the tray transport of object drives the rail shuttle by the pallet carrying equipped with cargo to the conveying that commutates to feeding table
Machine, then drive the commutation conveyer that the pallet equipped with cargo is delivered to out 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 cargo
When library, changed described in the empty pallet automatic stacking memory module driving lane stacker empty pallet in warehouse compartment is taken out and send to
Designated position carries out stacking.
2. Three-dimensional warehouse system as described in claim 1, which is characterized in that the Three-dimensional warehouse system further include with it is described from
The freight detection device of dynamic storage module by signal connection, the freight detection device includes detecting for the weight to cargo
Weighing sensor and profile measurement sensor that the shape of cargo is detected.
3. Three-dimensional warehouse system as claimed in claim 2, which is characterized in that the Three-dimensional warehouse system further include with it is described from
The warning device of dynamic storage module by signal connection, when the profile measurement sensor and weighing sensor detect outside the cargo
When shape or unqualified weight, the alarm activation.
4. Three-dimensional warehouse system as described in claim 1, which is characterized in that the Three-dimensional warehouse system further includes to empty pallet
The manipulator of stacking processing is carried out, the manipulator is connect with empty pallet automatic stacking memory module signal.
5. Three-dimensional warehouse system as described in claim 1, which is characterized in that be equipped on the feeding table out and be used for transmission empty support
The roller line of disk or the pallet equipped with cargo.
6. a kind of control method of Three-dimensional warehouse system, which is characterized in that as described in any one of Claims 1 to 5
Three-dimensional warehouse system in, described method includes following steps:
Automatic storage: when goods warehousing, lane stacker taking-up empty pallet is changed described in the controller driving and is transmitted to and is sent
Expect platform, then drives the rail shuttle that the empty pallet is carried to commutation conveyer from the feeding table, then drive institute
It states commutation conveyer and the empty pallet is delivered to out feeding table, cargo is placed on the empty pallet, then driving commutation
Pallet equipped with cargo is delivered to rail shuttle by conveyer, then rail shuttle is driven to remove the pallet equipped with cargo
It is transported to feeding table, finally changes lane stacker for the pallet carrying equipped with cargo to empty warehouse compartment described in driving；When cargo 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 cargo outbound, the controller driving changes lane stacker and takes out the corresponding pallet biography equipped with cargo
Feeding table is transported to, then drives the rail shuttle by the pallet carrying equipped with cargo to the conveyer that commutates, then drive
The pallet equipped with cargo is delivered to out feeding table by the commutation conveyer；
The storage of empty pallet automatic stacking: when the Three-dimensional warehouse system is in idle state, i.e., when needing outbound to be put in storage without cargo,
Lane stacker is changed described in the controller driving to take out the empty pallet in warehouse compartment and send to designated position progress stacking.
7. the control method of Three-dimensional warehouse system as claimed in claim 6, which is characterized in that the method also includes described
Controller drives the freight detection device to detect the shape and weight of cargo.
8. the control method of Three-dimensional warehouse system as claimed in claim 7, which is characterized in that if detecting cargo shape or again
When amount is beyond designated value, the controller driving warning device alarm.
9. the control method of Three-dimensional warehouse system as claimed in claim 6, which is characterized in that the method also includes described
It changes lane stacker described in controller driving to take out the empty pallet in warehouse compartment and send to designated position, the controller control
Manipulator carries out stacking to empty pallet.
10. the control method of Three-dimensional warehouse system as claimed in claim 6, which is characterized in that the method also includes:
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
It send to commutation conveyer, pallet is put to feeding table out by the commutation conveyer, cargo is put into empty pallet, is passed through
Roller line is transported to freight detection module, examines the cargo acceptance or rejection, if the qualified support that cargo will be housed again of detection
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 send to corresponding warehouse compartment.
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